An underwater vehicle

Abstract

The application discloses an underwater vehicle and belongs to the technical field of underwater vehicles, and solves the problems of low propelling efficiency and loud noise of the existing underwater vehicle. One end of a shape memory alloy spring is connected with the inner wall of a supporting cylinder, and the other end is connected with a transmission structure. The end of the transmission structure, which is away from the shape memory alloy spring, is connected with a pushing structure. The end of the pushing structure, which is away from the transmission structure, is always in sliding sealing with the inner wall of the supporting cylinder, and the end is connected with a hinge support. One end of a shape memory alloy wire is connected with the pushing structure, and the other end 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 rotating angle of the wings. Two wings are symmetrically arranged, and the first ends of the two wings are hinged with the hinge support. The other ends of the two wings respectively pass through the limiting mechanisms at the corresponding positions and extend outside. The underwater vehicle provided by the application has low noise and high propelling efficiency during the propelling process.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle technology, and more particularly to an underwater vehicle. Background Technology

[0002] An underwater vehicle is a vehicle that navigates underwater, including manned and unmanned underwater vehicles. It can perform underwater exploration, reconnaissance, and even military offensive and defensive tasks. With the increasing importance of ocean development, it has gained growing attention from various countries and plays a vital role in both civilian and military applications.

[0003] At the same time, modern high-tech warfare conditions also place higher demands on the navigation capabilities and stealth performance of underwater vehicles. Traditional underwater vehicles use electric motors to drive propellers to achieve propulsion, which is not only inefficient but also noisy. Summary of the Invention

[0004] This application provides an underwater vehicle that solves the problems of low propulsion efficiency and high noise in existing underwater vehicles.

[0005] This invention provides an underwater vehicle comprising a support cylinder, a propulsion mechanism, a limiting mechanism, a hinge support, and two wings. The propulsion mechanism is located within the support cylinder and includes a shape memory alloy wire, a shape memory alloy spring, a transmission structure, and a propulsion structure. One end of the shape memory alloy spring is connected to the inner wall of the support cylinder, and the other end is connected to the transmission structure. The end of the transmission structure opposite to the shape memory alloy spring is connected to the propulsion structure. The end of the propulsion structure opposite to the transmission structure is always in a sliding seal with the inner wall of the support cylinder, and this end is connected to the hinge support. The shape memory alloy spring is configured to contract upon energization to move the transmission structure closer to the shape memory alloy spring; one end of the shape memory alloy wire is connected to the push structure, and the other end is connected to the transmission structure. The shape memory alloy wire is configured to contract upon energization to move the transmission structure away from the shape memory alloy spring; two limiting mechanisms are symmetrically arranged on the support cylinder, and the limiting mechanisms are configured to limit the rotation angle of the wings; the two wings are symmetrically arranged, and the first end of each wing is hinged to the hinge support, and the other end of each wing extends outward after passing through the limiting mechanisms at corresponding positions.

[0006] In one possible implementation, the transmission structure includes a moving platform and two transmission components; the two transmission components are symmetrically arranged within the support cylinder; each transmission component includes a first support member, a second support member, and a third support member; the moving platform is disposed within the support cylinder, and the axis of the moving platform coincides with the axis of the support cylinder; one end of the moving platform is connected to the end of the shape memory alloy spring facing away from the support cylinder, and the other end is connected to the end of the shape memory alloy wire facing away from the push structure; the axis of the first support member is parallel to the axis of the support cylinder; one end of the first support member is connected to the support cylinder, and the other end passes through the moving platform and is hinged to the second support member; the other end of the second support member is slidably connected to the push structure; one end of the third support member is hinged to the end of the moving 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 opposite to the second support member is always slidably sealed to the inner wall of the support cylinder; the hinge support is connected to the end of the pushing rod opposite to the second support member.

[0008] In one possible implementation, the pushing structure further includes a first ball bearing; the diameter of the middle part of the pushing rod is smaller than the diameter of its two ends; a plurality of the first balls bearing are disposed in the middle part of the pushing rod, the outer wall of each first ball bearing is in contact with the middle part of the pushing rod, and each first ball bearing is rotatably connected to the inner wall of the support cylinder.

[0009] In one possible implementation, the end of the push rod connected to the second support member is provided with a groove; 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 engaged in the groove, and the slider can move along the groove.

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

[0011] In one 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 sequentially connected to two connecting plates, which are spaced apart along the axial direction of the first connecting rod; both ends of the bionic wing are respectively connected to the two connecting plates; the second connecting rod is disposed at the end of the connecting plate opposite to the bionic wing, and the first end of the second connecting rod is sequentially connected to the two connecting plates; the limiting plate is disposed within 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 one possible implementation, the limiting mechanism includes a limiting block; the limiting block is connected to the support cylinder, and the inner cavity of the limiting block has a groove with two mutually perpendicular sidewalls; the limiting piece is disposed between the two sidewalls of the groove; a first mounting hole and a second mounting hole are provided on the sidewall of the limiting block, and both the first mounting hole and the second mounting hole communicate with 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 is connected to the two connecting plates; the limiting piece can rotate with the second connecting rod, and when the limiting piece rotates to abut against the sidewall 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] This invention provides an underwater vehicle comprising a support cylinder, a propulsion mechanism, a limiting mechanism, a hinge support, and two wings. The propulsion mechanism is located within the support cylinder. The propulsion mechanism includes a shape memory alloy wire, a shape memory alloy spring, a transmission structure, and a propulsion mechanism. One end of the shape memory alloy spring is connected to the inner wall of the support cylinder, and the other end is connected to the transmission structure. The end of the transmission structure opposite to the shape memory alloy spring is connected to the propulsion structure. The end of the propulsion structure opposite to the transmission structure is always in a sliding seal with the inner wall of the support cylinder, and this end is connected to the hinge support. The shape memory alloy spring is configured to contract when energized to move the transmission structure closer to the shape memory alloy spring. One end of the shape memory alloy wire is connected to the propulsion structure, and the other end is connected to the transmission structure. The shape memory alloy wire is configured to contract when energized to move the transmission structure away from the shape memory alloy spring. Two limiting mechanisms are symmetrically arranged on the support cylinder, and these limiting mechanisms are configured to limit the rotation angle of the wings. The two wings are symmetrically arranged, with the first end of each wing hinged to a hinge support. The other ends of the two wings extend outwards after passing through corresponding limiting mechanisms. This application achieves the reciprocating motion of the transmission structure through the interaction of shape memory alloy springs and shape memory alloy wires. The reciprocating motion of the transmission structure drives the reciprocating motion of the propulsion structure, which in turn drives the reciprocating motion of the hinge support. The reciprocating motion of the hinge support causes the wings to rotate continuously in the water, thereby achieving propulsion for the underwater vehicle. The propulsion process is characterized by low noise and high efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0017] Figure 2 for Figure 1 Enlarged view of point A in the image;

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

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

[0020] Figure 5 for Figure 4 Enlarged view of point B in the image;

[0021] Figure 6 Schematic diagram of the support cylinder and the pushing mechanism provided in the embodiments of this application Figure 1 ;

[0022] Figure 7 Schematic diagram of the support cylinder and the pushing mechanism provided in the embodiments of this application Figure 2 ;

[0023] Figure 8 Schematic diagram of the structure of the second support member provided in the embodiments of this application Figure 1 ;

[0024] Figure 9 Schematic diagram of the structure of the second support member provided in the embodiments of this application Figure 2 ;

[0025] Figure 10 Partial schematic diagram of the pushing structure provided in the embodiments of this application Figure 1 ;

[0026] Figure 11 Partial schematic diagram of the pushing structure provided in the embodiments of this application Figure 2 ;

[0027] Figure 12 Schematic diagram of the structure of the third support member provided in the embodiments of this application Figure 1 ;

[0028] Figure 13 Schematic diagram of the structure of the third support member provided in the embodiments of this 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-Moving 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-Push rod; 2411-Slide groove; 242-First ball bearing; 243-Second ball bearing; 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 piece. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the embodiments of the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0032] like Figures 1-13 As shown, an embodiment of the present invention provides an underwater vehicle, which includes a support cylinder 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 located inside the support cylinder 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 cylinder 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 a sliding seal with the inner wall of the support cylinder 1, and this end is connected to the hinge support 4. The shape memory alloy spring 22 is configured to contract when energized to drive the transmission structure 23 closer to the shape memory alloy spring 22. Specifically, the shape memory alloy spring 22 is connected to a wire device, and its initial shape is its memory shape. When the transmission structure 23 moves away from the shape memory alloy spring 22, the shape of the shape memory alloy spring 22 changes. Then, the transmission structure 23 is pulled back to its initial position by energization 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 push structure 24, and the other end is connected to the transmission structure 23. The shape memory alloy wire 21 is configured to retract when energized 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 does not retain its shape at room temperature; the length of its retained shape is shorter than that at room temperature. When the transmission structure 23 moves towards the shape memory alloy spring 22, the shape of the shape memory alloy wire 21 changes. It can be restored to its retained shape by energizing the wire, causing it to retract and drive the transmission structure 23 away from the shape memory alloy spring 22. Thus, the reciprocating motion of the transmission structure 23 is achieved through the interaction of the shape memory alloy spring 22 and the shape memory alloy wire 21. The reciprocating motion of the transmission structure 23 drives the push structure 24 to reciprocate, which in turn drives the hinge support 4 to reciprocate. The reciprocating motion of the hinge support 4 drives the wing 5 to rotate continuously in the water, thereby achieving the propulsion of the underwater vehicle. The propulsion process is characterized by low noise and high efficiency.

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

[0036] This invention provides an underwater vehicle comprising a support cylinder 1, a propulsion mechanism 2, a limiting mechanism 3, a hinge support 4, and two wings 5. The propulsion mechanism 2 is located within the support cylinder 1. The propulsion mechanism 2 includes a shape memory alloy wire 21, a shape memory alloy spring 22, a transmission structure 23, and a propulsion structure 24. One end of the shape memory alloy spring 22 is connected to the inner wall of the support cylinder 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 propulsion structure 24. The end of the propulsion structure 24 facing away from the transmission structure 23 is always in a sliding seal with the inner wall of the support cylinder 1, and this end is connected to the hinge support 4. The shape memory alloy spring 22 is configured to contract when energized to move the transmission structure 23 closer to the shape memory alloy spring 22. One end of the shape memory alloy wire 21 is connected to the propulsion 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 to move the transmission structure 23 away from the shape memory alloy spring 22. Two limiting mechanisms 3 are symmetrically arranged on the support cylinder 1, and the limiting mechanisms 3 are configured to limit the rotation angle of the wings 5. The two wings 5 ​​are symmetrically arranged, and the first end of each wing 5 is hinged to the hinge support 4. The other end of each wing 5 passes through the limiting mechanism 3 at the corresponding position and extends outward. This 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 push structure 24, which in turn drives the reciprocating motion of the hinge support 4. The reciprocating motion of the hinge support 4 drives the wings 5 ​​to rotate continuously in the water, thereby realizing the propulsion of the underwater vehicle. The propulsion process has low noise and high propulsion efficiency.

[0037] like Figure 6 As shown, the transmission structure 23 includes a moving platform 231 and two transmission components 232. The two transmission components 232 are symmetrically arranged inside the support cylinder 1. Each transmission component 232 includes a first support member 2321, a second support member 2322, and a third support member 2323. The moving platform 231 is disposed inside the support cylinder 1, and its axis coincides with the axis of the support cylinder 1. One end of the moving platform 231 is connected to the end of the shape memory alloy spring 22 facing away from the support cylinder 1, and the other end is connected to the end of the shape memory alloy wire 21 facing away from the push structure 24. The axis of the first support member 2321 is parallel to the axis of the support cylinder 1. One end of the first support member 2321 is connected to the support cylinder 1, and the other end passes through the moving 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 push structure 24. Specifically, the first support member 2321 ensures the movement 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 the end of the moving 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 moving platform 231 is achieved through the cooperation of the shape memory alloy spring 22 and the shape memory alloy wire 21. The movement of the moving platform 231 drives the rotation of the third support member 2323, and the rotation of the third support member 2323 drives the rotation of the second support member 2322, so that the second support member 2322 can drive the propulsion structure 24 to move. The transmission structure 23 of this application achieves 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 enabling the underwater vehicle to have a longer propulsion distance and a faster propulsion speed.

[0039] like Figure 6 As shown, the propulsion structure 24 includes a push 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 to the inner wall of the support cylinder 1. The hinge support 4 is connected to the end of the push rod 241 facing away from the second support member 2322. Specifically, the push 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 rotate continuously in the water, thereby realizing the propulsion of the underwater vehicle.

[0040] like Figure 7 As shown, the propulsion structure 24 also includes first ball bearings 242. The diameter of the middle part of the push rod 241 is smaller than the diameter of its two ends. Multiple first ball bearings 242 are disposed in the middle part of the push rod 241, with the outer wall of each first ball bearing 242 contacting the middle part of the push rod 241, and each first ball bearing 242 being rotatably connected to the inner wall of the support cylinder 1. In practical applications, the multiple first ball bearings 242 can reduce the friction during the sliding process of the push rod 241, resulting in a faster sliding speed of the push rod 241. This not only improves the propulsion efficiency of the underwater vehicle but also further reduces the noise generated during propulsion.

[0041] like Figure 11 As shown, the end of the push rod 241 connected to the second support member 2322 is provided with a 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 engaged in the groove 2411 and can move along the groove 2411. Specifically, the sliding of the second support member 2322 on the push structure 24 is achieved through the mutual cooperation of the slider 2322b and the groove 2411, which has a simple structure and fast movement speed.

[0042] like Figure 10 As shown, the pushing structure 24 also includes second ball bearings 243. Multiple second ball bearings 243 are rotatably connected within the groove 2411. These multiple second ball bearings 243 are located between the groove 2411 and the slider 2322b. In practical applications, the second ball bearings 243 can reduce the friction during the sliding process of the slider 2322b, which not only reduces wear on the slider 2322b and increases its service life, but also increases the moving speed of the slider 2322b within the 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 sequentially connected to two connecting plates 52. The two connecting plates 52 are spaced apart along the axial direction of the first connecting rod 53. Both ends of the bionic wing 51 are connected to the two connecting plates 52 respectively. The second connecting rod 54 is located at the end of the connecting plate 52 opposite to the bionic wing 51, and the first end of the second connecting rod 54 is sequentially connected to the two connecting plates 52. The limiting plate 55 is located within the limiting mechanism 3 and 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 when the limiting plate 55 rotates to abut against the limiting mechanism 3, it limits the bionic wing 51. Specifically, when the pushing structure 24 reciprocates within the support cylinder 1, it drives the hinge support 4 to reciprocate. The reciprocating motion of the hinge support 4 drives the first connecting rod 53 to rotate, so that the first connecting rod 53 can repeatedly change the angle of the bionic wing 51 (the angle change process of the bionic wing 51 is as follows). Figure 1 , Figure 3 and Figure 4 As shown in the figure, this ensures that the wing 5 rotates continuously in the water, thereby enabling the underwater vehicle to propel itself.

[0044] like Figure 5As shown, the limiting mechanism 3 includes a limiting block 31. The limiting block 31 is connected to the support cylinder 1. The inner cavity of the limiting block 31 has a groove 311 with two mutually perpendicular sidewalls. A limiting piece 55 is disposed between the two sidewalls of the groove 311. A first mounting hole 312 and a second mounting hole 313 are provided on the sidewalls of the limiting block 31, both of which communicate with 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 connects to two connecting plates 52. The limiting piece 55 can rotate with the second connecting rod 54. When the limiting piece 55 rotates to abut against the sidewall 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, the first connecting rod 53 can drive the limiting block 31 to rotate when it rotates.

[0045] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

[0046] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.

Claims

1. An underwater vehicle, characterized in that, It includes a support cylinder (1), a push mechanism (2), a limiting mechanism (3), a hinge support (4), and two wings (5); The pushing mechanism (2) is located inside the support cylinder (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 cylinder (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 push structure (24). The end of the push structure (24) facing away from the transmission structure (23) is always in sliding seal with the inner wall of the support cylinder (1), and this end is connected to the hinge support (4). The shape memory alloy spring (22) is configured to retract when energized to drive the transmission structure (23) closer to the shape memory alloy spring (22). One end of the shape memory alloy wire (21) is connected to the push structure (24), and the other end is connected to the transmission structure (23). The shape memory alloy wire (21) is configured to retract when energized to drive the transmission structure (23) away from the shape memory alloy spring (22). Two limiting mechanisms (3) are symmetrically arranged on the support cylinder (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 end of each of the two wings (5) is hinged to the hinge support (4). The other ends of the two wings (5) extend outward after passing through the limiting mechanism (3) at the corresponding position.

2. The underwater vehicle according to claim 1, characterized in that, The transmission structure (23) includes a moving platform (231) and two transmission components (232); The two transmission components (232) are symmetrically arranged inside the support cylinder (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 disposed inside the support cylinder (1), and the axis of the mobile platform (231) coincides with the axis of the support cylinder (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 cylinder (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 cylinder (1). One end of the first support member (2321) is connected to the support cylinder (1), and the other end passes through the moving 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 moving 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) includes 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) away from the second support member (2322) is always slidably sealed to the inner wall of the support cylinder (1); the hinge support (4) is connected to the end of the push rod (241) away from the second support member (2322).

4. The underwater vehicle according to claim 3, characterized in that, The pushing structure (24) also includes a first ball (242); The diameter of the middle part of the push rod (241) is smaller than the diameter of its two ends; The push rod (241) has a plurality of first balls (242) in the middle. The outer wall of each first ball (242) is in contact with the middle of the push rod (241), and each first ball (242) is rotatably connected to the inner wall of the support cylinder (1).

5. The underwater vehicle according to claim 3, characterized in that, The end of the push rod (241) that is connected to the second support member (2322) is provided with a sliding 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 engaged in the groove (2411), and the slider (2322b) is able to move along the groove (2411).

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

7. The underwater vehicle according to claim 1, characterized in that, 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 piece (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. The two connecting plates (52) are spaced apart 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 disposed at the 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 piece (55) is disposed in the limiting mechanism (3), and the limiting piece (55) is connected to the second end of the second connecting rod (54); the limiting piece (55) can rotate with the second connecting rod (54), and when the limiting piece (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) includes a limiting block (31); The limiting block (31) is connected to the support cylinder (1). The inner cavity of the limiting block (31) is provided with a groove (311), and the groove (311) has two mutually perpendicular sidewalls. The limiting piece (55) is disposed between the two sidewalls of the groove (311); The limiting block (31) has a first mounting hole (312) and a second mounting hole (313) on its side wall, and both the first mounting hole (312) and the second mounting hole (313) are 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). When the limiting piece (55) rotates to abut against the side wall of the groove (311), the bionic wing (51) is limited.

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