CN104816808A - Bionic fluctuating long fin underwater propulsor - Google Patents

Abstract

The invention relates to a bionic fluctuating long fin underwater propulsor which comprises an upper half drum, a lower half drum, a seal ring, a screw hole, an inflating valve core, a waterproof plug, a first bevel gear, a plurality of fin strips, a long fin, a control circuit board, a first steering gear, a second steering gear, a pressing strip, a first bearing block, a balancing weight, a screw rod, a screw hole, a battery module and a multichannel first steering gear output structure, wherein the multichannel first steering gear output structure is composed of a long shaft, a fin strip base, a second bearing block, a shaft sleeve, a polytetrafluoroethylene ring, a Glyd ring, a ball bearing and a second bevel gear. The upper half drum, the lower half drum and the seal ring are connected and pressed to form a sealed cavity, the long fin is arranged on the lower portion of a cylindrical cavity, the long fin is provided with the fin strips, and the fin strips are equidistantly distributed on the surface of the long fin. Each fin strip is connected with the first steering gear through the first bevel gear and the second bevel gear to be independently driven, the surface of the long fin is made of a flexible film made of a latex material, and the long fin can be driven by the fin strips to achieve multiple waveforms of sine or other types and have the effect with water to generate stable propulsive force.

Description

A bionic undulating long-fin underwater propeller

technical field

The invention belongs to the technical field of bionic robot fish, and relates to a bionic undulating long-fin underwater propeller, in particular to a bionic undulating long-fin underwater propeller imitating the swimming mode of a swordfish.

Background technique

In recent years, autonomous underwater vehicles (AUVs) have been widely used in ocean development, marine research, underwater environmental protection and other fields. Traditional underwater propellers such as propellers will generate a large amount of noise with large bandwidth in the wake, causing serious damage to some underwater ecosystems, and also have disadvantages such as low efficiency and poor maneuverability. After a long period of evolution, fish have evolved various efficient and highly maneuverable propulsion methods. Simulating the propulsion mode of fish, and developing intelligent bionic underwater robots with high performance, high mobility, and little disturbance to the environment have attracted more and more researchers' interest.

According to the different parts of the body that produce thrust when fish swim, the swimming patterns of fish can be divided into Body and/or Caudal Fin (BCF) and Median and/or Paired Fin (Median and/or Paired Fin) patterns. , MPF), fish swimming in MPF mode usually rely on undulating long fins to generate thrust to swim. Compared with fish in BCF mode, they often have better maneuverability and stability in low-speed and complex environments .

According to the existing literature, Heriot-Watt University in the UK was the first to conduct experimental research on fish imitating the MPF model. They designed a long-fin drive device in 2001, which included 8 fin rays arranged in parallel. The thin film forms a long fin, and the fin is driven by the pneumatic device to realize the fluctuation of the long fin, and the thrust direction can be changed by changing the direction of the traveling wave. However, due to the large volume and inertia of the pneumatic drive, it is difficult to put it into practical application. After years of research and development, researchers at home and abroad have gradually developed a variety of bionic robotic fish systems with MPF modes. Abroad, Northwestern University in the United States has developed a long-fin wave propulsion device based on the study of the swimming mechanism of electric eels; Singapore Nanyang Technological University has developed a corresponding long-fin wave propulsion device on the basis of in-depth research on the long-fin wave propulsion mechanism. system. In China, the National University of Defense Technology took the lead in carrying out research on bionic undulating long fin propellers, and developed a variety of bionic undulating fin propulsion experimental devices.

The above-mentioned long-fin propulsion device can realize forward and backward motion, but the swimming speed is relatively slow. Due to structural limitations, it is difficult to realize rapid three-dimensional underwater motion, and the scalability is not strong, so it has limited guidance for the development of new underwater propellers. The Institute of Automation of the Chinese Academy of Sciences has imitated rays to develop a bionic robot fish propelled by pectoral fin fluctuations, which can realize multi-modal movements such as forward, backward, rising, and diving. At most, only one sinusoidal waveform can be realized on the fin surface, and the types of motion that the robotic fish can perform are limited.

Contents of the invention

Aiming at the above problems in the existing technology, based on the idea of modularization, a bionic wave wave that can independently simulate the rapid and stable three-dimensional movement of the knifefish in the water, and can be installed on both sides of the underwater machine platform to simulate the movement of the rays Long fin underwater propulsion.

In order to achieve the above object, a bionic undulating long-fin underwater propeller of the present invention adopts the following technical solutions: upper half cylinder, lower half cylinder, sealing ring, screw hole, valve core, waterproof plug, multiple first cones Gears, multiple fin rays, long fins, control circuit board, multiple first steering gears, multiple layering bars, first bearing housings, counterweights, screw rods, second steering gears, screw holes, battery components, and more The power output structure of the first steering gear consists of a long shaft, multiple fin seats, multiple second bearing seats, multiple bushings, multiple polytetrafluoroethylene rings, multiple grid rings, multiple ball bearings, A plurality of second bevel gears, of which:

The cylindrical cavity is composed of the upper half cylinder and the lower half cylinder; a sealing ring is arranged between the upper half cylinder and the lower half cylinder, and the upper half cylinder, the lower half cylinder and the sealing ring are fixedly connected and compressed to form a sealed cavity ;A valve core and a waterproof plug are arranged on the top of the shell of the upper half cylinder; the long fin is arranged at the lower part of the cylindrical cavity, and there are many fin rays on the long fin, and all the fin rays are equally spaced on the fin surface of the long fin , and one end of each fin ray is inserted into the corresponding fin ray seat and fixed, and the fin surface of the long fin is connected with each fin ray to form an integrated structure; the internal structure of the cavity of the upper half cylinder and the lower half cylinder contains a control circuit board, multiple A first steering gear, a plurality of layering bars, a first bearing seat, an adjustable counterweight, a screw rod, a second steering gear, a plurality of screw holes, and a battery assembly; a second steering gear is arranged at the rear of the lower half cylinder, The output shaft of the second steering gear is connected to the lead screw, and a counterweight is arranged in the screw rod, and one end of the lead screw is placed in the first bearing seat, and the second steering gear drives the screw rod to rotate, so that the position of the counterweight can be adjusted, thereby Adjusting the relative position of the center of gravity and the buoyancy center of the undulating fin thruster, and then adjusting the pitch angle of the undulating fin thruster movement, is beneficial to realize the three-dimensional movement of the undulating fin thruster underwater; a control circuit board, multiple A first steering gear and battery assembly, the control circuit board is placed in the front groove of the sealed cavity and fixedly connected, and the control circuit board is connected to multiple first steering gears through steering gear wires, and multiple first steering gears are arranged side by side Place them at equal intervals in the lower half of the cylinder and fix them with screws through the corresponding screw holes; the battery assembly is placed in the upper half of the cylinder; and the battery assembly is connected to the control circuit board to supply power to the control circuit board; the power of the first steering gear The power output structure of each first steering gear in the output structure is composed of a fin ray seat, a second bearing seat, a shaft sleeve, a polytetrafluoroethylene ring, a grid ring, a ball bearing, and a second bevel gear. The power output shaft of the steering gear is placed in one end of the shaft sleeve, and each polytetrafluoroethylene ring is placed in the corresponding grid ring to form a Steer seal; one end of each bush is placed in the Steer seal, The shaft hole on the shell of the lower half cylinder, and the other end of the shaft sleeve extends to the outside of the cylindrical cavity, and a bevel is placed between the cylindrical cavity and the second bevel gear to connect the cylindrical cavity body, bushing and Steer seal to prevent water from penetrating into the cylindrical cavity from the shaft hole on the shell of the lower half cylinder during the rotation of the power output shaft of each first steering gear; the second bearing The middle part of the seat has a circular through hole, and the end surface of the second bearing seat is provided with a corresponding fin ray seat, and a circular through hole is provided in the middle of each fin ray seat and is concentric with the circular through hole of the second bearing seat ; Each fin ray seat is tightly matched with the first bevel gear through the spline of the first steering gear, the first bevel gear and the second bevel gear are meshed with each other, and a long axis passes through the circular channel of each second bearing seat hole and the circular through hole of each fin ray seat, the long axis is used to ensure that all the circular through holes of each second bearing seat and the circular through hole of each fin ray seat are concentric; the middle part of the bushing is designed with The hexagonal steps, the sleeve and the corresponding second bevel gear are closely matched to drive the second bevel gear to rotate; the lower end surface of the second bevel gear is provided with a corresponding second bearing seat, and the lower end surface of the second bevel gear is in contact with the second bevel gear. The corresponding bottom end face of the second housing is The surface is used to define the position of the second bevel gear to ensure the stable rotation of the second bevel gear in the plane; the top end of the sleeve located outside the cylindrical cavity is set as a cylindrical shaft, and the cylindrical shaft extends to the corresponding second bearing seat In the circular hole at the bottom, a corresponding ball bearing is arranged in the circular hole at the bottom of each second bearing seat, which is used to support the corresponding bushing to ensure that the corresponding bushing rotates with the motor output shaft hole and the second bearing seat. The bottom bore of the housing is concentric without tilt deflection, while reducing the frictional resistance between the sleeve and the second bearing housing.

Compared with the existing underwater propeller, the present invention has the following advantages due to the adoption of the above technical scheme:

1. The main body of the bionic undulating long-fin underwater propeller of the present invention is cylindrical, and the two ends are hemispherical, which can effectively reduce the resistance of the propeller swimming in the underwater three-dimensional space and improve the energy utilization efficiency of the propeller ;

2. The top of the cylindrical cavity of the bionic undulating long-fin underwater thruster of the present invention is provided with a waterproof cable joint, which can enhance the convenience of charging and communication connection of the robotic fish, and does not affect the sealing performance of the robotic fish;

3. The power source of the bionic wave long-fin underwater propeller of the present invention is all installed in the main cavity of the propeller, and the rotational motion of the steering gear is converted into the swing motion of the fin rays through the power output shaft and the bevel gear, and then the bionic wave motion is driven. The long fin movement of the long fin underwater propeller; the present invention adopts the driving mode of digital steering gear, which is convenient for control, and each digital steering gear is closely arranged, the volume is reduced, the weight is reduced, the swimming speed becomes faster, and the speed can reach half a body length per second. Therefore, the technical problems of large volume and inertia of the pneumatic driver in the prior art are solved.

4. The bionic undulating long-fin underwater propeller of the present invention increases the number of steering gear and fin rays on the existing basis, and each fin ray is independent of each other, and can individually control the movement of each fin ray. Multiple sinusoidal or more complex waveforms can be realized, and the present invention solves the technical problem that the prior art can only realize fluctuations of one sinusoidal waveform on the fin surface, and the types of motions that the robot fish can perform are limited. Compared with the prior art It has better maneuverability and stability, and is conducive to a higher level of motion control.

5. The bionic fluctuating long-fin underwater propeller of the present invention has the advantages of simple structure, low price, low noise, good concealment, little impact on the environment, high stability, easy control, and is not easily entangled by aquatic plants. The new underwater thruster with high concealment and high stability provides the key technical basis.

6. The bionic undulating long-fin underwater propeller of the present invention itself has a pitch angle adjustment module and has strong expansibility. It can independently simulate saury in water for three-dimensional swimming, and can be installed on both sides of the underwater machine platform. The movement of rays can be simulated sideways, and the number of undulating fin propellers can also be increased to build a new type of underwater vehicle. Therefore, the present invention solves the problem of slow swimming speed in the prior art, and it is difficult to realize rapid three-dimensional underwater movement due to structural limitations. technical problem. The invention can combine a plurality of undulating fin propellers together to form a novel underwater vehicle, thereby solving the technical problem of poor scalability in the prior art.

The present invention can stably generate multiple modes of traveling waves or swings on the surface of its long fin, and by sending control commands to it to change the frequency, amplitude, wavelength, propagation direction and other parameters of the traveling waves in real time, the present invention can It independently performs three-dimensional movement in water, and can be installed on various underwater machine platforms as a thruster module. The invention can be used to study the propulsion principle and motion control of the imitation growth fin mechanism, and can also be used to develop underwater exploration robots, underwater operation robots, entertainment robots and the like.

Description of drawings

Fig. 1 is a schematic diagram of the outline structure of the bionic undulating long-fin underwater propeller of the present invention;

Fig. 2 is a schematic diagram of the internal structure of the cavity of the lower half cylinder of the present invention;

Fig. 3 is a schematic diagram of the internal structure of the cavity of the upper half cylinder of the present invention;

Fig. 4 is a schematic diagram of the power output structure of the overall multi-channel first steering gear of the present invention;

Fig. 5 is a schematic diagram of the power output structure of the first steering gear in Fig. 4;

Fig. 6 is a schematic diagram of fin ray installation in the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

Please refer to Fig. 1, Fig. 2 and Fig. 3, which show the outline structure of the bionic undulating long fin underwater propeller, the internal structure of the cavity of the lower cylinder and the internal structure of the cavity of the upper cylinder of the present invention. The bionic undulating long-fin underwater propeller of the present invention includes a lower half cylinder 1, an upper half cylinder 2, a sealing ring 3, a screw hole 4, a valve core 5, a waterproof plug 6, a plurality of first bevel gears 7, and a plurality of fin rays 8. Long fins 9, control circuit board 10, multiple first steering gears 11, multiple beading bars 12, first bearing housing 13, counterweight 14, screw rod 15, second steering gear 16, screw holes 17, battery Assemblies 18, please refer to Fig. 4 and Fig. 5 and show a long shaft 19, a plurality of fin seats 20, a plurality of second bearing seats 21, a plurality of shaft sleeves 22, a plurality of polytetrafluoroethylene rings 23, a plurality of Grid ring 24, a plurality of ball bearings 25, a plurality of second bevel gears 26, wherein:

A cylindrical cavity is formed by the lower half cylinder 1 and the upper half cylinder 2. A sealing ring 3 is arranged between the upper half cylinder 2 and the lower half cylinder 1, and the upper half cylinder 2, the lower half cylinder 1 and the sealing ring 3 are fixedly connected and compressed to form a sealed cavity. A valve core 5 and a waterproof plug 6 are arranged on the shell top of the upper half cylinder 2 . The long fin 9 is arranged on the lower part of the cylindrical cavity, and the long fin 9 has a plurality of fin rays 8, and all the fin rays 8 are equally spaced on the fin surface of the long fin 9, and one end of each fin ray 8 is inserted into the corresponding The fin ray seat 20 is fixed, and the fin surface of the long fin 9 is connected with each fin ray 8 to form an integral structure.

Please refer to Fig. 2 and Fig. 3 to show respectively that the inner structure of the cavity of the upper half cylinder 2 and the lower half cylinder 1 contains a control circuit board 10, a plurality of first steering gears 11, a plurality of beading bars 12, a first bearing seat 13, and Adjust the counterweight 14, the screw rod 15, the second steering gear 16, a plurality of screw holes 17, and the battery assembly 18. A second steering gear 16 is arranged at the rear of the lower half cylinder 1, and the output shaft of the second steering gear 16 is connected to the Leading screw 15 is provided with counterweight 14 in the leading screw 15, and one end of leading screw 15 is placed in the first bearing seat 13, and the second steering gear 16 drives screw mandrel 15 to rotate, and the position of counterweight 14 can be adjusted, thereby Adjusting the relative position of the center of gravity and the center of buoyancy of the undulating fin thruster, and then adjusting the pitch angle of the undulating fin thruster movement, is beneficial to realize the three-dimensional movement of the undulating fin thruster underwater.

A control circuit board 10, a plurality of first steering gears 11 and a battery assembly 18 are installed inside the sealed cavity. The control circuit board 10 is placed in the front groove of the sealed cavity and fixed with hot melt adhesive, and the control circuit board 10 It is connected with a plurality of first steering gears 11 through steering gear wires, and a plurality of first steering gears 11 are placed side by side and equally spaced in the upper half cylinder 2 and fixed in the upper half cylinder 2 with screws through corresponding screw holes 17 . The battery assembly 18 is placed in the lower half cylinder 1, and the battery assembly 18 is placed in parallel as a group of four, a total of 6 groups, each group of batteries is placed in series, and the battery assembly 18 is connected with the control circuit board 10, and the control circuit is connected to the battery assembly 18. The board 10 supplies power.

Please refer to Fig. 4 to show that the overall power output system structure of the multi-channel first steering gear 11 of the present invention includes a major axis 19, a plurality of fin ray seats 20, a plurality of second bearing housings 21, a plurality of shaft sleeves 22, a plurality of The polytetrafluoroethylene ring 23, a plurality of lattice rings 24, a plurality of ball bearings 25, a plurality of second bevel gears 26; the fin ray seat 20, the second bearing seat 21, and the number of the first steering gear 11 are the same. In view of the multiple first steering gear 11 overall power output system structure, the power output structure of each first steering gear 11 is an independent structure, by the number n of the fin ray seat 20, the second bearing seat 21, and the first steering gear 11, Set the overall power output system structure of the n-way first steering gear 11. In order to make the description of the present invention brief, only the power output structure of the first steering gear 11 of the 1-way is used as an example to describe the present invention, then the n-1 first steering gear 11 The power output structure is the same as the power output structure of the first steering gear 11 of the 1-way, and the power output structure of the first steering gear 11 of the n-1 road is not repeated here. Please refer to FIG. 5 which shows the first steering gear 11 of the 1-way in FIG. 4 The power output structure includes a fin ray seat 20, a second bearing seat 21, a shaft sleeve 22, a polytetrafluoroethylene ring 23, a lattice ring 24, a ball bearing 25, and a second bevel gear 26, each The power output shaft of the first steering gear 11 is placed in one end of the shaft sleeve 22, and each polytetrafluoroethylene ring 23 is placed in the corresponding grid ring 24 to form a Ster seal, and one end of each shaft sleeve 22 Place them in the shaft holes on the outer casing of Step seal and the lower half cylinder 1 in sequence, and the other end of the shaft sleeve 22 extends to the outside of the cylindrical cavity, between the cylindrical cavity and the second bevel gear 26 Place a bead 12 between them, which is used to press and fix the cylindrical cavity, the shaft sleeve 22 and the step seal, so as to prevent water from falling from the shell of the lower half cylinder 2 during the rotation of the power output shaft of each first steering gear 11. The shaft hole penetrates into the cylindrical cavity.

Please refer to Fig. 6 for the installation schematic diagram of fin rays, the middle part of each second bearing seat 21 has a circular through hole, and the end face of each second bearing seat 21 is provided with a corresponding fin ray seat 20, on each fin ray seat 20 The middle part is provided with a circular through hole and is concentric with the circular through hole of the second bearing seat 21 . Each fin seat 20 tightly fits with the first bevel gear 7 through the spline of the first steering gear 11, the first bevel gear 7 and the second bevel gear 26 mesh with each other, and a long axis 19 passes through each second bearing The circular through hole of the seat 21 and the circular through hole of each fin ray seat 20, the major axis 19 is used to ensure that all the circular through holes of each second bearing seat 21 and the circular through hole of each fin ray seat 20 The vias are concentric. The middle part of each bushing 22 is designed with a hexagonal step, and each bushing 22 is closely matched with the corresponding second bevel gear 26 for driving the second bevel gear 26 to rotate. The lower end surface of each second bevel gear 26 is provided with a corresponding second bearing seat 21, and the lower end surface of each second bevel gear 26 is coplanar with the bottom end surface of the corresponding second bearing seat 21 to define the second cone. The position of the gear 26 ensures that the second bevel gear 26 rotates stably in the plane. The top end of the sleeve 22 located outside the cylindrical cavity is set as a cylindrical shaft, and the cylindrical shaft extends into the circular hole at the bottom of the corresponding second bearing seat 21, and the circular hole at the bottom of each second bearing seat 21 Corresponding ball bearings 25 are arranged inside to support the corresponding bushings 22, so as to ensure that the corresponding bushings 22 are concentric with the motor output shaft hole and the bottom hole of the second bearing seat 21 when rotating without tilting and deflection. The frictional resistance between the shaft sleeve 22 and the second bearing seat 21 is reduced.

The upper half cylinder 2 and the lower half cylinder 1 are made of aluminum alloy material, which can maintain high strength on the basis of light weight and resist deep water pressure. The cylindrical cavity can reduce the movement resistance in the forward direction

The sealing ring 3 is made of soft silicone material. The sealing ring 3, the upper half cylinder 2 and the lower half cylinder 1 are connected with hexagon socket screws through the screw holes 4 evenly distributed on the shell of the cylindrical cavity.

The valve core 5 is an ordinary tire valve core, which is used to inflate and deflate the cylindrical cavity, and maintain the seal after the tire is inflated, so that the internal and external pressures of the cylindrical cavity are consistent, and the fluctuating fin propeller is prevented from being damaged in deep water. Excessive water pressure can damage the housing.

The waterproof plug 6 is connected to the battery 18 and the control circuit board 10 by a cable, and the charging line of the battery 18 and the serial port cable of the control circuit board 10 are drawn out. The battery 18 is charged, and the serial port cable of the control circuit board 10 is connected to the control computer, and the computer can send control commands to the control circuit board 10 . The undulating fin thruster of the present invention contains complete power supply, control and drive modules, can independently perform three-dimensional movement, and can be easily installed on other underwater machine platforms. The computer only needs to send serial port commands to the control circuit board 10. Let the undulating fin propeller drive the underwater machine platform to move, so it has strong scalability.

The fin rays 8 are made of a plurality of carbon fiber materials, which are light in weight and high in strength. Each fin ray is connected to a first steering gear 11 through the first bevel gear 7 and the second bevel gear 26 to drive independently, and the first steering gear The output power is converted into the swing power of the fin rays, which can swing periodically at a specific amplitude and frequency

The fin surface of the long fin 9 is made of a flexible film of latex material, has a certain elastic modulus, and can realize various sinusoidal or other types of waveforms driven by fin rays and interact with water to generate stable propulsion.

The first steering gear 11 and the second steering gear 16 adopt the CDS5516 digital steering gear, which is small in size, fast in speed, and high in control accuracy. A plurality of first steering gears 11 are closely arranged, and the overall volume is small, light in weight, and relatively fast in speed. quick.

The bionic undulating long-fin underwater propeller made according to the above technical scheme has strong expansibility. It can independently simulate the three-dimensional swimming of swordfish in the water, and can be installed on both sides of the underwater machine platform to simulate the movement of rays. The number of undulating fin propellers can be increased to build a new type of underwater vehicle.

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. the long fin underwater propeller of bionical fluctuation, it is characterized in that comprising: first cylinder, second cylinder, seal ring, screw hole, inflating valve core, waterproof plug, multiple first finishing bevel gear cuter, multiple fin ray, long fin, control circuit board, multiple first steering wheel, multiple press strip, clutch shaft bearing seat, clump weight, screw mandrel, second steering wheel, screw hole, battery component, and multichannel first steering wheel power output structure is by a major axis, multiple fin ray seat, multiple second bearing seat, multiple axle sleeve, multiple polytetrafluoroethylene circle, multiple lattice enclose, multiple ball bearing of main shaft, multiple second finishing bevel gear cuter composition, wherein:

Cylindrical cavity is formed by first cylinder, second cylinder; Between first cylinder and second cylinder, be provided with seal ring, first cylinder, second cylinder are fixedly connected with seal ring and compress formation seal chamber; First cover top portion is provided with inflating valve core and waterproof plug; Long fin is arranged at cylindrical cavity bottom, long fin has many fin rays, and all fin rays are equidistantly distributed on the fin face of long fin, and one end of every root fin ray is inserted in corresponding fin ray seat fixing, and fin face and every root fin ray of long fin are integrally connected structure; At first, second inside cavity structure contains control circuit board, multiple first steering wheel, multiple press strip, clutch shaft bearing seat, adjustable weight block, screw mandrel, the second steering wheel, multiple screw hole, battery component; One second steering wheel is provided with at second rear portion, the output shaft of the second steering wheel connects leading screw, clump weight is provided with in screw mandrel, leading screw one end is placed in clutch shaft bearing seat, second steering wheel drives screw mandrel to rotate, i.e. the position of adjustable clump weight, thus regulates the fluctuation angle of rake center of gravity of fin and centre of buoyancy relative position, and then regulate the pitch angle of fluctuation fin propelling unit motion, be conducive to realizing the underwater three-dimensional motion of fluctuation fin propelling unit;

Control circuit board, multiple first steering wheel and battery component are installed in seal chamber inside, control circuit board to be positioned in seal chamber front groove and to be fixedly connected with, and control circuit board is connected by steering wheel line with multiple first steering wheel, multiple first steering wheel is equidistantly positioned over side by side in second and is also screwed in second cylinder by corresponding screw hole; Battery component is positioned in first cylinder; And battery component is connected with control circuit board, power to control circuit board;

Multichannel first steering wheel power output structure Zhong Mei road first steering wheel power output structure is made up of fin ray seat, the second bearing seat, axle sleeve, polytetrafluoroethylene circle, Ge Laiquan, ball bearing of main shaft, the second finishing bevel gear cuter, wherein the power take-off shaft of every road first steering wheel is placed in an end of axle sleeve, and each polytetrafluoroethylene circle is placed in corresponding lattice and encloses and be combined into this special envelope; Each axle sleeve one end is sequentially placed in the axis hole on this special envelope, second shell, and the other end of axle sleeve extends to cylindrical chamber external body, press strip is placed between cylindrical cavity, the second finishing bevel gear cuter, for cylindrical cavity, axle sleeve and Si Te envelope is fixed, prevent in the power take-off shaft rotation process of each first steering wheel, the axis hole of water from second shell penetrates into cylindrical cavity inside;

The middle part of the second bearing seat has manhole, the end face of the second bearing seat is provided with corresponding fin ray seat, the middle part of each fin ray seat is provided with manhole and concentric with the manhole of the second bearing seat; Each fin ray seat passes through spline and the first finishing bevel gear cuter flush fit of the first steering wheel, first finishing bevel gear cuter and the second finishing bevel gear cuter engage each other, a major axis is through the manhole of each second bearing seat and the manhole of each fin ray seat, and major axis is concentric for the manhole of the manhole and each fin ray seat that ensure all each second bearing seats; The middle part of axle sleeve is designed with hexagon step, axle sleeve and the second corresponding finishing bevel gear cuter flush fit, rotates for driving the second finishing bevel gear cuter; Be provided with the second corresponding bearing seat in the lower surface of the second finishing bevel gear cuter, the lower surface of the second finishing bevel gear cuter is coplanar with the second corresponding bearing seat bottom end face, for limiting the second finishing bevel gear cuter position, ensureing that the second finishing bevel gear cuter is planar stable and rotating; Cylindrical shaft is arranged on the top that axle sleeve is positioned at cylindrical chamber external body, cylindrical shaft extends in the circular port bottom the second corresponding bearing seat, corresponding ball bearing of main shaft is provided with in the bottom circular hole of each second bearing seat, for supporting corresponding axle sleeve, concentric and can not tilt to deflection with the base apertures of motor output shaft hole and the second bearing seat when ensureing that corresponding axle sleeve rotates, the friction drag simultaneously between minimizing axle sleeve and the second bearing seat.

2. the long fin underwater propeller of bionical fluctuation according to claim 1, is characterized in that, the absolute construction composition that described multichannel first steering wheel power output structure Shi Youmei road first steering wheel power output structure is identical.

3. the long fin underwater propeller of bionical fluctuation according to claim 1, it is characterized in that, first cylinder described, second cylinder make cylindrical chamber body structure by aluminum alloy materials, for alleviate deadweight basis on keep higher intensity, opposing deep-water pressure, reduces the resistance of motion of working direction.

4. the long fin underwater propeller of bionical fluctuation according to claim 1, is characterized in that, described seal ring is made up of soft silica gel material; Seal ring, first is connected with hexagon socket head cap screw by the screw hole be evenly distributed on the shell of cylindrical cavity with second.

5. the long fin underwater propeller of bionical fluctuation according to claim 1, it is characterized in that, described inflating valve core is tire valve core, for to cylindrical cavity inflation/deflation, and the sealing maintained after cylindrical cavity inflation, making cylindrical cavity inside and outside pressure consistent, in deep water, damaging shell because hydraulic pressure is excessive for avoiding fluctuation fin propelling unit.

6. the long fin underwater propeller of bionical fluctuation according to claim 1, it is characterized in that, described waterproof plug connects battery component and control circuit board by cable, the serial ports cable of the charging wire of battery component and control circuit board is drawn, after in fluctuation fin propelling unit, battery component exhausts, by waterproof plug the charging wire of battery component is connected on external power supply and charges to battery component, the serial ports cable of control circuit board is connected on computer for controlling, and computer for controlling sends control command to control circuit board; Namely computer for controlling only need allow fluctuation fin propelling unit drive underwater Platform movement to the transmission serial port command of control circuit board.

7. the long fin underwater propeller of bionical fluctuation according to claim 1, is characterized in that, described battery component is using four as one group of placement in parallel, and totally six Battery packs, for being connected in series between every Battery pack.

8. the long fin underwater propeller of bionical fluctuation according to claim 1, it is characterized in that, described fin ray is made up of many carbon fibre materials, every root fin ray all connects first steering wheel by the first finishing bevel gear cuter, the second finishing bevel gear cuter and drives separately, first steering wheel outputting power is converted into fin ray and swings power, swing with the amplitude set and frequency period.

9. the long fin underwater propeller of bionical fluctuation according to claim 1, it is characterized in that, the fin face of described long fin is that the fexible film of latex material is made, and can under fin ray drive, realize the waveform of multiple sine or other types and produce stable propulsive force with water effect.

10. the long fin underwater propeller of bionical fluctuation according to claim 1, is characterized in that, described first steering wheel and the second steering wheel adopt digital rudder controller.