Underwater vehicle

Abstract

The invention discloses an underwater vehicle, belongs to the technical field of underwater vehicles, and solves the problems that an existing underwater vehicle is low in propulsion efficiency and high in noise. One end of the shape memory alloy spring is connected with the inner wall of the supporting cylinder, the other end is connected with the transmission structure, and the end, away from the shape memory alloy spring, of the transmission structure is connected with the pushing structure. The end, away from the transmission structure, of the pushing structure is always in sliding sealing with the inner wall of the supporting cylinder and connected with the hinged support. One end of the shape memory alloy wire is connected with the pushing structure, the other end of the shape memory alloy wire is connected with the transmission structure, two limiting mechanisms are symmetrically arranged on the supporting cylinder, and the limiting mechanisms are configured to limit the rotation angle of the wing. The two wings are symmetrically arranged, the first ends of the two wings are hinged to the hinged support, and the other ends of the two wings penetrate through the limiting mechanisms at the corresponding positions and then stretch out of the outside. The underwater vehicle provided by the embodiment of the invention is low in noise in the propelling process and high in propelling efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of underwater vehicles, and in particular to an underwater vehicle. Background Art

[0002] An underwater vehicle is a vehicle that travels underwater, including manned and unmanned underwater vehicles. It can perform underwater exploration, detection, and even military offensive and defensive tasks. As ocean development becomes increasingly important, it has received more and more attention from various countries, playing an important role in both civilian and military applications.

[0003] At the same time, modern high-tech warfare conditions have also put forward higher requirements on the navigation capability and stealth performance of underwater vehicles. Traditional underwater vehicles use electric motors as power to drive the propellers to achieve the propulsion of the underwater vehicles. Not only is the propulsion efficiency low, but the noise is also relatively large. Summary of the invention

[0004] The embodiments of the present application provide an underwater vehicle, thereby solving the problems of low propulsion efficiency and high noise of existing underwater vehicles.

[0005] An embodiment of the present invention provides an underwater vehicle, which includes a support tube, a driving mechanism, a limiting mechanism, a hinge support and two wings; the driving mechanism is arranged in the support tube; the driving mechanism includes a shape memory alloy wire, a shape memory alloy spring, a transmission structure and a driving structure; one end of the shape memory alloy spring is connected to the inner wall of the support tube, and the other end is connected to the transmission structure, and the end of the transmission structure away from the shape memory alloy spring is connected to the driving structure; the end of the driving structure away from the transmission structure is always slidably sealed with the inner wall of the support tube, and the end is connected to the hinge support; the The shape memory alloy spring is configured to contract when energized so as to drive the transmission structure closer to the shape memory alloy spring; one end of the shape memory alloy wire is connected to the pushing structure, and the other end is connected to the transmission structure, and the shape memory alloy wire is configured to contract when energized so as to drive the transmission structure away from the shape memory alloy spring; two limiting mechanisms are symmetrically arranged on the support tube, and the limiting mechanisms are configured to limit the rotation angle of the wing; the two wings are symmetrically arranged, and the first ends of the two wings are hinged to the hinge support, and the other ends of the two wings respectively pass through the limiting mechanisms at corresponding positions and then extend out of the outside.

[0006] In a possible implementation, the transmission structure includes a mobile platform and two transmission components; the two transmission components are symmetrically arranged in the support tube; the transmission component includes a first support member, a second support member and a third support member; the mobile platform is arranged in the support tube, and the axis of the mobile platform coincides with the axis of the support tube, one end of the mobile platform is connected to the end of the shape memory alloy spring facing away from the support tube, and the other end is connected to the end of the shape memory alloy wire facing away from the pushing structure; the axis of the first support member is parallel to the axis of the support tube, one end of the first support member is connected to the support tube, and the other end is hinged to the second support member after passing through the mobile platform, and the other end of the second support member is slidably connected to the pushing structure; one end of the third support member is hinged to the end of the mobile platform connected to the shape memory alloy wire, and the other end is hinged to the second support member.

[0007] In one possible implementation, the pushing structure includes a pushing rod; one end of the pushing rod is slidably connected to the second support member, and the end of the pushing rod facing away from the second support member is always slidably sealed to the inner wall of the support tube; the hinge support is connected to the end of the pushing rod facing away from the second support member.

[0008] In a possible implementation, the pushing structure also includes a first ball; the middle diameter of the pushing rod is smaller than the diameter at both ends; a plurality of the first balls are arranged in the middle of the pushing rod, the outer wall of each of the first balls is in contact with the middle of the pushing rod, and each of the first balls is rotatably connected to the inner wall of the support tube.

[0009] In a possible implementation, a slide groove is provided at one end of the push rod connected to the second support member; the second support member includes a support rod and a slider; one end of the support rod is connected to the first support member, and the other end is connected to the slider; the slider is clamped in the slide groove, and the slider can move along the slide groove.

[0010] In a possible implementation, the pushing structure further includes a second ball; a plurality of the second ball bearings are rotatably connected in the slide groove; and the plurality of the second ball bearings are located between the slide groove and the slider.

[0011] In a possible implementation, the wing includes a bionic wing, a connecting plate, a first connecting rod, a second connecting rod and a limiting plate; one end of the first connecting rod is hinged to the hinge support, and the other end passes through the limiting mechanism and is connected to the two connecting plates in sequence, and the two connecting plates are arranged at intervals along the axial direction of the first connecting rod; the two ends of the bionic wing are respectively connected to the two connecting plates; the second connecting rod is arranged at the end of the connecting plate away from the bionic wing, and the first end of the second connecting rod is connected to the two connecting plates in sequence; the limiting plate is arranged in the limiting mechanism, and the limiting plate is connected to the second end of the second connecting rod; the limiting plate can rotate with the second connecting rod, and when the limiting plate rotates to abut against the limiting mechanism, the bionic wing is limited.

[0012] In a possible implementation, the limiting mechanism includes a limiting block; the limiting block is connected to the supporting tube, the inner cavity of the limiting block is provided with a groove, and the groove has two mutually perpendicular side walls; the limiting plate is arranged between the two side walls of the groove; the side wall of the limiting block is provided with a first mounting hole and a second mounting hole, and the first mounting hole and the second mounting hole are both connected to the groove; one end of the first connecting rod is connected to the hinge support, and the other end passes through the first mounting hole and the second mounting hole in sequence and then connects to the two connecting plates; the limiting plate can rotate with the second connecting rod, and when the limiting plate rotates to abut against the side wall of the groove, the bionic wing is limited.

[0013] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0014] An embodiment of the present invention provides an underwater vehicle, which includes a support tube, a pushing mechanism, a limiting mechanism, a hinge support and two wings. The pushing mechanism is arranged in the support tube. The pushing mechanism includes a shape memory alloy wire, a shape memory alloy spring, a transmission structure and a pushing structure. One end of the shape memory alloy spring is connected to the inner wall of the support tube, and the other end is connected to the transmission structure. The end of the transmission structure away from the shape memory alloy spring is connected to the pushing structure. The end of the pushing structure away from the transmission structure is always slidably sealed with the inner wall of the support tube, and the end is connected to the hinge support. The shape memory alloy spring is configured to be energized to contract to drive the transmission structure close to the shape memory alloy spring. One end of the shape memory alloy wire is connected to the pushing structure, and the other end is connected to the transmission structure. The shape memory alloy wire is configured to be energized to contract to drive the transmission structure away from the shape memory alloy spring. Two limiting mechanisms are symmetrically arranged on the support tube, and the limiting mechanisms are configured to limit the rotation angle of the wing. The two wings are symmetrically arranged, and the first ends of the two wings are hinged to the hinge support, and the other ends of the two wings extend out of the outside after passing through the limit mechanisms at the corresponding positions. The present application realizes the reciprocating motion of the transmission structure through the mutual cooperation of the shape memory alloy spring and the shape memory alloy wire. The reciprocating motion of the transmission structure drives the reciprocating motion of the propulsion structure, and the reciprocating motion of the propulsion structure drives the reciprocating motion of the hinge support. The reciprocating motion of the hinge support drives the wings to rotate continuously in the water, thereby realizing the propulsion of the underwater vehicle. The propulsion process has low noise and high propulsion efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0016] Figure 1 Schematic diagram of the structure of the underwater vehicle provided in the embodiment of the present application Figure 1 ;

[0017] Figure 2 for Figure 1 A in the enlarged view;

[0018] Figure 3 Schematic diagram of the structure of the underwater vehicle provided in the embodiment of the present application Figure 2 ;

[0019] Figure 4 Schematic diagram of the structure of the underwater vehicle provided in the embodiment of the present application Figure 3 ;

[0020] Figure 5 for Figure 4 The enlarged view of point B in the figure;

[0021] Figure 6 Schematic diagram of the structure of the support cylinder and the driving mechanism provided in the embodiment of the present application Figure 1 ;

[0022] Figure 7 Schematic diagram of the structure of the support cylinder and the driving mechanism provided in the embodiment of the present application Figure 2 ;

[0023] Figure 8 A schematic diagram of the structure of the second support member provided in the embodiment of the present application Figure 1 ;

[0024] Fig. 9 A schematic diagram of the structure of the second support member provided in the embodiment of the present application Figure 2 ;

[0025] Fig.10 A partial schematic diagram of the propulsion structure provided in the embodiment of the present application Figure 1 ;

[0026] Fig.11 A partial schematic diagram of the propulsion structure provided in the embodiment of the present application Figure 2 ;

[0027] Fig.12 A schematic diagram of the structure of the third support member provided in the embodiment of the present application Figure 1 ;

[0028] Fig.13 A schematic diagram of the structure of the third support member provided in the embodiment of the present application Figure 2 .

[0029] Icons: 1-support cylinder; 2-pushing mechanism; 21-shape memory alloy wire; 22-shape memory alloy spring; 23-transmission structure; 231-movable platform; 232-transmission assembly; 2321-first support member; 2322-second support member; 2322a-support rod; 2322b-slider; 2323-third support member; 24-pushing structure; 241-pushing rod; 2411-slide groove; 2411-slide groove; 242-first ball; 243-second ball; 3-limiting mechanism; 31-limiting block; 311-groove; 312-first mounting hole; 313-second mounting hole; 4-hinge support; 5-wing; 51-bionic wing; 52-connecting plate; 53-first connecting rod; 54-second connecting rod; 55-limiting plate. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the embodiments of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limitations on the present invention. The terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to the specific circumstances.

[0032] like Figures 1 to 13 As shown, an embodiment of the present invention provides an underwater vehicle, which includes a support tube 1, a propulsion mechanism 2, a limiting mechanism 3, a hinge support 4 and two wings 5.

[0033] like Figure 7 As shown, the pushing mechanism 2 is arranged in the support tube 1. The pushing mechanism 2 includes a shape memory alloy wire 21, a shape memory alloy spring 22, a transmission structure 23 and a pushing structure 24. One end of the shape memory alloy spring 22 is connected to the inner wall of the support tube 1, and the other end is connected to the transmission structure 23. The end of the transmission structure 23 that is away from the shape memory alloy spring 22 is connected to the pushing structure 24. The end of the pushing structure 24 that is away from the transmission structure 23 is always slidably sealed with the inner wall of the support tube 1, and the end is connected to the hinge support 4. The shape memory alloy spring 22 is configured to contract when powered on to drive the transmission structure 23 to approach the shape memory alloy spring 22. Specifically, the shape memory alloy spring 22 is connected to a wire device, and the initial shape is a memory shape. When the transmission structure 23 moves in a direction away from the shape memory alloy spring 22, the shape of the shape memory alloy spring 22 changes, and then the transmission structure 23 is pulled back to the initial position by powering on and the tension of the shape memory alloy spring 22 itself.

[0034] Continue to refer to Figure 7 As shown, one end of the shape memory alloy wire 21 is connected to the pushing structure 24, and the other end is connected to the transmission structure 23. The shape memory alloy wire 21 is configured to be energized to contract to drive the transmission structure 23 away from the shape memory alloy spring 22. The shape memory alloy wire 21 is connected to a wire device. The shape memory alloy wire 21 is not in a memory shape at room temperature, and the length of the memory shape is shorter than that at room temperature. When the transmission structure 23 moves toward the direction close to the shape memory alloy spring 22, the shape of the shape memory alloy wire 21 changes. The memory shape of the shape memory alloy wire 21 can be restored by energizing, so that the shape memory alloy wire 21 contracts and drives the transmission structure 23 away from the shape memory alloy spring 22, thereby realizing the reciprocating motion of the transmission structure 23 through the mutual cooperation of the shape memory alloy spring 22 and the shape memory alloy wire 21, the reciprocating motion of the transmission structure 23 drives the reciprocating motion of the pushing structure 24, the reciprocating motion of the pushing structure 24 drives the reciprocating motion of the hinge support 4, and the reciprocating motion of the hinge support 4 drives the wing 5 to rotate continuously in the water, thereby realizing the propulsion of the underwater vehicle, and the propulsion process has low noise and high propulsion efficiency.

[0035] like Figure 1 As shown, two limiting mechanisms 3 are symmetrically arranged on the support tube 1, and the limiting mechanisms 3 are configured to limit the rotation angle of the wing 5. The two wings 5 ​​are symmetrically arranged, and the first ends of the two wings 5 ​​are hinged to the hinge support 4, and the other ends of the two wings 5 ​​pass through the limiting mechanisms 3 at the corresponding positions and then extend out of the outside. Specifically, the limiting mechanisms 3 can limit the rotation angle of the wing 5 between 0° and 90°.

[0036] An embodiment of the present invention provides an underwater vehicle, which includes a support tube 1, a pushing mechanism 2, a limiting mechanism 3, a hinge support 4 and two wings 5. The pushing mechanism 2 is arranged in the support tube 1. The pushing mechanism 2 includes a shape memory alloy wire 21, a shape memory alloy spring 22, a transmission structure 23 and a pushing structure 24. One end of the shape memory alloy spring 22 is connected to the inner wall of the support tube 1, and the other end is connected to the transmission structure 23. The end of the transmission structure 23 that is away from the shape memory alloy spring 22 is connected to the pushing structure 24. The end of the pushing structure 24 that is away from the transmission structure 23 is always slidably sealed with the inner wall of the support tube 1, and the end is connected to the hinge support 4. The shape memory alloy spring 22 is configured to be energized to contract to drive the transmission structure 23 close to the shape memory alloy spring 22. One end of the shape memory alloy wire 21 is connected to the pushing structure 24, and the other end is connected to the transmission structure 23. The shape memory alloy wire 21 is configured to be energized to contract to drive the transmission structure 23 away from the shape memory alloy spring 22. Two limiting mechanisms 3 are symmetrically arranged on the support tube 1, and the limiting mechanisms 3 are configured to limit the rotation angle of the wing 5. The two wings 5 ​​are symmetrically arranged, and the first ends of the two wings 5 ​​are hinged to the hinge support 4, and the other ends of the two wings 5 ​​extend out of the outside after passing through the limiting mechanisms 3 at the corresponding positions. The present application realizes the reciprocating motion of the transmission structure 23 through the mutual cooperation of the shape memory alloy spring 22 and the shape memory alloy wire 21. The reciprocating motion of the transmission structure 23 drives the reciprocating motion of the propulsion structure 24, and the reciprocating motion of the propulsion structure 24 drives the reciprocating motion of the hinge support 4. The reciprocating motion of the hinge support 4 drives the wing 5 to rotate continuously in the water, thereby realizing the propulsion of the underwater vehicle, and the propulsion process has low noise and high propulsion efficiency.

[0037] like Figure 6 As shown, the transmission structure 23 includes a mobile platform 231 and two transmission assemblies 232. The two transmission assemblies 232 are symmetrically arranged in the support tube 1. The transmission assembly 232 includes a first support member 2321, a second support member 2322 and a third support member 2323. The mobile platform 231 is arranged in the support tube 1, and the axis of the mobile platform 231 coincides with the axis of the support tube 1. One end of the mobile platform 231 is connected to the end of the shape memory alloy spring 22 that is away from the support tube 1, and the other end is connected to the end of the shape memory alloy wire 21 that is away from the push structure 24. The axis of the first support member 2321 is parallel to the axis of the support tube 1. One end of the first support member 2321 is connected to the support tube 1, and the other end is hinged to the second support member 2322 after passing through the mobile platform 231. The other end of the second support member 2322 is slidably connected to the push structure 24. Specifically, the first support member 2321 can ensure the motion trajectory of the second support member 2322.

[0038] Continue to refer to Figure 6As shown, one end of the third support member 2323 is hinged to one end of the mobile platform 231 connected to the shape memory alloy wire 21, and the other end is hinged to the second support member 2322. Specifically, the reciprocating motion of the mobile platform 231 is realized by the mutual cooperation of the shape memory alloy spring 22 and the shape memory alloy wire 21. The movement of the mobile platform 231 drives the third support member 2323 to rotate, and the rotation of the third support member 2323 drives the second support member 2322 to rotate, so that the second support member 2322 can drive the pushing structure 24 to move. The transmission structure 23 of the present application realizes power transmission through the first support member 2321, the second support member 2322 and the third support member 2323, so that the contraction distance of the shape memory alloy wire 21 is less than the actual propulsion distance of the underwater vehicle, thereby making the underwater vehicle have a longer propulsion distance and a faster propulsion speed.

[0039] like Figure 6 As shown, the pushing structure 24 includes a pushing rod 241. One end of the pushing rod 241 is slidably connected to the second support member 2322, and the end of the pushing rod 241 away from the second support member 2322 is always slidably sealed with the inner wall of the support tube 1. The hinge support 4 is connected to the end of the pushing rod 241 away from the second support member 2322. Specifically, the pushing rod 241 can reciprocate under the action of the transmission structure 23, thereby driving the hinge support 4 to reciprocate, so that the hinge support 4 can drive the wing 5 to continuously rotate in the water, thereby realizing the propulsion of the underwater vehicle.

[0040] like Figure 7 As shown, the pushing structure 24 also includes a first ball 242. The middle diameter of the pushing rod 241 is smaller than the diameter of both ends thereof. A plurality of first balls 242 are arranged in the middle of the pushing rod 241, and the outer wall of each first ball 242 is in contact with the middle of the pushing rod 241, and each first ball 242 is rotatably connected to the inner wall of the support tube 1. In practical applications, the plurality of first balls 242 can reduce the friction force during the sliding process of the pushing rod 241, so that the sliding speed of the pushing rod 241 is faster, which can not only improve the propulsion efficiency of the underwater vehicle, but also further reduce the noise generated during the propulsion of the underwater vehicle.

[0041] like Fig.11 As shown, one end of the push rod 241 connected to the second support member 2322 is provided with a slide groove 2411. The second support member 2322 includes a support rod 2322a and a slider 2322b. One end of the support rod 2322a is connected to the first support member 2321, and the other end is connected to the slider 2322b. The slider 2322b is clamped in the slide groove 2411, and the slider 2322b can move along the slide groove 2411. Specifically, the sliding of the second support member 2322 on the push structure 24 is achieved by the mutual cooperation of the slider 2322b and the slide groove 2411, which has a simple structure and a fast moving speed.

[0042] like Fig.10 As shown, the pushing structure 24 also includes a second ball 243. A plurality of second balls 243 are rotatably connected in the slide groove 2411. The plurality of second balls 243 are located between the slide groove 2411 and the slider 2322b. In practical applications, the second ball 243 can reduce the friction force during the sliding process of the slider 2322b, which can not only reduce the wear of the slider 2322b and increase the service life of the slider 2322b, but also increase the moving speed of the slider 2322b in the slide groove 2411.

[0043] like Figure 2 As shown, the wing 5 includes a bionic wing 51, a connecting plate 52, a first connecting rod 53, a second connecting rod 54 and a limiting plate 55. One end of the first connecting rod 53 is hinged to the hinge support 4, and the other end passes through the limiting mechanism 3 and is connected to two connecting plates 52 in sequence, and the two connecting plates 52 are arranged at intervals along the axial direction of the first connecting rod 53. The two ends of the bionic wing 51 are respectively connected to the two connecting plates 52. The second connecting rod 54 is arranged at one end of the connecting plate 52 away from the bionic wing 51, and the first end of the second connecting rod 54 is connected to the two connecting plates 52 in sequence. The limiting plate 55 is arranged in the limiting mechanism 3, and the limiting plate 55 is connected to the second end of the second connecting rod 54. The limiting plate 55 can rotate with the second connecting rod 54, and the limiting of the bionic wing 51 is achieved when the limiting plate 55 rotates to abut against the limiting mechanism 3. Specifically, when the pushing structure 24 reciprocates in the support tube 1, it can drive the hinge support 4 to reciprocate, and the reciprocating motion of the hinge support 4 drives the first connecting rod 53 to rotate, so that the first connecting rod 53 can drive the angle of the bionic wing 51 to change repeatedly (the angle change process of the bionic wing 51 is as shown in FIG. Figure 1 , Figure 3 and Figure 4 As shown), that is, to ensure that the wing 5 continues to rotate in the water, thereby achieving the propulsion of the underwater vehicle.

[0044] like Figure 5As shown, the limiting mechanism 3 includes a limiting block 31. The limiting block 31 is connected to the support tube 1, and the inner cavity of the limiting block 31 is provided with a groove 311, and the groove 311 has two mutually perpendicular side walls. The limiting piece 55 is arranged between the two side walls of the groove 311. The side wall of the limiting block 31 is provided with a first mounting hole 312 and a second mounting hole 313, and the first mounting hole 312 and the second mounting hole 313 are both connected to the groove 311. One end of the first connecting rod 53 is connected to the hinge support 4, and the other end passes through the first mounting hole 312 and the second mounting hole 313 in sequence and then connects to the two connecting plates 52. The limiting piece 55 can rotate with the second connecting rod 54, and when the limiting piece 55 rotates to abut against the side wall of the groove 311, the bionic wing 51 is limited. Specifically, the limiting piece 55 can cooperate with the groove 311 to limit the rotation angle of the bionic wing 51 to between 0° and 90°. In addition, when the first connecting rod 53 rotates, it can drive the limiting block 31 to rotate.

[0045] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.

[0046] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. An underwater vehicle, characterized in that: It comprises a support tube (1), a pushing mechanism (2), a limiting mechanism (3), a hinge support (4) and two wings (5); The pushing mechanism (2) is arranged in the supporting tube (1); The pushing mechanism (2) comprises a shape memory alloy wire (21), a shape memory alloy spring (22), a transmission structure (23) and a pushing structure (24); One end of the shape memory alloy spring (22) is connected to the inner wall of the support tube (1), and the other end is connected to the transmission structure (23); the end of the transmission structure (23) facing away from the shape memory alloy spring (22) is connected to the pushing structure (24); the end of the pushing structure (24) facing away from the transmission structure (23) is always in sliding sealing with the inner wall of the support tube (1), and the end is connected to the hinge support (4); the shape memory alloy spring (22) is configured to contract when energized so as to drive the transmission structure (23) to approach the shape memory alloy spring (22); One end of the shape memory alloy wire (21) is connected to the pushing structure (24), and the other end is connected to the transmission structure (23); the shape memory alloy wire (21) is configured to contract when energized so as to drive the transmission structure (23) away from the shape memory alloy spring (22); Two limiting mechanisms (3) are symmetrically arranged on the support tube (1), and the limiting mechanisms (3) are configured to limit the rotation angle of the wing (5); The two wings (5) are symmetrically arranged, and the first ends of the two wings (5) are hinged to the hinge support (4), and the other ends of the two wings (5) respectively pass through the limiting mechanisms (3) at corresponding positions and then extend out of the outside.

2. The underwater vehicle according to claim 1, characterized in that: The transmission structure (23) comprises a mobile platform (231) and two transmission components (232); The two transmission assemblies (232) are symmetrically arranged in the support tube (1); The transmission assembly (232) comprises a first support member (2321), a second support member (2322) and a third support member (2323); The mobile platform (231) is arranged in the support tube (1), and the axis of the mobile platform (231) coincides with the axis of the support tube (1); one end of the mobile platform (231) is connected to an end of the shape memory alloy spring (22) that is away from the support tube (1), and the other end is connected to an end of the shape memory alloy wire (21) that is away from the pushing structure (24); The axis of the first support member (2321) is parallel to the axis of the support tube (1); one end of the first support member (2321) is connected to the support tube (1); the other end passes through the movable platform (231) and is hinged to the second support member (2322); the other end of the second support member (2322) is slidably connected to the pushing structure (24); One end of the third support member (2323) is hinged to one end of the mobile platform (231) connected to the shape memory alloy wire (21), and the other end is hinged to the second support member (2322).

3. The underwater vehicle according to claim 2, characterized in that: The pushing structure (24) comprises a pushing rod (241); One end of the push rod (241) is slidably connected to the second support member (2322), and the end of the push rod (241) facing away from the second support member (2322) is always slidably sealed with the inner wall of the support tube (1); the hinge support (4) is connected to the end of the push rod (241) facing away from the second support member (2322).

4. The underwater vehicle according to claim 3, characterized in that: The pushing structure (24) further includes a first rolling ball (242); The middle diameter of the push rod (241) is smaller than the diameters of its two ends; A plurality of first rolling balls (242) are arranged in the middle of the pushing rod (241), the outer wall of each first rolling ball (242) is in contact with the middle of the pushing rod (241), and each first rolling ball (242) is rotatably connected to the inner wall of the supporting tube (1).

5. The underwater vehicle according to claim 3, characterized in that: One end of the push rod (241) connected to the second support member (2322) is provided with a slide groove (2411); The second support member (2322) includes a support rod (2322a) and a sliding block (2322b); One end of the support rod (2322a) is connected to the first support member (2321), and the other end is connected to the slider (2322b); The slider (2322b) is clamped in the slide groove (2411), and the slider (2322b) can move along the slide groove (2411).

6. The underwater vehicle according to claim 5, characterized in that: The pushing structure (24) further includes a second rolling ball (243); A plurality of the second rolling balls (243) are rotatably connected in the slide groove (2411); The plurality of second rolling balls (243) are located between the slide groove (2411) and the slider (2322b).

7. The underwater vehicle according to claim 1, characterized in that: The wing (5) comprises a bionic wing (51), a connecting plate (52), a first connecting rod (53), a second connecting rod (54) and a limiting plate (55); One end of the first connecting rod (53) is hinged to the hinge support (4), and the other end passes through the limiting mechanism (3) and is sequentially connected to the two connecting plates (52), and the two connecting plates (52) are arranged at intervals along the axial direction of the first connecting rod (53); Two ends of the bionic wing (51) are respectively connected to the two connecting plates (52); The second connecting rod (54) is arranged at an end of the connecting plate (52) away from the bionic wing (51), and the first end of the second connecting rod (54) and the two connecting plates (52) are connected in sequence; The limiting plate (55) is arranged in the limiting mechanism (3), and the limiting plate (55) is connected to the second end of the second connecting rod (54); the limiting plate (55) can rotate along with the second connecting rod (54), and when the limiting plate (55) rotates to abut against the limiting mechanism (3), the bionic wing (51) is limited.

8. The underwater vehicle according to claim 7, characterized in that: The limiting mechanism (3) comprises a limiting block (31); The limiting block (31) is connected to the supporting tube (1); the inner cavity of the limiting block (31) is provided with a groove (311); the groove (311) has two side walls that are perpendicular to each other; The limiting piece (55) is arranged between the two side walls of the groove (311); A first mounting hole (312) and a second mounting hole (313) are provided on the side wall of the limiting block (31), and the first mounting hole (312) and the second mounting hole (313) are both connected to the groove (311); One end of the first connecting rod (53) is connected to the hinge support (4), and the other end passes through the first mounting hole (312) and the second mounting hole (313) in sequence and then connects to the two connecting plates (52); The limiting plate (55) can rotate along with the second connecting rod (54), and when the limiting plate (55) rotates to abut against the side wall of the groove (311), the limiting of the bionic wing (51) is achieved.

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