CN104816808B - A kind of long fin underwater propeller of bionical fluctuation - Google Patents
A kind of long fin underwater propeller of bionical fluctuation Download PDFInfo
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- CN104816808B CN104816808B CN201510271823.2A CN201510271823A CN104816808B CN 104816808 B CN104816808 B CN 104816808B CN 201510271823 A CN201510271823 A CN 201510271823A CN 104816808 B CN104816808 B CN 104816808B
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Abstract
The present invention relates to a kind of long fin underwater propeller of bionical fluctuation includes：Upper lower half cylinder, sealing ring, the first screw hole, inflating valve core, waterproof plug, first bevel gear, multiple fin ray, long fin, control board, first, second steering wheel, press strip, first bearing seat, balancing weight, screw mandrel, the second screw hole, battery component, and multichannel the first steering wheel power output structure is made up of a major axis, fin ray seat, second bearing seat, axle sleeve, politef circle, Ge Laiquan, ball bearing, second bevel gear；Upper half cylinder, lower half cylinder and sealing ring connect and compress one seal cavity of composition, and long fin is arranged at cylindrical cavity bottom, long fin has many fin rays, all fin ray equidistantly distributeds are on the fin face of long fin.Every fin ray connects first steering wheel by first bevel gear, second bevel gear and is operated alone, long fin fin face is that the fexible film of latex material is made, and can realize multiple sinusoidal or other kinds of waveform and produce stable propulsive force with water effect under fin ray drives.
Description
Technical field
The invention belongs to bionic machine fish technical field, it is related to a kind of long fin underwater propeller of bionical fluctuation, more particularly, to
A kind of bionical fluctuation long fin underwater propeller imitating rimmer knife fish swimming mode.
Background technology
In recent years, Autonomous Underwater Vehicle (AUVs) has been widely used in ocean development, ocean research, underwater environment guarantor
The fields such as shield.Traditional underwater propeller such as propeller can produce the noise of big bandwidth in a large number in tail, leads to some water
Lower ecosystem is seriously damaged, and also has the shortcomings of efficiency is low, and mobility is poor.And Fish are through drilling for a long time
Change, evolved various efficient, high motor-driven propulsion modes.Simulation Fish propulsion mode, research and development high-performance, high maneuverability, right
The little intelligent bionic underwater robot of environmental perturbation causes the interest of more and more research worker.
Produce the difference at thrust position according to body during fish swimming, fish swimming pattern can be divided into body/tail fin
Pattern (Body and/or Caudal Fin, BCF) and central fin/to fin pattern (Median and/or Paired Fin,
MPF), produce thrust using the long fin that the Fish that MPF pattern is moved about usually rely on fluctuation to be moved about, compare BCF pattern
Fish, they often have more preferable mobility and stability under low speed, complex environment.
According to existing document, carry out imitative MPF pattern Fish experimentation earliest is Univ Heriot Watt of Britain, Ta Menyu
Calendar year 2001 devises a kind of long fin driving means, wherein comprise 8 parallel arranged fin ray, fin ray formed by fexible film
Article one, long fin, and drive fin ray to realize the fluctuation of long fin by pneumatic means, and thrust can be changed by changing traveling wave direction
Direction, but due to air impeller volume and inertia larger it is difficult to put into practical application.Through years of researches development, domestic
Outer research worker gradually have developed the bionic machinery fish system of multiple MPF patterns.Abroad, Northwestern Univ USA is in research electricity
A kind of long abdomeinal fin undulatory propulsion device is developed on the basis of eelfare motivation reason；Nanyang Technological University is in further investigation length
On the basis of fin undulatory propulsion mechanism, have developed corresponding long-fin undulatory propulsion system.At home, the National University of Defense technology takes the lead in out
Open up the angle of rake research of the long fin of bionical fluctuation, and have developed multiple bionical fluctuation fin propulsion experimental apparatus.
Above-mentioned long fin propulsion plant enables to advance, setback, but travelling speed is slower, because structure limits it is difficult to real
Now quick three-dimensional motion under water, and extensibility is not strong, limited to the directive function of development of new underwater propeller.The Chinese Academy of Sciences is certainly
Dynamicization was once imitated ray and be have developed a kind of bionic machine fish by pectoral wave propulsion, its enable advance, retreat, rise,
The multi-modal motion such as dive, but because of steering wheel and fin ray negligible amounts on its long fin, fin face at most can only be realized 1 sine wave
The fluctuation of shape, the type of exercise that machine fish can be carried out is restricted.
Content of the invention
For problem above present in prior art, based on modularization idea, devising one kind can be independent in water
Simulation hairtail carries out fast and stable three-dimensional motion, may be installed the bionical ripple that ray motion is simulated in underwater platform both sides again
Move long fin underwater propeller.
For achieving the above object, a kind of long fin underwater propeller of bionical fluctuation of the present invention, takes technical scheme below to include：
Upper half cylinder, lower half cylinder, sealing ring, the first screw hole, inflating valve core, waterproof plug, multiple first bevel gear, multiple fin ray, length
Fin, control board, multiple first steering wheel, multiple press strip, first bearing seat, balancing weight, screw mandrel, the second steering wheel, the second screw
Hole, battery component, and multichannel the first steering wheel power output structure is by a major axis, multiple fin ray seat, multiple second bearing seat, many
Individual axle sleeve, multiple politef circle, multiple lattice are to enclose, multiple ball bearing, multiple second bevel gear composition, wherein：
Cylindrical cavity is formed by upper half cylinder, lower half cylinder；It is provided with sealing ring, upper half between upper half cylinder and lower half cylinder
Cylinder, lower half cylinder are fixedly connected with sealing ring and compress one seal cavity of composition；The cover top portion of upper half cylinder is provided with valve
Mouth core and waterproof plug；Long fin is arranged at cylindrical cavity bottom, and long fin has many fin rays, all fin ray equidistantly distributeds
On the fin face of long fin, and one end of every fin ray is inserted in corresponding fin ray seat and is fixed, and the fin face of long fin is with every fin ray even
Connect integrative-structure；The inside cavity structure of upper half cylinder, lower half cylinder contain control board, multiple first steering wheel, multiple press strip,
First bearing seat, adjustable weight block, screw mandrel, the second steering wheel, multiple second screw hole, battery component；Rear portion in lower half cylinder
It is provided with one second steering wheel, the output shaft of the second steering wheel connects leading screw, is provided with balancing weight, leading screw one end is placed in first in screw mandrel
In bearing block, the second steering wheel drives screw mandrel to rotate, you can adjust the position of balancing weight, thus adjusting the fluctuation angle of rake center of gravity of fin
With centre of buoyancy relative position, and then adjust fluctuation fin propeller motion the angle of pitch, be advantageously implemented fluctuation fin propeller under water
Three-dimensional motion；Control board, multiple first steering wheel and battery component are installed inside seal cavity, control board is put
It is placed in seal cavity front groove and is fixedly connected, and control board is connected by steering wheel line with multiple first steering wheels, many
Individual first steering wheel is spaced at equal intervals side by side in lower half cylinder and is screwed in lower half cylinder by corresponding second screw hole；
Battery component is positioned in upper half cylinder；And battery component is connected with control board, power to control board；Multichannel first rudder
Mechanomotive force export structure Zhong Mei road the first steering wheel power output structure is by fin ray seat, second bearing seat, axle sleeve, politef
Circle, Ge Laiquan, ball bearing, second bevel gear composition, wherein often the power output shaft of road first steering wheel is placed in one end of axle sleeve
In portion, each politef circle is placed in corresponding lattice and is combined into this spy's envelope in enclosing；Each axle sleeve one end is sequentially placed in
In axis hole on Si Te envelope, the shell of lower half cylinder, and the other end of axle sleeve extends to cylindrical chamber external body, in cylindrical chamber
Between body, second bevel gear place press strip, for by cylindrical cavity, axle sleeve and Si Te envelope be fixed, prevent each first
In the power output shaft rotation process of steering wheel, axis hole from the shell of lower half cylinder for the water penetrates into inside cylindrical cavity；Second
The middle part of bearing block has manhole, the end face of second bearing seat is provided with corresponding fin ray seat, in each fin ray seat
Middle part is provided with manhole and concentric with the manhole of second bearing seat；Each fin ray seat by the spline of the first steering wheel with
First bevel gear tight fit, first bevel gear is engaged each other with second bevel gear, and a major axis passes through each second bearing seat
The manhole of manhole and each fin ray seat, major axis is used for ensureing the manhole of each second bearing seat all of and every
The manhole of individual fin ray seat is concentric；The middle part of axle sleeve is designed with hexagon step, axle sleeve and corresponding second bevel gear close-fitting
Close, for driving second bevel gear to rotate；The lower surface of second bevel gear is provided with corresponding second bearing seat, the second cone tooth
The lower surface of wheel is coplanar with corresponding second bearing seat bottom end face, for limiting second bevel gear position it is ensured that second bores tooth
Wheel planar stably rotates；The top that axle sleeve is located at cylindrical chamber external body is arranged to cylindrical shaft, and cylindrical shaft extends right
In the circular port of second bearing seat bottom answered, the bottom circular in the hole of each second bearing seat is provided with corresponding ball axle
Hold, for supporting corresponding axle sleeve it is ensured that the bottom with motor output shaft hole and second bearing seat during the rotation of corresponding axle sleeve
The frictional resistance between axle sleeve and second bearing seat, with one heart without tilting to deflection, is reduced in hole simultaneously.
The present invention, due to employing above technical scheme, compared with existing underwater propeller, has advantages below：
1st, the bionical fluctuation long fin underwater propeller main body of the present invention is cylindrical, and two ends are hemispherical, can effectively subtract
Engine resistance travelling in three dimensions under water, improves angle of rake energy utilization efficiency；
2nd, the bionical fluctuation long fin underwater propeller cylindrical cavity top of the present invention is provided with Waterproof cable joint, can strengthen
The convenience that machine fish charges, communication connects, and do not affect the sealing property of machine fish；
3rd, the power source of the bionical fluctuation long fin underwater propeller of the present invention is all arranged on propeller main body intracavity, passes through
The rotational motion of steering wheel is converted to the oscillating motion of fin ray by power output shaft and bevel gear, and then drives bionical fluctuation long fin water
Under angle of rake long fin motion；The present invention adopts digital rudder controller type of drive, is easy to control, each digital rudder controller close-packed arrays,
Volume reduces, and weight reduces, and trip speed accelerates, and speed individual length/second up to half, thus solve prior art air impeller volume
The technical problem larger with inertia.
4th, the bionical fluctuation long fin underwater propeller of the present invention increased steering wheel and fin ray quantity on the basis of existing, and respectively
Individual fin ray is separate, and the motion of each fin ray individually can be controlled, and long fin enables multiple sinusoidal or more complicated
Waveform, the present invention solves prior art and at most can only realize 1 sine-shaped fluctuation on fin face, and machine fish can be carried out
The technical problem that is restricted of type of exercise, than prior art, there is more preferable mobility and stability, and be conducive to carrying out
Higher level motor control.
5th, the bionical fluctuation long fin underwater propeller structure of the present invention is simple, cheap, noise is low, good concealment, right
Environmental effect is little, stability is high, easily controllable, and is difficult to be wound around by water plant, can be for developing efficient, highly concealed type, Gao Wen
Qualitatively underwater propeller provides key technology basis.
6th, the bionical fluctuation long fin underwater propeller of the present invention has angle of pitch adjustment module in itself, and has very strong expansion
Malleability, you can independent simulation hairtail carries out three-dimensional swimming in water, may be installed underwater platform both sides simulation ray again
Motion, also can increase the fluctuation angle of rake number of fin and build underwater aircraft, solve prior art trip by this present invention
Dynamic speed is slower, because structure limits it is difficult to realize the technical problem of quick three-dimensional motion under water.The present invention can be by multiple fluctuations
Fin propeller is grouped together into underwater aircraft, thus solve the not strong technology of prior art extensibility asking
Topic.
The present invention stably can produce traveling wave or the swing of various modes on its long fin fin face, by being sent to control
Order changes the frequency of traveling wave, amplitude, wavelength, the parameter such as direction of propagation in real time, and the present invention both can independently carry out three in water
Maintenance and operation is moved, and is arranged on all kinds of underwater platforms but also as propeller module.The present invention can be used for studying bionic long-fin machine
The principle of propeller of structure and motor control are it can also be used to robot, underwater performance robot, amusement robot are reconnoitred in exploitation under water
Deng.
Brief description
Fig. 1 is the contour structures schematic diagram of the long fin underwater propeller of the bionical fluctuation of the present invention；
Fig. 2 is the inside cavity structural representation of the lower half cylinder of the present invention；
Fig. 3 is the inside cavity structural representation of the upper half cylinder of the present invention；
Fig. 4 is the power output structure schematic diagram of present invention entirety multichannel first steering wheel；
Fig. 5 is the power output structure schematic diagram of Tu4Zhong mono- tunnel the first steering wheel；
Fig. 6 is fin ray scheme of installation in the present invention.
Specific embodiment
For making the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in further detail.
Refer to Fig. 1, Fig. 2, Fig. 3 and the contour structures of bionical fluctuation long fin underwater propeller of the present invention, lower cylinder are shown
The inside cavity structural representation of inside cavity structure and top cylinder.The bionical fluctuation of the present invention long fin underwater propeller includes lower half
Cylinder 1, upper half cylinder 2, sealing ring 3, the first screw hole 4, inflating valve core 5, waterproof plug 6, multiple first bevel gear 7, multiple fin ray
8th, long fin 9, control board 10, multiple first steering wheel 11, multiple press strip 12, first bearing seat 13, balancing weight 14, screw mandrel 15,
Second steering wheel 16, the second screw hole 17, battery component 18, refer to Fig. 4 and Fig. 5 show a major axis 19, multiple fin ray seat 20,
Multiple second bearing seats 21, multiple axle sleeve 22, multiple politef circle 23, multiple lattice are enclosing 24, multiple ball bearing 25, many
Individual second bevel gear 26, wherein：
Cylindrical cavity is formed by lower half cylinder 1, upper half cylinder 2.It is provided with sealing ring 3 between upper half cylinder 2 and lower half cylinder 1,
Upper half cylinder 2, lower half cylinder 1 are fixedly connected with sealing ring 3 and compress one seal cavity of composition.Set in the cover top portion of upper half cylinder 2
It is equipped with inflating valve core 5 and waterproof plug 6.Long fin 9 is arranged at cylindrical cavity bottom, and long fin 9 has many fin rays 8, owns
Fin ray 8 equidistantly distributed is on the fin face of long fin 9, and fixing in corresponding fin ray seat 20, long fin is inserted in one end of every fin ray 8
9 fin face and every fin ray 8 are integrally connected structure.
Refer to that Fig. 2 and Fig. 3 is shown respectively upper half cylinder 2, the inside cavity structure of lower half cylinder 1 contains control board 10,
Multiple first steering wheels 11, multiple press strip 12, first bearing seat 13, adjustable weight block 14, screw mandrel 15, the second steering wheel 16, multiple
Second screw hole 17, battery component 18, are provided with one second steering wheel 16, the output shaft of the second steering wheel 16 at the rear portion of lower half cylinder 1
Connect leading screw 15, be provided with balancing weight 14 in screw mandrel 15, leading screw 15 one end is placed in first bearing seat 13, and the second steering wheel 16 drives
Screw mandrel 15 rotates, you can adjust the position of balancing weight 14, thus adjusting the fluctuation angle of rake center of gravity of fin and centre of buoyancy relative position, enters
And adjust the angle of pitch that fluctuation fin propeller moves, it is advantageously implemented the fluctuation underwater three-dimensional motion of fin propeller.
Control board 10, multiple first steering wheel 11 and battery component 18, control circuit are installed inside seal cavity
Plate 10 is positioned in seal cavity front groove, and is fixed with PUR, and control board 10 is led to multiple first steering wheels 11
Cross steering wheel line to connect, multiple first steering wheels 11 are spaced at equal intervals side by side in lower half cylinder 1 and pass through corresponding second screw hole 17
It is screwed in lower half cylinder 1.Battery component 18 is positioned in upper half cylinder 2, and battery component 18 is using four as one group
Placement in parallel, 6 groups, is placed in series between every Battery pack, and battery component 18 is connected with control board 10, to control circuit totally
Plate 10 is powered.
Refer to Fig. 4 illustrate multichannel the first steering wheel 11 integral power output system structure of the present invention contain a major axis 19,
Multiple fin ray seats 20, multiple second bearing seat 21, multiple axle sleeve 22, multiple politef circle 23, multiple lattice to enclose 24, multiple
Ball bearing 25, multiple second bevel gear 26；Fin ray seat 20, second bearing seat 21, the first steering wheel 11 quantity identical.In view of it is many
Road the first steering wheel 11 integral power output system structure Zhong Mei road the first steering wheel 11 power output structure is independent structure, by fin
Bar seat 20, second bearing seat 21, quantity n of the first steering wheel 11, set n road the first steering wheel 11 integral power output system structure,
In order that present invention description is briefly, only the present invention is described, then n-1 road first taking 1 tunnel the first steering wheel 11 power output structure as a example
Steering wheel 11 power output structure is identical with 1 tunnel the first steering wheel 11 power output structures, and will not be described here n-1 road the first steering wheel 11
Power output structure, refers to Fig. 5 and illustrates that in Fig. 4,1 tunnel the first steering wheel 11 power output structure is wherein：Including a fin ray seat 20,
One second bearing seat 21, an axle sleeve 22, a politef circle 23, lattice are enclosing 24, one ball bearing 25, second bevel gear
26, the power output shaft of each the first steering wheel 11 is placed in the one end of axle sleeve 22, and each politef circle 23 is placed in correspondence
Lattice be combined into this spy's envelope in 24 to enclose, each axle sleeve 22 one end is sequentially placed in this spy's envelope, axle on the shell of lower half cylinder 1
Kong Zhong, and the other end of axle sleeve 22 extends to cylindrical chamber external body, places between cylindrical cavity, second bevel gear 26
Press strip 12, for being fixed cylindrical cavity, axle sleeve 22 and Si Te envelope, prevents the power output shaft of each the first steering wheel 11
In rotation process, axis hole from the shell of lower half cylinder 2 for the water penetrates into inside cylindrical cavity.
Refer to Fig. 6 fin ray scheme of installation, the middle part of each second bearing seat 21 has manhole, each second axle
Corresponding fin ray seat 20 is provided with the end face of bearing 21, is provided with manhole and with second at the middle part of each fin ray seat 20
The manhole of bearing block 21 is concentric.Each fin ray seat 20 passes through spline and first bevel gear 7 tight fit of the first steering wheel 11, the
One bevel gear 7 and second bevel gear 26 engage each other, and major axis 19 passes through the manhole of each second bearing seat 21 and every
The manhole of individual fin ray seat 20, major axis 19 is used for ensureing manhole and each fin ray of each second bearing seat 21 all of
The manhole of seat 20 is concentric.The middle part of each axle sleeve 22 is designed with hexagon step, and each axle sleeve 22 and corresponding second is bored
Gear 26 tight fit, for driving second bevel gear 26 to rotate.It is provided with corresponding in the lower surface of each second bevel gear 26
Second bearing seat 21, the lower surface of each second bevel gear 26 is coplanar with corresponding second bearing seat 21 bottom end face, for limiting
Determine second bevel gear 26 position it is ensured that second bevel gear 26 planar stably rotates.Axle sleeve 22 is located at cylindrical chamber external body
Top be arranged to cylindrical shaft, cylindrical shaft extends in the circular port of corresponding second bearing seat 21 bottom, each second
The bottom circular in the hole of bearing block 21 is provided with corresponding ball bearing 25, for supporting corresponding axle sleeve 22 it is ensured that corresponding
Axle sleeve 22 rotation when concentric with the base apertures in motor output shaft hole and second bearing seat 21 without tilting to deflection, simultaneously
The frictional resistance between axle sleeve 22 and second bearing seat 21 can be reduced.
Upper half cylinder 2, lower half cylinder 1 are made up of aluminum alloy materials, can keep higher intensity on the basis of mitigating deadweight,
Opposing deep-water pressure, can reduce the resistance of motion of direction of advance using cylindrical cavity
Sealing ring 3 is made up of soft silica gel material.Sealing ring 3, upper half cylinder 2 and lower half cylinder 1 are by being evenly distributed on cylinder
The first screw hole 4 on the shell of shape cavity is connected with hexagon socket head cap screw.
Inflating valve core 5 is conventional tyre inflating valve core, for cylindrical cavity inflation/deflation, and after maintaining tyre inflating
Sealing, makes cylindrical cavity inside and outside pressure consistent, it is to avoid fluctuation fin propeller damages outer in deep water because water pressure is excessive
Shell.
Waterproof plug 6 connects battery 18 and control board 10 by cable, by the charging wire of battery 18 and control circuit
The serial ports cable of plate 10 is drawn, and may be connected to fill to battery 18 on external power source after in fluctuation fin propeller, battery 18 exhausts
Electricity, the serial ports cable of control board 10 connects to control computer, and computer can send to control board 10 and control life
Order.The fluctuation fin propeller of the present invention itself contains complete power supply, control, drive module, independently can carry out three-dimensional motion, and
Can be conveniently mounted on other underwater platforms, computer only need to allow ripple to the transmission serial port command of control board 10
Dynamic fin propeller drives the motion of underwater platform, thus having very strong autgmentability.
Fin ray 8 is made up of many carbon fibre materials, light weight, and intensity is high, every fin ray all pass through first bevel gear 7,
Second bevel gear 26 connects first steering wheel 11 and is operated alone, and the first steering wheel is exported power-conversion and swings power for fin ray,
Can be swung with specific amplitude and frequency cycle
The fin face of long fin 9 is that the fexible film of latex material is made, and has certain elastic modelling quantity, can be real under fin ray drives
Existing multiple sinusoidal or other kinds of waveform simultaneously produces stable propulsive force with water effect.
First steering wheel 11 and the second steering wheel 16 adopt CDS5516 type digital rudder controller, its small volume, and rotating speed is fast, control accuracy
Higher, multiple first steering wheel 11 close-packed arrays, overall volume is little, light weight, and trip speed is very fast.
Very strong autgmentability is had according to the bionical fluctuation long fin underwater propeller that technique scheme makes, you can in water
Middle independent simulation hairtail carries out three-dimensional swimming, may be installed underwater platform both sides simulation ray motion again, also can increase
The fluctuation angle of rake number of fin builds underwater aircraft.
Particular embodiments described above, has carried out detailed further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, be should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of long fin underwater propeller of bionical fluctuation is it is characterised in that include：Upper half cylinder, lower half cylinder, sealing ring, the first screw
Hole, inflating valve core, waterproof plug, multiple first bevel gear, multiple fin ray, long fin, control board, multiple first steering wheel, many
Individual press strip, first bearing seat, balancing weight, screw mandrel, the second steering wheel, the second screw hole, battery component, and multichannel first steering wheel is dynamic
Power export structure is by a major axis, multiple fin ray seat, multiple second bearing seat, multiple axle sleeve, multiple politef circle, Duo Gege
To enclose, multiple ball bearing, multiple second bevel gear composition, wherein：
Cylindrical cavity is formed by upper half cylinder, lower half cylinder；Be provided with sealing ring between upper half cylinder and lower half cylinder, upper half cylinder, under
Half is fixedly connected and compresses one seal cavity of composition with sealing ring；The cover top portion of upper half cylinder be provided with inflating valve core and
Waterproof plug；Long fin is arranged at cylindrical cavity bottom, long fin has many fin rays, all fin ray equidistantly distributeds are in long fin
Fin face on, and one end of every fin ray is inserted fixing in corresponding fin ray seat, and the fin face of long fin and every fin ray are integrally connected
Structure；Contain control board, multiple first steering wheel, multiple press strip, first axle in the inside cavity structure of upper half cylinder, lower half cylinder
Bearing, adjustable weight block, screw mandrel, the second steering wheel, multiple second screw hole, battery component；It is provided with the rear portion of lower half cylinder
One second steering wheel, the output shaft of the second steering wheel connects leading screw, is provided with balancing weight, leading screw one end is placed in first bearing seat in screw mandrel
In, the second steering wheel drives screw mandrel to rotate, you can adjust the position of balancing weight, thus adjusting the fluctuation angle of rake center of gravity of fin and centre of buoyancy
Relative position, and then adjust the angle of pitch of fluctuation fin propeller motion, it is advantageously implemented the fluctuation underwater three-dimensional of fin propeller
Motion；
Control board, multiple first steering wheel and battery component are installed inside seal cavity, control board is positioned over close
Seal in cavity front groove and be fixedly connected, and control board is connected by steering wheel line with multiple first steering wheels, multiple first
Steering wheel is spaced at equal intervals side by side in lower half cylinder and is screwed in lower half cylinder by corresponding second screw hole；Set of cells
Part is positioned in upper half cylinder；And battery component is connected with control board, power to control board；
Multichannel the first steering wheel power output structure Zhong Mei road the first steering wheel power output structure by fin ray seat, second bearing seat,
Axle sleeve, politef circle, Ge Laiquan, ball bearing, second bevel gear composition, the wherein power output shaft of every road first steering wheel
It is placed in the one end of axle sleeve, each politef circle is placed in corresponding lattice and is combined into this spy's envelope in enclosing；Each axle sleeve
One end is sequentially placed in this spy's envelope, in the axis hole on the shell of lower half cylinder, and the other end of axle sleeve extends to cylindrical cavity
Outside, places press strip between cylindrical cavity, second bevel gear, for compressing admittedly cylindrical cavity, axle sleeve and Si Te envelope
Fixed, prevent in the power output shaft rotation process of each the first steering wheel, axis hole from the shell of lower half cylinder for the water penetrates into cylinder
Shape inside cavity；
The middle part of second bearing seat has manhole, the end face of second bearing seat is provided with corresponding fin ray seat, at each
The middle part of fin ray seat is provided with manhole and concentric with the manhole of second bearing seat；Each fin ray seat passes through the first steering wheel
Spline and first bevel gear tight fit, first bevel gear engages each other with second bevel gear, major axis through each second
The manhole of bearing block and the manhole of each fin ray seat, major axis is used for ensureing the circle of each second bearing seat all of
The manhole of through hole and each fin ray seat is concentric；The middle part of axle sleeve is designed with hexagon step, axle sleeve and the corresponding second cone
Gear tight fit, for driving second bevel gear to rotate；The lower surface of second bevel gear is provided with corresponding second bearing seat,
The lower surface of second bevel gear is coplanar with corresponding second bearing seat bottom end face, for limiting second bevel gear position it is ensured that
Second bevel gear planar stably rotates；The top that axle sleeve is located at cylindrical chamber external body is arranged to cylindrical shaft, cylindrical
Shaft extension, to the circular port of corresponding second bearing seat bottom, is provided with correspondence in the bottom circular in the hole of each second bearing seat
Ball bearing, for support corresponding axle sleeve it is ensured that corresponding axle sleeve rotation when with motor output shaft hole and second bearing
The base apertures of seat, with one heart without tilting to deflection, reduce the frictional resistance between axle sleeve and second bearing seat simultaneously.
2. the long fin underwater propeller of bionical fluctuation according to claim 1 is it is characterised in that described multichannel first steering wheel moves
Power export structure Shi Youmei road the first steering wheel power output structure identical absolute construction composition.
3. the long fin underwater propeller of bionical fluctuation according to claim 1 is it is characterised in that described upper half cylinder, lower half cylinder
It is to make cylindrical cavity structure by aluminum alloy materials, for keeping higher intensity on the basis of mitigating deadweight, resist deep water
Pressure, reduces the resistance of motion of direction of advance.
4. the long fin underwater propeller of bionical fluctuation according to claim 1 is it is characterised in that described sealing ring is by soft silicon
Glue material is made；Sealing ring, upper half cylinder and lower half cylinder are by the first screw hole being evenly distributed on the shell of cylindrical cavity
Connected with hexagon socket head cap screw.
5. the long fin underwater propeller of bionical fluctuation according to claim 1 is it is characterised in that described inflating valve core is tire
Inflating valve core, for cylindrical cavity inflation/deflation, and maintains the sealing after cylindrical cavity inflation, makes cylindrical chamber inside and outside
Portion's pressure is consistent, is used for avoiding fluctuation fin propeller to damage shell in deep water because water pressure is excessive.
6. the long fin underwater propeller of bionical fluctuation according to claim 1 is it is characterised in that described waterproof plug passes through line
Cable connects battery component and control board, the serial ports cable of the charging wire of battery component and control board is drawn, works as ripple
After in dynamic fin propeller, battery component exhausts, can by waterproof plug by the charging wire of battery component be connected on external power source to
Battery component charges, and the serial ports cable of control board connects to control computer, and control computer is sent out to control board
Send control command；Control computer only need to allow fluctuation fin propeller drive machine under water to the transmission serial port command of control board
Device platform moves.
7. the long fin underwater propeller of bionical fluctuation according to claim 1 is it is characterised in that described battery component is with four
As one group of placement in parallel, totally six Battery pack, it is to be connected in series between every Battery pack.
8. the long fin underwater propeller of bionical fluctuation according to claim 1 is it is characterised in that described fin ray is by many carbon
Fibrous material is made, and every fin ray all connects first steering wheel by first bevel gear, second bevel gear and is operated alone, by the
One steering wheel output power-conversion swings power for fin ray, is swung with the amplitude and frequency cycle setting.
9. the long fin underwater propeller of bionical fluctuation according to claim 1 is it is characterised in that the fin face of described long fin is breast
The fexible film of glue material is made, and can realize multiple sinusoidal or other kinds of waveform and act on generation with water under fin ray drives
Stable propulsive force.
10. the long fin underwater propeller of bionical fluctuation according to claim 1 is it is characterised in that described first steering wheel and
Two steering wheels adopt digital rudder controller.
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