A wave energy power generation device and method for a surface unmanned vehicle

Abstract

The application provides a wave energy power generation device and method for a sea surface unmanned vehicle. The wave energy power generation device is assembled in an axial direction by an end cover, a rectification filter voltage stabilizer, a motor stator, a composite rotor, a magnetic modulation stator, a low-speed rotor and a base. Based on the magnetic flux decoupling principle, the rotor of the slotless disc motor and the high-speed rotor of the axial magnetic flux magnetic gear are combined into one body, which is used for realizing the coupling of the structures of the two electromagnetic mechanisms and the decoupling of the magnetic flux, ensuring that the magnetic circuits of the two electromagnetic mechanisms do not interfere with each other, and making the composed magnetic gear composite motor have stable working performance. The application utilizes the speed increasing and step-out effect of the magnetic gear, and under the driving of the built-in eccentric pendulum, the high-efficiency wave energy power generation can be realized without direct contact with seawater, and the application has the overload self-protection function, can provide long-term continuous power supply for the sea surface unmanned vehicle, has the advantages of firm structure, compact size and long service life, and has good practical value.

Description

Technical Field

[0001] This invention relates to the field of wave energy power generation technology, and more particularly to a wave energy power generation device and method for unmanned surface vehicles. Background Technology

[0002] Unmanned surface vehicles (UAVs) are small, unmanned platforms equipped with various sensors for long-range operations. They are typically powered by solar photovoltaic panels or small-capacity lithium batteries, resulting in limited endurance. Wave energy generation devices are electromechanical equipment capable of efficiently collecting and converting high-density wave energy from the ocean. Applying them to the power supply system of UAVs can solve the problem of long-term stable power supply for these vehicles, demonstrating promising research and application prospects.

[0003] Common wave energy generation devices mainly consist of an energy-harvesting oscillator, a transmission mechanism, and a permanent magnet motor. Among them, the transmission mechanism generally uses mechanical gear pairs to match the movement of the energy-harvesting oscillator and the rotor of the permanent magnet motor. The frictional loss between the gear profiles not only reduces the service life of the transmission mechanism, but also reduces the energy conversion efficiency of the power generation device.

[0004] Magnetic gear composite motors are a new type of permanent magnet motor structurally composed of magnetic gears and traditional permanent magnet motors. They offer both high-efficiency power generation and the contactless transmission and overload protection features of magnetic gears, reducing frictional losses and preventing motor damage from overload, thus adapting to complex and variable marine environments. However, existing magnetic gear composite motors typically suffer from magnetic flux coupling between the magnetic gears and the motor, which not only reduces their power generation and transmission efficiency but also makes it difficult to achieve overload self-protection. Furthermore, the stator yoke of composite motors often uses a slotted structure, generating high-amplitude periodic cogging torque during rotor rotation, which is detrimental to the starting and smooth operation of the composite motor.

[0005] Therefore, developing a high-performance magnetic gear composite motor and applying it to wave energy power generation devices can break the previous constraints on the application range of unmanned surface vehicles (USVs) due to power supply issues, ensure that the power supply system of the vehicle has a good service life and working efficiency, and is of great significance for improving the endurance of USVs. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a wave energy generation device and method for unmanned surface vehicles (UAVs). The device utilizes an eccentric pendulum and a coggingless decoupled magnetic gear composite motor as energy harvesting and power generation units, respectively, with all components tightly assembled axially. This invention leverages the speed-increasing and step-loss effects of the magnetic gears, driven by the built-in eccentric pendulum, to achieve efficient wave energy generation without direct contact with seawater. It also features overload self-protection, enabling long-term continuous power supply for UAVs. The device is robust, compact, and has a long service life, demonstrating significant practical value.

[0007] The technical means employed in this invention are as follows:

[0008] A wave energy power generation device for a marine unmanned aerial vehicle (UAV) includes the UAV and the wave energy power generation device. The wave energy power generation device is fixedly connected to a support on the surface of the UAV, and the power output terminal of the wave energy power generation device is connected to the power supply terminal of the UAV.

[0009] The wave energy generation device is assembled axially from an end cover, a rectifier, filter, voltage regulator, motor stator, composite rotor, magnetic adjustment stator, low-speed rotor, and base. The composite rotor adopts a separate double magnetic yoke structure, which combines the rotor of the slotless disc motor and the high-speed rotor of the axial magnetic flux gear into one unit, in order to realize the coupling of the structure and the decoupling of the magnetic flux between the two electromagnetic mechanisms.

[0010] Furthermore, the motor stator includes a stator housing, angular contact ball bearings, a stator yoke, and three-phase concentrated windings, wherein:

[0011] The stator housing is made of thermally conductive nylon and has wire lead-out holes at the ends;

[0012] The angular contact ball bearing is mounted in the bearing housing of the stator housing;

[0013] The stator yoke is made of stacked silicon steel sheets and is fixed to the outer shell by epoxy resin and annular groove in the flow channel of the outer shell end face;

[0014] The three-phase concentrated winding includes nine copper circular coils with the same direction of rotation, which are connected in three pairs of poles and fixed on the magnetic yoke to form a slotless stator structure.

[0015] Furthermore, the composite rotor includes an angular contact ball bearing, a high-speed shaft, generator rotor poles, a generator rotor yoke, a composite rotor housing, a magnetic gear high-speed rotor yoke, and magnetic gear high-speed rotor poles, wherein:

[0016] The angular contact ball bearing is mounted in the bearing housing of the composite rotor housing;

[0017] The high-speed shaft is inserted into the shaft hole of the composite rotor housing using an interference fit.

[0018] The generator rotor has three pairs of magnetic poles, and the high-speed magnetic gear rotor has two pairs of magnetic poles, both of which are made of axially magnetized sector-shaped neodymium magnets. They are fixed sequentially on the end faces of the corresponding magnetic yokes to form excitation magnetic rings, so that the magnetization directions of adjacent magnetic poles are opposite. The excitation magnetic rings are fixed to the composite rotor housing through epoxy resin and ring grooves in the end face flow channels of the composite rotor housing. The two magnetic yokes are naturally separated by the distance between the bottom of the grooves on both sides to achieve decoupling of the magnetic flux between the generator and the magnetic gear.

[0019] Both the generator rotor yoke and the magnetic gear high-speed rotor yoke are made of stacked silicon steel sheets.

[0020] The composite rotor housing is made of thermally conductive nylon.

[0021] Furthermore, the magnetic adjusting stator includes a modulating iron pole, a fixed shaft, a magnetic adjusting stator housing, and a fixed shaft collar, wherein:

[0022] The modulation iron electrode consists of 7 pieces, all of which are made of stacked silicon steel sheets, embedded in the fan-shaped groove of the outer shell and fixed by epoxy resin in the flow channel;

[0023] Both the fixed shaft and the fixed shaft ring are made of stainless steel and are inserted into the shaft hole of the magnetic adjustment stator housing by means of interference fit.

[0024] The magnetic regulator housing is made of thermally conductive nylon.

[0025] Furthermore, the low-speed rotor includes an angular contact ball bearing, a magnetic gear low-speed rotor pole, a low-speed rotor housing, an eccentric pendulum, and a low-speed shaft, wherein:

[0026] The angular contact ball bearing is mounted in the bearing housing of the low-speed rotor housing.

[0027] The magnetic poles of the low-speed rotor of the magnetic gear are made of sector-shaped rubidium magnets, including 10 axially magnetized and 10 tangentially magnetized. The 10 axially magnetized and 10 tangentially magnetized form a five-pole annular Halbach array, which is fixed to the low-speed rotor housing by epoxy resin and annular groove in the end face flow channel of the low-speed rotor housing.

[0028] The low-speed rotor housing is made of thermally conductive nylon;

[0029] The lead eccentric pendulum is inserted into the convex shaft of the low-speed rotor housing;

[0030] The low-speed shaft is inserted into the shaft hole of the eccentric pendulum using an interference fit.

[0031] Furthermore, the base includes an angular contact ball bearing and a base housing, wherein:

[0032] The angular contact ball bearing is mounted in the bearing housing of the base shell;

[0033] The base housing is made of thermally conductive nylon.

[0034] The present invention also provides a wave energy generation method based on the above-mentioned wave energy power generation device for unmanned surface vessels, comprising:

[0035] In the wave energy generation device, except for the eccentric pendulum, the center of gravity of the other shaft parts is located on the axis, that is, only the gravity of the eccentric pendulum can generate axial torque.

[0036] Under the influence of external waves, the wave energy power generation device will follow the unmanned surface vehicle on the sea surface and sway irregularly, causing the center of gravity of the eccentric pendulum to change continuously. The tangential component of the gravity of the eccentric pendulum on the trajectory of the center of gravity will generate a driving torque on the axis, driving the low-speed rotor to rotate.

[0037] Through the speed-increasing effect of the magnetic gear, the rotational speed of the low-speed rotor will be amplified and transmitted to the composite rotor, thereby generating a high-frequency magnetic field on the motor stator and exciting the winding to generate a high-amplitude induced electromotive force.

[0038] Ignoring friction and eddy current losses within the wave energy generation device, the wave energy generation device efficiently converts the captured wave energy into electrical energy, which is then rectified, filtered, and regulated to charge the power supply of the unmanned surface vehicle.

[0039] Furthermore, when designing the performance parameters of the composite motor, the maximum static torque of the high-speed rotor of the magnetic gear is ensured to be lower than the limit torque of the motor, and the out-of-step effect of the magnetic gear is used to protect the composite motor from overload.

[0040] Compared with the prior art, the present invention has the following advantages:

[0041] 1. The wave energy power generation device for unmanned surface vessels provided by this invention uses magnetic gears to replace the mechanical gear structure in traditional wave energy power generation devices, which can realize contactless transmission and overload protection functions, and improve the energy conversion efficiency and service life of the power generation device.

[0042] 2. The wave energy power generation device for unmanned marine vehicles provided by the present invention has a composite rotor with a separated double magnetic yoke structure. The magnetic focusing characteristics of the high permeability magnetic yoke can be used to achieve mutual shielding of the magnetic fields of the motor and the magnetic gear, that is, decoupling of the magnetic flux, ensuring that the magnetic circuits of the two electromagnetic mechanisms do not interfere with each other, so that the magnetic gear composite motor has stable working performance.

[0043] 3. The wave energy power generation device for unmanned surface vehicles provided by this invention overcomes the application problems of conventional wave energy power generation devices, such as large size, high cost and easy corrosion. It can achieve efficient conversion of wave energy into electrical energy without direct contact with seawater, avoid long-term corrosion by seawater, and provide long-term continuous power supply for unmanned surface vehicles, thus having good practical application value.

[0044] Based on the above reasons, this invention can be widely promoted in fields such as wave energy power generation. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the installation of the wave energy generation device of the present invention on an unmanned underwater vehicle on the sea surface.

[0047] Figure 2 This is a structural diagram of the magnetic gear composite motor of the present invention.

[0048] Figure 3 This is a structural diagram of the motor stator of the present invention.

[0049] Figure 4 This is a structural diagram of the composite rotor of the present invention.

[0050] Figure 5 This is a structural diagram of the magnetic tuning stator of the present invention.

[0051] Figure 6 This is a structural diagram of the low-speed rotor of the present invention.

[0052] Figure 7 This is a structural diagram of the base of the present invention.

[0053] Figure 8 This is a schematic diagram of the magnetization method of the magnetic poles in this invention.

[0054] Figure 9 This is a schematic diagram of the eccentric pendulum motion mode of the present invention.

[0055] In the diagram: 1. Unmanned surface vehicle (UAV); 2. Wave power generation device; 3. End cap; 4. Rectifier, filter, and voltage regulator; 5. Motor stator; 6. Composite rotor; 7. Magnetic adjustment stator; 8. Low-speed rotor; 9. Base; 10. Socket head cap screw; 11. Stator housing; 12. Angular contact ball bearing; 13. Stator yoke; 14. Three-phase concentrated winding; 15. High-speed shaft; 16. Generator rotor pole; 17. Generator rotor yoke; 18. Composite rotor housing; 19. Magnetic gear high-speed rotor yoke; 20. Magnetic gear high-speed rotor pole; 21. Modulating iron pole; 22. Fixed shaft; 23. Magnetic adjustment stator housing; 24. Fixed shaft collar; 25. Magnetic gear low-speed rotor pole; 26. Low-speed rotor housing; 27. Eccentric pendulum; 28. Low-speed shaft; 29. ​​Base housing. Detailed Implementation

[0056] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0059] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0060] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0061] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0062] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0063] like Figure 1As shown, the present invention provides a wave energy power generation device for a marine unmanned aerial vehicle (UAV), comprising a marine UAV 1 and a wave energy power generation device 2. The wave energy power generation device 2 is fixedly connected to a support on the surface of the marine UAV 1, and the power output terminal of the wave energy power generation device 2 is connected to the power supply terminal of the marine UAV 1, wherein:

[0064] like Figure 2 As shown, the wave energy power generation device 2 is assembled axially from an end cover 3, a rectifier filter voltage regulator 4, a motor stator 5, a composite rotor 6, a magnetic adjustment stator 7, a low-speed rotor 8, and a base 9. The composite rotor 6 adopts a separate double magnetic yoke structure, which combines the rotor of the slotless disc motor and the high-speed rotor of the axial magnetic flux gear into one unit, in order to realize the coupling of the structure and the decoupling of the magnetic flux between the two electromagnetic mechanisms.

[0065] In specific implementation, as a preferred embodiment of the present invention, such as Figure 3 As shown, the motor stator 5 includes a stator housing 11, an angular contact ball bearing 12, a stator yoke 13, and a three-phase concentrated winding 14, wherein: the stator housing 11 is made of thermally conductive nylon and has wire lead-out holes at the ends; the angular contact ball bearing 12 is mounted in the bearing housing of the stator housing 11; the stator yoke 13 is made of stacked silicon steel sheets and is fixed to the housing through epoxy resin and annular grooves in the flow channel on the end face of the housing; the three-phase concentrated winding 14 includes nine copper circular coils with the same direction of rotation, which are connected in three pairs of poles and fixed on the yoke to form a slotless stator structure.

[0066] In specific implementation, as a preferred embodiment of the present invention, such as Figure 4 As shown, the composite rotor 6 includes an angular contact ball bearing 12, a high-speed shaft 15, generator rotor poles 16, a generator rotor yoke 17, a composite rotor housing 18, a magnetic gear high-speed rotor yoke 19, and magnetic gear high-speed rotor poles 20, wherein: the angular contact ball bearing 12 is mounted in the bearing seat of the composite rotor housing 18; the high-speed shaft 15 is inserted into the shaft hole of the composite rotor housing 18 by an interference fit; as... Figure 5 As shown, the generator rotor magnetic poles 16 are configured in 3 pairs, and the magnetic gear high-speed rotor magnetic poles 20 are configured in 2 pairs, both of which are made of axially magnetized sector-shaped neodymium magnets. They are fixed sequentially on the end faces of the corresponding magnetic yokes to form excitation magnetic rings, so that the magnetization directions of adjacent magnetic poles are opposite. The excitation magnetic rings are fixed to the composite rotor housing 18 through epoxy resin and annular grooves in the end face flow channels. The two magnetic yokes are naturally separated by the spacing between the bottom of the grooves on both sides to achieve decoupling of the magnetic flux between the generator and the magnetic gear. The generator rotor magnetic yoke 17 and the magnetic gear high-speed rotor magnetic yoke 19 are both made of stacked silicon steel sheets. The composite rotor housing 18 is made of thermally conductive nylon.

[0067] In specific implementation, as a preferred embodiment of the present invention, such as Figure 6 As shown, the magnetic adjustment actuator 7 includes a modulation iron pole 21, a fixed shaft 22, a magnetic adjustment actuator housing 23, and a fixed shaft ring 24. The modulation iron pole 21 comprises seven pieces, each made of stacked silicon steel sheets, embedded in a fan-shaped groove in the housing and fixed by epoxy resin within a flow channel. The fixed shaft 22 and the fixed shaft ring 24 are both made of stainless steel and are inserted into the shaft hole of the magnetic adjustment actuator housing 23 using an interference fit. The magnetic adjustment actuator housing 23 is made of thermally conductive nylon.

[0068] In specific implementation, as a preferred embodiment of the present invention, such as Figure 7 As shown, the low-speed rotor includes an angular contact ball bearing 12, magnetic gear low-speed rotor poles 25, a low-speed rotor housing 26, an eccentric pendulum 27, and a low-speed shaft 28. Specifically: the angular contact ball bearing 12 is mounted in the bearing seat of the low-speed rotor housing 26; the magnetic gear low-speed rotor poles 25 are made of sector-shaped neodymium magnets, including 10 axially magnetized and 10 tangentially magnetized poles, forming a 5-pole annular Halbach array, and are fixed to the low-speed rotor housing 26 by epoxy resin and annular grooves in the end face flow channel; the low-speed rotor housing 26 is made of thermally conductive nylon; the lead eccentric pendulum 27 is inserted onto the convex shaft of the low-speed rotor housing 26; and the low-speed shaft 28 is inserted into the shaft hole of the eccentric pendulum 27 by an interference fit.

[0069] In specific implementation, as a preferred embodiment of the present invention, such as Figure 8 As shown, the base 9 includes an angular contact ball bearing 12 and a base housing 29, wherein: the angular contact ball bearing 12 is mounted in the bearing seat of the base housing 29; the base housing 29 is made of thermally conductive nylon.

[0070] This invention provides a wave energy generation method based on the aforementioned wave energy power generation device for unmanned surface vessels, such as... Figure 9 As shown, it includes:

[0071] In the wave energy power generation device 2, except for the eccentric pendulum 27, the center of gravity of the other shaft components is located on the axis, meaning that only the gravity of the eccentric pendulum 27 can generate axial torque. Under the action of external waves, the wave energy power generation device 2 will follow the unmanned surface vehicle 1 and sway irregularly, causing the center of gravity of the eccentric pendulum 27 to change continuously. The tangential component of the gravity of the eccentric pendulum 27 on the trajectory of the center of gravity will generate a driving torque on the axis, driving the low-speed rotor to rotate. Through the speed-increasing effect of the magnetic gear, the speed of the low-speed rotor will be amplified and transmitted to the composite rotor, thereby generating a high-frequency magnetic field on the motor stator 5 and exciting the winding to generate a high-amplitude induced electromotive force. Ignoring the friction and eddy current losses in the wave energy power generation device 2, the wave energy power generation device 2 efficiently converts the captured wave energy into electrical energy and charges the power supply of the unmanned surface vehicle 1 after rectification, filtering and voltage stabilization. At the same time, it is also important to note that when designing the performance parameters of the composite motor, the maximum static torque of the high-speed rotor of the magnetic gear should be lower than the limit torque of the motor, and the out-of-step effect of the magnetic gear should be used to protect the composite motor from overload.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wave energy power generation device for an unmanned surface vehicle (USV), comprising an USV (1) and a wave energy power generation device (2), characterized in that, An eccentric pendulum and a cogless decoupled magnetic gear composite motor are used as energy harvesting and power generation units, respectively. The components are tightly assembled along the axial direction. Utilizing the speed-increasing and step-loss effects of the magnetic gears, and driven by the built-in eccentric pendulum, efficient wave energy generation can be achieved without direct contact with seawater. The wave energy generation device (2) is fixedly connected to a support on the surface of the unmanned surface vehicle (1). The power output end of the wave energy generation device (2) is connected to the power supply end of the unmanned surface vehicle (1), wherein: The wave energy power generation device (2) is assembled axially from an end cover (3), a rectifier filter voltage regulator (4), a motor stator (5), a composite rotor (6), a magnetic adjustment stator (7), a low-speed rotor (8), and a base (9). The composite rotor (6) adopts a separate double magnetic yoke structure, which combines the rotor of the slotless disc motor and the high-speed rotor of the axial magnetic flux gear into one unit, in order to realize the coupling of the structure and the decoupling of the magnetic flux between the two electromagnetic mechanisms. The composite rotor (6) includes an angular contact ball bearing (12), a high-speed shaft (15), generator rotor poles (16), a generator rotor yoke (17), a composite rotor housing (18), a magnetic gear high-speed rotor yoke (19), and magnetic gear high-speed rotor poles (20), wherein: The angular contact ball bearing (12) is mounted in the bearing housing of the composite rotor housing (18); The high-speed shaft (15) is inserted into the shaft hole of the composite rotor housing (18) by an interference fit; The generator rotor magnetic poles (16) are set in 3 pairs, and the magnetic gear high-speed rotor magnetic poles (20) are set in 2 pairs. Both are made of axially magnetized sector-shaped neodymium magnets and are fixed in sequence on the end face of the corresponding magnetic yoke to form an excitation magnetic ring, so that the magnetization direction of adjacent magnetic poles is opposite. The excitation magnetic rings are fixed to the composite rotor housing (18) through epoxy resin and ring groove in the end face flow channel of the composite rotor housing (18). The two magnetic yokes are naturally separated by the gap between the bottom of the grooves on both sides to achieve decoupling of the magnetic flux between the generator and the magnetic gear. The generator rotor yoke (17) and the magnetic gear high-speed rotor yoke (19) are both made of stacked silicon steel sheets; The composite rotor housing (18) is made of thermally conductive nylon; The motor stator (5) includes a stator housing (11), an angular contact ball bearing (12), a stator yoke (13), and a three-phase concentrated winding (14), wherein: The stator housing (11) is made of thermally conductive nylon and has wire lead-out holes at the ends; The angular contact ball bearing (12) is mounted in the bearing housing of the stator housing (11); The stator yoke (13) is made of stacked silicon steel sheets and is fixed to the outer shell through epoxy resin and annular groove in the flow channel of the outer shell end face; The three-phase concentrated winding (14) includes nine copper circular coils with the same direction of rotation, which are connected in three pairs of poles and fixed on the magnetic yoke to form a slotless stator structure. The low-speed rotor includes an angular contact ball bearing (12), a magnetic gear low-speed rotor pole (25), a low-speed rotor housing (26), an eccentric pendulum (27), and a low-speed shaft (28), wherein: The angular contact ball bearing (12) is mounted in the bearing housing of the low-speed rotor housing (26); The magnetic poles (25) of the low-speed rotor of the magnetic gear are made of sector-shaped rubidium magnets, including 10 axially magnetized and 10 tangentially magnetized. The 10 axially magnetized and 10 tangentially magnetized form a 5-pole annular Halbach array, and are fixed to the low-speed rotor housing (26) by epoxy resin and annular groove in the end face flow channel of the low-speed rotor housing (26). The low-speed rotor housing (26) is made of thermally conductive nylon; The eccentric pendulum (27) is inserted on the convex shaft of the low-speed rotor housing (26); The low-speed shaft (28) is inserted into the shaft hole of the eccentric pendulum (27) by means of interference fit; In the wave energy power generation device (2), except for the eccentric pendulum (27), the center of gravity of the other shaft parts is located on the axis, that is, only the gravity of the eccentric pendulum (27) can generate axial torque.

2. The wave energy generation device for unmanned surface vessels according to claim 1, characterized in that, The magnetic adjustment stator (7) includes a modulation iron pole (21), a fixed shaft (22), a magnetic adjustment stator housing (23), and a fixed shaft collar (24), wherein: The modulation iron electrode (21) is provided in 7 pieces, all of which are made of stacked silicon steel sheets, embedded in the fan-shaped groove of the outer shell and fixed by epoxy resin in the flow channel; Both the fixed shaft (22) and the fixed shaft ring (24) are made of stainless steel and are inserted into the shaft hole of the magnetic adjustment stator housing (23) by an interference fit. The magnetic conditioning stator housing (23) is made of thermally conductive nylon.

3. The wave energy generation device for unmanned surface vessels according to claim 1, characterized in that, The base (9) includes an angular contact ball bearing (12) and a base housing (29), wherein: The angular contact ball bearing (12) is mounted in the bearing housing of the base housing (29); The base housing (29) is made of thermally conductive nylon.

4. A wave energy generation method based on the wave energy generation device for unmanned surface vessels as described in any one of claims 1-3, characterized in that, include: Under the action of external waves, the wave energy power generation device (2) will follow the unmanned surface vehicle (1) to sway irregularly, causing the center of gravity of the eccentric pendulum (27) to change continuously. The tangential component of the gravity of the eccentric pendulum (27) on the trajectory of the center of gravity will generate a driving torque on the axis, driving the low-speed rotor to rotate. Through the speed-increasing effect of the magnetic gear, the speed of the low-speed rotor will be amplified and transmitted to the composite rotor, thereby generating a high-frequency magnetic field on the motor stator (5) and exciting the winding to generate a high-amplitude induced electromotive force. Without considering friction and eddy current losses within the wave energy power generation device (2), the wave energy power generation device (2) efficiently converts the captured wave energy into electrical energy and charges the power supply of the unmanned surface vehicle (1) after rectification, filtering and voltage stabilization.

5. The wave energy generation method for the wave energy generation device for unmanned surface vessels according to claim 4, characterized in that, include: When designing the performance parameters of the composite motor, ensure that the maximum static torque of the high-speed rotor of the magnetic gear is lower than the limit torque of the motor, and use the out-of-step effect of the magnetic gear to protect the composite motor from overload.

Images