CN106887895A - A kind of wave-energy power generation formula underwater robot - Google Patents

Abstract

The invention provides a wave energy generating type underwater robot, which belongs to the technical field of underwater robots, and includes a mother ship and a submersible. Inside, the rotor of the generator is connected to the bobbin wound with cables through a coupling, and a tension sensor is installed under the bobbin, and the cable wound on the bobbin passes through the tension sensor and is connected to the submersible. The beneficial effects of the present invention are: reasonable structure, stable performance, adopting a special transmission structure, can effectively convert wave energy into electric energy for underwater submersibles, and at the same time cooperate with solar power generation, not only energy saving and environmental protection, but also local materials can be obtained greatly. The working time of the underwater submersible is extended, and the underwater and surface dual detection devices are adopted at the same time, and it has multiple functions of the underwater robot and the unmanned ship. It has a wide application range, stable performance, and is convenient for popularization and use.

Description

A wave energy generating underwater robot

technical field

The invention relates to the technical field of underwater robot energy, in particular to a wave energy generating underwater robot.

Background technique

With the continuous development of the economy, human beings are exploring more and more marine resources, and the tools used are mainly underwater vehicles, such as autonomous underwater robots, underwater glider, etc. The distance is long, and the energy supply is very short in long-term monitoring activities. Most of the methods used now are built-in batteries or the use of solar energy and tidal energy to convert into electrical energy. These forms of devices are greatly affected by changes in ocean weather, and the conversion efficiency is unstable. , making it difficult to guarantee the energy supply during actual work, and the use effect is not good.

Contents of the invention

The invention provides a wave energy generating underwater robot, which has a reasonable structure and stable performance. It adopts a special transmission structure and can effectively convert wave energy into electric energy for underwater submersibles. It can obtain local materials, which greatly prolongs the working time of the underwater submersible. At the same time, it adopts dual underwater and surface detection devices. It has multiple functions of underwater robots and unmanned ships. It has a wide range of applications, stable performance, and is easy to promote and use.

In order to solve the above technical problems, the embodiment of the present application provides a wave energy power generation underwater robot, including a mother ship and a submersible. Generator, coupling and tensioning device, the top of the mother ship is provided with a solar panel, the solar panel is connected to the charging port of the battery inside the mother ship, and the output end of the generator is connected to the battery through the inverter. The charging port 2 of the battery is connected, and the discharge port of the battery is connected to the input end of the generator through the inverter 2. The rotor end of the generator is provided with a coupling, and the coupling includes a central shaft, an inner magnetic joint and an outer magnetic joint. Among them, the inner magnetic section is connected with the rotor of the generator, the outer magnetic section is connected with the spool, and the opposite end faces of the inner magnetic section and the outer magnetic section are provided with grooves, and the inner magnetic section bearings and the inner magnetic section bearings are respectively arranged in the grooves. For the outer magnetic joint bearing, a tension sensor is arranged below the bobbin, and the cable wound on the bobbin passes through the tension sensor and is connected to the submersible. The tension sensor forms a closed feedback loop with the controller, storage battery and generator.

As a preferred embodiment of this solution, the material of the central shaft is polyphenylene sulfide, and the middle part is an annular platform, which is located in the middle of the inner magnetic section and the outer magnetic section. The magnetic joint bearing matches the round shaft.

As a preferred embodiment of this solution, an equal number of even-numbered circular blind holes are provided on the end faces of the outer magnetic joint and the inner magnetic joint, and a magnetic steel is installed in each blind hole, and the magnetic steel on the same magnetic joint The magnetic poles facing the outside of the steel are alternately distributed with N poles and S poles, and the magnetic poles of the magnetic steel facing the outside at the same position as the outer magnetic section and the inner magnetic section are opposite. Outside the blind holes, there are outer magnetic section glands and inner magnetic section glands. .

As a preferred embodiment of this solution, the cable is divided into a wrapping layer and a wire core, wherein the wrapping layer is made of nitrile elastomer material, and the wire core is made of twisted copper wires.

One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

The structure is reasonable, the performance is stable, and the special transmission structure is adopted, which can effectively convert the wave energy into electric energy for the use of the underwater submersible. During working hours, it adopts underwater and surface dual detection devices at the same time, and has multiple functions of underwater robots and unmanned ships. It has a wide range of applications, stable performance, and is easy to promote and use.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the overall structure schematic diagram of the underwater robot of the embodiment of the present application;

Fig. 2 is a sectional view of the internal structure of the mother ship of the embodiment of the present application;

Fig. 3 is a cross-sectional view of the coupling structure of the embodiment of the present application;

Fig. 4 is a schematic diagram of the structure of the central axis of the embodiment of the present application;

Fig. 5 is a schematic structural diagram of a tensioning device according to an embodiment of the present application;

Fig. 6 is a schematic diagram of battery wiring in an embodiment of the present application;

Fig. 7 is a schematic diagram of the tensioning principle of the embodiment of the present application.

In Fig. 1-Fig. 7: 1, mother ship, 2, submersible, 3, tensioning device, 4, mother ship thruster, 5, solar panel, 6, shaft coupling, 7, generator, 8, inverter 1 , 9. Inverter 2, 10. Battery, 11. Outer magnetic section, 12. Magnetic steel, 13. Cable, 14. Spool, 15. Central shaft, 16. Outer magnetic section bearing, 17. Outer magnetic section gland , 18. Inner magnetic section gland, 19. Inner magnetic section bearing, 20. Inner magnetic section, 21. Nitrile rubber sealing ring, 22. Tension sensor, 23. Controller, 24. Charging port one, 25. Charging port Two, 26, discharge port.

detailed description

The invention provides a wave energy generating underwater robot, which has a reasonable structure and stable performance. It adopts a special transmission structure and can effectively convert wave energy into electric energy for underwater submersibles. It can obtain local materials, which greatly prolongs the working time of the underwater submersible. At the same time, it adopts dual underwater and surface detection devices. It has multiple functions of underwater robots and unmanned ships. It has a wide range of applications, stable performance, and is easy to promote and use.

In order to better understand the above-mentioned technical solution, the above-mentioned technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

As shown in Figures 1 to 7, a wave energy generating underwater robot includes a mother ship 1 and a submersible 2. The mother ship 1 is connected to the submersible 2 through a cable 13, and also includes a solar panel 5, a storage battery 10, and a power generator. machine 9, coupling 8 and tensioning device 3, the top of the mother ship 1 is provided with a solar panel 5, the solar panel 5 is connected to the charging port 124 of the storage battery 10 inside the mother ship 1, the generator 7 The output terminal is connected to the charging port 225 of the battery 10 through the inverter one 8, and the discharge port 26 of the battery 10 is connected to the input terminal of the generator 7 through the inverter two 9, and the rotor end of the generator 7 is provided with a shaft coupling 6, the coupling 6 includes a central shaft 15, an inner magnetic section 20 and an outer magnetic section 11, wherein the inner magnetic section 20 is connected with the rotor of the generator 7, the outer magnetic section 11 is connected with the bobbin 14, and the inner magnetic section 20 Grooves are provided on the end face opposite to the outer magnetic section 11, and inner magnetic section bearings 18 and outer magnetic section bearings 16 are respectively arranged in the grooves. A tension sensor 22 is provided under the bobbin 14, and the winding wire The cable 13 on the shaft 14 passes through the tension sensor 22 and is connected to the submersible 2 . The tension sensor 22 forms a closed feedback loop with the controller 23 , the storage battery 10 and the generator 7 .

Wherein, in practical application, the material of the central shaft 15 is polyphenylene sulfide, the middle part is an annular platform, which is located in the middle of the inner magnetic section 20 and the outer magnetic section 11, and the two ends of the central shaft are bearings with the inner magnetic section. 19 and the round shaft matched with the outer magnetic joint bearing 16 are made of non-magnetic material such as polyphenylene sulfide, which not only has high corrosion resistance, but also does not generate eddy currents and reduces energy loss.

Wherein, in actual application, the end faces of the outer magnetic joint 11 and the inner magnetic joint 20 are provided with an equal number of even-numbered circular blind holes, and a magnetic steel 12 is housed in each blind hole. The magnetic poles of the magnetic steel 12 facing the outside are alternately distributed with N poles and S poles, the magnetic poles of the magnetic steel 12 facing the outside at the same position of the outer magnetic section 11 and the inner magnetic section 20 are opposite, and the blind holes are respectively equipped with outer magnetic section glands 17 and the inner magnetic joint gland 18, wherein the magnetic steel 12 is a strong magnet made of neodymium iron boron material, through the attractive force between the magnets, the torque is transmitted, the sealing effect is good, and it is not easy to be worn out, and the mechanical Low loss and stable performance.

Wherein, in practical application, the cable 13 is divided into a wrapping layer and a wire core, wherein the material of the wrapping layer is a nitrile elastomer material, and the wire core is twisted with copper wire, and the wrapping layer of the cable 13 acts as a floating body. Due to the effect of the material, the buoyancy of the overall structure in water is equal to its gravity, so as to avoid the impact on the work of the submersible 2 due to the retractable length of the cable 13 .

Working principle: When in use, the mother ship 1 sails on the water surface, generates electricity with the solar panel 5, and the generated electric energy is stored in the battery 10; the submersible 2 sails underwater to detect at a fixed depth, and the mother ship 1 will fluctuate up and down under the influence of the waves on the water surface , so as to drive the rotor of the generator 7 to reciprocate, cut the magnetic induction line to induce a current, and the generated electric energy is converted into direct current through the inverter 8 and stored in the storage battery 10, and then transmitted to the submersible 2 through the cable 13 for power supply. When the cable 13 is in a slack state, the tension sensor 22 will detect that the cable 13 is not tensioned, and the signal will be fed back to the controller 23 for processing. For the use of the motor, drive the spool 14 to wind the cable 13 so that it is always in a tensioned state; when the submersible 2 is recovered and the submersible 2 dives deep, the output line of the battery 10 transmits electric energy to the inverter 2 9 , the direct current is converted into alternating current, and then the alternating current is delivered to the input end of the generator 7, so that the generator 7 is used as a motor, drives the coupling 6, and changes the release length of the cable 13, so that the submersible 2 dives deep.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone familiar with this field Those skilled in the art, without departing from the scope of the technical solution of the present invention, can use the technical content disclosed above to make some changes or modify equivalent embodiments with equivalent changes, but all the content that does not depart from the technical solution of the present invention, according to the present invention Any simple modifications, equivalent changes and modifications made to the above embodiments by the technical essence still belong to the scope of the technical solutions of the present invention. .

Claims (4)

1. a kind of wave-energy power generation formula underwater robot, including lash ship (1) and latent device (2), described lash ship (1) is by cable (13) it is connected with latent device (2), it is characterised in that also including solar panels (5), battery (10), generator (9), shaft coupling (6) With tensioning apparatus (3), solar panels (5), solar panels (5) storage internal with lash ship (1) are provided with the top of described lash ship (1) The charge port one (24) of battery (10) is connected, and the output end of described generator (7) passes through inverter one (8) and battery (10) Charge port two (25) be connected, the discharge port (26) of battery (10) is by inverter two (9) and generator (7) input phase Even, described generator (7) rotor-end is provided with shaft coupling (6), and shaft coupling (6) includes central shaft (15), interior magnetic section (20) and outward Magnetic section (11), wherein interior magnetic section (20) is connected with the rotor of generator (7), outer magnetic section (11) is connected with bobbin (14), interior Be all provided with magnetic section (20) and the end face of the opposite face of outer magnetic section (11) it is fluted, be respectively equipped with groove interior magnetic bearings (18) and Outer magnetic bearings (16), tension sensor (22) is provided with below described bobbin (14), is wrapped in the cable on bobbin (14) (13) through being connected with latent device (2) after tension sensor (22), described tension sensor (22) and controller (23), battery (10) and generator (7) formed closed feedback loop.

2. a kind of wave-energy power generation formula underwater robot according to claim 1, it is characterised in that described central shaft (15) material is polyphenylene sulfide, and its middle part is ring-shaped platform, positioned at interior magnetic section (20) and the centre of outer magnetic section (11), central shaft (15) two ends are the circular shaft matched with interior magnetic bearings (19) and outer magnetic bearings (16).

3. a kind of wave-energy power generation formula underwater robot according to claim 1, it is characterised in that described outer magnetic section (11) and the end face of interior magnetic section (20) is provided with the even number blind round hole of equal amount, a magnet steel is housed in each blind hole (12), the magnet steel (12) on same magnetic section is alternately distributed for N poles and S poles towards the magnetic pole in outside, outer magnetic section (11) and interior magnetic section (20) magnet steel (12) at same position towards outside magnetic pole conversely, being respectively equipped with outer magnetic section gland (17) and interior magnetic outside blind hole Section gland (18).

4. a kind of wave-energy power generation formula underwater robot according to claim 1, it is characterised in that described cable (13) It is divided into integument and core, the wherein material of integument is butyronitrile elastomeric material, and core is formed for copper wire snarl.