CN113148074A - Foldable wave energy self-sufficient marine robot - Google Patents
Foldable wave energy self-sufficient marine robot Download PDFInfo
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- CN113148074A CN113148074A CN202110390143.8A CN202110390143A CN113148074A CN 113148074 A CN113148074 A CN 113148074A CN 202110390143 A CN202110390143 A CN 202110390143A CN 113148074 A CN113148074 A CN 113148074A
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- 230000007246 mechanism Effects 0.000 claims abstract description 191
- 238000010248 power generation Methods 0.000 claims abstract description 40
- 238000004146 energy storage Methods 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 54
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 abstract description 7
- 238000007667 floating Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
- F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
- F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2220/00—Application
- F05B2220/70—Application in combination with
- F05B2220/706—Application in combination with an electrical generator
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/40—Transmission of power
- F05B2260/403—Transmission of power through the shape of the drive components
- F05B2260/4031—Transmission of power through the shape of the drive components as in toothed gearing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention provides a foldable and unfoldable wave energy self-sufficient marine robot which comprises a power generation mechanism, an energy storage mechanism, a power mechanism, a robot body and a folding and unfolding mechanism, wherein the folding and unfolding mechanism is arranged on the robot body or is arranged on the robot body through a connecting mechanism and can be switched between a folded state and a fully unfolded state; the power generation mechanism, the energy storage mechanism and the power mechanism are all arranged on the robot body or on the connecting mechanism, and the power generation mechanism and the power mechanism are respectively and electrically connected with the energy storage mechanism; when the robot is folded, the power mechanism can drive the robot body to sail in water; when the underwater vehicle sails, the folding and unfolding mechanism is folded into a minimum volume form to reduce sailing resistance, and the underwater vehicle has the advantages of self-sufficiency of wave energy, high conversion efficiency and small sailing resistance.
Description
Technical Field
The invention relates to the field of new energy, in particular to a foldable wave energy self-sufficient marine robot.
Background
At present, most underwater vehicles adopt cables for external power supply or carry storage batteries by themselves, and the limited cable length and storage battery storage capacity greatly limit the motion range, endurance and load capacity of the vehicle. And the underwater vehicle with the wave energy collecting capability has greatly increased navigation resistance due to the size of the wave energy collecting mechanism, and the utilization efficiency of energy is seriously reduced.
Patent document CN 107031806a discloses a surface vehicle using wave energy to propel, which comprises a floating body, a wave energy conversion device, a power generation device and a propulsion device, wherein the wave energy conversion device is composed of wing plates, a stand column, a rack and a gear, the stand column vertically penetrates through the floating body from an opening at the bottom of the floating body, the bottom of the stand column is fixedly connected with the wing plates, the rack is arranged on the side surface of the stand column, and the rack is meshed with the gear. The fluctuation of waves causes the vertical movement of the floating body and the upright post, the stress and the movement of the upright post and the floating body have amplitude and phase difference, and the relative movement drives the generator to generate electricity through the rotation of the gear; the power generation device consists of a speed change gear box, a generator, a rectifying and voltage stabilizing device and a storage battery, the propulsion device comprises a motor control system, a motor, a crankshaft mechanism and flapping wings, a motor shaft is connected with a crankshaft, the lower end of a connecting rod is connected with the flapping wings, the motor operates to drive the crankshaft to rotate, the flapping wings reciprocate up and down to generate thrust to push the aircraft to advance, but the design is not suitable for the underwater aircraft.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a foldable wave energy self-sufficient marine robot.
The invention provides a foldable wave energy self-sufficient marine robot which comprises a power generation mechanism, an energy storage mechanism, a power mechanism, a robot body and a foldable mechanism, wherein the power mechanism is arranged on the power generation mechanism;
the folding and unfolding mechanism is mounted on the robot body or mounted on the robot body through a connecting mechanism and can be switched between a folded state and a fully unfolded state;
the power generation mechanism, the energy storage mechanism and the power mechanism are all arranged on the robot body or on the connecting mechanism, and the power generation mechanism and the power mechanism are respectively and electrically connected with the energy storage mechanism;
when the robot is folded, the power mechanism can drive the robot body to sail in water;
in the fully unfolded state, the folding and unfolding mechanism can drive the power generation mechanism to generate power under the action of waves.
Preferably, a rudder and a propeller are arranged on the robot body;
the power mechanism comprises a first power source, the first power source can drive the propeller to rotate so as to realize the navigation of the robot in water, and the rudder is used for controlling the navigation direction of the robot.
Preferably, the power mechanism comprises a second power source, and the folding and unfolding mechanism comprises a left folding and unfolding part and a right folding and unfolding part which are respectively arranged at two sides of the robot body;
the left folding and unfolding piece and the right folding and unfolding piece can synchronously move to a folding state or a fully unfolding state under the driving of the second power source.
Preferably, the power mechanism further comprises a guide rail, a lead screw and a baffle;
the lead screw passes the baffle and with baffle screw-thread fit, the second power supply can order about the lead screw rotates and then can make the baffle is followed the direction of guide rail length slides and then makes left side is rolled over exhibition piece, right side and is rolled over exhibition piece and can synchronous motion to fold condition or the state of unfolding completely.
Preferably, the power mechanism further comprises a crank, a connecting rod and a sliding block;
one end of the crank is in driving connection with the second power source, and the other end of the crank is in movable fit with the sliding block through a connecting rod;
the second power supply can order about the crank passes through the connecting rod and drives the slider slides and then makes left side is rolled over exhibition piece, right side is rolled over exhibition piece and can synchronous motion to fold condition or the state of unfolding completely.
Preferably, the folding and unfolding mechanism is connected with the input end of the one-way mechanism through a rotating block, and the output end of the one-way mechanism is connected with the power generation mechanism;
the folding and unfolding mechanism can drive the rotating block to drive the input end to rotate under the action of waves, so that the output end of the one-way mechanism drives the power generation mechanism to generate power.
Preferably, the left folding and unfolding piece and the right folding and unfolding piece respectively comprise one or more scissor units which are connected in sequence;
the scissor unit comprises a driving end and a follow-up end;
the second power source can drive the driving end to move between a first position and a second position, wherein when the driving end is at the first position, the left folding and unfolding piece and the right folding and unfolding piece are both in a folding state;
when the driving end is at the second position, the left folding and unfolding piece and the right folding and unfolding piece are in a fully unfolded state, and in the process that the driving end moves between the first position and the second position, the follow-up end is in running fit with the end part of the rotating block.
Preferably, the one-way mechanism comprises an input shaft gear, an intermediate transmission gear, a first output gear, a second output gear, a first one-way bearing, an output shaft, an input shaft and a second one-way bearing;
the hinge assembly comprises a rotating block, one end of the rotating block is in rotating fit with the folding and unfolding assembly arranged on the folding and unfolding mechanism, the other end of the rotating block is sleeved at one end of the input shaft, and the input shaft gear is arranged at the other end of the input shaft;
the input shaft gear is respectively meshed and matched with the intermediate transmission gear and the first output gear, the intermediate transmission gear is meshed and matched with the second output gear, and the first output gear and the second output gear are sequentially arranged on the output shaft through the second one-way bearing and the first one-way bearing respectively;
when the folding and unfolding mechanism drives the input shaft to rotate clockwise around the shaft center through the rotating block, the input shaft gear simultaneously drives the first output gear and the second output gear to rotate anticlockwise, and the second output gear drives the output shaft to rotate anticlockwise around the shaft center through the first one-way bearing;
when the folding and unfolding mechanism drives the input shaft to rotate anticlockwise around the shaft center through the rotating block, the input shaft gear simultaneously drives the first output gear and the second output gear to rotate clockwise, and the first output gear drives the output shaft to rotate clockwise around the shaft center through the second one-way bearing;
the output shaft is in driving connection with the power generation mechanism.
Preferably, the one-way mechanism comprises a front end shaft sleeve, a rear end shaft sleeve, a support body, a first transmission shaft, a second transmission shaft, a first large one-way bearing, a second large one-way bearing, a first small one-way bearing, a second small one-way bearing and a central wheel;
the support body is sleeved in the middle of the first transmission shaft, inner rings of the first large one-way bearing and the first small one-way bearing are respectively installed at two ends of the first transmission shaft in an interference fit mode, an installation through hole is formed in the first transmission shaft, the second transmission shaft penetrates through the installation through hole, two ends of the second transmission shaft respectively extend to the outside of the second transmission shaft, and the second transmission shaft is respectively in interference fit with the inner rings of the first small one-way bearing and the second small one-way bearing;
the first big one-way bearing and the first small one-way bearing are both arranged in the front end shaft sleeve, and the outer rings of the first big one-way bearing and the first small one-way bearing are in interference fit with the front end shaft sleeve respectively;
the second big one-way bearing and the second small one-way bearing are both arranged in the rear end shaft sleeve, wherein the outer ring of the second big one-way bearing is in interference fit with the rear end shaft sleeve, and the outer ring of the second small one-way bearing is in meshing fit with the rear end shaft sleeve gear through a central wheel;
when the folding and unfolding mechanism drives the front end shaft sleeve to rotate clockwise around the shaft center through the rotating block, the first large one-way bearing drives the first transmission shaft to rotate clockwise so as to drive the second large one-way bearing to drive the rear end shaft sleeve to rotate clockwise around the shaft center;
when the folding and unfolding mechanism drives the front end shaft sleeve to rotate anticlockwise around the shaft center through the rotating block, the first small one-way bearing drives the second transmission shaft to rotate anticlockwise, and the second small one-way bearing drives the central wheel to rotate anticlockwise so as to drive the rear end shaft sleeve to rotate clockwise around the shaft center;
the rear end shaft sleeve is in driving connection with the power generation mechanism.
Preferably, a plurality of fins are sequentially arranged on the left folding and unfolding piece and the right folding and unfolding piece along the extending direction;
the plurality of fins may be the same shape or different shapes;
the plurality of flaps are in a stacked configuration up and down in the folded state.
Compared with the prior art, the invention has the following beneficial effects:
1. the folding and unfolding mechanism of the invention realizes reciprocating swing under the action of wave excitation force, and then outputs unidirectional rotation by matching a sliding hinge and a rotating block with a unidirectional mechanism so as to drive a generator to work, thus realizing wave energy power generation. When the underwater vehicle sails, the folding and unfolding mechanism is folded into a minimum volume form to reduce sailing resistance, and the underwater vehicle has the advantages of self-sufficiency of wave energy, high conversion efficiency and small sailing resistance.
2. The unidirectional mechanism rotates the input shaft in two directions, different transmission shafts are driven by the multi-stage unidirectional bearings to rotate clockwise or anticlockwise, and the gear set is used for transmission, so that the output end always keeps a rotation direction no matter the input end rotates clockwise or anticlockwise, the conversion from reciprocating rotation to unidirectional rotation is realized, and finally wave energy power generation is realized.
3. The transmission structures in the one-way mechanism and the power mechanism can be in various forms, can be reasonably arranged according to actual application scenes, and have strong practicability.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention, wherein the folding mechanism is in a fully unfolded state;
FIG. 2 is a schematic top view of the collapsible wave energy self-contained marine robot with the collapsing mechanism in a fully deployed state;
FIG. 3 is a schematic perspective view of a foldable wave-powered autonomous marine robot with the folding mechanism in a partially unfolded state;
FIG. 4 is a schematic perspective view of a foldable wave-powered autonomous marine robot with the folding mechanism in a folded position;
FIG. 5 is a schematic view showing the structure of a one-way mechanism according to embodiment 2;
fig. 6 is a schematic perspective view of a foldable wave energy self-contained marine robot with the folding mechanism in a fully unfolded state;
FIG. 7 is a schematic top view of the collapsible wave energy self-contained marine robot with the collapsing mechanism in a fully deployed state;
FIG. 8 is a schematic structural view of a one-way mechanism according to embodiment 3;
FIG. 9 is a schematic view of the rudder and propeller connection;
FIG. 10 is a schematic view showing the arrangement of the components of the power mechanism in embodiment 2;
FIG. 11 is a schematic structural view showing the arrangement of the components of the power mechanism in embodiment 3, wherein the folding and unfolding mechanism is in a fully unfolded state;
FIG. 12 is a schematic view of a turning block;
fig. 13 is a schematic structural view of the arrangement of the plurality of wings on the left or right folded member.
The figures show that:
Second mounting hole 62 of propeller 3
First one-way bearing 76 of connecting rod 9
Second one-way bearing 79 of guide rail 12
Front end shaft sleeve 81 of lead screw 13
Rear end shaft sleeve 82 of direct current generator 14
Output end cover 84 of stepping motor 16
Sliding hinge 17 first drive shaft 85
First large one-way bearing 87 of side plate 19
Second large one-way bearing 88 of baffle nut 20
Steering engine 21 first small one-way bearing 89
Thrust bearing 22 second small one-way bearing 810
Center wheel 811 of upper plate 23
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1:
the invention provides a foldable wave energy self-sufficient marine robot which can realize underwater navigation and comprises a power generation mechanism, an energy storage mechanism, a power mechanism, a robot body 1 and a foldable mechanism 5, the power generation mechanism preferably adopts a direct current generator 14, the energy storage mechanism preferably adopts a battery, the folding and unfolding mechanism 5 is installed on the robot body 1 or is installed on the robot body 1 through a connecting mechanism 4, the folding and unfolding mechanism 5 can be switched between a folded state and a fully unfolded state, the power generation mechanism, the energy storage mechanism and the power mechanism are all installed on the robot body 1 or the connecting mechanism 4, the power generation mechanism and the power mechanism are respectively electrically connected with the energy storage mechanism, the power generation mechanism stores the generated electric energy into the energy storage mechanism, and meanwhile, the energy storage mechanism provides the electric energy required by work for the power mechanism. When folded state, power unit can order about the navigation of robot body 1 in aqueous, and the robot navigates and accomplishes corresponding task according to established target, and when the state was expanded completely, the usable wave of robot generated electricity the energy storage, and folding and expanding mechanism 5 can order about power generation mechanism electricity generation under the effect of wave.
The robot body 1 in this embodiment is provided with the casing 24, as shown in fig. 4, the casing 24 can protect the robot body 1, and the connecting mechanism 4 is mounted on the robot body 1 through the casing 24.
In this embodiment, be provided with rudder 2 and screw 3 on robot body 1, as shown in fig. 9, power unit includes first power supply and steering wheel 21, first power supply can order about screw 3 rotates and then realizes that the robot sails in aqueous, and first power supply preferably adopts brushless dc motor 31, steering wheel 21 is connected with rudder 2 drive, and rudder 2 adopt the cross rudder, steering wheel 21 can order about 2 actions of rudder and then control the navigation direction of robot.
Specifically, power unit includes the second power supply, roll over exhibition mechanism 5 including setting up respectively the left side of 1 both sides of robot body is rolled over exhibition piece, the right side and is rolled over exhibition piece the driving about of second power supply roll over exhibition piece, the right side and roll over exhibition piece and can synchronous motion to fold condition or expand the state completely. It is a plurality of fins 51, a plurality of all have set gradually in the direction of extending on the exhibition piece is rolled over to a left side, the right side is rolled over to be unfolded, fin 51 adopts the same shape or different shape it is a plurality of during fold condition fin 51 is the structure of upper and lower range upon range of arrangement, makes 5 compact volumes of the exhibition mechanism after the exhibition of rolling over, is convenient for draw in and inside the equipment, reduces the navigation resistance of robot. When the robot collects wave energy, the folding and unfolding mechanism 5 keeps a fully unfolded state, the energy capturing area is increased due to the installation of the fins 51, and energy can be captured on the water wave surface when the folding and unfolding mechanism 5 is unfolded.
The left folding and unfolding piece and the right folding and unfolding piece respectively comprise one or more shearing fork units which are connected in sequence, the shearing fork units are formed by connecting multiple groups of cross connections and rod pieces which can rotate mutually in sequence in a head-tail rotatable mode, one end, close to the robot body 1, of each shearing fork unit is provided with a driving end and a follow-up end, the second power source can drive the driving end to move between a first position and a second position, a sliding hinge 17 is preferably arranged on the driving end, and the driving end can realize reciprocating motion under the sliding of the cylindrical guide rail through the sliding hinge 17 which is arranged as shown in fig. 6. When the driving end is at the first position, the left folding and unfolding part and the right folding and unfolding part are both in a folded state, and when the driving end is at the second position, the left folding and unfolding part and the right folding and unfolding part are both in a completely unfolded state, wherein in the process that the driving end moves between the first position and the second position, the follow-up end is in running fit with the end part of the rotating block 6, the end part of the rotating block 6 is provided with a first mounting hole 61, as shown in fig. 12, the follow-up end is preferably in running fit with the rotating block 6 through the first mounting hole 61 in a hinged manner so as to realize the state adjustment of the folding and unfolding mechanism 5.
In the invention, when the folding and unfolding mechanism 5 is unfolded, the function of fluctuation of water surface is received, the left folding and unfolding member and the right folding and unfolding member can drive the rotating block 6 to rotate around the axis and realize the transmission function through the connected one-way mechanism 7, wherein the folding and unfolding mechanism 5 is connected with the input end of the one-way mechanism 7 through the rotating block 6, the output end of the one-way mechanism 7 is connected with the power generation mechanism, the folding and unfolding mechanism 5 can drive the rotating block 6 to drive the input end to rotate under the action of waves so that the output end of the one-way mechanism 7 drives the power generation mechanism to generate power, and the output end of the one-way mechanism 7 rotates clockwise or anticlockwise regardless of the clockwise or anticlockwise rotation of the input end of the one-way mechanism 7.
Example 2:
this embodiment is a preferred embodiment of embodiment 1.
In this embodiment, as shown in fig. 1 and 2, the folding and unfolding mechanism 5 is installed on the robot body 1 through a connecting mechanism 4, the power generation mechanism, the energy storage mechanism and the power mechanism are all installed inside the connecting mechanism 4, and the connecting mechanism 4 preferably adopts a box-type structure.
In this embodiment, as shown in fig. 10, the power mechanism further includes a guide rail 12, a lead screw 13 and a baffle 15, the lead screw 13 passes through the baffle 15 and is in threaded fit with the baffle 15, wherein, a threaded hole is provided on the baffle 15 or a baffle nut 20 is installed, the threaded hole or the baffle nut 20 is in threaded drive fit with the lead screw 13, a step motor 16 is preferably adopted as a second power source, the second power source can drive the lead screw 13 to rotate so as to enable the baffle 15 to slide along the length direction of the guide rail 12, so that the left folding and unfolding member and the right folding and unfolding member can synchronously move to the folding state or the 19 fully unfolding state.
Further, baffle 15, slip hinge 17 all suit are on guide rail 12, and the motion of baffle 15 can drive slip hinge 17 synchronous motion, and slip hinge 17 passes through thrust bearing 22 and is connected with baffle 15. The connecting mechanism 4 is provided with an upper bottom plate 23, a lower bottom plate 18 and side plates 19, and the upper bottom plate 23, the lower bottom plate 18 and the side plates 19 enclose a containing space together for containing all the parts.
In this embodiment, as shown in fig. 5, the one-way mechanism 7 includes a front end shaft sleeve 81, a rear end shaft sleeve 82, a supporting body 83, a first transmission shaft 85, a second transmission shaft 86, a first large one-way bearing 87, a second large one-way bearing 88, a first small one-way bearing 89, a second small one-way bearing 810 and a center wheel 811, the supporting body 83 is sleeved in the middle of the first transmission shaft 85 to play a role of positioning and supporting, inner rings of the first large one-way bearing 87 and the first small one-way bearing 89 are respectively installed at two ends of the first transmission shaft 85 in an interference fit manner, an installation through hole is provided in the first transmission shaft 85, the second transmission shaft 86 penetrates through the installation through hole and two ends of the second transmission shaft 86 respectively extend to the outside of the second transmission shaft and are respectively in an interference fit with inner rings of the first small one-way bearing 89 and the second small one-way bearing 810, the first large one-way bearing 87 and the first small one-way bearing 89 are both installed inside the front end shaft sleeve 81, and the first large one-way bearing 87 is installed in the first large one-way bearing 87 The outer ring of the first small one-way bearing 89 is in interference fit with the front end shaft sleeve 81 respectively; the big one-way bearing 88 of second, little one-way bearing 810 are all installed the inside of rear end axle sleeve 82, wherein, big one-way bearing 88's of second outer lane and rear end axle sleeve 82 interference fit, little one-way bearing 810's of second outer lane through centre wheel 811 with rear end axle sleeve 82 gear engagement cooperation.
Further, when the folding and unfolding mechanism 5 drives the front end shaft sleeve 81 to rotate clockwise around the shaft center through the rotating block 6, the first large one-way bearing 87 drives the first transmission shaft 85 to rotate clockwise, and further drives the second large one-way bearing 88 to drive the rear end shaft sleeve 82 to rotate clockwise around the shaft center. When the folding and unfolding mechanism 5 drives the front end shaft sleeve 81 to rotate anticlockwise around the shaft center through the rotating block 6, the first small one-way bearing 89 drives the second transmission shaft 86 to rotate anticlockwise so as to drive the central wheel 811 to rotate anticlockwise through the second small one-way bearing 810 so as to drive the rear end shaft sleeve 82 to rotate clockwise around the shaft center, the rear end shaft sleeve 82 is in driving connection with the power generation mechanism, the rear end shaft sleeve 82 is connected with the output end cover 84, and transmission of driving force is realized through the output end cover 84 so as to drive the power generation mechanism to generate power.
Folding and unfolding mechanism 5 in this embodiment comprises twelve articulated connecting rods, as shown in fig. 10, left folding and unfolding piece, right folding and unfolding piece are located the both sides of robot respectively, are the rhombus shape when expanding, and left folding and unfolding piece, right folding and unfolding piece are gone up and are all followed a plurality of fin 51, a plurality of in proper order in the direction of extension the fin 51 adopts different shapes, as shown in fig. 13, it is a plurality of during folding state fin 51 is the structure of upper and lower range upon range of arrangement for folding and unfolding mechanism 5 is compact in appearance and accomodate in coupling mechanism 4's inside under folding state, has reduced the resistance of robot when aquatic navigation.
Example 3:
this embodiment is a modification of embodiment 1.
In this embodiment, as shown in fig. 11, the power mechanism includes a crank 8, a connecting rod 9 and a slider 10, one end of the crank 8 is connected to the second power source, the other end of the crank 8 is movably matched with the slider 10 through the connecting rod 9, and the second power source can drive the crank 8 to drive the slider 10 to slide through the connecting rod 9, so that the left folding and unfolding member and the right folding and unfolding member can synchronously move to the folding state or the fully unfolding state.
The one-way mechanism 7 in this embodiment includes an input shaft gear 72, an intermediate transmission gear 73, a first output gear 74, a second output gear 75, a first one-way bearing 76, an output shaft 77, an input shaft 78, and a second one-way bearing 79, as shown in fig. 8, the hinge assembly includes a rotating block 6, one end of the rotating block 6 is rotatably fitted with a folding and unfolding assembly provided on the folding and unfolding mechanism 5 through a first mounting hole 61 provided therein, one end of the input shaft 78 is mounted in a second mounting hole 62 provided at the other end of the rotating block 6, and the input shaft gear 72 is mounted at the other end of the input shaft 78; the input shaft gear 72 is engaged with the intermediate transmission gear 73 and the first output gear 74 respectively, the intermediate transmission gear 73 is engaged with the second output gear 75, and the first output gear 74 and the second output gear 75 are sequentially mounted on the output shaft 77 through the second one-way bearing 79 and the first one-way bearing 76 respectively.
Specifically, the one-way mechanism 7 is further provided with an adjusting housing 71, and in some special application scenarios, the output shaft 77 or the input shaft 78 can be adjusted by manually rotating the adjusting housing 71 to meet maintenance or other requirements.
Further, when the folding and unfolding mechanism 5 drives the input shaft 78 to rotate clockwise around the axis through the rotating block 6, the input shaft gear 72 simultaneously drives the first output gear 74 and the second output gear 75 to rotate counterclockwise and the second output gear 75 drives the output shaft 77 to rotate counterclockwise around the axis through the first one-way bearing 76; when the folding and unfolding mechanism 5 drives the input shaft 78 to rotate counterclockwise around the axis through the rotating block 6, the input shaft gear 72 simultaneously drives the first output gear 74 and the second output gear 75 to rotate clockwise, the first output gear 74 drives the output shaft 77 to rotate clockwise around the axis through the second one-way bearing 79, and the output shaft 77 is in driving connection with the power generation mechanism to further realize power generation of the power generation mechanism.
Taking the embodiment 2 as an example, the wave energy conversion principle is as follows:
the unfolded folding and unfolding mechanism 5 is excited by waves to swing up and down in a two-way mode, the rotating block 6 and the sliding hinge 17 rotate in a two-way mode along with the folding and unfolding mechanism 5, the sliding hinge 17 is connected with the one-way mechanism 7, as shown in the figure 5, when the input shaft rotates clockwise, the input shaft drives the front end shaft sleeve 81 to rotate clockwise, the first large one-way bearing 87 drives the first transmission shaft 85 to rotate clockwise, the first transmission shaft 85 drives the second large one-way bearing 88 to rotate and drives the rear end shaft sleeve 82 to rotate clockwise, and the input shaft and the output shaft rotate in the same direction.
When the input shaft rotates anticlockwise, the input shaft drives the front end shaft sleeve 81 to rotate anticlockwise, the first small one-way bearing 89 drives the second transmission shaft 86 to rotate anticlockwise, the second transmission shaft 86 drives the second small one-way bearing 810 to drive the central wheel 811 to rotate anticlockwise, the rear end shaft sleeve 82 rotates clockwise through gear train transmission, reverse rotation of the input shaft and the output shaft is achieved, and therefore motion of the output shaft is one-way rotation. The output shaft is connected with the direct current generator 14, so that the direct current generator 14 generates power for the robot to use, and wave energy power generation is realized.
Taking the embodiment 2 as an example, the process of contracting the folding and unfolding mechanism when the aircraft is in navigation is as follows:
as shown in fig. 10, the stepping motor 16 is connected to the lead screw 13, the baffle nut 20 can move along the lead screw 13, the baffle nut 20 drives the fixedly connected baffle 15 to move, the baffle 15 is connected to the sliding hinge 17 through the thrust bearing 22, the sliding hinge 17 can rotate around the cylindrical guide rail 12, and can also move along the lead screw 13 along with the baffle nut 20, so as to form a cylindrical pair. The stepping motor 16 drives the lead screw 13 to rotate, drives the baffle nut 20 to move, and finally drives the sliding hinge 17 to move along the guide rail 12, and when the sliding hinge 17 moves downwards along the guide rail 12, the folding and unfolding mechanism 5 is contracted to the shape shown in fig. 4.
Taking embodiment 3 as an example, the wave energy conversion principle is as follows:
the unfolded folding and unfolding mechanism 5 is excited by waves to generate reciprocating swing, the rotating block 6 and the sliding hinge 17 rotate in a reciprocating mode along with the folding and unfolding mechanism 5, and the rotating block 6 is connected with an input shaft of the one-way mechanism 7. As shown in fig. 8, when the input shaft 78 drives the input shaft gear 72 to rotate clockwise, the input shaft gear 72 rotates clockwise, so as to drive the first output gear 74 to rotate counterclockwise; since the input shaft gear 72 is engaged with the intermediate transmission gear and the intermediate transmission gear 73 is engaged with the second output gear 75, the intermediate transmission gear 73 rotates counterclockwise, the second output gear 75 rotates clockwise, and the first output gear 74 and the second output gear 75 rotate in opposite directions and are both connected to the output shaft 77 through the one-way bearing. Therefore, the motion of the output shaft 77 is a unidirectional rotation, so that the direct current generator 14 is unidirectional in rotation, and wave energy power generation is realized.
Taking the embodiment 3 as an example, the process of contracting the folding and unfolding mechanism 5 when the aircraft is in navigation is as follows:
as shown in fig. 11, the stepping motor 14 is connected to the lead screw crank 8, and the crank 8 drives the connecting rod 9 to move, so as to push the slider 10 to drive the sliding hinge 17 to move on the sliding rail. When the slide block 10 moves upwards along the slide rail, the folding and unfolding mechanism 5 is unfolded to be in the state shown in fig. 6, 7 and 11, and can capture energy on the wave surface; when the slide block 10 moves downwards along the slide rail, the folding and unfolding mechanism 5 is contracted as shown in fig. 4, and the contracted folding and unfolding mechanism 5 reduces the navigation resistance of the robot aircraft and improves the utilization efficiency of energy.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A foldable wave energy self-sufficient ocean robot is characterized by comprising a power generation mechanism, an energy storage mechanism, a power mechanism, a robot body (1) and a foldable mechanism (5);
the folding and unfolding mechanism (5) is mounted on the robot body (1) or mounted on the robot body (1) through a connecting mechanism (4), and the folding and unfolding mechanism (5) can be switched between a folded state and a fully unfolded state;
the power generation mechanism, the energy storage mechanism and the power mechanism are all arranged on the robot body (1) or on the connecting mechanism (4), and the power generation mechanism and the power mechanism are respectively and electrically connected with the energy storage mechanism;
when the robot is folded, the power mechanism can drive the robot body (1) to sail in water;
in the fully unfolded state, the folding and unfolding mechanism (5) can drive the power generation mechanism to generate power under the action of waves.
2. The foldable wave energy self-sufficient marine robot according to claim 1, characterized in that a rudder (2) and a propeller (3) are arranged on the robot body (1);
the power mechanism comprises a first power source, the first power source can drive the propeller (3) to rotate so as to realize the navigation of the robot in water, and the rudder (2) is used for controlling the navigation direction of the robot.
3. The foldable wave energy self-sufficient marine robot according to claim 1, characterized in that the power mechanism comprises a second power source, and the folding and unfolding mechanism (5) comprises a left folding and unfolding member and a right folding and unfolding member which are respectively arranged on two sides of the robot body (1);
the left folding and unfolding piece and the right folding and unfolding piece can synchronously move to a folding state or a fully unfolding state under the driving of the second power source.
4. The foldable wave energy self-sufficient marine robot according to claim 3, characterized in that the power mechanism further comprises a guide rail (12), a lead screw (13) and a baffle (15);
lead screw (13) pass baffle (15) and with baffle (15) screw-thread fit, the second power supply can drive lead screw (13) rotate and then can make baffle (15) are followed the direction of guide rail (12) length slides and then makes left side exhibition piece, right side exhibition piece can synchronous motion to fold condition or the state of unfolding completely.
5. The foldable wave energy self-sufficient marine robot according to claim 3, characterized in that the power mechanism further comprises a crank (8), a connecting rod (9) and a slider (10);
one end of the crank (8) is in driving connection with the second power source, and the other end of the crank (8) is movably matched with the sliding block (10) through a connecting rod (9);
the second power source can drive crank (8) pass through connecting rod (9) and drive slider (10) slide and then make left side book exhibition piece, right side book exhibition piece can synchronous motion to fold condition or the state of unfolding completely.
6. The foldable wave energy self-sufficient marine robot according to claim 3, characterized by further comprising a one-way mechanism (7), wherein the foldable mechanism (5) is connected with an input end of the one-way mechanism (7) through a rotating block (6), and an output end of the one-way mechanism (7) is connected with the power generation mechanism;
under the action of waves, the folding and unfolding mechanism (5) can drive the rotating block (6) to drive the input end to rotate, so that the output end of the one-way mechanism (7) drives the power generation mechanism to generate power.
7. The foldable wave energy self-contained marine robot of claim 6, wherein the left and right folds each comprise one or more scissor units connected in series;
the scissor unit comprises a driving end and a follow-up end;
the second power source can drive the driving end to move between a first position and a second position, wherein when the driving end is at the first position, the left folding and unfolding piece and the right folding and unfolding piece are both in a folding state;
when the driving end is at the second position, the left folding and unfolding piece and the right folding and unfolding piece are in a fully unfolded state, wherein in the process that the driving end moves between the first position and the second position, the follow-up end is in running fit with the end part of the rotating block (6).
8. The collapsible wave energy self-contained marine robot of claim 6, characterized in that the one-way mechanism (7) comprises an input shaft gear (72), an intermediate transfer gear (73), a first output gear (74), a second output gear (75), a first one-way bearing (76), an output shaft (77), an input shaft (78) and a second one-way bearing (79);
the hinge assembly comprises a rotating block (6), one end of the rotating block (6) is in running fit with a folding and unfolding assembly arranged on the folding and unfolding mechanism (5), the other end of the rotating block (6) is sleeved at one end of the input shaft (78), and the input shaft gear (72) is arranged at the other end of the input shaft (78);
the input shaft gear (72) is meshed and matched with the intermediate transmission gear (73) and the first output gear (74) respectively, the intermediate transmission gear (73) is meshed and matched with the second output gear (75), and the first output gear (74) and the second output gear (75) are sequentially mounted on the output shaft (77) through the second one-way bearing (79) and the first one-way bearing (76) respectively;
when the folding and unfolding mechanism (5) drives the input shaft (78) to rotate clockwise around the shaft center through the rotating block (6), the input shaft gear (72) simultaneously drives the first output gear (74) and the second output gear (75) to rotate anticlockwise, and the second output gear (75) drives the output shaft (77) to rotate anticlockwise around the shaft center through the first one-way bearing (76);
when the folding and unfolding mechanism (5) drives the input shaft (78) to rotate anticlockwise around the axis through the rotating block (6), the input shaft gear (72) simultaneously drives the first output gear (74) and the second output gear (75) to rotate clockwise, and the first output gear (74) drives the output shaft (77) to rotate clockwise around the axis through the second one-way bearing (79);
the output shaft (77) is in driving connection with the power generation mechanism.
9. The foldable wave energy self-contained marine robot according to claim 6, characterized in that the one-way mechanism (7) comprises a front end bushing (81), a rear end bushing (82), a support body (83), a first transmission shaft (85), a second transmission shaft (86), a first large one-way bearing (87), a second large one-way bearing (88), a first small one-way bearing (89), a second small one-way bearing (810) and a central wheel (811);
the supporting body (83) is sleeved in the middle of the first transmission shaft (85), inner rings of the first large one-way bearing (87) and the first small one-way bearing (89) are respectively installed at two ends of the first transmission shaft (85) in an interference manner, an installation through hole is formed in the first transmission shaft (85), the second transmission shaft (86) penetrates through the installation through hole, two ends of the second transmission shaft respectively extend to the outside of the second transmission shaft (86), and the second transmission shaft is respectively in interference fit with the inner rings of the first small one-way bearing (89) and the second small one-way bearing (810);
the first large one-way bearing (87) and the first small one-way bearing (89) are both arranged in the front end shaft sleeve (81), and the outer rings of the first large one-way bearing (87) and the first small one-way bearing (89) are in interference fit with the front end shaft sleeve (81) respectively;
the second large one-way bearing (88) and the second small one-way bearing (810) are both arranged inside the rear end shaft sleeve (82), wherein the outer ring of the second large one-way bearing (88) is in interference fit with the rear end shaft sleeve (82), and the outer ring of the second small one-way bearing (810) is in gear engagement fit with the rear end shaft sleeve (82) through a central wheel (811);
when the folding and unfolding mechanism (5) drives the front end shaft sleeve (81) to rotate clockwise around the shaft center through the rotating block (6), the first large one-way bearing (87) drives the first transmission shaft (85) to rotate clockwise so as to drive the second large one-way bearing (88) to drive the rear end shaft sleeve (82) to rotate clockwise around the shaft center;
when the folding and unfolding mechanism (5) drives the front end shaft sleeve (81) to rotate anticlockwise around the shaft center through the rotating block (6), the first small one-way bearing (89) drives the second transmission shaft (86) to rotate anticlockwise, and then the second small one-way bearing (810) drives the central wheel (811) to rotate anticlockwise so as to drive the rear end shaft sleeve (82) to rotate clockwise around the shaft center;
the rear end shaft sleeve (82) is in driving connection with the power generation mechanism.
10. The foldable wave energy self-sufficient marine robot according to claim 7, characterized in that a plurality of fins (51) are sequentially arranged on each of the left folding member and the right folding member along the extending direction;
the plurality of fins (51) are of the same shape or different shapes;
the plurality of flaps (51) are arranged in a stacked manner in the folded state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110390143.8A CN113148074A (en) | 2021-04-12 | 2021-04-12 | Foldable wave energy self-sufficient marine robot |
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| CN202110390143.8A CN113148074A (en) | 2021-04-12 | 2021-04-12 | Foldable wave energy self-sufficient marine robot |
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| CN115303459A (en) * | 2022-09-07 | 2022-11-08 | 上海交通大学 | Self-powered underwater bionic robot driven by shape memory alloy |
| CN115384737A (en) * | 2022-09-23 | 2022-11-25 | 上海交通大学 | Jellyfish robot powered by waves |
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Inventor after: Chen Weixing Inventor after: Cao Yuzhen Inventor after: Chen Pengwen Inventor after: Peng Jiageng Inventor after: Qu Hao Inventor after: Han Xinyang Inventor after: Li Shaoxun Inventor after: Wang Long Inventor before: Cao Yuzhen Inventor before: Chen Pengwen Inventor before: Peng Jiageng Inventor before: Qu Hao Inventor before: Han Xinyang Inventor before: Li Shaoxun Inventor before: Wang Long Inventor before: Chen Weixing |
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Application publication date: 20210723 |