Self-retractable spherical friction nanometer power generation underwater navigation device and application method

Abstract

The invention relates to the technical field of wave power generation, in particular to a self-retractable spherical friction nanometer power generation underwater navigation device and an application method. The spherical friction nanometer power generation device and the underwater vehicle are ingeniously and innovatively integrated, through reasonable mechanical structure design, flexible retraction and release of the spherical power generation device in the underwater vehicle are achieved, and the dual requirements of energy self-sufficiency and navigation performance of the underwater vehicle can be met; powerful guarantee is provided for autonomous operation and long-time operation of the underwater vehicle; the multi-direction spherical friction nanometer power generation device can collect wave energy in all directions, has high energy collection and conversion efficiency under the low-frequency sea wave condition, is simple in structural design and small in size, can be ingeniously integrated in an underwater vehicle, solves the problem that an existing underwater vehicle cannot supply energy autonomously and underwater, and is suitable for being popularized and applied. And a brand new path is opened up for energy supply of the underwater vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of wave energy power generation, and in particular to a self-retractable spherical friction nano power generation underwater navigation device and an application method thereof. Background Art

[0002] In the field of wave energy power generation, although there are currently a variety of wave energy utilization devices such as oscillating water column type, swing type, overriding wave type, hydraulic type, oscillating float type, point absorption type, etc., these traditional forms all have many shortcomings. On the one hand, the device size is generally large, and the equipment installation process is complicated and difficult; on the other hand, the power generation stability is poor, the output power fluctuates greatly, and the power generation efficiency is relatively low. The energy conversion efficiency usually hovers between 10% and 30%. In the process of converting wave energy into mechanical energy and then further into electrical energy, energy loss is relatively serious. In addition, the output power of traditional wave energy power generation devices is easily affected by wave conditions. The randomness and unpredictability of waves make it difficult to maintain stable power generation, which in turn leads to excessively high requirements for the power grid, increasing the complexity and cost investment of the system.

[0003] With the rapid development of computer, information technology and other fields, ocean vehicles are striding towards green, intelligent and unmanned directions. However, the power source of most underwater ocean vehicles is still mainly batteries or connecting cables. The use of batteries as a power source has many problems such as limited endurance and difficulty in underwater charging, which makes underwater ocean vehicles slow and have a short range, making it difficult to meet the needs of long-term and large-scale ocean exploration of underwater vehicles in the future. Using connecting cables as a power source will cause the cables to be too long and rely on the mother ship to supply power nearby, which not only increases the cost of the cables, but also greatly limits the navigation range of the vehicle, and cannot meet the concealment requirements of the vehicle, especially for military underwater vehicles. Because underwater vehicles are in an underwater working environment for a long time, the use of light energy and wind energy is extremely limited, which makes the endurance and charging problems of underwater vehicles particularly prominent and difficult. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in view of the shortcomings of the prior art, a self-retractable spherical friction nano-power generation underwater navigation device and an application method are provided, which can realize the automatic retraction and extension function of the spherical power generation device in the vehicle, can collect wave energy in all directions, and has high energy collection and conversion efficiency. The device has a compact structure and a small size, taking into account the dual needs of energy self-sufficiency and navigation performance of underwater vehicles.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: 1. A self-retractable spherical friction nano-power generation underwater navigation device The present invention provides a self-retractable spherical friction nano-power generation underwater navigation device, which mainly includes: a propeller propulsion device 1 for propelling the vehicle, a steering rudder 7 for adjusting the heading of the vehicle, a power generation compartment 2 for autonomous power supply of the vehicle, and a functional compartment 3 for installing working functional components of the vehicle; The propeller propulsion device 1 and the steering rudder 7 are respectively arranged at the top and the side of the rear end of the underwater navigation device, and the power generation compartment 2 and the functional compartment 3 are respectively arranged at the middle and the front of the underwater navigation device; The power generation compartment 2 is provided with a multi-directional spherical friction nano power generation device 5 which can be automatically retracted and released. The power generation device 5 can realize autonomous power generation by utilizing wave energy and has a unique multi-directional spherical structure to improve power generation efficiency. The power generation compartment 2 is also equipped with an openable and closable hatch 6, a hatch opening and closing mechanism, a stabilizing structure in the power generation device cabin, and a retractable and extending drive mechanism.

[0006] Preferably, the hatch cover opening and closing mechanism includes a connecting rod 8 connected to the inner side of the hatch cover 6, one end of the connecting rod 8 is hinged to the corresponding inner wall of the hatch cover 6, and the other end is hinged to the slider 17, the bottom of the hatch cover 6 is hinged to the cabin body 15 through a hinge 16, the two sides of the slider 17 are respectively mounted on two parallel guide rods 10, and the middle part of the slider 17 is threadedly connected to the screw rod 11, and the bottom of the screw rod 11 is connected to the screw motor 13 through a coupling 12.

[0007] Preferably, the screw motor 13 drives the screw 11 to rotate through the coupling 12 to drive the slider 17 to move up and down along the guide rod 10, and the slider 17 drives the hatch 6 to open and close through the connecting rod 18.

[0008] Preferably, the stabilizing structure in the power generation device cabin includes a supporting stabilizing ring 14 fixedly connected to the slider 17 , and the size of the supporting stabilizing ring 14 is compatible with the multi-directional spherical friction nano-power generation device 5 .

[0009] Preferably, the retractable drive mechanism includes a retractable drive shaft 19 disposed at the bottom of the power generation compartment 2, a rope reel 20 is installed in the middle of the retractable drive shaft 19, and the rope reel 20 is connected to the multi-directional spherical friction nano power generation device 5 through a cable 4.

[0010] Preferably, two retractable drive shafts 19 are arranged in parallel, and a main gear 22 is provided on each of the two retractable drive shafts 19. The two main gears 22 are engaged with a transmission wheel set 23 to drive the two retractable drive shafts 19 to rotate synchronously in opposite directions; and a driving wheel 25 is installed at the end of one of the retractable drive shafts 19, and the driving wheel 25 is connected to the synchronous pulley 24 through a synchronous belt 21, and the synchronous pulley 24 is connected to the rope winding motor 18.

[0011] Preferably, the multi-directional spherical friction nano-power generation device 5 includes an outer spherical fluorinated EPDM rubber layer and an inner spherical polyacrylate rubber layer, and a plurality of contact bumps are evenly distributed on the outer spherical surface of the inner spherical polyacrylate rubber layer. The electrodes are used to collect the charges generated when the surface bumps of the inner spherical polyacrylate rubber layer contact and separate from the inner wall of the outer spherical fluorinated EPDM rubber layer, so as to realize the conversion of wave energy into electrical energy.

[0012] Preferably, the overall density of the multi-directional spherical friction nano-power generation device 5 is less than the water density of the navigation area of ​​the underwater navigation device, and the electrodes of the multi-directional spherical friction nano-power generation device 5 are connected to the battery energy storage system in the functional compartment 3 of the underwater navigation device through a transmission cable.

[0013] 2. Application method of a self-retractable spherical friction nano-power generation underwater navigation device Based on the same inventive concept, the present invention also provides an application method of the self-retractable spherical friction nano-power generation underwater navigation device as described above, which specifically includes the following steps: S1, integration of multi-directional spherical friction nano-power generation device: embed the multi-directional spherical friction nano-power generation device on the support stabilization ring in the power generation compartment of the underwater navigation device, and at the same time, the rope winding motor rotates in the reverse direction to tighten the connecting cable to fix the power generation device; S2, opening of the hatch cover of the power generation compartment: when the underwater navigation device sends out an energy supply signal, the screw motor rotates in the positive direction to drive the slider to move out of the cabin along the guide rod, and the slider drives the hatch cover of the power generation compartment to open through the connecting rod; S3, releasing the multi-directional spherical friction nano-generator: during the opening of the hatch cover of the power generation compartment, the rope winding motor rotates forward to release the connecting cable, and at the same time, the supporting stabilizing ring moves outward from the cabin together with the slider to push the power generation device into the water outside the power generation compartment; S4, wave energy collection and conversion into electrical energy: wave energy in all directions is collected by the multi-directional spherical friction nano-power generation device and converted into electrical energy and stored in the battery energy storage system of the underwater navigation device; S5, the multi-directional spherical friction nano-power generation device is retracted: when the underwater navigation device sends a signal to perform a navigation mission, the rope winding motor rotates in the opposite direction to pull the power generation device back to the supporting stabilizing ring inside the power generation compartment through the connecting cable; S6, closing of hatch cover of power generation compartment: during the retraction of the power generation device, the screw motor rotates in the opposite direction to drive the slider to move along the guide rod toward the inside of the cabin, and drives the supporting stabilizing ring and the power generation device to descend to the bottom of the power generation compartment. At the same time, the slider drives the hatch cover of the power generation compartment to close through the connecting rod.

[0014] The method of collecting wave energy in all directions and converting it into electrical energy includes: The outer spherical fluorinated EPDM rubber layer of the power generation device repeatedly contacts and separates with the surface protrusions of the inner spherical polyacrylate rubber layer in the corresponding direction under the impetus of multi-directional wave energy to generate electric charges. The generated electric charges are collected by the motor of the power generation device and transmitted to the battery energy storage system of the underwater navigation device through the transmission cable for electrical energy storage.

[0015] Compared with the prior art, the present invention has the following main advantages: 1. The present invention ingeniously integrates the spherical friction nano-power generation device with the underwater vehicle. Through reasonable mechanical structure design, the spherical power generation device can be flexibly retrieved and released in the underwater vehicle. When the underwater vehicle faces energy replenishment needs, the spherical power generation device can be released in time to generate electricity efficiently, effectively solving the energy shortage problem; and when performing navigation tasks, the spherical device can be retrieved to ensure that the normal navigation performance of the vehicle is not affected, taking into account the dual needs of energy self-sufficiency and navigation performance of the underwater vehicle, and providing a strong guarantee for the autonomous operation and long-term operation of the underwater vehicle; 2. The multi-directional spherical friction nano-power generation device adopted in the present invention can collect wave energy in all directions, has high energy collection and conversion efficiency under low-frequency wave conditions, and has a simple structural design and a compact size. Together with the hatch opening and closing mechanism, the retractable drive mechanism and the stable structure in the power generation device cabin, the spherical friction nano-power generation device can be cleverly integrated into the underwater vehicle, thus overcoming the difficult problem that existing underwater vehicles cannot independently supply energy underwater, opening up a new path for the energy supply of underwater vehicles, and is expected to promote a qualitative leap in underwater vehicle technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of an underwater navigation device in an embodiment of the present invention; Figure 2 A schematic diagram of a hatch cover opening and closing mechanism in an embodiment of the present invention; Figure 3 A middle cross-sectional view of a hatch cover opening and closing mechanism in an embodiment of the present invention; Figure 4 is a schematic diagram of a hatch cover opening and closing mechanism after closing in an embodiment of the present invention; Figure 5 It is a schematic diagram of the stable structure in the cabin of the power generation device in an embodiment of the present invention; Figure 6 This is a schematic diagram of a power generation device being stored in a cabin in an embodiment of the present invention; Figure 7 A schematic diagram of a retractable driving mechanism in an embodiment of the present invention; Figure 8 A cross-sectional view of the middle portion of the retractable drive mechanism in an embodiment of the present invention; Fig. 9It is a schematic diagram of the power generation device being released out of the cabin in an embodiment of the present invention; Fig.10 The figure is a flow chart of the application method of the underwater navigation device in the embodiment of the present invention.

[0017] In the figure: 1- propeller propulsion device; 2- power generation compartment; 3- functional compartment; 4- cable; 5- multi-directional spherical friction nano power generation device; 6- openable and closable hatch; 7- steering rudder; 8- connecting rod; 9- shaft support; 10- guide rod; 11- screw; 12- coupling; 13- screw motor; 14- support stabilizing ring; 15- power generation compartment body; 16- hinge; 17- slider; 18- rope winding motor; 19- retractable drive shaft; 20- rope winder; 21- synchronous belt; 22- main gear; 23- transmission wheel set; 24- synchronous pulley; 25- driving wheel. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0019] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0020] Embodiment 1: This embodiment provides a self-retractable spherical friction nano-power generation underwater navigation device, such as Figure 1 As shown, it mainly includes a propeller propulsion device 1 for driving the aircraft, a steering rudder 7 for adjusting the heading of the aircraft, a power generation compartment 2 for autonomous power supply of the aircraft, and a functional compartment 3 for installing working functional components of the aircraft; The propeller propulsion device 1 and the steering rudder 7 are respectively arranged at the top and the side of the rear end of the underwater navigation device, and the power generation compartment 2 and the functional compartment 3 are respectively arranged at the middle and the front of the underwater navigation device; The power generation compartment 2 is provided with a multi-directional spherical friction nano power generation device 5 which can be automatically retracted and released. The power generation device 5 can realize autonomous power generation by utilizing wave energy and has a unique multi-directional spherical structure to improve power generation efficiency. The power generation compartment 2 is also equipped with an openable and closable hatch 6, a hatch opening and closing mechanism, a stabilizing structure in the power generation device cabin, and a retractable and extending drive mechanism.

[0021] Furthermore, the hatch cover opening and closing mechanism includes a connecting rod 8 connected to the inner side of the hatch cover 6, one end of the connecting rod 8 is hinged to the corresponding inner wall of the hatch cover 6, and the other end is hinged to the slider 17. The bottom of the hatch cover 6 is hinged to the cabin body 15 through a hinge 16, and the two sides of the slider 17 are respectively mounted on two parallel guide rods 10, and the middle part of the slider 17 is threadedly connected to the screw rod 11, and the bottom of the screw rod 11 is connected to the screw motor 13 through a coupling 12.

[0022] Furthermore, the screw motor 13 drives the screw 11 to rotate through the coupling 12 to drive the slider 17 to move up and down along the guide rod 10, and the slider 17 drives the hatch 6 to open and close through the connecting rod 18.

[0023] Furthermore, the stabilizing structure inside the power generation device cabin includes a supporting stabilizing ring 14 fixedly connected to the slider 17 , and the size of the supporting stabilizing ring 14 is compatible with the multi-directional spherical friction nano-power generation device 5 .

[0024] Furthermore, the retractable drive mechanism includes a retractable drive shaft 19 arranged at the bottom of the power generation compartment 2, and a rope reel 20 is installed in the middle of the retractable drive shaft 19. The rope reel 20 is connected to the multi-directional spherical friction nano power generation device 5 through a cable 4.

[0025] Furthermore, two retractable drive shafts 19 are arranged in parallel, and a main gear 22 is provided on each of the two retractable drive shafts 19. The two main gears 22 are engaged with a transmission wheel set 23 to drive the two retractable drive shafts 19 to rotate synchronously in opposite directions; and a driving wheel 25 is installed at the end of one of the retractable drive shafts 19, and the driving wheel 25 is connected to the synchronous pulley 24 through a synchronous belt 21, and the synchronous pulley 24 is connected to the rope winding motor 18.

[0026] Furthermore, the multi-directional spherical friction nano power generation device 5 includes an outer spherical fluorinated EPDM rubber layer and an inner spherical polyacrylate rubber layer, and a plurality of contact bumps are evenly distributed on the outer spherical surface of the inner spherical polyacrylate rubber layer. The electrodes are used to collect the charges generated when the surface bumps of the inner spherical polyacrylate rubber layer contact and separate from the inner wall of the outer spherical fluorinated EPDM rubber layer, so as to realize the conversion of wave energy into electrical energy.

[0027] Furthermore, the overall density of the multi-directional spherical friction nano-power generation device 5 is less than the water density of the navigation area of ​​the underwater navigation device, and the electrodes of the multi-directional spherical friction nano-power generation device 5 are connected to the battery energy storage system in the functional compartment 3 of the underwater navigation device through a transmission cable.

[0028] Embodiment 2: This embodiment provides a self-retractable spherical friction nano-power generation underwater navigation device. When the vehicle is working, it relies on the propeller 1 and the steering rudder 7 to operate. When the power is insufficient, it will stop in a certain water area, open the hatch 6, and release the cable 4 to make the spherical power generation device 5 float out of the vehicle. The vehicle relies on wave energy to generate electricity autonomously on the water surface. After charging is completed, the cable 4 is retracted to make the spherical power generation device 5 return to the vehicle, and the hatch 6 is closed to continue working.

[0029] Further, such as Figure 2~3 As shown, the hatch cover opening and closing mechanism of the device is a front-to-back symmetrical structure. The screw motor 13 is connected to the screw 11 through a coupling 12. When the motor rotates, it drives the screw 11 to rotate. When the screw 11 rotates, the slider 17 moves upward under the guidance of the guide optical axis 10 on both sides. One end of the connecting rod 8 is connected to the slider 17 to form a rotation pair, and the other end is connected to the optical axis supported by two shaft supports 9 on the end cover to form a rotation pair. The shaft support is fixed to the hatch cover 6 by bolts, one end of the hinge 16 is fixed to the hatch cover 6 by bolts, and the other end is fixed to the cabin body 15 in the same way. In this way, a rotation pair is formed between the hatch cover 6 and the cabin body 15, and the slider, connecting rod, hatch cover and hinge form a crank slider mechanism. When the slider 17 rises, the hatch cover 6 can be driven by the connecting rod 8 to rotate and open, and the motor 13 is reversed to achieve the closure of the hatch cover 6, as shown in FIG. Figure 4 shown.

[0030] Further, such as Figures 5 and 6 As shown, the support stabilizing ring 14 of the stabilizing structure in the cabin of the power generation device is connected to the slider 17. As the slider 17 moves up and down, when the slider 17 moves upward, the support stabilizing ring 14 will push the power generation device 5 to move upward and leave the cabin. When the slider moves downward to the lowest end, the hatch 6 is closed, and the support stabilizing ring 14 also moves to the lowest position, nesting with the power generation device 5 to play a stabilizing and supporting role.

[0031] Further, such as Figure 7-8 As shown, the retractable drive mechanism of the device is a front-to-back symmetrical structure. The rope winding motor 18 drives the synchronous pulley 24 to rotate. The synchronous pulley 24 transmits the rotational motion to the intermediate transmission optical axis 19 through the synchronous belt 21. The rotation of the intermediate transmission optical axis 19 drives the rotation of the main gear 22. The main gear 22 meshes with the small transmission wheel 23 to transmit power. The small transmission wheel meshes with the small transmission wheel and then meshes with another main gear. Finally, the other main gear 22 transmits the rotational motion to another intermediate stable optical axis 22. In the transmission process, since the main gear has the same number of teeth and the small transmission wheel has the same number of teeth, the transmission ratio of the entire gear set remains unchanged, and the rotation speeds of the two intermediate stable optical axes are consistent, but the direction of rotation changes. Fig. 9As shown, the rope winder 20 is connected to the intermediate transmission optical axis through a key. Since it is a front-to-back symmetrical mechanism, when the two motors rotate, the two intermediate transmission optical axes with opposite rotation directions drive the two rope winders to rotate in different directions. One end of the rope is fixedly connected to the spherical power generation device, and the other end is connected to the rope winder. The rope winder rotates to realize the retraction and extension of the power generation device by retracting the rope.

[0032] Furthermore, the device is connected to the slider 17 through the supporting stabilizing ring 14, and a crank slider mechanism composed of the slider 17, the connecting rod 8, the hatch 6 and the hinge 16 can be used to release and retract the spherical power generation device while opening and closing the hatch, which can effectively save space in the cabin and facilitate control.

[0033] Furthermore, the device adopts a symmetrical intermediate transmission optical axis 19 connected to a rope winding machine 20, and the rope winding machine is used to realize the retraction and extension of the power generation device. The spherical power generation device can be retracted at a uniform and stable speed without affecting the wave movement of the power generation device after being released from the cabin, thereby ensuring the power generation performance of the power generation device.

[0034] The present invention cleverly applies the spherical friction nano-power generation device to underwater vehicles, giving them the flexible retraction and release functions of the power generation device, which solves the problem of existing underwater vehicles' self-power supply in one fell swoop, and perfectly balances the dual needs of energy self-sufficiency and navigation functions. With its unique spherical structure, the spherical friction power generation device can capture wave energy in all directions and without dead ends. Combined with the efficient energy conversion mechanism of friction power generation, it achieves high-efficiency and high-quality power output, provides stable and reliable energy support for underwater vehicles, and significantly improves the endurance and operating performance of underwater vehicles.

[0035] Embodiment 3, based on the same inventive concept, this embodiment also provides an application method of the self-retractable spherical friction nano-power generation underwater navigation device as described above, such as Fig.10 As shown, the specific steps include: S1, integration of multi-directional spherical friction nano-power generation device: embed the multi-directional spherical friction nano-power generation device on the support stabilization ring in the power generation compartment of the underwater navigation device, and at the same time, the rope winding motor rotates in the reverse direction to tighten the connecting cable to fix the power generation device; S2, opening of the hatch cover of the power generation compartment: when the underwater navigation device sends out an energy supply signal, the screw motor rotates in the positive direction to drive the slider to move out of the cabin along the guide rod, and the slider drives the hatch cover of the power generation compartment to open through the connecting rod; S3, releasing the multi-directional spherical friction nano-generator: during the opening of the hatch cover of the power generation compartment, the rope winding motor rotates forward to release the connecting cable, and at the same time, the supporting stabilizing ring moves outward from the cabin together with the slider to push the power generation device into the water outside the power generation compartment; S4, wave energy collection and conversion into electrical energy: wave energy in all directions is collected by the multi-directional spherical friction nano-power generation device and converted into electrical energy and stored in the battery energy storage system of the underwater navigation device; Specifically, the outer spherical fluorinated ethylene propylene rubber layer of the power generation device repeatedly contacts and separates with the surface convex points of the inner spherical polyacrylate rubber layer in the corresponding direction under the impetus of multi-directional wave energy to generate electric charges, and the generated electric charges are collected by the motor of the power generation device and transmitted to the battery energy storage system of the underwater navigation device through the transmission cable for electric energy storage; S5, the multi-directional spherical friction nano-power generation device is retracted: when the underwater navigation device sends a signal to perform a navigation mission, the rope winding motor rotates in the opposite direction to pull the power generation device back to the supporting stabilizing ring inside the power generation compartment through the connecting cable; S6, closing of hatch cover of power generation compartment: during the retraction of the power generation device, the screw motor rotates in the opposite direction to drive the slider to move along the guide rod toward the inside of the cabin, and drives the supporting stabilizing ring and the power generation device to descend to the bottom of the power generation compartment. At the same time, the slider drives the hatch cover of the power generation compartment to close through the connecting rod.

[0036] Furthermore, all parts involved in this application that are not described in detail are the same as the prior art or are implemented using the prior art.

[0037] In summary: 1. The present invention ingeniously integrates the spherical friction nano-power generation device with the underwater vehicle. Through reasonable mechanical structure design, the spherical power generation device can be flexibly retrieved and released in the underwater vehicle. When the underwater vehicle faces energy replenishment needs, the spherical power generation device can be released in time to generate electricity efficiently, effectively solving the energy shortage problem; and when performing navigation tasks, the spherical device can be retrieved to ensure that the normal navigation performance of the vehicle is not affected, taking into account the dual needs of energy self-sufficiency and navigation performance of the underwater vehicle, and providing a strong guarantee for the autonomous operation and long-term operation of the underwater vehicle; 2. The multi-directional spherical friction nano-power generation device adopted in the present invention can collect wave energy in all directions, has high energy collection and conversion efficiency under low-frequency wave conditions, and has a simple structural design and a compact size. Together with the hatch opening and closing mechanism, the retractable drive mechanism and the stable structure in the power generation device cabin, the spherical friction nano-power generation device can be cleverly integrated into the underwater vehicle, thus overcoming the difficult problem that existing underwater vehicles cannot independently supply energy underwater, opening up a new path for the energy supply of underwater vehicles, and is expected to promote a qualitative leap in underwater vehicle technology.

[0038] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-retractable spherical friction nano-power generation underwater navigation device, characterized in that: The underwater navigation device comprises a propeller propulsion device (1), a steering rudder (7), a power generation compartment (2) and a functional compartment (3), wherein the propeller propulsion device (1) and the steering rudder (7) are respectively arranged at the top and the side of the rear end of the underwater navigation device, and the power generation compartment (2) and the functional compartment (3) are respectively arranged at the middle and the front of the underwater navigation device; the power generation compartment (2) is provided with a multi-directional spherical friction nano power generation device (5) which can be automatically retracted and released, and the power generation compartment (2) is equipped with an openable and closable hatch cover (6), a hatch cover opening and closing mechanism, a stabilizing structure in the power generation device cabin and a retracting and releasing driving mechanism.

2. The self-retractable spherical friction nano-power generation underwater navigation device according to claim 1, characterized in that: The hatch cover opening and closing mechanism comprises a connecting rod (8) connected to the inner side of the hatch cover (6), one end of the connecting rod (8) is hinged to the inner wall of the corresponding hatch cover (6), and the other end is hinged to a slider (17), the bottom of the hatch cover (6) is hinged to the cabin body (15) through a hinge (16), both sides of the slider (17) are respectively sleeved on two parallel guide rods (10), and the middle part of the slider (17) is threadedly connected to the screw rod (11), and the bottom of the screw rod (11) is connected to the screw motor (13) through a coupling (12).

3. The self-retractable spherical friction nano-power generation underwater navigation device according to claim 2, characterized in that: The screw motor (13) drives the screw (11) to rotate via a coupling (12) to drive the slider (17) to move up and down along the guide rod (10), and the slider (17) drives the hatch cover (6) to open and close via a connecting rod (18).

4. The self-retractable spherical friction nano-power generation underwater navigation device according to claim 2, characterized in that: The stabilizing structure in the power generation device cabin comprises a supporting stabilizing ring (14) fixedly connected to the slider (17); the size of the supporting stabilizing ring (14) is compatible with the multi-directional spherical friction nano-power generation device (5).

5. The self-retractable spherical friction nano-power generation underwater navigation device according to claim 1, characterized in that: The retractable drive mechanism comprises a retractable drive shaft (19) arranged at the bottom of the power generation compartment (2), a rope reel (20) being installed in the middle of the retractable drive shaft (19), and the rope reel (20) being connected to the multi-directional spherical friction nano-power generation device (5) via a cable (4).

6. The self-retractable spherical friction nano-power generation underwater navigation device according to claim 5, characterized in that: Two retractable drive shafts (19) are arranged in parallel, and main gears (22) are provided on the two retractable drive shafts (19). The two main gears (22) are meshed with a transmission wheel set (23) to drive the two retractable drive shafts (19) to rotate synchronously in opposite directions. A driving wheel (25) is installed at the end of one of the retractable drive shafts (19), and the driving wheel (25) is connected to a synchronous pulley (24) through a synchronous belt (21). The synchronous pulley (24) is connected to a rope winding motor (18).

7. The self-retractable spherical friction nano-power generation underwater navigation device according to claim 1, characterized in that: The multi-directional spherical friction nano power generation device (5) comprises an outer spherical fluorinated ethylene propylene rubber layer and an inner spherical polyacrylate rubber layer, and a plurality of contact convex points are evenly distributed on the outer spherical surface of the inner spherical polyacrylate rubber layer. The electrodes collect the electric charges generated when the convex points on the surface of the inner spherical polyacrylate rubber layer contact and separate from the inner wall of the outer spherical fluorinated ethylene propylene rubber layer, so as to realize the conversion of wave energy into electrical energy.

8. The self-retractable spherical friction nano-power generation underwater navigation device according to claim 7, characterized in that: The overall density of the multi-directional spherical friction nano-power generation device (5) is less than the water density of the navigation area of ​​the underwater navigation device, and the electrodes of the multi-directional spherical friction nano-power generation device (5) are connected to the battery energy storage system in the functional compartment (3) of the underwater navigation device via a power transmission cable.

9. An application method of the self-retractable spherical friction nano-power generation underwater navigation device as claimed in any one of claims 1 to 8, characterized in that: The steps include: S1, integration of multi-directional spherical friction nano-power generation device: embed the multi-directional spherical friction nano-power generation device on the support stabilization ring in the power generation compartment of the underwater navigation device, and at the same time, the rope winding motor rotates in the reverse direction to tighten the connecting cable to fix the power generation device; S2, opening of the hatch cover of the power generation compartment: when the underwater navigation device sends out an energy supply signal, the screw motor rotates in the positive direction to drive the slider to move out of the cabin along the guide rod, and the slider drives the hatch cover of the power generation compartment to open through the connecting rod; S3, releasing the multi-directional spherical friction nano-generator: during the opening of the hatch cover of the power generation compartment, the rope winding motor rotates forward to release the connecting cable, and at the same time, the supporting stabilizing ring moves outward from the cabin together with the slider to push the power generation device into the water outside the power generation compartment; S4, wave energy collection and conversion into electrical energy: wave energy in all directions is collected by the multi-directional spherical friction nano-power generation device and converted into electrical energy and stored in the battery energy storage system of the underwater navigation device; S5, the multi-directional spherical friction nano-power generation device is retracted: when the underwater navigation device sends a signal to perform a navigation mission, the rope winding motor rotates in the opposite direction to pull the power generation device back to the supporting stabilizing ring inside the power generation compartment through the connecting cable; S6, closing of hatch cover of power generation compartment: during the retraction of the power generation device, the screw motor rotates in the opposite direction to drive the slider to move along the guide rod toward the inside of the cabin, and drives the supporting stabilizing ring and the power generation device to descend to the bottom of the power generation compartment. At the same time, the slider drives the hatch cover of the power generation compartment to close through the connecting rod.

10. The application method according to claim 9, characterized in that: The method of collecting wave energy in all directions and converting it into electrical energy comprises: The outer spherical fluorinated EPDM rubber layer of the power generation device repeatedly contacts and separates with the surface protrusions of the inner spherical polyacrylate rubber layer in the corresponding direction under the impetus of multi-directional wave energy to generate electric charges. The generated electric charges are collected by the motor of the power generation device and transmitted to the battery energy storage system of the underwater navigation device through the transmission cable for electrical energy storage.

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