CN113415402A

CN113415402A - Bionic fishtail underwater propeller

Info

Publication number: CN113415402A
Application number: CN202110680206.3A
Authority: CN
Inventors: 周超; 廖晓村; 范俊峰; 卢奔; 邹茜茜; 付玉卓
Original assignee: Institute of Automation of Chinese Academy of Science
Current assignee: Institute of Automation of Chinese Academy of Science
Priority date: 2021-06-18
Filing date: 2021-06-18
Publication date: 2021-09-21
Anticipated expiration: 2041-06-18
Also published as: CN113415402B

Abstract

The invention provides a bionic fishtail underwater propeller, which relates to the technical field of underwater robots and comprises the following components: the swinging mechanism comprises an elastic sheet and a rigid tail fin fixed at the tail end of the elastic sheet; the driving mechanism comprises a steering engine; the transmission mechanism comprises a reel and a connecting wire, two ends of the connecting wire are respectively and fixedly connected with the swinging sides of the elastic pieces, and the reel is fixedly connected with the connecting wire; the shell comprises a head shell and a tail elastic shell. The bionic fishtail underwater propeller provided by the invention drives the winder to rotate bidirectionally through the steering engine, the winder drives the elastic piece to swing left and right through driving the connecting line, the swinging process is not limited by frequency, no hysteresis effect exists, the wave of the fish body is bent and continuous, and the bionic effect in water is good.

Description

Bionic fishtail underwater propeller

Technical Field

The invention relates to the technical field of underwater robots, in particular to a bionic fishtail underwater propeller.

Background

Since the 21 st century, with the development and utilization of ocean resources, underwater robots have become useful tools for exploring and developing the ocean. Most of traditional underwater robots are propelled by propellers, and have the defects of poor maneuverability, high noise, low concealment and the like. The bionic robot fish has the advantages of high propelling efficiency, low energy consumption, good maneuvering performance, low noise, high concealment and the like, and is highly concerned by researchers at home and abroad. The bionic robot fish has wide application in various fields, such as detection and development of marine resources, military reconnaissance, underwater archaeology and the like.

The existing bionic robot fish is usually formed by connecting a plurality of connecting rods in series, each connecting rod is driven by a single motor, and each joint can be accurately controlled to form the multi-joint robot fish. The fish body wave of the multi-joint robot fish can be regarded as a polygonal line fitting, namely the fish body wave is discrete. In theory as the number of links increases, real fish can be better simulated, but the structure and control of robotic fish becomes more complex.

The machine fish tail based on hydraulic drive usually adopts flexible materials, and the swing of the fish tail is realized through liquid pressure difference. The driving mode has a hysteresis effect, cannot realize real-time control, has low frequency and is generally used in a low-speed swimming mode of the robotic fish. In recent years, many researchers have applied smart materials to robotic fish, such as Shape Memory Alloys (SMA). Although this driving method is simple, it is also limited by frequency and hysteresis effects.

For the above reasons, there is a need to explore a bionic robotic fish propulsion mechanism with simple structure, simple control, good flexibility and high bionic degree.

Disclosure of Invention

The invention provides a bionic fishtail underwater propeller which is used for solving the defects of discontinuous fish body waves of multi-joint robot fish, low frequency and hysteresis effect of the robot fish based on hydraulic drive and the robot fish based on intelligent materials in the prior art and realizing the bionic fishtail underwater propeller which is simple in structure, flexible in movement, strong in anti-interference performance, high in efficiency and strong in practicability.

The invention provides a bionic fishtail underwater propeller, which comprises:

the swinging mechanism comprises an elastic sheet and a rigid tail fin fixed at the tail end of the elastic sheet;

the driving mechanism comprises a steering engine;

the transmission mechanism comprises a winder and a connecting wire, the winder is coaxially connected with the output shaft of the steering engine, two ends of the connecting wire are respectively and fixedly connected with two sides of the elastic sheet in the swinging direction, the winder is fixedly connected with the connecting wire, and the winder is suitable for driving the elastic sheet to swing through the connecting wire during reciprocating rotation;

the casing, the casing includes head casing and afterbody elastic housing, actuating mechanism with drive mechanism is located in the head casing, the flexure strip is located in the afterbody elastic housing, the rigidity tail fin is located the tail end outside of afterbody elastic housing.

According to the bionic fishtail underwater propeller provided by the invention, the winder comprises a winding roll and a rotating shaft, and the rotating shaft is used for driving the winding roll to rotate;

the winding device is characterized in that a winding groove is formed in the circumferential side wall of the winding roll, and a connecting wire through hole is formed in the winding groove.

According to the bionic fishtail underwater propeller provided by the invention, the output shaft of the steering engine is fixedly provided with the rudder disc, and the rotating shaft is fixedly connected with the rudder disc through the fixed disc.

According to the bionic fishtail underwater propeller provided by the invention, the swing mechanism further comprises a connecting plate fixed at the front end of the elastic piece;

the connecting plate is fixedly connected with the head shell, and a first through hole for the connecting wire to pass through is formed in the connecting plate.

According to the bionic fishtail underwater propeller provided by the invention, the bionic fishtail underwater propeller further comprises a support platform, the support platform is fixed in the head shell, the steering engine and the connecting plate are fixed on the support platform, and the rotating shaft is rotatably connected with the support platform through a bearing.

According to the bionic fish tail underwater propeller provided by the invention, the swing mechanism further comprises a supporting plate, the supporting plate is provided with a second through hole and a third through hole, the elastic sheet penetrates through the second through hole and is fixedly connected with the supporting plate, and the third through hole is used for penetrating through the connecting line.

According to the bionic fishtail underwater propeller provided by the invention, the swing mechanism further comprises a fixing clamp, and the fixing clamp comprises a first fixing clamp and a second fixing clamp;

the first fixing clamp is fixedly connected with the connecting plate, and the elastic sheet is clamped and fixed by the first fixing clamp;

the second fixing clamp is fixedly connected with the supporting plate, and the elastic sheet is clamped and fixed by the second fixing clamp.

According to the bionic fishtail underwater propeller provided by the invention, the number of the supporting plates is multiple, the supporting plates are arranged at intervals, and the connecting line is fixedly connected with one of the supporting plates.

According to the bionic fishtail underwater propeller provided by the invention, the support plate and the connecting plate are the same in shape, and the areas of the connecting plate and the support plate are gradually reduced along the direction from the front end to the rear end.

According to the bionic fishtail underwater propeller provided by the invention, the steering engine comprises a first steering engine and a second steering engine, the winder comprises a first winder and a second winder, and the connecting wire comprises a first connecting wire and a second connecting wire;

the first steering engine is connected with the first winder, and the first winder is fixedly connected with the first connecting wire;

the second steering engine is connected with the second winder, and the second winder is fixedly connected with the second connecting wire;

the first connecting line and the second connecting line are fixed on different support plates.

According to the bionic fishtail underwater propeller provided by the invention, the reel is driven by the steering engine to rotate in two directions, the reel drives the elastic piece to swing left and right by driving the connecting line, the swinging process is not limited by frequency, no hysteresis effect exists, the waves of the fish body are bent and continuous, and the bionic effect in water is better. The bionic fishtail underwater propeller has the advantages of being simple in structure, simple to control, flexible in movement, strong in anti-interference performance, good in flexibility and high in bionic degree.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic view of the external structure of a bionic fishtail underwater propeller provided by the invention;

FIG. 2 is one of the schematic external structural views of the underwater propeller of bionic fish tail according to the present invention;

FIG. 3 is an enlarged view taken at I in FIG. 2;

FIG. 4 is an enlarged view taken at II in FIG. 2;

FIG. 5 is a second schematic view of the external structure of the underwater propeller of the bionic fish tail according to the present invention;

FIG. 6 is one of the assembly views of the drive mechanism and the support stand provided by the present invention;

FIG. 7 is a second assembly view of the drive mechanism and the support stand provided by the present invention;

fig. 8 is a schematic view of the structure of the support plate provided by the present invention.

Reference numerals:

100: a swing mechanism; 110: an elastic sheet; 120: a connecting plate;

121: a first through hole; 122: a fourth via hole; 130: a support plate;

131: a second through hole; 132: a third through hole; 140: a fixing clip;

141: a first fixing clip; 142: a second fixing clip; 150: a rigid tail fin;

200: a drive mechanism; 210: a steering engine; 211: a first steering engine;

220: a rudder wheel;

300: a transmission mechanism; 310: a reel; 311: a take-up reel;

312: a rotating shaft; 313: winding a wire groove; 314: a line through hole;

315: a first winder; 316: a second reel; 317, a fixing hole;

320: a connecting wire; 321: a first connecting line; 322: a second connecting line;

330: fixing the disc; 340: a bearing;

400: a housing; 410: a head housing; 411, a first head housing;

412: a second head housing; 420: a tail elastic shell;

500: a support stand; 510: a fixing frame.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "first" and "second", etc. are numbers that are used for clearly illustrating the product parts and do not represent any substantial difference. "upper", "lower", "inner", and the like are used merely to indicate relative positional relationships, and when the absolute position of a described object is changed, the relative positional relationships may also be changed accordingly. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

It is to be understood that, unless otherwise expressly specified or limited, the term "coupled" is used broadly, and may, for example, refer to directly coupled devices or indirectly coupled devices through intervening media. Specific meanings of the above terms in the embodiments of the invention will be understood to those of ordinary skill in the art in specific cases.

The bionic fishtail underwater propeller of the invention is described below with reference to fig. 1-8.

Referring to fig. 1 and 2, the present embodiment provides a bionic fishtail underwater propeller, including:

the swing mechanism 100, the swing mechanism 100 includes the elastic sheet 110 and the rigid tail fin 150 fixed on the tail end of the elastic sheet 110;

the driving mechanism 200, the driving mechanism 200 includes the steering engine 210;

the transmission mechanism 300 and the transmission mechanism 300 comprise a reel 310 and a connecting wire 320, the reel 310 is coaxially connected with an output shaft of the steering engine 210, two ends of the connecting wire 320 are respectively and fixedly connected with two sides of the elastic sheet 110 in a swinging direction, the reel 310 is fixedly connected with the connecting wire 320, and the reel 310 is suitable for driving the elastic sheet 110 to swing through the connecting wire 320 when rotating;

the housing 400 includes a head housing 410 and a tail elastic housing 420, the driving mechanism 200 and the transmission mechanism 300 are located in the head housing 310, the elastic sheet 110 is located in the tail elastic housing 420, and the rigid tail fin 150 is located outside the tail end of the tail elastic housing 420.

Specifically, the housing 400 is divided into a head housing 410 and a tail elastic housing 420. It should be noted that the head described in this embodiment refers to the forward direction of the underwater propeller of the bionic fishtail, such as the positive direction of the X axis in the drawing; the tail of the bionic fishtail underwater propeller is the direction of the fishtail end of the bionic fishtail underwater propeller, and the direction is opposite to the direction of an X axis in the attached drawing.

The head housing 410 is shaped like a bionic fish head, and may be configured in different shapes according to its internal structure, and is square box-shaped in this embodiment. The tail elastic shell 420 is in the shape of a bionic fishtail, like a cone as shown in the drawing. The head shell 410 is hermetically connected with the tail elastic shell 420, and the head shell 410 has certain rigidity, so that the bionic fish tail underwater propeller is not damaged when touching hard objects such as rocks and the like in the advancing process; the tail elastic housing 420 has a certain elasticity and can swing by the swing mechanism 100 inside it to move forward in a manner simulating the swing of fish.

Specifically, the rigid tail fin 150 may have different shapes according to different design requirements, and the rigid tail fin 150 may be formed in a shape like a crescent shape as illustrated in the drawings with reference to the tails of different types of fish.

Specifically, the swing mechanism 100 includes an elastic sheet 110, where the elastic sheet 110 has certain toughness, for example, a metal plate is used, and when the elastic sheet 110 is not driven by an external force, the elastic sheet 110 is in a flat state; when the elastic sheet 110 is subjected to a lateral tensile force, the elastic sheet 110 is bent; when the elastic piece 110 loses the lateral tension, the elastic piece 110 is restored to the flat state under the action of the elastic restoring force; preferably, the resilient plate 110 is a spring steel plate.

The driving mechanism 200 described in this embodiment is a steering engine 210, which is a position (angle) servo driver and is suitable for control systems that require a constantly changing and maintainable angle.

The transmission mechanism 300 of this embodiment includes a reel 310 and a connection line 320, the reel 310 is coaxially connected with an output shaft of the steering gear 210, the steering gear 210 can drive the reel 310 to rotate, and the rotation direction is bidirectional, and the reel can rotate clockwise (in a direction of a top view angle) or counterclockwise; the connecting wire 320 is preferably a steel wire.

Two ends of the connecting line 320 are respectively and fixedly connected with two sides of the elastic sheet 110 in the swinging direction, wherein the two sides in the swinging direction refer to two sides of the elastic sheet 110 capable of bending and swinging; the reel 310 is fixedly connected with the connection line 320, and the reel 310 is adapted to drive the elastic piece 110 to swing through the connection line 320 when rotating, so that the elastic piece 110 drives the rigid tail fin 150 at the tail end to swing, and similar fishes advance through swinging in water.

The embodiment provides a bionical fish tail underwater propulsor, drives winder 310 through steering wheel 210 and carries out two-way rotation, and winder 310 is through driving connecting wire 320 and drive elastic sheet 110 and carry out the horizontal hunting, and the swing in-process is not limited by the frequency, does not have hysteresis effect, and fish body wave is crooked and continuous, and the bionical effect in aqueous is better. The bionic fishtail underwater propeller has the advantages of being simple in structure, simple to control, good in flexibility and high in bionic degree.

Specifically, referring to fig. 3, the reel 310 includes a winding roll 311 and a rotating shaft 312, the rotating shaft 312 is used for driving the winding roll 311 to rotate, the winding roll 311 is shaped like a circular cake, a winding groove 313 is disposed on a circumferential side wall of the winding roll 311, and the winding groove 313 is used for clamping the connection line 320, so as to prevent the connection line 320 from being separated from the winding roll 311 during the rotation process. Preferably, a connection line through hole 314 is formed in the winding slot 313, the connection line through hole 314 is a through hole, the connection line 320 passes through the connection line through hole 314, a screw hole 317 is formed at a forward end of the X-axis of the winding reel 311, the screw hole 317 is perpendicular to the connection line through hole 314, and a screw is screwed to fix the connection line 320 and the winding reel in the connection line through hole 314.

Preferably, a drum surface is provided at the front end of the X-axis of the winding roll 311, and the screw hole 317 is provided on the drum surface.

Specifically, the output shaft of the steering engine 210 is fixed with a rudder disk 220, the rotating shaft 312 is fixedly connected with the rudder disk 220 through a fixed disk 330, the rudder disk 220 is fixedly connected with the fixed disk 330 through screws, and a rubber cushion is arranged between the rudder disk 220 and the fixed disk 330 for absorbing shock and preventing mutual vibration in rotation.

Preferably, a drum-shaped through hole is formed in the center of the winding roll 311, the cross section of the rotating shaft 312 is drum-shaped, and the rotating shaft 312 penetrates through the through hole to drive the winding roll 311 to rotate.

Further, the swing mechanism 100 further comprises a connecting plate 120 fixed at the front end of the elastic sheet 110, the connecting plate 120 is used for fixedly connecting the elastic sheet 110 and the head shell 410, so that the head shell 410 does not deviate from the swing mechanism 100 in the swing process of the elastic sheet 110;

specifically, the connecting plate 120 is fixedly connected with the head housing 410, and the connecting plate 120 is provided with a first through hole 121 for the connecting wire 320 to pass through, and the connecting wire 320 passes through the first through hole 121 and is connected with the elastic sheet 100. On the one hand, first through-hole 121 makes connecting wire 320 can not receive the influence of connecting plate 120 at reciprocal dragging in-process, and on the other hand, first through-hole 121 carries out the side direction to connecting wire 320 spacing, prevents that connecting wire 320 from taking place to rock to ensure that connecting wire 320 can prevent to rotate the skew of in-process accuracy to winding up wire groove 313 dragging.

Further, the bionic fishtail underwater propeller further comprises a support table 500, the support table 500 is fixed in the head shell 410, the steering engine 210 and the connecting plate 120 are fixed on the support table 500, and the rotating shaft 312 is rotatably connected with the support table 500 through a bearing 340.

Specifically, referring to fig. 6, the support stand 500 is similar to a C-shaped structure, the steering gear 210 is fixed on a top plate, and an output shaft of the steering gear 210 passes through the top plate and is connected with the transmission mechanism 300 in a cavity of the support stand 500. The transmission mechanism 300 is positioned in the cavity of the C-shaped support platform 500, the top of the power transmission mechanism 300 is connected with the rudder disc 220 of the driving mechanism 200, and the bottom of the driving mechanism 200 is rotatably connected with the support platform 500.

Specifically, the driving mechanism 200 includes a rotating shaft 312, a fixing plate 330 is disposed on the top of the rotating shaft 312, the fixing plate 330 is fixedly connected to the rudder plate 220, and the bottom of the rotating shaft 312 is rotatably connected to the support platform 500 through a bearing 340.

Preferably, the supporting stand 500 comprises a fixing frame 510, the fixing frame 510 is fixedly connected with the body screw of the supporting stand 500, the fixing frame 510 is rotatably connected with the rotating shaft 312 through a bearing 340, and the supporting stand 500 and the rotating shaft 312 can be mounted and dismounted by detaching the body of the supporting stand 500 from the fixing frame 510.

Specifically, as shown in fig. 4, 5 and 8, the swing mechanism 100 further includes a supporting plate 130, the supporting plate 130 may be one or multiple, and in this embodiment, there are preferably multiple supporting plates 130, and as shown in the figure, there are 4 supporting plates 130.

The supporting plate 130 is provided with a second through hole 131 and a third through hole 132, the elastic sheet 110 passes through the second through hole 131 and is fixedly connected with the supporting plate 130, when a plurality of supporting plates 130 are provided, the elastic sheet 110 sequentially passes through the second through holes 131 of the plurality of supporting plates 130 to form a fish-like spinal structure, and the plurality of supporting plates 130 are arranged at intervals.

Specifically, the third through hole 132 is for the connection wire 320 to pass through, similar to the first through hole 121, the third through hole 132 is for the connection wire 320 to pass through, and a wire end of the connection wire 320 may be fixed at the third through hole 132.

Preferably, the plurality of support plates 130 are arranged at intervals, and the connection line 320 is fixedly connected to one of the plurality of support plates 130, for example, the connection line 320 can be fixedly connected to the rearmost support plate 130, the swing mechanism 100 can perform maximum bending swing, and the forward speed and the forward amplitude are large; the swing mechanism 100 can also swing with the support plate 130 at the middle position, at this time, the front end of the support plate 130 is easy to swing under the pulling of the connecting wire 320, the rear end of the support plate 130 swings with the swinging, the swing amplitude is relatively small, and the advancing speed is relatively slow. The connection wire 320 passes through the third through hole 132 of the front end support plate 130 in turn.

Preferably, the supporting plate 130 and the connecting plate 120 have the same shape, and as shown in the figure, the supporting plate 130 and the connecting plate 120 are both elliptical, so that the bionic effect is better. Preferably, the area of the connecting plate 120 and the supporting plate 130 is gradually reduced in the direction from the front end to the rear end of the propeller, i.e. in the direction opposite to the X-axis, i.e. the radius of the connecting plate 120 and the supporting plate 130, which are elliptical, is gradually reduced to match the conical tail elastic shell 420.

Preferably, the elastic piece 110, the connecting plate 120 and the supporting plate 130 are fixedly connected by a fixing clip 140, specifically, the swing mechanism 100 further includes a fixing clip 140, and the fixing clip 140 includes a first fixing clip 141 and a second fixing clip 142; preferably, the retaining clip 140 is a wire retaining clip.

As shown in fig. 4 and 7, the first fixing clip 141 and the second fixing clip 142 have the same structure and are formed by symmetrical clamps, and the first fixing clip 141 and the second fixing clip 142 clamp and fix the elastic sheet 110 by bolts. The first fixing clip 141 is fixedly connected with the connecting plate 120 through bolts; the second fixing clip 142 is fixedly coupled to the support plate 130 by bolts.

Preferably, the connecting plate 120 is provided with two first fixing clips 141, and the two first fixing clips 141 are vertically arranged and clamp and fix the elastic sheet 110. Similarly, two second fixing clips 142 are disposed on each supporting plate 130, and the two second fixing clips 142 are arranged above and below and clamp and fix the elastic sheet 110.

Preferably, there are two sets of combination modes of the driving mechanism 100 and the transmission mechanism 200 in this embodiment, as shown in fig. 4 to 6, the steering gear 210 includes a first steering gear 211 and a second steering gear 212, the reel 310 includes a first reel 315 and a second reel 316, and the connection line 320 includes a first connection line 321 and a second connection line 322;

the first steering engine 211 is connected with a first winder 315, and the first winder 315 is fixedly connected with a first connecting wire 321;

the second steering gear 212 is connected with a second reel 316, and the second reel 316 is fixedly connected with a second connecting wire 322;

the first connecting line 321 and the second connecting line 322 are fixed on different support plates 130, and as shown in fig. 2 and 4, the first connecting line 321 is connected to the middle support plate 130, and the second connecting line 322 is connected to the rearmost support plate 130.

When the first steering engine 211 rotates clockwise (with the overlooking angle as a reference), the first steering engine 211 drives the first wire winder 315 to rotate clockwise, the first wire winder 315 pulls the first connecting wire 321 to rotate, and then the middle part of the elastic sheet 110 is pulled to swing clockwise relative to the front end of the elastic sheet 110; the second steering gear 212 rotates counterclockwise (with the overlooking angle as the reference), the second steering gear 212 drives the second reel 316 to rotate counterclockwise, the second reel 315 pulls the second connecting wire 322 to rotate, and then the tail end of the elastic piece 110 swings counterclockwise relative to the front end of the elastic piece 110, and the tail of the propeller swings in an "S-shaped" manner at this time. The first steering engine 211 is controlled by the controller to continuously rotate in a reciprocating mode, and the second steering engine 212 and the first steering engine 211 continuously rotate in a reciprocating mode in the opposite direction, so that the swing mechanism 100 swings in an S shape, the bionic degree of the bionic fishtail underwater propeller is better, and no stagnation exists in fish waves.

Optionally, when the first steering engine 211 and the second steering engine 212 rotate in the same direction, the swing mechanism 100 swings in a "C" shape, and the swimming speed is high.

Preferably, the bionic fishtail underwater propeller further comprises a power supply device, wherein the power supply device is a storage battery, preferably a lithium battery or a graphene battery, and can provide power for a driving mechanism.

Compared with the traditional multi-joint fish-simulating propulsion mechanism, the underwater propeller for the bionic fishtail provided by the invention adopts the elastic sheet to simulate the fish spine, so that the continuous fish body wave of the bionic machine fish is realized, the motion efficiency and flexibility are improved, and a more vivid bionic effect is realized; the whole fish tail is a continuous body, and the anti-interference capability of the whole fish tail is also stronger than that of the traditional multi-joint bionic robot fish; meanwhile, the fishtails with different flexibilities can be simulated by adopting the elastic pieces with different thicknesses; even the elastic pieces with other shapes can be adopted, and the width change rule can be used for simulating the change rule of the elastic modulus of each point of the fish tail. In addition, the invention adopts a line driving mode to transmit torque, so that the whole mechanism is simple and efficient, the working performance and reliability of the propelling mechanism are greatly improved, and the practicability is strong.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a bionical fish tail underwater propulsor which is characterized in that includes:

the driving mechanism comprises a steering engine;

2. The bionic fishtail underwater propeller of claim 1, wherein the winder comprises a winding roll and a rotating shaft, and the rotating shaft is used for driving the winding roll to rotate;

3. The bionic fishtail underwater propeller of claim 2, wherein a rudder disc is fixed on an output shaft of the steering engine, and the rotating shaft is fixedly connected with the rudder disc through a fixed disc.

4. The bionic fishtail underwater propeller of claim 3, wherein the swing mechanism further comprises a connecting plate fixed at the front end of the elastic piece;

5. The bionic fishtail underwater propeller of claim 4, further comprising a support table, wherein the support table is fixed in the head shell, the steering engine and the connecting plate are fixed on the support table, and the rotating shaft is rotatably connected with the support table through a bearing.

6. The bionic fish tail underwater propeller of claim 5, wherein the swing mechanism further comprises a support plate, the support plate is provided with a second through hole and a third through hole, the elastic piece penetrates through the second through hole and is fixedly connected with the support plate, and the third through hole is used for the connecting line to penetrate through.

7. The bionic fishtail underwater propeller of claim 6, wherein the swing mechanism further comprises a fixing clip, the fixing clip comprising a first fixing clip and a second fixing clip;

8. The bionic fish tail underwater propeller of claim 6 or 7, wherein the supporting plate is provided with a plurality of supporting plates which are arranged at intervals, and the connecting line is fixedly connected with one of the supporting plates.

9. The bionic fishtail underwater propeller of claim 8, wherein the support plate and the connecting plate are the same in shape, and the areas of the connecting plate and the support plate are gradually reduced along the direction from the front end to the rear end.

10. The bionic fishtail underwater propeller of claim 8, wherein the steering engine comprises a first steering engine and a second steering engine, the winder comprises a first winder and a second winder, and the connecting line comprises a first connecting line and a second connecting line;