CN212423420U

CN212423420U - Underwater air lubrication auxiliary propeller based on bionic amphibious robot

Info

Publication number: CN212423420U
Application number: CN202021935817.5U
Authority: CN
Inventors: 喻俊志; 潘杰; 刘金存; 张小磊; 李忠奎
Original assignee: Peking University
Current assignee: Peking University
Priority date: 2020-09-07
Filing date: 2020-09-07
Publication date: 2021-01-29
Anticipated expiration: 2030-09-07

Abstract

The utility model relates to an air lubrication assists propeller under water based on bionical amphibious robot, include: the outer shell is provided with a streamline curved surface, a ring belt area is arranged on the outer wall of the outer shell, a cavity is arranged between the ring belt area and the inner wall of the outer shell, and a plurality of inclined holes are formed in the surface of the ring belt area; and the gas storage tank is fixedly arranged in the shell and is communicated with the cavity through a gas transmission passage, so that gas in the gas storage tank enters the cavity through the gas transmission passage and is sprayed out of the inclined holes. The utility model provides an air lubrication auxiliary propulsor under water introduces amphibious type robot's underwater motion mode with the air lubrication technique, reduces the frictional resistance between amphibious type robot health and the rivers on every side through spun compressed air to realize the solid-liquid separation between amphibious type robot health and the rivers on every side, improved bionical amphibious type robot under water and cross the speed of medium motion.

Description

Underwater air lubrication auxiliary propeller based on bionic amphibious robot

Technical Field

The utility model relates to a frictional resistance reducing device of bionical amphibious robot of air lubrication formula especially relates to an air lubrication auxiliary propulsor under water based on bionical amphibious robot.

Background

Due to the necessity of modern combat, the multi-mode bionic amphibious robot becomes a hot spot of competitive research. Unlike single environment robots, amphibious robots involve land motion, underwater motion, and cross-media motion, from which multiple motion modalities and propulsion devices are derived. When the bionic amphibious robot moves in water, the bionic amphibious robot can be subjected to fluid resistance such as frictional resistance, shape resistance, wave drift damping and the like, and the propelling force of the amphibious robot is lost. Among them, the shape resistance and the wave drift resistance can be improved by adjusting the shape, and the frictional resistance which is a major component at low speed needs to be improved from the mechanism.

Therefore, the novel bionic amphibious underwater air lubrication auxiliary propeller is inspired by the fact that amphibious organisms release air collected on the water surface through a down net in feathers, so that a resistance reducing layer is formed on the surface of skin, and the air lubrication mechanism of jumping water is realized. The mode of wrapping the micro-bubbles by the micro-bubbles greatly reduces the resistance, so that the speed of the micro-bubbles can reach 2-3 times of the normal swimming speed.

Air lubrication has been widely used in ships, and some studies have shown that air lubrication systems can save 5% -15% of fuel. The system mainly comprises five modes, namely bubble drag reduction, transition air layer drag reduction, partial cavity drag reduction and multi-wave partial cavity drag reduction. In bubble drag reduction, gas is usually injected into a boundary layer through a groove, a porous material or a perforated plate, but the durability of pure bubble drag reduction is poor, so that more gas injection positions need to be arranged on a ship body. In air layer drag reduction, gas is typically injected through a horizontal plate, at which point a transition from bubble flow to the air layer occurs, improving the problem of pure bubble drag reduction. In the transition air layer drag reduction, both bubble drag reduction and air layer drag reduction occur. In partial cavity drag reduction, gas is typically injected through grooves, which are approximately half the length of the flow direction wavelength of the cavity, to form a cavity between the hull and the external water flow, into which the gas is continuously injected to maintain the gas in the cavity. In the multiple wave section cavity drag reduction, the length of the grooves extends n times the cavity surface wavelength. The essence of these methods is to separate the solid surface from the liquid by means of a gas and to maintain the stable presence of the gas, thereby exerting the desired drag reduction effect.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

In order to solve the bionical air lubrication difficult problem of being applied to amphibious robot underwater motion, the utility model provides an air lubrication assists propeller under water based on bionical amphibious robot to improve bionical amphibious robot under water and stride the speed of medium motion.

(II) technical scheme

In order to achieve the above object, the utility model discloses a technical solution as follows:

an underwater air lubrication auxiliary propeller based on a bionic amphibious robot, comprising: the outer shell 1 is provided with a streamline curved surface, a ring belt area is arranged on the outer wall of the outer shell, a cavity 17 is arranged between the ring belt area and the inner wall of the outer shell, and a plurality of inclined holes 16 are formed in the surface of the ring belt area; and the gas storage tank 7 is fixedly arranged in the shell and is communicated with the cavity 17 through a gas transmission passage, so that gas in the gas storage tank 7 enters the cavity 17 through the gas transmission passage and is sprayed out of the inclined holes 16.

In the above scheme, the inner wall of the housing is provided with a plurality of hollow joints 13, one end of each hollow joint is communicated with the cavity 17, and the other end of each hollow joint is communicated with the gas transmission passage.

In the above scheme, the number of the hollow joints 13 is 3, and the hollow joints are uniformly distributed on the inner wall of the shell at intervals of 120 degrees; or the number of the hollow joints 13 is 4, and the hollow joints are uniformly distributed on the inner wall of the shell at intervals of 90 degrees.

In the above scheme, the inner wall of the housing further includes an annular boss 14 with a groove and a plurality of bosses 15 with through holes, wherein: an annular gasket 6 is placed in a groove of the annular boss 14 to support the gas storage tank 7 in an auxiliary mode; the through hole of boss 15 with a plurality of screw thread blind holes 19 that the bottom set up of gas holder 7 pass through the bolt and connect, right the bottom of gas holder 7 is fixed.

In the above scheme, the gas storage tank 7 includes: a front threaded through hole 18 provided at the front end of the gas storage tank 7, through which the gas in the gas storage tank 7 is output to the gas transmission passage 18; the rear threaded through hole 20 is formed in the bottom end of the gas storage tank 7, and external compressed gas is input into the gas storage tank 7 through the rear threaded through hole 20; a plurality of screw thread blind holes 19 set up in the bottom of gas holder 7, with the through-hole of boss 15 passes through the bolt and connects, and is right the bottom of gas holder 7 is fixed.

In the above scheme, the number of the bosses 15 is the same as that of the threaded blind holes 19, and is greater than or equal to 3.

In the above scheme, the rear threaded through hole 20 is further provided with a check valve 2, the check valve 2 is in threaded connection with the rear threaded through hole 20, external compressed gas sequentially passes through the check valve 2 and the rear threaded through hole 20 and enters the gas storage tank 7, and the gas in the gas storage tank 7 is prevented from being reversely output from the rear threaded through hole 20 and the check valve 2.

In the above-mentioned scheme, gas transmission path includes adapter 8, a first PU pipe 9, a solenoid valve 10, a second PU pipe 11, a lead to 12, a plurality of PU pipes 5, a plurality of one-way throttle valve 4 and a plurality of PU pipe interface 3 along gas transmission direction in proper order, wherein: the adapter 8 is in threaded connection with a front threaded through hole 18 of the gas storage tank 7 and is used for outputting compressed gas in the gas storage tank 7; one end of the first PU pipe 9 is connected with the adapter 8 through quick screwing, and the other end of the first PU pipe 9 is connected with an air inlet of the electromagnetic valve 10 through quick screwing; an air outlet of the electromagnetic valve 10 is connected with one end of the second PU pipe 11 through quick screwing, and the other end of the second PU pipe 11 is connected with one port of the multi-way joint 12 through quick screwing; the other ports of the multi-way joint 12 are respectively connected with one end of one of the PU pipes 5 through quick screwing, and the other end of one of the PU pipes 5 is respectively connected with one of the one-way throttle valves 4 through quick screwing; one of the one-way throttle valves 4 is simultaneously connected with one of the PU pipe interfaces 3 through quick screwing; the hollow joints 13 arranged on the inner wall of the shell are respectively inserted into the PU pipe interfaces 3, so that the gas in the PU pipe interfaces 3 enters the cavity 17 through the hollow joints 13.

In the above-mentioned scheme, many joints 12 are four-way connection, a plurality of PU pipes 5, a plurality of one-way throttle valve 4 and a plurality of PU pipe interface 3 are three, wherein: one port of the four-way joint is communicated with the second PU pipe 11, the other three ports are respectively communicated with one PU pipe of the PU pipes 5, each PU pipe of the PU pipes 5 is respectively communicated with one-way throttle valve of the one-way throttle valves 4, and each one-way throttle valve of the one-way throttle valves 4 is simultaneously communicated with one PU pipe interface of the PU pipe interfaces 3.

In the above scheme, one end of the one-way throttle valve 4 is connected to one of the plurality of PU pipes 5, and the other end is connected to one of the plurality of PU pipe interfaces 3, so as to control the gas flow and prevent the water from flowing backwards.

(III) advantageous effects

The utility model provides an air lubrication auxiliary propulsor under water based on bionical amphibious robot introduces amphibious robot's the underwater motion mode with the air lubrication technique, reduces the frictional resistance between amphibious robot health and the rivers on every side through spun compressed air to realize the solid-liquid separation between amphibious robot health and the rivers on every side, improved bionical amphibious robot under water and the speed of striding the medium motion.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of an underwater air lubrication auxiliary propeller based on a bionic amphibious robot at a side-front visual angle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an underwater air lubrication auxiliary propeller based on a bionic amphibious robot at a side rear view angle according to an embodiment of the present invention;

FIG. 3 is a schematic view of the reservoir and gas transfer passage of FIG. 1 with the housing removed;

FIG. 4 is a schematic structural view of the housing of FIG. 1;

FIG. 5 is a cross-sectional view of the housing of FIG. 1;

fig. 6 is a schematic view showing the structure of the air container of fig. 1.

Reference numerals: the device comprises a shell 1, a one-way valve 2, a PU pipe interface 3, a one-way throttle valve 4, a PU pipe 5, an annular gasket 6, a pressure-resistant 1Mpa gas storage tank 7, an adapter 8, a first PU pipe 9, an electromagnetic valve 10, a second PU pipe 11, a multi-way joint 12, a hollow joint 13, an annular boss with a groove 14, a boss with a through hole 15, an inclined hole 16, a cavity 17, a front threaded through hole 18, a threaded blind hole 19 and a rear threaded through hole 20.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, unless otherwise expressly specified or limited, the first feature "on" or "under" the second feature may include both the first and second features being in direct contact, and may also include the first and second features being in contact, not being in direct contact, but rather being in contact with each other via additional features between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1-6, the underwater air lubrication auxiliary propeller based on a bionic amphibious robot provided by the present invention comprises a housing 1 and an air storage tank 7, wherein the housing 1 has a streamlined curved surface, a girdle area is arranged on the outer wall of the housing, a cavity 17 is arranged between the girdle area and the inner wall of the housing, and a plurality of inclined holes 16 are arranged on the surface of the girdle area; the gas storage tank 7 is fixedly arranged in the shell and is communicated with the cavity 17 through a gas transmission passage, so that gas in the gas storage tank 7 enters the cavity 17 through the gas transmission passage and is sprayed out of the inclined holes 16.

As shown in fig. 4 and 5, a plurality of hollow joints 13 are disposed on the inner wall of the housing, one end of each hollow joint is communicated with the cavity 17, and the other end of each hollow joint is communicated with the gas transmission passage. The number of the hollow joints 13 may be determined according to specific situations, generally, in order to make the gas ejected from the plurality of inclined holes 16 relatively uniform, the number of the hollow joints 13 may be 3 or 4, and when the number of the hollow joints 13 is 3, the 3 hollow joints 13 are uniformly distributed on the inner wall of the housing at intervals of 120 degrees; when the number of the hollow joints 13 is 4, the 4 hollow joints 13 are uniformly distributed on the inner wall of the shell at intervals of 90 degrees.

As shown in fig. 4 and 3, the inner wall of the housing further includes a grooved annular boss 14 and a plurality of through-hole bosses 15, wherein: an annular gasket 6 is placed in a groove of the annular boss 14 to support the gas storage tank 7 in an auxiliary mode; the through hole of boss 15 with a plurality of screw thread blind holes 19 that the bottom set up of gas holder 7 pass through the bolt and connect, right the bottom of gas holder 7 is fixed.

As shown in fig. 4 to 6, the air tank 7 includes a front threaded through hole 18, a rear threaded through hole 20, and a plurality of threaded blind holes 19, wherein: the front threaded through hole 18 is arranged at the front end of the gas storage tank 7, and gas in the gas storage tank 7 is output to the gas transmission passage through the front threaded through hole 18; the rear threaded through hole 20 is arranged at the bottom end of the gas storage tank 7, and external compressed gas is input into the gas storage tank 7 through the rear threaded through hole 20; a plurality of screw thread blind holes 19 set up in the bottom of gas holder 7, with the through-hole of boss 15 passes through the bolt and connects, and is right the bottom of gas holder 7 is fixed.

In practical application, the number of the bosses 15 is the same as that of the blind threaded holes 19, and in order to enable the air storage tank 7 to be firmly fixed to the housing 1, the number of the bosses 15 and the number of the blind threaded holes 19 are both greater than or equal to 3, and generally 4.

As shown in fig. 2, a check valve 2 is further disposed on the rear threaded through hole 20, the check valve 2 is in threaded connection with the rear threaded through hole 20, external compressed gas sequentially passes through the check valve 2 and the rear threaded through hole 20 and enters the gas storage tank 7, and the gas in the gas storage tank 7 is prevented from being reversely output from the rear threaded through hole 20 and the check valve 2.

As shown in fig. 1 and fig. 3, the gas transmission passage comprises a rotary joint 8, a first PU pipe 9, an electromagnetic valve 10, a second PU pipe 11, a multi-way joint 12, a plurality of PU pipes 5, a plurality of one-way throttle valves 4 and a plurality of PU pipe interfaces 3 in sequence along the gas transmission direction, wherein: the adapter 8 is in threaded connection with a front threaded through hole 18 of the gas storage tank 7 and is used for outputting compressed gas in the gas storage tank 7; one end of the first PU pipe 9 is connected with the adapter 8 through quick screwing, and the other end of the first PU pipe 9 is connected with an air inlet of the electromagnetic valve 10 through quick screwing; an air outlet of the electromagnetic valve 10 is connected with one end of the second PU pipe 11 through quick screwing, and the other end of the second PU pipe 11 is connected with one port of the multi-way joint 12 through quick screwing; the other ports of the multi-way joint 12 are respectively connected with one end of one of the PU pipes 5 through quick screwing, and the other end of one of the PU pipes 5 is respectively connected with one of the one-way throttle valves 4 through quick screwing; one of the one-way throttle valves 4 is simultaneously connected with one of the PU pipe interfaces 3 through quick screwing; the hollow joints 13 arranged on the inner wall of the shell are respectively inserted into the PU pipe interfaces 3, so that the gas in the PU pipe interfaces 3 enters the cavity 17 through the hollow joints 13.

In an embodiment of the present invention, the multi-way joint 12 is a four-way joint, the plurality of PU pipes 5, the plurality of one-way throttle valves 4, and the plurality of PU pipe interfaces 3 are three, wherein: one port of the four-way joint is communicated with the second PU pipe 11, the other three ports are respectively communicated with one PU pipe of the PU pipes 5, each PU pipe of the PU pipes 5 is respectively communicated with one-way throttle valve of the one-way throttle valves 4, and each one-way throttle valve of the one-way throttle valves 4 is simultaneously communicated with one PU pipe interface of the PU pipe interfaces 3.

As shown in fig. 3, the one-way throttle valve 4 has one end connected to one of the plurality of PU pipes 5 and the other end connected to one of the plurality of PU pipe joints 3 for controlling the flow rate of the gas and preventing the reverse flow of the water.

Based on fig. 1-fig. 6 the utility model provides an air lubrication auxiliary propulsion ware under water based on bionical amphibious robot, bionical amphibious robot's air lubrication auxiliary propulsion ware under water is to blowout air around the health to produce the stable bubble around the health, reduce and around the frictional resistance between the rivers, thereby improve the device of speed. Specifically, compressed air is driven into the gas storage tank 7 through the air compressor in advance, then the gas transmission passage is opened by using the electromagnetic valve 10, so that control gas passes through the gas transmission passage, and finally, the gas is sprayed out from a plurality of inclined holes 16 on the surface 1 of the body of the amphibious robot, and the frictional resistance between the body of the amphibious robot and the peripheral water flow is reduced through the sprayed compressed air, so that the solid-liquid separation between the body of the amphibious robot and the peripheral water flow is realized, and the speed of the bionic amphibious robot in underwater and cross-medium movement is improved.

Examples

Referring to fig. 1-6 again, the embodiment of the present invention provides an underwater air lubrication auxiliary propeller for a bionic amphibious robot based on bubble drag reduction, which includes a one-way valve 2, three PU pipe interfaces 3, three one-way throttle valves 4, three PU pipes 5, a ring gasket 6, a pressure-resistant 1Mpa air storage tank 7, an adapter 8, a first PU pipe 9, an electromagnetic valve 10, a second PU pipe 11 and a four-way joint 12 in a housing 1.

The shell 1 comprises a streamline curved surface, three hollow joints 13, an annular boss 14 with a groove, four bosses 15 with through holes, a plurality of inclined holes 16 and a cavity 17. Three hollow joint 13 inserts three PU pipe 3 respectively, and three PU pipe 3 is connected with three one-way throttle valve 4 that are used for controlling gas flow and prevent the water refluence soon to twist, puts into annular packing ring 6 in the recess 14 for the auxiliary stay of gas holder, four take four through-hole's boss 15 and four screw thread blind holes 19 that gas holder 7 corresponds pass through bolted connection, a bottom mounting for the gas holder, a plurality of inclined holes 16 are used for releasing the bubble, cavity 17 is used for buffering the gas that hollow joint 13 released.

The gas holder 7 include preceding screw thread through-hole 18, back screw thread through-hole 20 and four screw thread blind holes 19, preceding screw thread through-hole 18 passes through threaded connection with the crossover head 8 for export compressed gas, four screw thread blind holes 19 pass through bolted connection with four bosses 15 of taking the through-hole of shell in order to fix the gas holder, back screw thread through-hole 20 passes through threaded connection with check valve 2 for input compressed gas. External compressed gas sequentially passes through the one-way valve 2 and the rear threaded through hole 20 to enter the gas storage tank 7, and the gas in the gas storage tank 7 is prevented from being reversely output from the rear threaded through hole 20 and the one-way valve 2.

An air inlet of the electromagnetic valve 10 is connected with the first PU pipe 9 through quick screwing, and the first PU pipe 9 is connected with the conversion head 8 through quick screwing; the gas outlet and the second PU pipe 11 of solenoid valve 10 are connected through soon twisting, and second PU pipe 11 is connected through soon twisting with four-way connection 12, and four-way connection 12 is connected through soon twisting with three PU pipe 5, and three PU pipe 5 is connected through soon twisting with three one-way throttle valve 4 for the break-make of control gas.

According to the utility model discloses a form, bionical amphibious robot's supplementary propeller of air lubrication under water is to blowout air around the health to produce stable bubble around the health, reduce and the frictional resistance between the rivers on every side, thereby improve the device of speed. Specifically, compressed air is pumped into the air storage tank 7 through an air compressor in advance, then the passage is opened by using the electromagnetic valve 10, so that the air is controlled to pass through the air transmission passage and finally be sprayed out from the body surface of the bionic amphibious robot.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above only is the embodiments of the present invention, and the present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an air lubrication assists propeller under water based on bionical amphibious type robot which characterized in that includes:

the outer shell (1) is provided with a streamline curved surface, a ring belt area is arranged on the outer wall of the outer shell, a cavity (17) is arranged between the ring belt area and the inner wall of the outer shell, and a plurality of inclined holes (16) are formed in the surface of the ring belt area; and

and the gas storage tank (7) is fixedly arranged in the shell and is communicated with the cavity (17) through a gas transmission passage, so that gas in the gas storage tank (7) enters the cavity (17) through the gas transmission passage and is sprayed out of the inclined holes (16).

2. The underwater air-lubricated auxiliary thruster based on a bionic amphibious robot as claimed in claim 1, wherein a plurality of hollow joints (13) are arranged on the inner wall of the shell, one end of each hollow joint is communicated with the cavity (17), and the other end of each hollow joint is communicated with the gas transmission passage.

3. The underwater air-lubricated auxiliary thruster based on a bionic amphibious robot as claimed in claim 2, wherein,

the number of the hollow joints (13) is 3, and the hollow joints are uniformly distributed on the inner wall of the shell at intervals of 120 degrees; or

The number of the hollow joints (13) is 4, and the hollow joints are uniformly distributed on the inner wall of the shell at intervals of 90 degrees.

4. The underwater air-lubricated auxiliary thruster based on a bionic amphibious robot as claimed in claim 2, wherein the inner wall of the housing further comprises an annular boss (14) with a groove and a plurality of bosses (15) with through holes, wherein:

an annular gasket (6) is arranged in a groove of the annular boss (14) to support the air storage tank (7) in an auxiliary mode;

the through hole of boss (15) with a plurality of screw thread blind holes (19) that gas holder (7) bottom set up are connected through the bolt, and are right the bottom of gas holder (7) is fixed.

5. The underwater air-lubricated auxiliary thruster based on a bionic amphibious robot as claimed in claim 4, wherein said air reservoir (7) comprises:

the front threaded through hole (18) is arranged at the front end of the gas storage tank (7), and gas in the gas storage tank (7) is output to the gas transmission passage through the front threaded through hole (18);

the rear threaded through hole (20) is formed in the bottom end of the gas storage tank (7), and external compressed gas is input into the gas storage tank (7) through the rear threaded through hole (20);

a plurality of screw thread blind holes (19), set up in the bottom of gas holder (7), with the through-hole of boss (15) passes through the bolt and connects, and is right the bottom of gas holder (7) is fixed.

6. The underwater air lubrication auxiliary propeller based on the bionic amphibious robot is characterized in that the number of the bosses (15) is equal to that of the threaded blind holes (19), and is more than or equal to 3.

7. The underwater air lubrication auxiliary propeller based on a bionic amphibious robot is characterized in that a one-way valve (2) is further arranged on the rear threaded through hole (20), the one-way valve (2) is in threaded connection with the rear threaded through hole (20), external compressed air sequentially passes through the one-way valve (2) and the rear threaded through hole (20) to enter the air storage tank (7), and the air in the air storage tank (7) is prevented from being reversely output from the rear threaded through hole (20) and the one-way valve (2).

8. The underwater air-lubricated auxiliary thruster based on a bionic amphibious robot as claimed in claim 5, wherein the gas transmission passage comprises a swivel (8), a first PU pipe (9), an electromagnetic valve (10), a second PU pipe (11), a multi-way joint (12), a plurality of PU pipes (5), a plurality of one-way throttle valves (4) and a plurality of PU pipe interfaces (3) in sequence along the gas transmission direction, wherein:

the adapter (8) is in threaded connection with a front threaded through hole (18) of the gas storage tank (7) and is used for outputting compressed gas in the gas storage tank (7);

one end of the first PU pipe (9) is connected with the adapter (8) through quick screwing, and the other end of the first PU pipe (9) is connected with an air inlet of the electromagnetic valve (10) through quick screwing;

an air outlet of the electromagnetic valve (10) is connected with one end of the second PU pipe (11) through quick screwing, and the other end of the second PU pipe (11) is connected with one port of the multi-way joint (12) through quick screwing;

the other ports of the multi-way joint (12) are respectively connected with one end of one of the PU pipes (5) through quick screwing, and the other end of one of the PU pipes (5) is respectively connected with one of the one-way throttle valves (4) through quick screwing;

one of the one-way throttle valves (4) is simultaneously connected with one of the PU pipe interfaces (3) through quick screwing;

a plurality of hollow joints (13) arranged on the inner wall of the shell are respectively inserted into the PU pipe interfaces (3), so that gas in the PU pipe interfaces (3) enters the cavity (17) through the hollow joints (13).

9. The underwater air-lubricated auxiliary thruster based on a bionic amphibious robot as claimed in claim 8, wherein the multi-way joint (12) is a four-way joint, and the plurality of PU tubes (5), the plurality of one-way throttle valves (4) and the plurality of PU tube interfaces (3) are all three, wherein:

one port of the four-way joint is communicated with the second PU pipe (11), the other three ports are respectively communicated with one PU pipe in the PU pipes (5), each PU pipe in the PU pipes (5) is respectively communicated with one-way throttle valve in the one-way throttle valves (4), and each one-way throttle valve in the one-way throttle valves (4) is simultaneously communicated with one PU pipe interface in the PU pipe interfaces (3).

10. The underwater air-lubricated auxiliary thruster based on a bionic amphibious robot as claimed in claim 8, wherein one end of the one-way throttle valve (4) is connected to one of the plurality of PU pipes (5), and the other end is connected to one of the plurality of PU pipe interfaces (3) for controlling the flow of gas and preventing the backflow of water.