Underwater vehicle capable of switching swinging modes

The invention relates to the field of underwater bionic vehicles, in particular to an underwater vehicle capable of switching a swing mode, the underwater vehicle comprises a head, a rotatable part and a multi-joint flexible propeller which are connected in sequence, the rotatable part can roll relative to the head, and the multi-joint flexible propeller is fixedly connected with the rotatable part; the multi-joint flexible propeller can swing underwater in a reciprocating manner to generate propulsive force; a rotatable part cavity is formed in the rotatable part, and a mode switching mechanism is arranged in the rotatable part cavity. According to the multi-joint flexible propeller, the counter weights on the two sides of the rotatable part are adjusted through the mode switching mechanism, the multi-joint flexible propeller can roll by 90 degrees, and the swing waveforms of the tails of different fishes or dolphins can be simulated according to needs in the left-right or up-down swing propelling mode so as