Umbrella wing wave energy generation underwater vehicle

Abstract

The application provides an umbrella wing type wave energy power generation underwater vehicle, which has two modes of movement and power generation, and comprises a fuselage, a hydrofoil, a water bag, a buoyancy adjusting module, a posture adjusting module, a folding and unfolding module and a power module; the water bag, the buoyancy adjusting module and the posture adjusting module are arranged in the interior of the fuselage, the folding and unfolding module is installed at the tail of the fuselage, the power module is installed at the rear of the folding and unfolding module, and the hydrofoil is circumferentially installed outside the fuselage; the hydrofoil can be switched between a folded state and an unfolded state under the cooperation of the buoyancy adjusting module and the folding and unfolding module; in the movement mode, the hydrofoil is folded and adhered to the fuselage to reduce the sailing resistance; and in the power generation mode, the hydrofoil is unfolded to present an umbrella shape to capture wave energy to supply power to the underwater vehicle; the application solves the problems of energy supply of the underwater vehicle and large range posture adjustment of the vehicle in the power generation mode and the movement mode, has a clever structure design and high practicability.

Description

Technical Field

[0001] This invention relates to the field of marine exploration equipment technology, specifically to a parasol-type wave energy generating underwater vehicle, and more particularly to a parasol-type wave energy generating underwater vehicle based on wave energy power generation. Background Technology

[0002] my country is a major maritime power with abundant marine biological resources. However, due to the long-term extensive development of my country's marine economy, the marine ecological environment is under great pressure, and environmental damage is prominent. Strengthening near-shore environmental protection and maintaining the healthy balance of the ocean has become an urgent task. Under these circumstances, many underwater vehicles used for marine environmental detection have been developed.

[0003] However, existing aircraft still have many shortcomings, specifically:

[0004] 1. Most existing technologies cannot achieve autonomous movement, and the carriers they rely on are mostly marine equipment such as buoys that do not have mobility functions, and they do not have multiple operating modes.

[0005] 2. Most existing technologies do not limit the inherent frequency characteristics of the device, so the principles of wave energy generation are different and cannot solve the problem of capturing large-cycle wave energy with small-sized floating wave energy generation devices.

[0006] 3. Most existing wave energy generation devices of the same type do not have the functions of center of mass adjustment, buoyancy adjustment, and linear drive folding function.

[0007] Given the above-mentioned shortcomings of existing technology, there is an urgent need to design a new aircraft to address these deficiencies. Summary of the Invention

[0008] In view of the deficiencies in the prior art, the purpose of this invention is to provide a parasol-shaped wave energy generating underwater vehicle.

[0009] According to the present invention, a paraglider-type wave energy generating underwater vehicle has two modes: motion and power generation. It includes a fuselage, hydrofoils, a water bladder, a buoyancy adjustment module, an attitude adjustment module, a folding module, and a power module. The water bladder, buoyancy adjustment module, and attitude adjustment module are all arranged inside the fuselage. The folding module is installed at the tail of the fuselage, and the power module is installed at the rear of the folding module.

[0010] The vehicle's center of gravity can be adjusted via the attitude adjustment module, and the vehicle's buoyancy can be adjusted via the buoyancy adjustment module in conjunction with the water bladder;

[0011] The hydrofoil has a multi-link structure, and multiple hydrofoils are evenly arranged along the circumference of the fuselage. With the cooperation of the buoyancy adjustment module and the folding module, the hydrofoil can switch between a folded state and an unfolded state.

[0012] In motion mode, the hydrofoils are folded, causing multiple hydrofoils to fold and adhere to the fuselage, and the vehicle maintains a horizontal attitude. By adjusting the vehicle's center of gravity and buoyancy, the power module can achieve any one or more of the following actions or states: stationary, surfacing, diving, turning, forward, and backward.

[0013] By adjusting the vehicle's center of mass and buoyancy, the center of buoyancy is positioned above the center of mass on the vertical line, thereby creating a restoring couple between buoyancy and gravity. This allows the vehicle to change from a horizontal to a vertical attitude. At this point, the hydrofoil is adjusted from a folded state to an unfolded state. Under the influence of wave energy, the hydrofoil can swing up and down, thereby driving the wave energy power generation system of the hydrofoil to generate electricity, and the vehicle is in power generation mode.

[0014] Preferably, by changing the position of the vehicle's center of mass, the natural frequency of the vehicle in the roll and pitch directions can be changed, thereby making the natural frequency of the vehicle match the wave frequency of the water area and thus improving the power generation efficiency.

[0015] Preferably, the ratio of the length of the aircraft to the wavelength of the power generation wave is in the range of 1:2 to 1:12, and the wave period of the power generation wave applicable to the aircraft is in the range of 2s to 8s.

[0016] Preferably, the buoyancy adjustment module can fill the airbag in the fuselage sealed compartment into the hydrofoil based on the air pressure circuit, and cooperate with the folding module to drive the steel cable connected to the hydrofoil to float and unfold under the action of buoyancy.

[0017] Preferably, the hydrofoil includes a head connector, a hydrofoil housing, a wave power generation system, a hydrofoil cover, a first connecting rod, a second connecting rod, a tail connector, a front airbag, a middle airbag, and a tail airbag. The head connector and the tail connector are respectively connected to the head and tail of the hydrofoil housing. The wave power generation system is installed inside the hydrofoil housing. The front airbag, middle airbag, and tail airbag are connected sequentially through air pipes and are all arranged in the hydrofoil housing to provide buoyancy for the hydrofoil.

[0018] The hydrofoil cover is installed on the outer surface of the hydrofoil housing to fix the position of the airbag; the hydrofoil is hinged to the first sealing flange of the fuselage through the head connector, so that the hydrofoil can swing back and forth relative to the fuselage around the hinge.

[0019] Preferably, the wave energy power generation system includes a generator, a reducer, and a commutator. The output shaft of the generator is connected to the input end of the reducer via a coupling, and the output end of the reducer is connected to the input end of the commutator via a coupling. The output end of the commutator is hinged to a first link, the first link is hinged to a second link, and the second link is hinged to a second sealing flange on the fuselage. The first link, the second link, the hydrofoil hull, and the fuselage together form a four-bar linkage. When the hydrofoil oscillates back and forth around the fuselage, the first link will oscillate back and forth around the hydrofoil hull, driving the commutator to rotate, which in turn drives the generator to rotate and generate electricity after being transmitted through the reducer.

[0020] Preferably, the attitude adjustment module changes the center of gravity of the fuselage by adjusting the position of its own counterweight on the fuselage, wherein the mass of the counterweight is 15% to 20% of the total mass of the aircraft.

[0021] Preferably, the folding module includes a waterproof motor, an upper sealing flange, a folding section, a connecting flange, a waterproof motor bracket, a cover plate, a limiting bracket, a winding reel, a supporting flange, a connecting shaft, and a steel wire rope;

[0022] The upper sealing flange is connected to the stern sealing compartment of the fuselage. The waterproof motor is mounted on the upper sealing flange via a waterproof motor bracket. The output shaft of the waterproof motor is connected to the winding reel via a connecting shaft. The lower surface of the winding reel is connected to the support flange, which is mounted on the connecting flange. The upper surface of the winding reel is connected to the cover plate. A limiting bracket is installed between the connecting flange and the cover plate. One end of the wire rope is connected to the winding reel, and the other end is connected to the tail connector of the hydrofoil.

[0023] Preferably, the upper sealing flange is connected to one side of the folding compartment, and the other side of the folding compartment is connected to the connecting flange; the bow sealing compartment, the first sealing flange, the midship sealing compartment, the second sealing flange, the stern sealing compartment, and the upper sealing flange together form a waterproof sealing compartment, which serves as the air storage compartment for the air pressure circuit of the buoyancy adjustment module.

[0024] Preferably, the power module is connected to the folding module, and the power module includes a rudder blade, a waterproof servo motor, and a propulsion device;

[0025] The waterproof rudder can adjust the angle of attack of the rudder blades to achieve the vehicle's turning and heave movements; the propulsion device is located at the tail of the vehicle and can provide thrust for the underwater vehicle.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. This invention employs a foldable umbrella-shaped hydrofoil structure arranged circumferentially on the fuselage. Through the coordinated operation of the buoyancy adjustment module, attitude adjustment module, and folding module, it solves the problem of wide-range attitude adjustment of the underwater vehicle in power generation mode and motion mode. This allows the fuselage and hydrofoil to maintain a horizontal attitude in motion mode and maintain the umbrella-shaped arrangement in power generation mode. It also solves the problem of energy supply for the underwater vehicle, enabling it to capture wave energy and convert it into electrical energy in wave conditions with large wave periods and random wave directions in power generation mode. Furthermore, it does not increase additional navigation resistance in motion mode. The structure is ingeniously designed, easy to control, and highly practical.

[0028] 2. This invention solves the problem that small-sized floating wave energy generators cannot capture large-cycle wave energy by limiting the inherent frequency characteristics of the vehicle in the pitch and roll directions and changing its inherent frequency through the attitude adjustment module. This allows the ratio of the vehicle length to the wavelength of the generated wave to reach 1:2 to 1:12, greatly improving the practicality of the vehicle. Attached Figure Description

[0029] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0030] Figure 1 This is a schematic diagram of the aircraft's structure when it is in power generation mode.

[0031] Figure 2 A schematic diagram of the structure of the aircraft when it is in motion mode;

[0032] Figure 3 This is a schematic diagram of the internal structure of the aircraft;

[0033] Figure 4 This is a schematic diagram of the hydrofoil structure;

[0034] Figure 5 This is a schematic diagram showing the structural arrangement of the front airbag, middle airbag, and tail airbag within the hydrofoil housing.

[0035] Figure 6 for Figure 5 A magnified view of part B in the middle;

[0036] Figure 7 This is a schematic diagram of the buoyancy adjustment module;

[0037] Figure 8 A schematic diagram illustrating the principle of water inlet and outlet in a water bladder;

[0038] Figure 9 A schematic diagram illustrating the principle of connection and control between the hydrofoil's airbag and the fuselage airbag;

[0039] Figure 10 This is a schematic diagram of the attitude adjustment module.

[0040] Figure 11 This is a schematic diagram of the internal structure of the unfolding module;

[0041] Figure 12 This is a side view of the unfolding module.

[0042] Figure 13 This is a cross-sectional view of the folding module.

[0043] Figure 14 This is a structural schematic diagram of the power module;

[0044] Figure 15 This is a schematic diagram illustrating the process of a spacecraft switching from motion mode to power generation mode and then back to motion mode.

[0045] The diagram shows:

[0046] fuselage 1

[0047] Bow Sealed Section 11

[0048] First sealing flange 12

[0049] Midships Sealed Section 13

[0050] Second sealing flange 14

[0051] Stern Sealed Section 15

[0052] Hydrofoil 2

[0053] Head connector 21

[0054] Hydrofoil hull 22

[0055] Wave energy power generation system 23

[0056] Hydrofoil cover 24

[0057] First link 25

[0058] Second link 26

[0059] Tail connector 27

[0060] First airbag 28

[0061] 29 central airbags

[0062] Rear airbag 210

[0063] Generator 211

[0064] Reducer 212

[0065] commutator 213

[0066] Water bladder 3

[0067] Buoyancy Adjustment Module 4

[0068] Upper support plate 41

[0069] Flow meter 42

[0070] Liquid Pump 43

[0071] Liquid solenoid valve 44

[0072] Middle support plate 45

[0073] Air pump 46

[0074] Gas solenoid valve 47

[0075] Lower support plate 48

[0076] Lower support frame 49

[0077] Upper support frame 410

[0078] Attitude adjustment module 5

[0079] Head support plate 51

[0080] Servo motor 52

[0081] Motor support plate 53

[0082] Optical axis 54

[0083] Screw 55

[0084] Counterweight support plate 56

[0085] counterweight 57

[0086] Screw support plate 58

[0087] Battery pack bracket 59

[0088] 510 lithium battery pack

[0089] Battery pack lower bracket 511

[0090] Tail support plate 512

[0091] 513 carbon fiber tube

[0092] Folding Module 6

[0093] Waterproof motor 61

[0094] Upper sealing flange 62

[0095] Folding section 63

[0096] Connecting flange 64

[0097] Waterproof motor bracket 65

[0098] Cover plate 66

[0099] Limiting bracket 67

[0100] 68 reels

[0101] Support flange 69

[0102] Connecting shaft 610

[0103] Wire Rope 611

[0104] Power Module 7

[0105] Rudder 71

[0106] Tail section 72

[0107] Cage 73

[0108] Waterproof Servo 74

[0109] Propulsion device 75 Detailed Implementation

[0110] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0111] Example 1:

[0112] This invention discloses a paraglider-type wave energy generating underwater vehicle with two modes: motion and power generation. It includes a fuselage 1, hydrofoils 2, water bladders 3, a buoyancy adjustment module 4, an attitude adjustment module 5, a folding / unfolding module 6, and a power module 7. The water bladder 3, buoyancy adjustment module 4, and attitude adjustment module 5 are all located inside the fuselage 1. The folding / unfolding module 6 is installed at the tail of the fuselage 1, and the power module 7 is installed at the rear of the folding / unfolding module 6. The vehicle's center of gravity can be adjusted via the attitude adjustment module 5, and the buoyancy of the vehicle can be adjusted through the cooperation of the buoyancy adjustment module 4 and the water bladder 3. The hydrofoils 2 have a multi-link structure, with multiple hydrofoils 2 evenly arranged circumferentially along the fuselage 1. With the cooperation of the buoyancy adjustment module 4 and the folding / unfolding module 6, the hydrofoils 2 can switch between folded and unfolded states. In motion mode, the vehicle maintains a horizontal attitude, with the hydrofoils 2 folded. Multiple hydrofoils 2 are folded and attached to the fuselage 1, making the vehicle as a whole spindle shape, which helps reduce resistance when underwater. By adjusting the vehicle's center of gravity and buoyancy power module 7, it can achieve any one or more actions or states such as stationary, surfacing, diving, turning, forward, and backward, which can meet the different mission requirements of the vehicle.

[0113] Furthermore, by adjusting the vehicle's center of mass and buoyancy so that the vehicle's center of buoyancy is higher than the center of mass on the vertical line, the buoyancy and gravity form a restoring couple, which allows the vehicle to change from a horizontal attitude to a vertical attitude. At this time, the hydrofoil 2 is adjusted from a folded state to an unfolded state. Under the action of wave energy, the hydrofoil 2 can swing up and down, which can drive the wave energy power generation system 23 of the hydrofoil 2 to generate electricity. At this time, the vehicle is in power generation mode, storing electrical energy for the vehicle.

[0114] This invention changes the natural frequencies of the vehicle in the roll and pitch directions by altering the position of the vehicle's center of mass, thereby matching the natural frequencies of the vehicle with the wave frequencies of the waters where it is located, thus improving power generation efficiency. It should be noted that, after removing the four sets of hydrofoils 2, the natural frequencies of the paraglider-type wave energy generating underwater vehicle in the roll and pitch directions are close to the wave frequencies of the sea conditions in which it operates, solving the problem that small-sized floating wave energy generating devices cannot capture large-cycle wave energy. The ratio of the vehicle's length to the wavelength of the wave condition for power generation is preferably in the range of 1:2 to 1:12, and the wave period range of the wave condition for power generation applicable to the vehicle is 2s to 8s.

[0115] In practical applications, the buoyancy adjustment module 4 can fill the airbag in the fuselage sealed compartment into the hydrofoil 2 based on the air pressure circuit, and together with the folding module 6, it can drive the steel wire rope 611 connected to the linkage structure to make the hydrofoil 2 float and unfold under the action of buoyancy.

[0116] Example 2:

[0117] This embodiment is a preferred example of Embodiment 1.

[0118] This embodiment provides a parasol-shaped wave energy generating underwater vehicle with two modes: motion and power generation. Figure 1 , Figure 2 As shown, in this embodiment, there are a total of 4 sets of hydrofoils 2, which are evenly arranged along the circumference of the fuselage 1. The folding module 6 is installed at the tail of the fuselage 1, as shown. Figure 3 As shown, the power module 7 is installed at the rear of the folding module 6.

[0119] like Figure 3 As shown, the fuselage 1 includes a bow sealed section 11, a first sealing flange 12, an midships sealed section 13, a second sealing flange 14, and a stern sealed section 15. The bow sealed section 11 and the midships sealed section 13 are connected by the first sealing flange 12, and the midships sealed section 13 and the stern sealed section 15 are connected by the second sealing flange 14. Sealing rings are installed on both the first sealing flange 12 and the second sealing flange 14 to achieve waterproof sealing at the connection points of each section.

[0120] like Figure 4 , Figure 5 As shown, the hydrofoil 2 includes a head connector 21, a hydrofoil housing 22, a wave energy power generation system 23, a hydrofoil cover 24, a first connecting rod 25, a second connecting rod 26, a tail connector 27, a nose airbag 28, a middle airbag 29, and a tail airbag 210. The head connector 21 and the tail connector 27 are respectively connected to the head and tail of the hydrofoil housing 22. The wave energy power generation system 23 is installed inside the hydrofoil housing 22. The nose airbag 28, the middle airbag 29, and the tail airbag 210 are arranged in the hydrofoil housing. In the body 22, the hydrofoils are connected in series by air tubes to provide buoyancy for the hydrofoils 2; the hydrofoil cover 24 is installed on the outer surface of the hydrofoil body 22 to fix each airbag and prevent the airbag from moving; the hydrofoil 2 is hinged to the first sealing flange 12 through the head connector 21, and the hydrofoil 2 can swing back and forth relative to the fuselage 1 around the hinge point; in particular, the cross-section of the outer surface of the hydrofoil body 22 is arc-shaped, and the four sets of hydrofoils 2 arranged around the fuselage 1 fit against the fuselage 1 after folding, so that the whole device still maintains a cylindrical shape.

[0121] Furthermore, such as Figure 4 , Figure 5 , Figure 6As shown, the wave energy power generation system 23 includes a generator 211, a reducer 212, and a commutator 213. The output shaft of the generator 211 is connected to the input end of the reducer 212 via a coupling, and the output end of the reducer 212 is connected to the input end of the commutator 213 via a coupling. The output end of the commutator 213 is connected to the first link 25, the first link 25 is hinged to the second link 26, and the second link 26 is hinged to the second sealing flange 14 at the fuselage 1. The first link 25, the second link 26, the hydrofoil hull 22, and the fuselage 1 together form a four-bar linkage mechanism. When the hydrofoil 2 oscillates back and forth around the fuselage 1... When the first link 25 reciprocates around the hydrofoil hull 22, it drives the commutator 213 to rotate. After being transmitted through the reducer 212, this drives the generator 211 to rotate and generate electricity. The commutator 213 is a drive structure consisting of two meshing bevel gears. For example, the two bevel gears are a first bevel gear and a second bevel gear. The second bevel gear is mounted on the main shaft of the reducer 212. The first and second bevel gears are arranged perpendicularly to each other. When the first link 25 reciprocates, it drives the first bevel gear to rotate reciprocally and in turn drives the second bevel gear to rotate, thereby driving the engine 211 to rotate and generate electricity, achieving power conversion. It should be noted that the commutator 213 can also use existing structures to achieve the commutation function.

[0122] like Figure 7 As shown, the buoyancy adjustment module 4 includes an upper support plate 41, a flow meter 42, a liquid pump 43, a liquid solenoid valve 44, a middle support plate 45, an air pump 46, a gas solenoid valve 47, a lower support plate 48, a lower support frame 49, and an upper support frame 410. The water bladder 3 is installed inside the bow sealed compartment 11. The buoyancy adjustment module 4 is connected to the second sealing flange 14 through the lower support plate 48. The upper support plate 41 and the middle support plate 45 are connected through the upper support frame 410, and the middle support plate 45 and the lower support plate 48 are connected through the lower support frame 49. The flow meter 42 is installed on the upper support plate 41, the liquid pump 43 is installed on the upper support frame 410, the liquid solenoid valve 44 is installed on the middle support plate 45, and the air pump 46 and the gas solenoid valve 47 are installed on the lower support plate 48.

[0123] like Figure 8 As shown, the working principle of the hydraulic circuit involved in the buoyancy adjustment module 4 is as follows: the water bladder 3, flow meter 42, liquid pump 43, hydraulic solenoid valve 44, and external water source are connected in series through water pipes; there are two sets of flow meter 42, liquid pump 43, and hydraulic solenoid valve 44, and the two sets are connected in parallel, which are used for the water bladder 3 to draw water from the external water source and the water bladder 3 to drain water from the external water source, respectively. The flow meter 42 is used to record the amount of water drawn and drained, thereby changing the mass and center of gravity of the body 1.

[0124] The working principle of the pneumatic circuit involved in the buoyancy adjustment module 4 is as follows: Figure 9As shown, the sealed chamber inside the fuselage 1 serves as the air storage chamber for the pneumatic circuit. It is connected in series with the air pump 46 and the pneumatic solenoid valve 47 via air pipes. The pneumatic solenoid valve 47 is connected in series with the nose airbag 28 via air pipes. There are two sets of air pumps 46 and pneumatic solenoid valves 47, which are connected in parallel. They are used to inflate the airbag at the hydrofoil from the sealed chamber and to draw air from the airbag at the hydrofoil from the sealed chamber, thereby changing the buoyancy of the hydrofoil 2.

[0125] like Figure 10 As shown, the attitude adjustment module 5 includes a head support plate 51, a servo motor 52, a motor support plate 53, an optical axis 54, a lead screw 55, a counterweight support plate 56, a counterweight 57, a lead screw support plate 58, an upper battery pack bracket 59, a lithium battery pack 510, a lower battery pack bracket 511, a tail support plate 512, and a carbon fiber tube 513. The attitude adjustment module 5 is connected to the second sealing flange 14 at the fuselage 1 through the head support plate 51. Specifically, there are three optical axes 54. The two ends of the optical axes 54 are connected to the head support plate 51 and the tail support plate 512, respectively. The motor support plate 53, the counterweight support plate 56, the upper battery pack bracket 59, and the lower battery pack bracket 511 are mounted on the optical axes 54.

[0126] Furthermore, the servo motor 52 is mounted on the motor support plate 53, one side of the lead screw 55 is mounted on the servo motor 52, and the other side is mounted on the lead screw support plate 58; the counterweight support plate 56 is mounted on the optical shaft 54 ​​via a linear bearing and on the lead screw 55 via a lead screw nut, and the counterweight 57 is mounted on the counterweight support plate 56; the lithium battery pack 510 is fixed between the upper battery pack bracket 59 and the lower battery pack bracket 511; the carbon fiber tube 513 is mounted on the motor support plate 53 and the lead screw support plate 58 for wiring to realize communication and power supply between the front and rear compartments of the fuselage; when the servo motor 52 drives the lead screw 55 to rotate, the counterweight 57 will move along the axial direction of the lead screw 54, changing the center of gravity position of the fuselage 1. In particular, the mass of the counterweight 57 is 15% to 20% of the total mass of the device.

[0127] like Figure 11 , Figure 12 , Figure 13As shown, the folding module 6 includes a waterproof motor 61, an upper sealing flange 62, a folding section 63, a connecting flange 64, a waterproof motor bracket 65, a cover plate 66, a limiting bracket 67, a winding reel 68, a support flange 69, a connecting shaft 610, and a wire rope 611. The folding module 6 is connected to the stern sealing section 15 of the fuselage 1 via the upper sealing flange 62. The waterproof motor 61 is mounted on the upper sealing flange 62 via the waterproof motor bracket 65, and the output shaft of the waterproof motor 61 is connected to the winding reel 68 via the connecting shaft 610. The lower surface of the winding reel 68 is connected to the support flange 69, which is mounted on the connecting flange 64. The upper surface of the winding reel 68 is connected to the cover plate 66, thereby achieving axial positioning of the winding reel 68. The limiting bracket 67 is installed between the connecting flange 64 and the cover plate 66. One end of the wire rope 611 is connected to the winding reel 68, and the other end is connected to the tail connector 27 of the hydrofoil 2.

[0128] Furthermore, the upper sealing flange 62 is connected to one side of the folding compartment 63, and the other side of the folding compartment 63 is connected to the connecting flange 64; the bow sealing compartment 11, the first sealing flange 12, the midship sealing compartment 13, the second sealing flange 14, the stern sealing compartment 15, and the upper sealing flange 62 together form a waterproof sealing compartment, which serves as the air storage compartment for the air pressure circuit of the buoyancy adjustment module 4.

[0129] The working principle of the folding / unfolding module: One end of the steel wire rope 611 is connected to the reel 68, passes through the holes in the limiting bracket 67 and the folding / unfolding section 63, and the other end is connected to the tail connector 27 of the hydrofoil 2. Each of the four hydrofoils 2 is connected to a steel wire rope 611, and the four steel wire ropes 611 are arranged in a staggered manner in space. When the hydrofoil 2 folds, the waterproof motor 61 drives the reel 68 to rotate and retract the steel wire rope 611, pulling the hydrofoil 2 to fold to the given position; when the hydrofoil 2 unfolds, the waterproof motor 61 drives the reel 68 to release the steel wire rope 611, and the hydrofoil 2 gradually unfolds under the action of buoyancy.

[0130] The power module 7 includes rudder blades 71, a tail section 72, a cage 73, waterproof servos 74, and a propulsion system 75, such as... Figure 14 As shown, the power module 7 is connected to the connecting flange 64 of the folding module 6 via the tail section 72, and the retainer 73 is fixed inside the tail section 72; the waterproof servo motor 74 is fixed to the retainer 73, and the output shaft of the waterproof servo motor 74 is connected to the rudder blade 71. Driving the waterproof servo motor 74 can adjust the angle of attack of the rudder blade 71, thereby realizing the steering and heave of the vehicle; the propulsion device 75 is fixed to the tail section 72 and can provide thrust for the underwater vehicle.

[0131] The working principle of this invention is as follows:

[0132] The aircraft has two operating modes: motion mode and power generation mode.

[0133] In motion mode, the aircraft maintains a horizontal attitude, with the hydrofoils 2 folded and fitted to the fuselage 1, as... Figure 2 As shown. The vehicle's center of gravity is adjusted by the attitude adjustment module 5, and the buoyancy is adjusted by the buoyancy adjustment module 4 and the water bladder 3. Together with the power module 7, it realizes basic functions such as surfacing, diving, turning, moving forward, and moving backward. At the same time, in order to complete the corresponding tasks, the vehicle can also be adjusted to a stationary state.

[0134] In power generation mode, the vehicle is positioned on the water surface and maintains a vertical attitude, such as... Figure 1 As shown, under wave excitation, the hydrofoils 2 swing relative to the fuselage 1. The rotational motion is transmitted to the commutator 210 through the first link 25 and the second link 26, and then to the generator 28 through the reducer 29 to generate electricity, which charges the lithium battery pack 510 of the vehicle. When generating electricity, the hydrofoils 2 adopt the floating pendulum power generation principle, and the fuselage 1 adopts the gravity pendulum power generation principle, which can exhibit excellent wave energy power generation performance under large-cycle waves with a small size. At the same time, by adjusting the attitude adjustment module 5 to change the position of the center of mass of the device, the natural frequency of the device in the roll and pitch directions is changed, so that the device can adapt to the changes in the power generation wave conditions. The ratio of the length of the vehicle to the wavelength of the power generation wave condition can reach 1:2 to 1:12. For example, a 3m long underwater vehicle can generate electricity under wave period conditions of 2s to 6s.

[0135] When a spacecraft needs to switch operating modes, the operating method is as follows: Figure 15 As shown:

[0136] The aircraft maintains a horizontal attitude and is in motion mode.

[0137] The buoyancy adjustment module 4 uses a hydraulic circuit to discharge water from the head water bladder 3 of the fuselage 1 to the outside. The attitude adjustment module 5 moves the counterweight 57 towards the stern of the vehicle, so that the center of buoyancy of the vehicle is higher than the center of mass on the vertical line. The buoyancy and gravity form a restoring couple, forcing the vehicle to maintain a vertical attitude.

[0138] The buoyancy adjustment module 4 uses a pneumatic circuit to fill the airbags in the hydrofoils 2 with gas from the sealed fuselage compartment. The folding module 6 releases the steel cable 611, and the four hydrofoils 2 float and unfold under the combined action of buoyancy and gravity. The buoyancy adjustment module 4 uses a hydraulic circuit to fill the waterbag 3 at the nose of the fuselage 1 with water, causing the four hydrofoils 2 to tilt upwards. The folding module 6 continues to release the steel cable 611 to prevent the length of the steel cable 611 from limiting the swaying of the hydrofoils 2 during the power generation mode. The buoyancy adjustment module 4 uses a hydraulic circuit to discharge the water from the waterbag 3 at the nose of the fuselage 1 to the outside, and the aircraft maintains a vertical attitude and is in power generation mode.

[0139] The buoyancy adjustment module 4 fills the water bladder 3 at the head of the fuselage 1 with water based on the hydraulic circuit. The four sets of hydrofoils tilt upwards and the steel wire rope 611 is tensioned to prevent the steel wire rope 611 from getting tangled when the folding module 6 retracts.

[0140] The buoyancy adjustment module 4 inflates the hydrofoil 2 airbag into the sealed cabin of the fuselage 1 based on the air pressure circuit, the attitude adjustment module 5 moves the counterweight 57 towards the bow of the aircraft, and the folding module 6 retracts the steel cable 611.

[0141] The buoyancy adjustment module 4 fills the water bladder 3 at the head of the fuselage 1 with water based on the hydraulic circuit, and the aircraft maintains a horizontal attitude and enters the motion mode.

[0142] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0143] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An umbrella wing type wave energy generating underwater vehicle, characterized by, The application relates to a watercraft with both motion and power generation modes, comprising a fuselage (1), hydrofoils (2), water bags (3), a buoyancy adjusting module (4), a posture adjusting module (5), a folding module (6) and a power module (7), wherein the water bags (3), the buoyancy adjusting module (4) and the posture adjusting module (5) are arranged in the fuselage (1), the folding module (6) is arranged at the tail of the fuselage (1), and the power module (7) is arranged at the rear of the folding module (6). The center of mass of the watercraft can be adjusted by the posture adjusting module (5), and the buoyancy of the watercraft can be adjusted by the cooperation of the buoyancy adjusting module (4) and the water bags (3). The hydrofoils (2) are multi-link structures, and a plurality of the hydrofoils (2) are uniformly arranged along the circumference of the fuselage (1) and can be switched between the folded state and the unfolded state under the cooperation of the buoyancy adjusting module (4) and the folding module (6). In the motion mode, the hydrofoils (2) are in the folded state, so that the plurality of hydrofoils (2) are folded and attached to the fuselage (1), the watercraft keeps a horizontal posture, and the power module (7) can realize any one or more of the actions or states of static, floating up, diving down, turning, advancing and retreating by adjusting the center of mass and the buoyancy of the watercraft. By adjusting the center of mass and the buoyancy of the watercraft, the center of buoyancy of the watercraft is higher than the center of mass on the plumb line, so that the restoring couple formed by the buoyancy and the gravity can make the watercraft adjust from the horizontal posture to the vertical posture, at this time, the hydrofoils (2) are adjusted from the folded state to the unfolded state, and the device is umbrella-shaped, at this time, the watercraft is in the power generation mode, under the action of waves, the hydrofoils (2) can swing up and down, so that the wave energy power generation system (23) of the hydrofoils (2) can generate power. The buoyancy adjusting module (4) can fill the gas in the sealed cabin of the fuselage into the gas bag of the hydrofoil (2) based on a gas pressure circuit, and the steel wire rope (611) driven by the folding module (6) and connected with the hydrofoil can make the hydrofoil (2) float up and unfold under the action of the buoyancy.

2. The umbrella foil wave energy generating underwater vehicle according to claim 1, characterized in that, In the power generation mode, by changing the center of mass of the watercraft, the natural frequency of the watercraft in the roll and pitch directions can be changed, so that the natural frequency of the watercraft can be matched with the wave frequency of the water area, thereby improving the power generation efficiency.

3. The umbrella wing type wave energy generating underwater vehicle according to claim 1, characterized in that, The ratio of the length of the watercraft to the wavelength of the power generation wave condition is 1:2-1:12, and the wave period of the power generation wave condition suitable for the watercraft is 2s-8s.

4. The umbrella foil wave energy generating underwater vehicle according to claim 1, characterized in that, The hydrofoil (2) comprises a head connector (21), a hydrofoil cabin (22), a wave energy power generation system (23), a hydrofoil cover plate (24), a first connecting rod (25), a second connecting rod (26), a tail connector (27), a head air bag (28), a middle air bag (29), and a tail air bag (210). The head connector (21) and the tail connector (27) are connected with the head and the tail of the hydrofoil cabin (22) respectively, and the wave energy power generation system (23) is installed in the interior of the hydrofoil cabin (22). The head air bag (28), the middle air bag (29), and the tail air bag (210) are sequentially connected through air pipes and are arranged in the hydrofoil cabin (22) for providing buoyancy for the hydrofoil (2). The hydrofoil cover plate (24) is installed on the outer surface of the hydrofoil cabin (22) for fixing the position of the air bag. The hydrofoil (2) is hinged with the first sealing flange (12) of the fuselage (1) through the head connector (21), so that the hydrofoil (2) can reciprocatingly swing relative to the fuselage (1) around the hinge.

5. The umbrella foil wave energy generating underwater vehicle according to claim 4, characterized in that, The wave energy power generation system (23) comprises a generator (211), a speed reducer (212), and a commutator (213). The output shaft of the generator (211) is connected with the input end of the speed reducer (212) through a shaft coupling, the output end of the speed reducer (212) is connected with the input end of the commutator (213) through a shaft coupling, the output end of the commutator (213) is hinged with the first connecting rod (25), the first connecting rod (25) is hinged with the second connecting rod (26), and the second connecting rod (26) is hinged with the second sealing flange (14) of the fuselage (1). The first connecting rod (25), the second connecting rod (26), the hydrofoil cabin (22), and the fuselage (1) jointly constitute a four-bar linkage mechanism. When the hydrofoil (2) reciprocatingly swings around the fuselage (1), the first connecting rod (25) will reciprocatingly swing around the hydrofoil cabin (22), drive the commutator (213) to rotate, and drive the generator (211) to rotate and generate electricity after transmission through the speed reducer (212).

6. The umbrella foil wave energy generating underwater vehicle according to claim 1, characterized in that, The attitude adjusting module (5) changes the center of mass of the fuselage (1) by adjusting the position of the counterweight (57) on the fuselage (1). The mass of the counterweight (57) is 15% to 20% of the total mass of the aircraft.

7. The umbrella-foiled wave energy generating underwater vehicle of claim 1, wherein, The folding and unfolding module (6) comprises a waterproof motor (61), an upper sealing flange (62), a folding and unfolding cabin section (63), a connecting flange (64), a waterproof motor support (65), a cover plate (66), a limiting support (67), a winding wheel (68), a supporting flange (69), a connecting shaft (610), and a steel wire rope (611). The upper sealing flange (62) is connected with the stern sealing cabin section (15) of the fuselage (1), the waterproof motor (61) is installed on the upper sealing flange (62) through the waterproof motor support (65), the output shaft of the waterproof motor (61) is connected with the winding wheel (68) through the connecting shaft (610), the lower surface of the winding wheel (68) is connected with the supporting flange (69), the supporting flange (69) is installed on the connecting flange (64), the upper surface of the winding wheel (68) is connected with the cover plate (66), the limiting support (67) is installed between the connecting flange (64) and the cover plate (66); one end of the steel wire rope (611) is connected with the winding wheel (68), and the other end is connected with the tail connecting piece (27) of the hydrofoil (2).

8. The umbrella foil wave energy generating underwater vehicle according to claim 7, characterized in that, The upper sealing flange (62) is connected with one side of the folding cabin section (63), and the other side of the folding cabin section (63) is connected with the connecting flange (64); the bow sealing cabin section (11), the first sealing flange (12), the middle sealing cabin section (13), the second sealing flange (14) and the stern sealing cabin section (15) of the fuselage (1) form a waterproof sealing cabin with the upper sealing flange (62) as a whole, and serve as a gas storage cabin of the air pressure circuit of the buoyancy adjusting module (4).

9. The umbrella-foiled wave energy generating underwater vehicle of claim 1, wherein, The power module (7) is connected with the folding module (6), and the power module (7) comprises a rudder blade (71), a waterproof steering engine (74) and a propelling device (75). The waterproof steering engine (74) can adjust the water-attack angle of the rudder blade (71), so as to realize the turning and heaving motion of the vehicle; the propelling device (75) is arranged at the tail of the vehicle, and can provide thrust for the underwater vehicle.

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