Wave power glider device compatible with armored cables

Abstract

The present invention provides a wave-powered glider device compatible with armored cables, comprising a surface floating vessel, a cable connection assembly, and an underwater tractor. The surface floating vessel is connected to the cable connection assembly, which is in turn connected to the underwater tractor. External waves cause the surface floating vessel to oscillate, which in turn drags the underwater tractor up and down in an oscillating motion via the cable connection assembly. The underwater tractor converts wave energy into forward propulsion, dragging the surface floating vessel forward. Simultaneously, the oscillating motion of the underwater tractor generates tension in the cable connection assembly, which is transmitted to a generator, thereby generating power for the wave-powered glider device. The present invention utilizes a winch system and a ball screw power generation system to partially convert wave energy captured by the surface floating vessel into electrical energy. The underwater tractor also partially converts the wave energy of the surface floating vessel into propulsion power, thereby converting wave energy into both propulsion power and electrical energy.

Description

Technical Field

[0001] The present invention relates to the technical field of marine robots, in particular to a wave power generation glider device compatible with armored cables, and more particularly to a marine vehicle that utilizes wave energy to generate electricity and propel itself. Background Art

[0002] A wave glider is a new type of mobile ocean observation platform that directly converts wave energy into forward thrust, using photovoltaic power generation to power sensor and communication electronics, resulting in virtually unlimited endurance. Technologies utilizing wave power are widely used, such as the floating object disclosed in patent document CN101622173A, which is suitable for use as a buoy or as a component of a wave power carrier. Another example is patent document CN101405179A, which discloses a wave-powered surface vehicle comprising a surface float, an underwater swimmer, and a rope connecting the float and swimmer, allowing the swimmer to move up and down due to wave motion. Patent documents CN102126546B and CN104590496A also utilize wave energy. However, due to the size of the vessel, the amount of photovoltaic power generated is relatively limited, making it difficult to continuously power the propulsion system. Furthermore, when operating in persistently inclement weather, solar radiation is blocked by atmospheric clouds, and communication electronics are at risk of losing power. Patent document CN102200090A proposes a winch wave power generation device fixed to the seabed, which is suitable for large-scale fixed wave power generation. However, when used on small wave gliders, there are problems such as sealing, immobility, and incompatibility with the armored flat wire of the wave glider.

[0003] Patent document CN110344996A proposes adding a power generation device similar to a linear generator beneath the float of a wave glider. However, linear motors require very high relative motion drive speeds, achieving good power output only at excitation speeds of several meters per second, which is not compatible with wave excitation. Furthermore, the wave power generation system, placed outside the hull, has relatively limited resistance to wind and waves, significantly disrupting the float's streamlined shape and hindering resistance reduction.

[0004] Patent document CN113898522A proposes a wave power generation device mounted on an underwater tractor of a wave glider. The device generates electricity through the passive rotation of multiple pairs of hydrofoils. However, the driving torque of the hydrofoils' passive rotation is relatively small and significantly impacts the hydrodynamic performance of the hydrofoils, making it unsuitable for wave propulsion.

[0005] Patent document CN112373634A proposes a wave power generation device that adds a wave generator to the buoyancy of a wave glider, using cables to directly drive a ball screw or rack and pinion. Because the cables pass directly through a sealed cabin to connect to the ball screw generator, it is difficult to achieve a seal for the wave glider's flat cables. Furthermore, the wave glider's longitudinally arranged flat cables are difficult to wind around the lateral guide pulleys.

[0006] Patent document CN112373663A proposes a method of adding a wave power generation device above the floating body of a wave glider, using a cable to drive the rotation of a winch mechanism, and then connecting to a generator through a speed increaser to generate electricity. Since the cable of the wave glider is a flat-wire armored cable, in order to reduce resistance, the flat wire is arranged longitudinally. The longitudinally arranged flat wire cannot be wound around a transversely arranged drum, and can only be wound around a longitudinally arranged drum. If the drum is arranged longitudinally, in order to ensure that the vertical traction force of the cable is located in the center of the hull, the drum's rotating shaft deviates from the neutral plane of the hull, and the inertial force caused by the rotation of the drum will continuously generate roll excitation on the floating ship, which is not conducive to lateral stability; at the same time, during the wave gliding process, the forward swing of the flat cable causes the armored cable wire to be unevenly stressed, increases wear, and is easy to detach from the winch.

[0007] In summary, the existing wave power glider design has defects such as difficulty in sealing, unreasonable structure, and easy detachment of cables from the winch. It is necessary to design a more reasonable wave power glider. Summary of the Invention

[0008] In view of the defects in the prior art, an object of the present invention is to provide a wave power glider device that is compatible with armored cables.

[0009] According to the present invention, a wave power generation glider device compatible with armored cables includes a surface floating vessel, a cable connection assembly, and an underwater tractor;

[0010] The surface floating vessel is connected to the cable connection assembly, and the cable connection assembly is connected to the underwater tractor;

[0011] External waves cause the surface floating body to produce oscillatory motion, which drags the underwater tractor up and down through the cable connection assembly; the underwater tractor can convert wave energy into forward power, dragging the surface floating body forward; at the same time, the oscillatory motion of the underwater tractor causes the cable connection assembly to produce varying tension, which is transmitted to the generator on the surface floating body, thereby realizing power generation of the wave power glider device.

[0012] Preferably, the surface floating vessel comprises a hull structure, a winch system, a ball screw power generation system, and a spring energy storage device; the winch system, the ball screw power generation system, and the spring energy storage device are all located in the hull structure;

[0013] The winch system is connected to the ball screw power generation system, the ball screw power generation system is connected to the spring energy storage device, and the spring energy storage device is fixed to the hull structure;

[0014] The winch system includes a right inner winch, a left inner winch, an outer winch, a right inner winch support plate, a left inner winch support plate, a winch bottom plate, an inner winch sealing cover, an outer winch wire, a winch shaft and two inner winch wires;

[0015] The inner capstan right support plate, the inner capstan left support plate, the capstan bottom plate, the inner capstan sealing cover and the capstan bottom plate form an inner capstan sealed cabin. A hull wire hole is opened at the bottom of the inner capstan sealed cabin, and the inner capstan sealed cabin communicates with the external seawater through the hull wire hole.

[0016] Two inner winch wires are matched with the right inner winch and the left inner winch respectively. One end of the inner winch wire is wound around the inner winch, and the other end passes through the hull wire hole at the bottom of the ship to connect to the cable connection assembly. The right inner winch and the left inner winch are both installed in the inner winch sealed cabin. The right inner winch and the left inner winch are connected by a winch shaft.

[0017] One end of the capstan shaft passes through the inner capstan sealed compartment and extends to the outside of the inner capstan sealed compartment. The outer capstan is mounted on the end of the capstan shaft located outside the inner capstan sealed compartment. One end of the outer capstan wire is wound around the outer capstan and the other end is connected to the ball screw power generation system.

[0018] Preferably, the ball screw power generation system includes a ball screw nut seat, a connecting seat, a guide rail slider and a generator;

[0019] The connecting seat is connected to the ball screw nut seat through the guide rail slider, the outer capstan wire is connected to the connecting seat, and the generator is connected to the ball screw nut seat;

[0020] The outer capstan wire can drag the connecting seat to generate reciprocating linear motion, which is converted into reciprocating rotational motion of the motor through the ball screw nut seat, thereby generating electricity.

[0021] Preferably, the spring energy storage device includes a tension spring, a tension spring hook pulley, a hook pulley seat, a first connecting steel wire rope, and a second connecting steel wire rope;

[0022] Both ends of the tension spring are connected to the hook pulley seat through the tension spring hook pulley; the hook pulley seat at one end is connected to the connecting seat through the first connecting wire rope, and the hook pulley seat at the other end is fixed to the hull structure through the second connecting wire rope.

[0023] Preferably, the cable connection assembly includes an armored cable, a hull connection cable, a cable hull connector, and a cable tractor connector;

[0024] The lower part of the cable hull connector is connected to the longitudinal armored cable, and the upper part is connected to two inner winch wires arranged in parallel horizontally.

[0025] The cable hull connector and the cable tractor connector are connected by an armored cable;

[0026] The cable tractor connector is connected to the underwater tractor, the cable hull connector is connected to the inner winch wire of the surface floating ship; and the hull connecting cable is connected to the cable hull connector.

[0027] Preferably, the cable hull connector comprises a cable connector rear clamp, a cable connector front clamp, and a transverse connecting block;

[0028] The rear clip of the cable connector includes a cable connection wire hole, a cable connection concave-convex structure, and a cable channel hole;

[0029] The rear clamp of the cable connector and the front clamp of the cable connector clamp the flat wire armored cable;

[0030] The transverse connecting block is mounted on the rear clip of the cable connector.

[0031] Preferably, the armored cable comprises two armored steel wires arranged longitudinally in parallel;

[0032] The two armor steel wires are connected to the two inner winch steel wires through the cable hull connector;

[0033] The armored cable also includes an electric cable, and the electric cable in the armored cable passes through the cable passage hole and is connected with the hull connection cable.

[0034] Preferably, the underwater tractor includes a hydrofoil, a tractor head, a tractor tail rudder, a steering gear cabin assembly, a tail propulsion, a tail connection transition piece and a tractor main frame plate;

[0035] The tail propulsion is fixed on the tractor tail rudder and can turn together with the tractor tail rudder; the tractor tail rudder is connected to the steering gear cabin assembly, the steering gear cabin assembly is connected to the tail connection transition piece, and the tractor main frame plate, tractor head and hydrofoil are also installed on the tail connection transition piece.

[0036] Preferably, the gap between the right inner capstan and the inner capstan sealing cover, and the gap between the left inner capstan and the inner capstan sealing cover are both smaller than the diameter of the inner capstan steel wire.

[0037] Preferably, the maximum length of the inner winch steel wire wound around the right inner winch and the inner winch sealing cover does not exceed 1 circle.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. The present invention can partially convert the wave energy captured by the surface floating body into electrical energy through the winch system and the ball screw power generation system, and partially convert the wave energy of the surface floating body into propulsion power through the underwater tractor. Overall, the wave energy can be converted into both propulsion power and electrical energy.

[0040] 2. The present invention reduces the possibility of the steel wire escaping from the winch by setting the gap between the winch cover and the winch to be smaller than the diameter of the steel wire rope.

[0041] 3. The present invention is provided with an inner capstan sealed cabin, and by providing an inner and outer capstan system, the inner capstan transmits power to the outer capstan through a rotating shaft, and therefore, it is only necessary to seal where the shaft passes through the inner capstan sealed cabin, thereby reducing the difficulty of sealing. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0043] Figure 1 A schematic diagram of a preferred overall structure of the present invention;

[0044] Figure 2 It is a partial cross-sectional side view of the surface floating vessel of the present invention;

[0045] Figure 3 It is a partial cross-sectional view of the surface floating vessel of the present invention from a top view;

[0046] Figure 4 is an isometric schematic diagram of the winch system of the present invention;

[0047] Figure 5 is a cross-sectional view of the winch system of the present invention;

[0048] Figure 6 It is a schematic diagram of the outer winch parts of the present invention;

[0049] Figure 7 It is a schematic diagram of the inner winch parts of the present invention;

[0050] Figure 8 Schematic diagram of the ball screw power generation system and spring energy storage device of the present invention;

[0051] Figure 9 This is a schematic diagram of the bottom structure of the floating body on the water surface viewed from the bottom of the ship in the present invention;

[0052] Figure 10 This is a disassembled structural diagram of the cable hull connector of the present invention;

[0053] Figure 11 This is a structural diagram of the cable hull connector of the present invention;

[0054] Figure 12 It is a structural schematic diagram of the underwater tractor of the present invention.

[0055] The figure shows:

[0056]

[0057] DETAILED DESCRIPTION

[0058] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0059] The present invention provides a wave power generation glider device compatible with armored cables, such as Figure 1-12 As shown, it includes a surface floating vessel 1, a cable connection assembly 2 and an underwater tractor 3; the surface floating vessel 1 is connected to the cable connection assembly 2, and the cable connection assembly 2 is connected to the underwater tractor 3;

[0060] External waves cause the surface floating vessel 1 to produce an oscillating motion, which drags the underwater tractor 3 to oscillate up and down through the cable connection assembly 2; the underwater tractor 3 can convert wave energy into forward power, dragging the surface floating vessel forward; at the same time, the oscillating motion of the underwater tractor 3 causes the cable connection assembly 2 to produce a changing tension force, which is transmitted to the generator on the surface floating vessel 1, thereby realizing power generation of the wave power glider device.

[0061] like Figure 2 and Figure 3 As shown, the surface floating vessel 1 includes a hull structure 100, a winch system 4, a ball screw power generation system 5, and a spring energy storage device 6. The winch system 4, the ball screw power generation system 5, and the spring energy storage device 6 are all located within the hull structure 100. Considering the internal dimensions of the floating vessel, the ball screw power generation system is located aft of the winch system. Considering the narrowing width at the stern, the ball screw power generation system is elevated aft and arranged tilted upward at an angle of approximately 4 degrees. The winch system 4 is connected to the ball screw power generation system 5, which is in turn connected to the spring energy storage device 6. The spring energy storage device 6 is fixed to the hull structure 100. Specifically, the spring energy storage device 6 is connected to the hull structure 100.

[0062] like Figure 4 and Figure 5As shown, the winch system 4 includes a right inner winch 4210, a left inner winch 4220, an outer winch 43, an inner winch right support plate 4110, an inner winch left support plate 4120, a winch bottom plate 45, an inner winch sealing cover 414, an outer winch wire 416, a winch shaft 411, and two inner winch wires 46 with a spacing of about 50mm-60mm.

[0063] The inner capstan right support plate 4110, the inner capstan left support plate 4120, the capstan bottom plate 45, the inner capstan sealing cover 414, and the capstan bottom plate 45 form an inner capstan sealed compartment, the bottom end of which is provided with a hull wire hole 13. Preferably, the number of the hull wire holes 13 is two, and the two hull wire holes 13 are symmetrical. The lateral spacing of the holes is equal to the lateral spacing of the inner capstan. The hole cross-section is waist-shaped, with the long side along the length of the ship to better accommodate the forward swing of the inner capstan wire 46. The hole depth direction is truncated cone-shaped, and the inner edge of the hole is provided with wear-resistant plastic. Preferably, the inner edge of the cone is provided with a wear-resistant nylon or polytetrafluoroethylene guide ring so that under the action of waves, the forward and backward and left and right swinging motion of the cable connection assembly scrapes the hull and reduces wear on the wire. The inner wall size of the hull wire hole 13 should ensure that when the cable connection assembly 2 swings forward 6 degrees and backward 3 degrees, the inner capstan wire does not scratch the inner edge of the hole. The inner capstan sealed compartment is in communication with the external seawater through the hull wire hole 13; the inner capstan seals the capstan sealed compartment relative to the hull structure 100, thereby preventing the seawater in the capstan sealed compartment from entering the interior of the hull structure 100.

[0064] The two inner winch wires 46 are matched with the right inner winch 4210 and the left inner winch 4220 respectively. One end of the inner winch wire 46 is wound on the inner winch, and the other end passes through the hull wire hole 13 at the bottom of the ship to connect to the cable connection assembly 2. Preferably, the number of turns of the winch wire on the winch is less than 1. Specifically, Figure 6 and Figure 7 , the inner / outer capstans are radially symmetrically provided with wire holes, one end of the inner / outer capstan wire is inserted into the hole and fastened to the capstan by a top wire. The inner capstan rotates in the seawater medium, and no weight-reducing holes are opened to reduce the resistance during rotation, but some structures can be appropriately thinned to achieve lightweighting. The diameter of the two steel ropes of the inner capstan is 2.5mm-4mm; the gap between the inner capstan sealing cover and the inner capstan is smaller than the diameter of the steel rope, that is, the gap between the right inner capstan 4210 and the inner capstan sealing cover 414, and the gap between the left inner capstan 4220 and the inner capstan sealing cover 414 are both smaller than the diameter of the inner capstan wire 46. In order to reduce the possibility of the steel wire falling off the winch, the inner capstan wire is wound around the inner capstan with less than 1 circle.

[0065] After the two inner winch steel wires 46 pass around the inner winch respectively, they pass through the hull wire hole, through the bottom of the hull, and are connected to the cable connection assembly. The two inner winch steel wires are connected to the cable connection assembly in parallel. Under the action of the underwater tractor's own weight, a torsional restoring torque is formed, which is beneficial for the underwater tractor to transmit the deflection torque to the surface floating ship.

[0066] like Figure 5 As shown, the right inner capstan 4210 and the left inner capstan 4220 are both installed in the inner capstan sealed cabin. The gap between the sealing cover and the inner capstan is smaller than the diameter of the capstan wire to prevent the wire from slipping out of the capstan. The right inner capstan 4210 and the left inner capstan 4220 are connected via a capstan shaft 411; specifically, the right inner capstan 4210 and the left inner capstan 4220 are both fixed to the capstan shaft 411 via a flat key and a top screw. The capstan shaft 411 is supported and fixed by the right support plate 4110 and the left support plate 4120 of the inner capstan. More specifically, the right support plate 4110 and the left support plate 4120 of the inner capstan are connected to the capstan shaft 411 via multiple bearings and sealing rings 412. One end of the outer capstan wire 416 is wound around the outer capstan, and the other end is connected to the ball screw power generation system 5.

[0067] Specifically, the winch system 4 also includes an outer winch support plate 44, a sealing strip 47 between the winch system and the hull, an inner winch support plate and a bottom plate sealing strip 48, a first winch shaft bearing 491, a second winch shaft bearing 492, a third winch shaft bearing 493, a first winch shaft locking nut 4101, a winch shaft sealing ring 412, sealing strips 413 on both sides of the inner capstan, an outer winch wire cover 415, an outer winch wire 416, an outer winch wire guide wheel 417, and a winch bearing end cover 418.

[0068] The inner ring of the bearing is axially mounted and fastened by a shaft shoulder and a locking nut 4101. The bosses on the support plates on both sides of the capstan (the right support plate 4110 of the inner capstan and the left support plate 4120 of the inner capstan) limit the outer rings of the second capstan shaft bearing 492 and the third capstan shaft bearing 493. The locking nut 4101 and the bearing end cover 418 are backup axial fixing devices. The bearing end cover limits the outer ring of the bearing, thereby achieving axial fastening of the rotating shaft. The support plates on both sides of the capstan and the inner capstan sealing cover 414 are fastened together by screws, with a sealing strip 413 clamped in between. After the support plates on both sides of the capstan and the inner capstan sealing cover 414 are connected, they are buckled onto the capstan base plate 45, padded with a sealing strip 48, and fastened with screws. The capstan base plate 45 is fixedly connected to the hull structure 100 by screws. An annular groove is provided on the lower surface of the capstan base plate 45 to accommodate the sealing strip 47.

[0069] After the outer winch wire 416 passes around the winch, it passes through the guide wheel 417 and is connected to the ball screw power generation system 5. The outer winch wire cover 415 is fixed to the right support plate 4110 of the inner winch by screws. The gap between the outer winch wire cover 415 and the outer winch 43 is smaller than the outer diameter of the outer winch wire 416, making it difficult for the outer winch wire to escape from the outer winch. After the two inner winch wires 46 pass around the inner winch, they pass through the hull wire hole 13, pass through the bottom of the hull, and connect to the cable connection assembly, see Figure 2 and Figure 9 The sealing strip is made of silicone and has a thickness of 3mm to achieve optimal cost and waterproof performance. The capstan shaft seal 412 is a Gly ring seal. The gap between the outer capstan seal cover and the outer capstan is smaller than the diameter of the capstan wire to prevent the wire from slipping out of the capstan.

[0070] The diameter of the inner capstan is 140mm-160mm, the maximum length of the inner capstan wire wrapped around the inner capstan does not exceed 1 circle, the diameter of the outer capstan is equal to the inner capstan, and the diameter of the capstan shaft is 15mm; the material of the inner capstan is selected from corrosion-resistant and wear-resistant materials, such as wear-resistant nylon, surface-oxidized aviation aluminum alloy, and 316L stainless steel.

[0071] like Figure 8 As shown, the ball screw power generation system 5 includes a ball screw nut seat, a connecting seat 54, a guide rail slider 56 and a generator 58;

[0072] The ball screw nut seat includes two linear guides 51, a ball screw 52, ​​a screw support 53, and a screw guide base plate 55. The linear guides 51 are mounted on the screw guide base plate 55, the guide rail slider 56 is mounted on the linear guides 51, and the ball screw 52 is mounted on the screw support 53. The guide rail slider 56 matches the ball screw 52. The connecting seat 54 is connected to the ball screw nut seat via the guide rail slider 56. The external capstan wire 416 is fastened to the connecting seat 54 via a jackscrew. The generator 58 is connected to the ball screw nut seat. Specifically, the generator 58 is connected to the ball screw 52. The external capstan wire 416 can drag the connecting seat 54, generating reciprocating linear motion, which is converted into reciprocating rotational motion of the motor through the ball screw nut seat, thereby generating electricity.

[0073] In a preferred example, the guide rail specification is selected as HGH15CA, and the guide rail preload level is selected as Z0 level (0 preload or light preload) to reduce friction resistance; according to the characteristics of ocean waves, the ball screw lead is ≥10mm and the outer diameter is 12mm to reduce the friction loss of the screw and obtain a higher motor speed. The matching preload of the ball screw and the screw nut is lowered to reduce friction loss, and the effective stroke of the screw is 400mm.

[0074] The spring energy storage device 6 includes a tension spring 61, a tension spring hook pulley 62, a hook pulley seat 63, and a first connecting steel wire rope 64 and a second connecting steel wire rope 65; the tension spring hook is connected to a wear-resistant plastic pulley of equal size, and the plastic pulley is fixed on the hook pulley seat 63. Specifically, both ends of the tension spring 61 are connected to the hook pulley seat 63 through the tension spring hook pulley 62; the hook pulley seat 63 at one end is connected to the connecting seat 54 through the first connecting steel wire rope 64, and the hook pulley seat 63 at the other end is fixed to the hull structure 100 through the second connecting steel wire rope 65.

[0075] In a preferred embodiment, hooks at each end of the tension spring engage a hook pulley 62 of the same diameter as the hook to reduce stress concentration. Hook pulley 62 is made of wear-resistant and self-lubricating materials such as nylon and polytetrafluoroethylene. Given that the underwater tractor has a wet weight of approximately 40kg-50kg in water, two tension springs are used to provide elastic restoring force. The springs are made of spring steel, have a length of 400mm-460mm, an outer diameter of 40mm, and a wire diameter of 4mm-4.5mm. The connector 54 is directly connected to the lead screw nut seat to reduce the bending torque exerted by the connector on the lead screw nut. The generator 58 is a disc motor with a diameter of approximately 90mm, which has high output power and efficiency even at a relatively low speed of approximately 1000 RPM. When the ball screw generator system is fixed to the floating vessel, the motor structure protrudes, and the corresponding mounting area on the hull is recessed to prevent interference with the generator.

[0076] like Figure 2 As shown, the cable connection assembly 2 includes an armored cable 21, a hull connection cable 22, a cable-hull connector 23, and a cable tractor connector 24. The cable-hull connector 23 is connected to the longitudinal armored cable 21 at its lower portion and to two transversely aligned inner winch wires 46 at its upper portion. The cable-hull connector 23 and the cable tractor connector 24 are connected via the armored cable 21. The cable tractor connector 24 and the underwater tractor 3 are connected via pins or bolts. The cable-hull connector 23 is connected to the inner winch wire 46 of the surface floating vessel 1. The hull connection cable 22 is connected to the cable-hull connector 23. In a preferred embodiment, the armored cable 21 is a flexible flat armored cable. In a preferred embodiment, the hull connection cable 22 is a highly flexible multi-core cable with a circular cross-section. It is equipped with a waterproof aviation plug and socket. The cable length is sufficient to accommodate the heave and sink of the cable-hull connector 23 caused by the rotation of the winch. In a preferred embodiment, the cable tractor connector 24 has the same structure as the cable-hull connector 23.

[0077] like Figure 10As shown, the cable hull connector 23 includes a cable connector rear clip 231, a cable connector front clip 232, and a transverse connecting block 233; the cable connector rear clip 231 includes a cable connection wire hole 2311, a cable connection concave-convex structure 2312, and a cable channel hole;

[0078] The cable connector's rear clip 231 and front clip 232 clamp the flat wire armored cable 21. These clips are fastened with screws, and the cable connector's concave-convex structure 2312 increases friction. The armored steel wire 211 within the flat wire passes through the cable connection wire hole 2311 and is laterally secured with a top screw. After the cables within the flat wire converge, they pass through the cable channel hole in the connector's rear clip 231 and reach the rear of the cable hull connector, connecting to the hull connection cable 22 and linking the power and signal lines to the interior of the surface floating vessel. The transverse connecting block 233 is bolted to the cable connector's rear clip 231. A hull connection cable docking connector 22 is provided within the hull connection cable 22, like a waterproof aviation docking connector. This allows the surface floating vessel and cable connection assembly to be separated, facilitating production, assembly, and transportation. The rear clip 231 features a threaded hole, while the front clip 232 has a countersunk hole to minimize protrusion. The hull connecting cable 22 is a highly flexible multi-core cable with a sheath made of polyurethane PUR and a circular outer cross-section. The length should be sufficient to cover the heave and sink motion range of the cable hull connector 23 after the winch is rotated, which is about 0.5 meters.

[0079] Because the flat-wire armored cable 21 is much wider than its thickness, the width of the flat wire runs longitudinally along the hull, while its thickness runs along the ship's width, minimizing the cable's resistance in the water. The armored cable 21 includes two armored steel wires 211, one in front of the other and one behind, arranged longitudinally side by side. These two armored steel wires 211 are connected to two inner winch wires 46 via a cable hull connector 23. This connection prevents the flat-wire armored cable 21 from slipping out of the winch even when it swings forward. The armored cable 21 also includes an electrical cable, which passes through the cable channel holes and connects to the circular-cross-section hull connection cable 22 to transmit power and control signals. To minimize the cable's resistance in the water, the flat-wire armored cable runs longitudinally along the hull during use, with its thickness running along the ship's width. The cable hull connector converts the longitudinal flat-wire armored cable into two transverse, parallel mounting holes, allowing for connection to the two inner winch wires.

[0080] Figure 9 The diagram shows how the cable hull connector 23 is connected to a surface floating vessel. Hull wire holes 13 are symmetrically opened on the bottom of the hull, and the inner winch wire 46 passes through the hole and is connected to the transverse connecting block 233.

[0081] like Figure 11As shown, the underwater tractor 3 includes a hydrofoil 32, a tractor head 33, a tractor tail rudder 31, a steering gear cabin assembly 35, a tail propulsion 36, a tail connection transition piece 37 and two tractor main frame plates 34; the tail propulsion 36 is fixed to the tractor tail rudder 31 and can be steered together with the tractor tail rudder 31; the tractor tail rudder 31 is connected to the steering gear cabin assembly 35, and the steering gear cabin assembly 35 is connected to the tail connection transition piece 37, and the tractor main frame plate 34, the tractor head 33 and the hydrofoil 32 are also installed on the tail connection transition piece 37.

[0082] The working principle of the present invention is as follows:

[0083] Under the action of waves, the surface floating vessel produces an oscillatory motion. The cable connection assembly 2 drags the underwater tractor 3 in an up-and-down oscillatory motion, which generates alternating tension in the armored cable 21 of the cable connection assembly 2. This tension is then transferred to the winch system via the cable hull connector 23, connecting it to the inner capstan wire of the surface floating vessel. This tension drives the inner capstan to rotate back and forth within its sealed compartment. The capstan shaft then outputs power to the outer capstan, which in turn drives the generator of the ball screw power generation system to rotate and generate electricity. The proposed wave power glider device can simultaneously achieve wave propulsion and wave power generation.

[0084] Specifically, under the action of waves, the surface buoyant vessel 1 oscillates. This oscillation is then dragged up and down by the underwater tractor 3 through the cable connection assembly 2. The hydrofoils 32 of the underwater tractor 3 generate semi-active flapping motion, generating forward thrust. This converts wave energy into forward propulsion, causing the flat-wire armored cable 21 to swing forward, dragging the surface buoyant vessel forward. Simultaneously, the oscillating motion of the underwater tractor 3 generates varying tension in the armored cable of the cable connection assembly 2. This tension is then connected to the inner capstan wire 46 of the surface buoyant vessel 1 via the cable hull connector 23. This tension is then transmitted to the capstan system 4, driving the inner capstan to rotate back and forth within its sealed compartment. This power is then output to the outer capstan 43 via the capstan shaft 411, which in turn drives the generator 58 of the ball screw generator system 5 to rotate and generate electricity. This electrical energy is then rectified and stabilized to charge the battery 12. During the charging process, the output voltage is adjusted through the Buck circuit or the Boost circuit to adjust the electromagnetic damping of the generator, thereby achieving regulation of the power output and propulsion power output.

[0085] In summary, the present invention provides a wave-powered glider device compatible with a flat-wire armored cable for wave gliders, achieving both wave propulsion and wave power generation. Through a winch system and a ball screw power generation system, the present invention partially converts wave energy captured by a surface float into electrical energy. Through an underwater tractor, the wave energy of the surface float is partially converted into propulsion power, achieving overall conversion of wave energy into both propulsion power and electrical energy. Compared to introducing a spring damping buffer in the cable, the present invention utilizes a spring energy storage device and a screw power generation device, effectively reducing the tension impact force on the cable in harsh sea conditions. In the present invention, the cable connection assembly connects to the winch via two transversely arranged steel wires, effectively transmitting the yaw moment of the underwater tractor. In the present invention, the winch shaft is arranged transversely, which reduces the roll disturbance force on the surface ship compared to a longitudinally arranged winch shaft. By setting the gap between the winch cover and the winch smaller than the wire rope diameter, the present invention reduces the possibility of the wire rope slipping out of the winch. In this invention, the steel wire on the inner capstan is wrapped with no more than one turn, eliminating the problems of mutual wear, rope arrangement, and grease lubrication on the capstan, thereby improving the life of the steel wire. By providing an inner and outer capstan system, the inner capstan transmits power to the outer capstan via a rotating shaft, requiring only the shaft for sealing, thus reducing the sealing complexity. By integrating the power generation assembly into the hull, the present invention minimizes disruption to the streamlined shape. In this invention, the tension spring hook is connected to a plastic pulley of equal size, which helps to extend the life of the tension spring.

[0086] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0087] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A wave power glider device compatible with armored cables, characterized in that: It comprises a surface floating vessel (1), a cable connection assembly (2) and an underwater tractor (3); The surface floating vessel (1) is connected to the cable connection assembly (2), and the cable connection assembly (2) is connected to the underwater tractor (3); External waves cause the surface floating vessel (1) to generate an oscillating motion, and the underwater tractor (3) is dragged by the cable connection assembly (2) to generate an oscillating motion up and down; the underwater tractor (3) is capable of converting wave energy into forward power, dragging the surface floating vessel forward; at the same time, the oscillating motion of the underwater tractor (3) causes the cable connection assembly (2) to generate a varying tensioning force, and the tensioning force is transmitted to a generator on the surface floating vessel (1), thereby realizing power generation by the wave power generation glider device; The surface floating vessel (1) comprises a hull structure (100), a winch system (4), a ball screw power generation system (5), and a spring energy storage device (6); the winch system (4), the ball screw power generation system (5), and the spring energy storage device (6) are all located within the hull structure (100); The winch system (4) is connected to the ball screw power generation system (5), the ball screw power generation system (5) is connected to the spring energy storage device (6), and the spring energy storage device (6) is fixed to the hull structure (100); The winch system (4) comprises a right inner winch (4210), a left inner winch (4220), an outer winch (43), an inner winch right support plate (4110), an inner winch left support plate (4120), a winch bottom plate (45), an inner winch sealing cover (414), an outer winch steel wire (416), a winch shaft (411), and two inner winch steel wires (46); The inner capstan right support plate (4110), the inner capstan left support plate (4120), the capstan bottom plate (45), the inner capstan sealing cover (414), and the capstan bottom plate (45) form an inner capstan sealed cabin, a hull steel wire hole (13) is provided at the bottom end of the inner capstan sealed cabin, and the inner capstan sealed cabin communicates with the external seawater through the hull steel wire hole (13); Two inner winch wires (46) are matched with the right inner winch (4210) and the left inner winch (4220) respectively. One end of the inner winch wire (46) is wound around the inner winch, and the other end passes through the hull wire hole (13) at the bottom of the ship to connect to the cable connection assembly (2). The right inner winch (4210) and the left inner winch (4220) are both installed in the inner winch sealed cabin. The right inner winch (4210) and the left inner winch (4220) are connected via a winch shaft (411). One end of the winch shaft (411) passes through the inner winch sealed cabin and extends to the outside of the inner winch sealed cabin. The outer winch (43) is mounted on the end of the winch shaft (411) located outside the inner winch sealed cabin. One end of the outer winch wire (416) is wound around the outer winch (43), and the other end is connected to the ball screw power generation system (5). The ball screw power generation system (5) comprises a ball screw nut seat, a connecting seat (54), a guide rail slider (56) and a generator (58); The connecting seat (54) is connected to the ball screw nut seat via the guide rail slider (56), the outer capstan wire (416) is connected to the connecting seat (54), and the generator (58) is connected to the ball screw nut seat; The outer capstan wire (416) can drag the connecting seat (54) to generate reciprocating linear motion, which is converted into reciprocating rotary motion of the motor through the ball screw nut seat, thereby generating electricity; The cable connection assembly (2) includes an armored cable (21), a hull connection cable (22), a cable hull connector (23), and a cable tractor connector (24); The lower portion of the cable hull connector (23) is connected to the longitudinal armored cable (21), and the upper portion is connected to two transversely arranged inner winch wires (46); The cable hull connector (23) and the cable tractor connector (24) are connected via an armored cable (21); The cable tractor connector (24) is connected to the underwater tractor (3), the cable hull connector (23) is connected to the inner winch wire (46) of the surface floating vessel (1), and the hull connecting cable (22) is connected to the cable hull connector (23).

2. The armored cable compatible wave power glider device according to claim 1, characterized in that: The spring energy storage device (6) includes a tension spring (61), a tension spring hook pulley (62), a hook pulley seat (63), a first connecting steel wire rope (64), and a second connecting steel wire rope (65); Both ends of the tension spring (61) are connected to a hook pulley seat (63) via a tension spring hook pulley (62); the hook pulley seat (63) at one end is connected to the connecting seat (54) via a first connecting steel wire rope (64), and the hook pulley seat (63) at the other end is fixed to the hull structure (100) via a second connecting steel wire rope (65).

3. The armored cable compatible wave power glider device according to claim 1, characterized in that: The cable hull connector (23) comprises a cable connector rear clamp (231), a cable connector front clamp (232), and a transverse connecting block (233); The cable connector rear clip (231) comprises a cable connection wire hole (2311), a cable connection concave-convex structure (2312), and a cable channel hole; The cable connector rear clamp (231) and the cable connector front clamp (232) clamp the flat wire armored cable (21); The transverse connecting block (233) is mounted on the cable connector rear clip (231).

4. The armored cable compatible wave power glider device according to claim 3, characterized in that: The armored cable (21) includes two armored steel wires (211) arranged longitudinally in parallel; Two armor steel wires (211) are respectively connected to two inner winch steel wires (46) through cable hull connectors (23); The armored cable (21) also includes an electric cable, and the electric cable in the armored cable (21) passes through the cable channel hole and is connected to the hull connection cable (22).

5. The armored cable compatible wave power glider device according to claim 1, characterized in that: The underwater tractor (3) includes a hydrofoil (32), a tractor head (33), a tractor tail rudder (31), a steering gear cabin assembly (35), a tail propulsion (36), a tail connection transition piece (37), and a tractor main frame plate (34); The tail propulsion (36) is fixed to the tractor tail rudder (31) and can be turned together with the tractor tail rudder (31); the tractor tail rudder (31) is connected to the steering gear cabin assembly (35), and the steering gear cabin assembly (35) is connected to the tail connecting transition piece (37), and the tail connecting transition piece (37) is also installed with the tractor main frame plate (34), the tractor head (33) and the hydrofoil (32).

6. The armored cable compatible wave power glider device according to claim 1, characterized in that: The gap between the right inner capstan (4210) and the inner capstan sealing cover (414), and the gap between the left inner capstan (4220) and the inner capstan sealing cover (414) are both smaller than the diameter of the inner capstan steel wire (46).

Images