Underwater self-powered system of unmanned underwater vehicle

Abstract

The invention belongs to the technical field of underwater vehicles, and provides an underwater self-powered system of an unmanned underwater vehicle. The hydraulic motor and the generator are in mutual transmission. The first-stage hydraulic transmission structure is provided with a first spring reset type hydraulic oil cylinder, a first piston and a first sealing type oil cylinder barrel, wherein the first piston and the first sealing type oil cylinder barrel are matched in a telescopic mode. The first piston is divided into a first action cavity and a first liquid return cavity, the first action cavity and the first liquid return cavity are communicated through a first pipeline provided with a first one-way valve and connected with a liquid inlet and a liquid outlet of the hydraulic motor respectively, the driving end of the first spring reset type hydraulic oil cylinder pushes the first piston and compresses the first action cavity, and the volume of the first sealing type oil cylinder barrel is larger. In addition, a hydraulic energy accumulator is used for converting seawater pressure into hydraulic energy, an oil outlet of the hydraulic energy accumulator is communicated with an oil cavity of the first spring reset type hydraulic oil cylinder through a first two-position three-way electromagnetic valve, and a port R and an oil inlet are both connected with an oil tank. The system efficiently converts seawater pressure into electric energy, and the endurance performance of the aircraft is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of submersibles, and more particularly, to an underwater self-power supply system for unmanned underwater vehicles. Background Art

[0002] UUV, namely Unmanned Underwater Vehicle, is an unmanned device that can operate autonomously or remotely underwater. UUVs are usually equipped with a power system, such as an electric thruster, a fuel engine, etc., to provide power for their movement underwater; at the same time, they carry a variety of sensors, such as sonar for detecting surrounding objects and terrain, cameras for obtaining underwater image information, and CTD (Conductivity, Temperature, Depth) sensors for measuring parameters such as seawater temperature, salinity, and depth. With these configurations, UUVs can perform a variety of tasks, such as long-term monitoring of the marine environment in oceanographic research, mapping the seabed; in marine resource exploration, helping to explore resources such as oil and natural gas on the seabed, and playing an important role in many fields such as marine development and research.

[0003] However, when performing tasks, the energy consumption problem has become a serious bottleneck restricting the development of unmanned underwater vehicles. All parts of its power system, sensors, and data processing and communication systems need to continuously consume energy. When the power system drives the UUV to overcome the huge resistance of seawater and move forward, it will consume a large amount of energy; in order for the sensors to obtain accurate data in real time, they need to keep running, which also continuously consumes energy; and when the data processing and communication system processes, stores the data collected by the sensors, and transmits this data to the onshore control center or other devices, it also requires a large amount of electrical energy.

[0004] Currently, UUVs mainly rely on batteries as the energy storage method. However, existing battery technologies have many limitations. For example, the battery capacity is limited, which greatly restricts the operation range and time of the vehicle. Even some high-performance lithium batteries have an energy density that is difficult to meet the requirements of long-term and long-distance operation of UUVs. When UUVs perform tasks such as long-term deep-sea monitoring and oceanic resource exploration, they often need to return to the base frequently for replacement or charging, which not only increases the operation cost but also reduces the work efficiency. Moreover, frequent energy replenishment makes it difficult for UUVs to continuously operate in some remote and harsh marine environments, seriously affecting their application effects and further development in the fields of marine scientific research and resource development. Summary of the Invention

[0005] The purpose of the present invention is to provide an underwater self-power supply system for unmanned underwater vehicles, aiming to solve the technical problems in the above background art.

[0006] The embodiments of the present invention are implemented as follows:

[0007] In a first aspect, an underwater self-powered system for an unmanned submersible provided by an embodiment of the present application includes: a hydraulically coupled hydraulic motor and a generator; a primary hydraulic transmission structure including a first spring-return hydraulic cylinder and a telescopically coupled first piston and a first sealed cylinder barrel. The first piston divides the inner cavity of the first sealed cylinder barrel into a first action chamber and a first return liquid chamber. The first action chamber communicates with the liquid inlet of the hydraulic motor, and the first return liquid chamber communicates with the liquid outlet of the hydraulic motor. The first action chamber and the first return liquid chamber are connected through a first pipeline. The first pipeline is provided with a first one-way valve for pointing to the first action chamber. The driving end of the first spring-return hydraulic cylinder is connected to the first piston for pushing the first piston to compress the first action chamber. Among them, the volume of the first sealed cylinder barrel is greater than the oil chamber volume of the first spring-return hydraulic cylinder; a hydraulic accumulator for converting the pressure of seawater into hydraulic energy, and its oil outlet is communicated with the oil chamber of the first spring-return hydraulic cylinder; and a fuel supply circulation component including a fuel tank and a first two-position three-way solenoid valve. The oil outlet of the hydraulic accumulator and the oil chamber of the first spring-return hydraulic cylinder are connected through the P port and the A port of the first two-position three-way solenoid valve, and the R port of the first two-position three-way solenoid valve communicates with the fuel tank. Among them, the oil inlet of the hydraulic accumulator communicates with the fuel tank.

[0008] Further, based on the foregoing solution, the hydraulic accumulator includes: a conduction component including a first through-type cylinder barrel, a second piston, and a first elastic member. The second piston is disposed at a first port inside the first through-type cylinder barrel and is capable of moving toward a second port of the first through-type cylinder barrel. The first elastic member is used for resetting the second piston after movement; a voltage stabilizing component including a second through-type cylinder barrel, a third piston, and a second elastic member. The first port of the second through-type cylinder barrel is connected to the second port of the first through-type cylinder barrel through a second pipeline. The second pipeline is provided with a second one-way valve for pointing to the second through-type cylinder barrel. The third piston is disposed at a first port inside the second through-type cylinder barrel and is capable of moving toward a second port of the second through-type cylinder barrel. The second elastic member is used for resetting the second piston after movement. Among them, the first port of the second through-type cylinder barrel communicates with the oil chamber of the first spring-return hydraulic cylinder.

[0009] Further, based on the foregoing solution, both the first elastic member and the second elastic member are springs.

[0010] Further, based on the foregoing solution, it further includes a secondary hydraulic transmission structure connecting the foregoing primary hydraulic transmission structure and the foregoing hydraulic motor. The secondary hydraulic transmission structure includes: a pressure transmission structure including a fourth piston and a second sealed cylinder barrel that are telescopically fitted. The fourth piston divides the inner cavity of the second sealed cylinder barrel into a second action chamber and a second liquid return chamber. The second action chamber communicates with the liquid inlet of the hydraulic motor, and the second liquid return chamber communicates with the liquid outlet of the hydraulic motor. The second action chamber and the second liquid return chamber are connected through a third pipeline. A third one-way valve is provided on the third pipeline for pointing to the second action chamber; a constant pressure transmission structure including a fifth piston, a third sealed cylinder barrel, a second spring-return hydraulic cylinder, and a third spring-return hydraulic cylinder. The fifth piston is telescopically arranged in the third sealed cylinder barrel and divides the inner cavity of the third sealed cylinder barrel into a third action chamber and a third liquid return chamber. The third action chamber communicates with the oil chamber of the second spring-return hydraulic cylinder. The driving end of the second spring-return hydraulic cylinder is connected to the fourth piston for pushing the fourth piston to compress the second action chamber. The driving end of the third spring-return hydraulic cylinder is connected to the fifth piston for pushing the fifth piston to compress the third action chamber. The third action chamber and the third liquid return chamber are connected through a fourth pipeline. A fourth one-way valve is provided on the fourth pipeline for pointing to the third action chamber; wherein, the oil chamber volume of the first spring-return hydraulic cylinder and the oil chamber volume of the second spring-return hydraulic cylinder are both smaller than the volume of the third sealed cylinder barrel; a second two-position three-way solenoid valve, whose P port and A port are respectively connected to the third action chamber and the oil chamber of the second spring-return hydraulic cylinder, and the R port is used to connect to the third liquid return chamber; a third two-position three-way solenoid valve, whose P port and A port are respectively connected to the first action chamber and the oil chamber of the third spring-return hydraulic cylinder, and the R port is used to connect to the first liquid return chamber.

[0011] Further, based on the foregoing solution, the number of the secondary hydraulic transmission structures is two. The two secondary hydraulic transmission structures are arranged in parallel, and the inlet ends are simultaneously connected to the primary hydraulic transmission structure, and the outlet ends are simultaneously connected to the hydraulic motor.

[0012] Further, based on the foregoing solution, it further includes a hydraulic pump, whose inlet is connected to the foregoing fuel tank, and the outlet is connected to the oil chamber of the first spring-return hydraulic cylinder.

[0013] Further, based on the foregoing solution, the foregoing fuel tank, the inlet of the foregoing hydraulic pump, the inlet of the foregoing hydraulic accumulator, and the oil chamber of the first spring-return hydraulic cylinder are mutually conducted through a four-way valve.

[0014] Further, based on the foregoing solution, the foregoing generator is electrically connected to an energy storage battery for storing the electric energy generated by the foregoing generator.

[0015] In a second aspect, an underwater self-powered system for an unmanned submersible provided by an embodiment of the present application includes: a hydromotor and a generator that are in transmission cooperation; a primary hydraulic transmission structure, including a two-way reset hydraulic cylinder and a first piston and a first sealed cylinder barrel that are telescopically matched. The first piston divides the inner cavity of the first sealed cylinder barrel into a first action chamber and a first liquid return chamber. The first action chamber communicates with the liquid inlet of the hydromotor, and the first liquid return chamber communicates with the liquid outlet of the hydromotor. The first action chamber and the first liquid return chamber are connected through a first pipeline. The first pipeline is provided with a first one-way valve for pointing to the first action chamber. The driving end of the two-way reset hydraulic cylinder is connected to the first piston for pushing the first piston to compress the first action chamber. Wherein, the volume of the first sealed cylinder barrel is larger than the oil chamber volume of the two-way reset hydraulic cylinder; a hydraulic accumulator for converting the pressure of seawater into hydraulic energy, and its oil outlet communicates with the rodless chamber of the two-way reset hydraulic cylinder; and a fuel supply circulation assembly, including a fuel tank and a two-position five-way solenoid valve. The oil outlet of the hydraulic accumulator communicates with the P port of the two-position five-way solenoid valve. The A port and the B port of the two-position five-way solenoid valve communicate with the rodless chamber and the rod chamber of the two-way reset hydraulic cylinder respectively. The R1 port and the R2 port of the two-position five-way solenoid valve both communicate with the fuel tank. Wherein, the oil inlet of the hydraulic accumulator communicates with the fuel tank.

[0016] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0017] Regarding the first aspect, the power generation system involved in the present application has a unique working mechanism when applied to an unmanned underwater vehicle. When the vehicle dives to a specific depth A (this depth value mainly depends on the performance parameters of the hydraulic accumulator), the hydraulic accumulator starts to function, converting the seawater pressure into hydraulic energy and storing it. At this time, the first two-position three-way solenoid valve is energized, and its P port is connected to the A port. The hydraulic oil in the hydraulic accumulator flows into the oil chamber of the first spring-return hydraulic cylinder under the drive of pressure, and then drives the first piston to move through the drive end of the cylinder. The first piston squeezes the first action chamber, causing the hydraulic oil in the first action chamber to flow out, driving the hydraulic motor to operate. The hydraulic motor drives the generator to generate electricity, and then the hydraulic oil flows back to the first return chamber. When the first spring-return hydraulic cylinder reaches the maximum drive displacement, the first two-position three-way solenoid valve is de-energized. At this time, its A port is connected to the R port, and under the action of the internal spring force of the first spring-return hydraulic cylinder, the first piston resets. During this process, the hydraulic oil in the first return chamber flows back to the first action chamber through the first pipeline, and the hydraulic oil in the first spring-return hydraulic cylinder flows back to the fuel tank through the R port, thus completing a power generation action. By controlling the first two-position three-way solenoid valve to repeat the above process, continuous power generation can be achieved until the hydraulic energy stored in the hydraulic accumulator is exhausted.

[0018] This solution has significant advantages. Since the volume of the first sealed cylinder barrel is larger than the oil chamber volume of the first spring-return hydraulic cylinder, the oil consumption per power generation action is effectively reduced, which enables the hydraulic energy stored in the hydraulic accumulator to support more power generation times, greatly improving the energy utilization efficiency. In addition, the oil circuit of the entire power generation system forms a circulating oil circuit, ensuring the stability and sustainability of the system operation, and having extremely high practical value. In summary, when the power generation system of the present application is applied to an unmanned underwater vehicle, it can efficiently convert seawater pressure into electrical energy, providing a strong guarantee for improving the endurance performance of the vehicle.

[0019] Regarding the second aspect, the power generation system involved in the present application has a unique working mechanism when applied to an unmanned underwater vehicle. When the vehicle dives to a specific depth A (this depth value mainly depends on the performance parameters of the hydraulic accumulator), the hydraulic accumulator starts to function, converting the seawater pressure into hydraulic energy and storing it. At this time, the two-position five-way solenoid valve is energized, its P port is connected to the A port, the B port is connected to the R2, and the hydraulic oil in the hydraulic accumulator flows into the rodless cavity of the double-acting hydraulic cylinder under the pressure drive, and then drives the first piston to move through the driving end of the cylinder. The first piston squeezes the first action cavity, causing the hydraulic oil in the first action cavity to flow out, driving the hydraulic motor to operate. The hydraulic motor drives the generator to generate electricity, and then the hydraulic oil flows back to the first return cavity. The hydraulic oil in the rod chamber of the double-acting hydraulic cylinder flows back to the fuel tank through R2. When the double-acting hydraulic cylinder reaches the maximum driving displacement, the two-position five-way valve is de-energized. At this time, its P port is connected to the B port, the A port is connected to the R1, and the hydraulic oil in the hydraulic accumulator pushes the piston of the double-acting hydraulic cylinder to compress the rodless cavity, and the driving end retracts. The hydraulic oil in the rodless cavity flows back to the fuel tank through R1 until the piston of the double-acting hydraulic cylinder returns to its original position. During this process, the hydraulic oil in the first return cavity flows back to the first action cavity through the first pipeline, and the hydraulic oil in the rodless cavity of the double-acting hydraulic cylinder flows back to the fuel tank through R1, thus completing one power generation action. By controlling the two solenoid valves to repeat the above process, continuous power generation can be achieved until the hydraulic energy stored in the hydraulic accumulator is exhausted.

[0020] This solution has significant advantages. Since the volume of the first sealed cylinder barrel is larger than the oil cavity volume of the double-acting hydraulic cylinder, the oil consumption per power generation action is effectively reduced, which enables the hydraulic energy stored in the hydraulic accumulator to support more power generation times, greatly improving the energy utilization efficiency. In addition, the oil circuit of the entire power generation system forms a circulating oil circuit, ensuring the stability and sustainability of the system operation, and having extremely high practical value. In summary, when the power generation system of the present application is applied to an unmanned underwater vehicle, it can efficiently convert seawater pressure into electrical energy, providing a strong guarantee for improving the endurance performance of the vehicle. Brief Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a structural diagram of the underwater self-power supply system of the unmanned submersible in Embodiment 1 of the present invention.

[0023] Figure 2 The structure of the underwater self - power supply system of the unmanned submersible in Embodiment 3 of the present invention Figure 1 ;

[0024] Figure 3 The structure of the underwater self - power supply system of the unmanned submersible in Embodiment 3 of the present invention Figure 2 ;

[0025] Figure 4 The structure of the underwater self - power supply system of the unmanned submersible in Embodiment 5 of the present invention Figure 1 ;

[0026] Figure 5 The structure of the underwater self - power supply system of the unmanned submersible in Embodiment 5 of the present invention Figure 2 .

[0027] Icon: 1 - First sealed oil cylinder barrel, 101 - First action chamber, 102 - First liquid return chamber, 2 - First piston, 3 - First pipeline, 4 - First one - way valve, 5 - First spring - return hydraulic cylinder, 6 - First two - position three - way solenoid valve, 7 - Oil tank, 8 - Hydraulic motor, 9 - Generator, 10 - Energy storage battery, 11 - First through - type oil cylinder barrel, 12 - Second piston, 13 - First elastic member, 14 - Second elastic member, 15 - Third piston, 16 - Second through - type oil cylinder barrel, 17 - Second one - way valve, 18 - Hydraulic pump, 19 - Second sealed oil cylinder barrel, 1901 - Second action chamber, 1902 - Second liquid return chamber, 20 - Fourth piston, 21 - Third pipeline, 22 - Third one - way valve, 23 - Third sealed oil cylinder barrel, 2301 - Third action chamber, 2302 - Third liquid return chamber, 24 - Fifth piston, 25 - Fourth pipeline, 26 - Fourth one - way valve, 27 - Second spring - return hydraulic cylinder, 28 - Third spring - return hydraulic cylinder, 29 - Second two - position three - way solenoid valve, 30 - Third two - position three - way solenoid valve, 31 - Bidirectional - return hydraulic cylinder, 32 - Two - position five - way solenoid valve. Detailed implementation manners

[0028] The embodiments of the present application will be described in detail below with reference to the accompanying drawings in the embodiments of the present application.

[0029] Embodiment 1

[0030] Please refer to Figure 1, the embodiment of the present application provides an underwater self-powered system for an unmanned submersible, including: a hydraulically coupled hydraulic motor 8 and a generator 9; a primary hydraulic transmission structure, including a first spring-return hydraulic cylinder 5 and a telescopically engaged first piston 2 and a first sealed cylinder barrel 1. The first piston 2 divides the inner cavity of the first sealed cylinder barrel 1 into a first action chamber 101 and a first return liquid chamber 102. The first action chamber 101 communicates with the liquid inlet of the hydraulic motor 8, and the first return liquid chamber 102 communicates with the liquid outlet of the hydraulic motor 8. The first action chamber 101 and the first return liquid chamber 102 are connected through a first pipeline 3. The first pipeline 3 is provided with a first one-way valve 4 for pointing to the first action chamber 101. The driving end of the first spring-return hydraulic cylinder 5 is connected to the first piston 2 for pushing the first piston 2 to compress the first action chamber 101; wherein, the volume of the first sealed cylinder barrel 1 is greater than the oil chamber volume of the first spring-return hydraulic cylinder 5; a hydraulic accumulator for converting the pressure of seawater into hydraulic energy, and its oil outlet is communicated with the oil chamber of the first spring-return hydraulic cylinder 5; and a fuel supply circulation component, including a fuel tank 7 and a first two-position three-way solenoid valve 6. The oil outlet of the hydraulic accumulator is connected to the oil chamber of the first spring-return hydraulic cylinder 5 through the P port and the A port of the first two-position three-way solenoid valve 6, and the R port of the first two-position three-way solenoid valve 6 communicates with the fuel tank 7; wherein, the oil inlet of the hydraulic accumulator communicates with the fuel tank 7.

[0031] When the power generation system involved in this application is applied to an unmanned underwater vehicle, it has a unique working mechanism. When the vehicle dives to a specific depth A (this depth value mainly depends on the performance parameters of the hydraulic accumulator), the hydraulic accumulator starts to function, converting the seawater pressure into hydraulic energy and storing it. At this time, the first two-position three-way solenoid valve 6 is energized, and its P port is connected to the A port. The hydraulic oil in the hydraulic accumulator flows into the oil chamber of the first spring-return hydraulic cylinder 5 under the drive of pressure, and then drives the first piston 2 to move through the drive end of the cylinder. The first piston 2 squeezes the first action chamber 101, causing the hydraulic oil in the first action chamber 101 to flow out, driving the hydraulic motor 8 to operate. The hydraulic motor 8 drives the generator 9 to generate electricity, and then the hydraulic oil passing through the hydraulic motor 8 flows back to the first return chamber 102. When the first spring-return hydraulic cylinder 5 reaches the maximum drive displacement, the first two-position three-way solenoid valve 6 is de-energized. At this time, its A port is connected to the R port, and under the action of the internal spring force of the first spring-return hydraulic cylinder 5, the first piston 2 resets. During this process, the hydraulic oil in the first return chamber 102 flows back to the first action chamber 101 through the first pipeline 3, and the hydraulic oil in the first spring-return hydraulic cylinder 5 flows back to the fuel tank 7 through the R port, thus completing a power generation action. By controlling the first two-position three-way solenoid valve 6 to repeat the above process, continuous power generation can be achieved until the hydraulic energy stored in the hydraulic accumulator is exhausted.

[0032] This solution has significant advantages. Since the volume of the first sealed cylinder barrel 1 is larger than the oil chamber volume of the first spring-return hydraulic cylinder 5, the oil consumption per power generation action is effectively reduced, which enables the hydraulic energy stored in the hydraulic accumulator to support more power generation times, greatly improving the energy utilization efficiency. In addition, the oil circuit of the entire power generation system forms a circulating oil circuit, ensuring the stability and sustainability of the system operation, and having extremely high practical value. In summary, when the power generation system of this application is applied to an unmanned underwater vehicle, it can efficiently convert seawater pressure into electrical energy, providing a strong guarantee for improving the endurance performance of the vehicle.

[0033] Embodiment 2

[0034] Please refer to Figure 1, this embodiment is the same as the main body of Embodiment 1. The main difference is that the above hydraulic accumulator includes: a conduction component, including a first through-type cylinder barrel 11, a second piston 12, and a first elastic member 13. The second piston 12 is disposed at the first port inside the first through-type cylinder barrel 11 and can move toward the second port of the first through-type cylinder barrel 11. The first elastic member 13 is used for resetting the second piston 12 after it moves; a voltage stabilizing component, including a second through-type cylinder barrel 16, a third piston 15, and a second elastic member 14. The first port of the second through-type cylinder barrel 16 is communicated with the second port of the first through-type cylinder barrel 11 through a second pipeline. A second one-way valve 17 is provided on the second pipeline and is used to point to the second through-type cylinder barrel 16. The third piston 15 is disposed at the first port inside the second through-type cylinder barrel 16 and can move toward the second port of the second through-type cylinder barrel 16. The second elastic member 14 is used for resetting the second piston 12 after it moves; wherein, the first port of the second through-type cylinder barrel 16 is communicated with the oil cavity of the first spring return type hydraulic cylinder 5.

[0035] During the working process of the above embodiment, when the hydraulic accumulator performs an energy storage operation, the first two-position three-way solenoid valve 6 is in a power-off state. At this time, its P port and A port are isolated from each other and are in a non-connected state. The first port of the first through-type cylinder barrel 11 remains open and is directly in contact with seawater. Under the action of the seawater water pressure, the second piston 12 is forced to move toward the second port direction, and the first elastic member 13 is compressed during this process. At the same time, the hydraulic oil in the first through-type cylinder barrel 11 is squeezed and pushed into the second through-type cylinder barrel 16, thereby compressing the second elastic member 14. As the second elastic member 14 is compressed, the hydraulic oil in the second through-type cylinder barrel 16 can store energy, and these stored energies will be used for subsequent power generation links.

[0036] When the underwater vehicle floats to the sea surface, the first elastic member 13 releases its elastic force and pushes the seawater in the first through-type cylinder barrel 11 to be discharged through the first port. At the same time, based on the suction effect of the second piston 12, the hydraulic oil in the fuel tank 7 is replenished into the first through-type cylinder barrel 11, thereby preparing for the next cycle of power generation process.

[0037] It should be noted that the specific depth A at which the vehicle dives depends on the second elastic member 14. If the stiffness coefficient of the second elastic member 14 is larger, A is larger, and vice versa, A is smaller.

[0038] As a preferred implementation manner, both the first elastic member 13 and the second elastic member 14 are springs.

[0039] In the above embodiments, as a common and mature elastic element, the spring has good elastic characteristics. It can store elastic potential energy when compressed and stably release energy after the pressure is relieved. Taking the first elastic member 13 as an example, when the seawater pressure during the submergence of the vehicle pushes the second piston 12 to compress it, the stored elastic potential energy can accurately push the seawater out when the vehicle floats, realizing the replacement of the medium in the first through-type oil cylinder barrel 11 and preparing for the next energy storage. During the compression of the second elastic member 14 (the spring) by the hydraulic oil, the hydraulic energy is efficiently stored in the form of elastic potential energy to ensure the energy supply for subsequent power generation.

[0040] Embodiment 3

[0041] Please refer to Figure 2, this embodiment is the same as the main body of Embodiment 1. The main difference is that it further includes a secondary hydraulic transmission structure connecting the above-mentioned primary hydraulic transmission structure and the above-mentioned hydraulic motor 8. The above-mentioned secondary hydraulic transmission structure includes: a pressure transmission structure, including a fourth piston 20 and a second sealed cylinder barrel 19 that are telescopically fitted. The above-mentioned fourth piston 20 divides the inner cavity of the above-mentioned second sealed cylinder barrel 19 into a second action chamber 1901 and a second return liquid chamber 1902. The above-mentioned second action chamber 1901 communicates with the liquid inlet of the above-mentioned hydraulic motor 8, and the above-mentioned second return liquid chamber 1902 communicates with the liquid outlet of the above-mentioned hydraulic motor 8. The above-mentioned second action chamber 1901 and the above-mentioned second return liquid chamber 1902 are connected through a third pipeline 21, and a third one-way valve 22 is provided on the above-mentioned third pipeline 21 for pointing to the above-mentioned second action chamber 1901; a constant pressure transmission structure, including a fifth piston 24, a third sealed cylinder barrel 23, a second spring-return hydraulic cylinder 27, and a third spring-return hydraulic cylinder 28. The above-mentioned fifth piston 24 is telescopically arranged in the above-mentioned third sealed cylinder barrel 23 and divides the inner cavity of the above-mentioned third sealed cylinder barrel 23 into a third action chamber 2301 and a third return liquid chamber 2302. The above-mentioned third action chamber 2301 is connected to the oil chamber of the above-mentioned second spring-return hydraulic cylinder 27. The driving end of the above-mentioned second spring-return hydraulic cylinder 27 is connected to the above-mentioned fourth piston 20 for pushing the above-mentioned fourth piston 20 to compress the above-mentioned second action chamber 1901. The driving end of the above-mentioned third spring-return hydraulic cylinder 28 is connected to the above-mentioned fifth piston 24 for pushing the above-mentioned fifth piston 24 to compress the above-mentioned third action chamber 2301. The above-mentioned third action chamber 2301 and the above-mentioned third return liquid chamber 2302 are connected through a fourth pipeline 25, and a fourth one-way valve 26 is provided on the above-mentioned fourth pipeline 25 for pointing to the above-mentioned third action chamber 2301; wherein, the oil chamber volume of the above-mentioned first spring-return hydraulic cylinder 5 and the oil chamber volume of the above-mentioned second spring-return hydraulic cylinder 27 are both smaller than the volume of the above-mentioned third sealed cylinder barrel 23; a second two-position three-way solenoid valve 29, whose P port and A port are respectively connected to the above-mentioned third action chamber 2301 and the oil chamber of the second spring-return hydraulic cylinder 27, and the R port is used to connect to the above-mentioned third return liquid chamber 2302; a third two-position three-way solenoid valve 30, whose P port and A port are respectively connected to the above-mentioned first action chamber 101 and the oil chamber of the above-mentioned third spring-return hydraulic cylinder 28, and the R port is used to connect to the above-mentioned first return liquid chamber 102.

[0042] In the above embodiments, the power generation system involved in the present application has a unique working mechanism when applied to an unmanned underwater vehicle. When the vehicle dives to a specific depth A (this depth value mainly depends on the performance parameters of the hydraulic accumulator), the hydraulic accumulator starts to function, converting the seawater pressure into hydraulic energy and storing it. At this time, the first two-way three-way solenoid valve 6 is energized, and its P port is connected to the A port. The hydraulic oil in the hydraulic accumulator flows into the oil chamber of the first spring-return hydraulic cylinder 5 under the drive of pressure, and then drives the first piston 2 to move through the drive end of the cylinder. The first piston 2 squeezes the first action chamber 101, causing the hydraulic oil in the first action chamber 101 to flow into the oil chamber of the third spring-return hydraulic cylinder 28, driving the drive end of the third spring-return hydraulic cylinder 28 to drive the fifth piston 24 to compress the third action chamber 2301. The hydraulic oil in the third action chamber 2301 flows into the oil chamber of the second spring-return hydraulic cylinder 27, and drives the drive end of the second spring-return hydraulic cylinder 27 to drive the fourth piston 20 to compress the second action chamber 1901. The hydraulic oil in the second action chamber 1901 flows out and drives the hydraulic motor 8 to operate. The hydraulic motor 8 drives the generator 9 to generate electricity, and then the hydraulic oil passing through the hydraulic motor 8 flows back to the second liquid return chamber 1902. When the second spring-return hydraulic cylinder 27 reaches the maximum drive displacement, the second two-way three-way solenoid valve 29 is de-energized (the first two-way three-way solenoid valve 6 and the third two-way three-way solenoid valve 30 are energized). At this time, its A port is connected to the R port, and under the action of the internal spring force of the second spring-return hydraulic cylinder 27, the fourth piston 20 is reset. During this process, the hydraulic oil in the second liquid return chamber 1902 flows back to the second action chamber 1901 through the third pipeline 21, and the hydraulic oil in the second spring-return hydraulic cylinder 27 flows back to the third liquid return chamber 2302 through the R port, thus completing a power generation action of the secondary hydraulic transmission structure. By controlling the second two-way three-way solenoid valve 29 to repeat the above process, continuous power generation can be achieved until the third spring-return hydraulic cylinder 28 reaches the maximum displacement.

[0043] When the third spring-return hydraulic cylinder 28 reaches the maximum displacement, the third two-way three-way solenoid valve 30 is de-energized, and its A port and R port are connected to facilitate the reset of the third spring-return hydraulic cylinder 28. When the third two-way three-way solenoid valve 30 is de-energized, the first two-way three-way solenoid valve 6 and the second two-way three-way solenoid valve 29 are both de-energized to facilitate the reset of the primary hydraulic transmission structure and the secondary hydraulic transmission structure.

[0044] This solution has significant advantages. Since the oil chamber volume of the first spring-return hydraulic cylinder 5 and the oil chamber volume of the second spring-return hydraulic cylinder 27 are both smaller than the volume of the third sealed cylinder barrel 23, the fuel consumption of the secondary hydraulic transmission system during one power generation can be effectively reduced, which enables the hydraulic energy stored in the hydraulic accumulator to support more power generations, greatly improving the energy utilization efficiency.

[0045] Referring to the figure, as a preferred embodiment, the number of the above-mentioned secondary hydraulic transmission structures is two, and the two above-mentioned secondary hydraulic transmission structures are arranged in parallel, and the inlet ends are simultaneously connected to the above-mentioned primary hydraulic transmission structure, and the outlet ends are simultaneously connected to the above-mentioned hydraulic motor 8.

[0046] In the above embodiment, the number of the secondary hydraulic transmission structures is two, and the two above-mentioned secondary hydraulic transmission structures are arranged in parallel, further improving the power generation efficiency.

[0047] Embodiment 4

[0048] Please refer to Figures 1-3 , this embodiment is the same as the main body of Embodiment 1, and the main difference is that it further includes a hydraulic pump 18, whose inlet is connected to the above-mentioned fuel tank 7, and the outlet is connected to the oil chamber of the above-mentioned first spring return hydraulic cylinder 5.

[0049] In the above embodiment, when the hydraulic accumulator fails, the hydraulic pump 18 can supply oil to the oil chamber of the first spring return hydraulic cylinder 5 as starting power.

[0050] As a preferred embodiment, the above-mentioned fuel tank 7, the inlet of the above-mentioned hydraulic pump 18, the inlet of the above-mentioned hydraulic accumulator, and the oil chamber of the above-mentioned first spring return hydraulic cylinder 5 are mutually communicated through a four-way valve.

[0051] In the above embodiment, the design of the four-way valve reduces the pipeline layout of this power generation system and has practicability.

[0052] As a preferred embodiment, the above-mentioned generator 9 is electrically connected to an energy storage battery 10 for storing the electric energy generated by the above-mentioned generator 9.

[0053] In the above embodiment, during the operation of the unmanned underwater vehicle, the electric energy generated by the generator 9 cannot always be utilized by the vehicle in a timely and sufficient manner. With the energy storage battery 10, the excess electric energy can be stored to avoid energy waste and achieve efficient utilization of electric energy.

[0054] Embodiment 5

[0055] Please refer to Figure 4, an underwater self-power supply system for an unmanned submersible provided by an embodiment of the present application includes: a hydraulically driven hydraulic motor 8 and a generator 9; a primary hydraulic drive structure including a two-way reset hydraulic cylinder 31 and a telescopically engaged first piston 2 and a first sealed cylinder barrel 1. The first piston 2 divides the inner cavity of the first sealed cylinder barrel 1 into a first action chamber 101 and a first return liquid chamber 102. The first action chamber 101 communicates with the liquid inlet of the hydraulic motor 8, and the first return liquid chamber 102 communicates with the liquid outlet of the hydraulic motor 8. The first action chamber 101 and the first return liquid chamber 102 are connected through a first pipeline 3. The first pipeline 3 is provided with a first one-way valve 4 for pointing to the first action chamber 101. The driving end of the two-way reset hydraulic cylinder 31 is connected to the first piston 2 for pushing the first piston 2 to compress the first action chamber 101; wherein, the volume of the first sealed cylinder barrel 1 is larger than the oil chamber volume of the two-way reset hydraulic cylinder 31; a hydraulic accumulator for converting the pressure of seawater into hydraulic energy, and its oil outlet is communicated with the rodless chamber of the two-way reset hydraulic cylinder 31; and a fuel supply circulation assembly including a fuel tank 7 and a two-position five-way solenoid valve 32. The oil outlet of the hydraulic accumulator is communicated with the P port of the two-position five-way solenoid valve 32. The A port and the B port of the two-position five-way solenoid valve 32 are respectively communicated with the rodless chamber and the rod chamber of the two-way reset hydraulic cylinder 31. The R1 port and the R2 port of the two-position five-way solenoid valve 32 are both communicated with the fuel tank 7; wherein, the oil inlet of the hydraulic accumulator is communicated with the fuel tank 7.

[0056] When the power generation system involved in this application is applied to an unmanned underwater vehicle, it has a unique working mechanism. When the vehicle dives to a specific depth A (this depth value mainly depends on the performance parameters of the hydraulic accumulator), the hydraulic accumulator starts to function, converting the seawater pressure into hydraulic energy and storing it. At this time, the two-position five-way solenoid valve 32 is energized, its P port is connected to the A port, and the B port is connected to the R2. The hydraulic oil in the hydraulic accumulator flows into the rodless cavity of the double-acting hydraulic cylinder 31 under the drive of pressure, and then drives the first piston 2 through the drive end of the cylinder. The first piston 2 squeezes the first action chamber 101, causing the hydraulic oil in the first action chamber 101 to flow out, driving the hydraulic motor 8 to operate. The hydraulic motor 8 drives the generator 9 to generate electricity, and then the hydraulic oil flows back to the first return chamber 102. The hydraulic oil in the rod chamber of the double-acting hydraulic cylinder 31 flows back to the fuel tank 7 through R2. When the double-acting hydraulic cylinder 31 reaches the maximum driving displacement, the two-position five-way valve is de-energized. At this time, its P port is connected to the B port, and the A port is connected to the R1. The hydraulic oil in the hydraulic accumulator pushes the piston of the double-acting hydraulic cylinder 31 to compress the rodless cavity, the drive end retracts, and the hydraulic oil in the rodless cavity flows back to the fuel tank 7 through R1 until the piston of the double-acting hydraulic cylinder 31 resets. During this process, the hydraulic oil in the first return chamber 102 flows back to the first action chamber 101 through the first pipeline 3, and the hydraulic oil in the rodless cavity of the double-acting hydraulic cylinder 31 flows back to the fuel tank 7 through R1, thus completing one power generation action. By controlling the two solenoid valves to repeat the above process, continuous power generation can be achieved until the hydraulic energy stored in the hydraulic accumulator is exhausted.

[0057] This solution has significant advantages. Since the volume of the first sealed cylinder barrel 1 is larger than the oil chamber volume of the double-acting hydraulic cylinder 31, the oil consumption per power generation action is effectively reduced, which enables the hydraulic energy stored in the hydraulic accumulator to support more power generation times, greatly improving the energy utilization efficiency. In addition, the oil circuit of the entire power generation system forms a circulating oil circuit, ensuring the stability and sustainability of the system operation, and having extremely high practical value. In summary, when the power generation system of this application is applied to an unmanned underwater vehicle, it can efficiently convert seawater pressure into electrical energy, providing a strong guarantee for improving the endurance performance of the vehicle.

[0058] Furthermore, based on the cooperation structure of the double-acting hydraulic cylinder 31 and the two-position five-way solenoid valve 32, on the basis of the above content, a secondary hydraulic transmission structure as in Embodiment 3 above can be equipped in the above technical solution, and specific reference can be made to the accompanying drawings of the specification. Figure 5 。

[0059] In addition, unless otherwise clearly specified or limited, in the embodiments of the present application, if the terms "installation" and "connection" appear, they should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. If the orientation terms such as "upper", "lower", "left", "right", "inner", "outer", "side", etc. appear, they are only references to the direction of the attached drawings or the orientation in which the product is usually placed during use, and are only for clearly describing the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as a limitation on the present application. The terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance; "a plurality of" means at least two. In the embodiments of the present application, the limitations on relative position relationships such as parallel, perpendicular, and alignment mentioned are all with respect to the current technological level and are not absolute strict limitations. A small deviation is allowed, and approximate parallelism, approximate perpendicularity, approximate alignment, etc. are all acceptable. For example, if A is parallel to B, it means that A is parallel to B or approximately parallel to B, and the included angle between A and B can be between 0 degrees and 10 degrees.

[0060] The above are only some embodiments and implementation manners of the present application. The protection scope of the present application is not limited thereto. Without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other, and any arbitrary combination of features in different embodiments is also within the protection scope of the present application. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. An underwater self-powered system for an unmanned submersible, characterized in that: include: A transmission-coordinated hydraulic motor (8) and a generator (9); A primary hydraulic transmission structure comprises a first spring return hydraulic cylinder (5) and a telescopically matched first piston (2) and a first sealed cylinder barrel (1); the first piston (2) divides the inner cavity of the first sealed cylinder barrel (1) into a first action cavity (101) and a first liquid return cavity (102); the first action cavity (101) is connected to a liquid inlet of the hydraulic motor (8); the first liquid return cavity (102) is connected to a liquid outlet of the hydraulic motor (8); the first action cavity (101) and the first liquid return cavity (102) are connected via a first pipeline (3); the first pipeline (3) is provided with a first non-return valve (4) for pointing to the first action cavity (101); the driving end of the first spring return hydraulic cylinder (5) is connected to the first piston (2) for pushing the first piston (2) to compress the first action cavity (101); Wherein, the volume of the first sealed oil cylinder (1) is greater than the oil chamber volume of the first spring return hydraulic oil cylinder (5); a hydraulic accumulator, used for converting the pressure of seawater into hydraulic energy, wherein the oil outlet of the hydraulic accumulator is connected to the oil chamber of the first spring return hydraulic cylinder (5); and An oil supply circulation assembly comprises an oil tank (7) and a first two-position three-way solenoid valve (6); the oil outlet of the hydraulic accumulator is connected to the oil chamber of the first spring return hydraulic cylinder (5) via the P port and the A port of the first two-position three-way solenoid valve (6); and the R port of the first two-position three-way solenoid valve (6) is connected to the oil tank (7); Wherein, the oil inlet of the hydraulic accumulator is connected to the oil tank (7).

2. The underwater self-power supply system of the unmanned submersible according to claim 1, characterized in that: The hydraulic accumulator comprises: A transmission component, comprising a first through-type oil cylinder (11), a second piston (12) and a first elastic member (13), wherein the second piston (12) is arranged at a first port inside the first through-type oil cylinder (11) and is capable of moving toward the second port of the first through-type oil cylinder (11), and the first elastic member (13) is used for resetting the second piston (12) after movement; A pressure stabilizing assembly, comprising a second through-type oil cylinder (16), a third piston (15) and a second elastic member (14); the first port of the second through-type oil cylinder (16) is connected to the second port of the first through-type oil cylinder (11) via a second pipeline; the second pipeline is provided with a second one-way valve (17) for pointing to the second through-type oil cylinder (11); the third piston (15) is provided at the first port inside the second through-type oil cylinder (16) and can move toward the second port of the second through-type oil cylinder (16); the second elastic member (14) is used for resetting the second piston (12) after movement; Wherein, the first port of the second through-type oil cylinder barrel (16) is connected to the oil chamber of the first spring return type hydraulic oil cylinder (5).

3. The underwater self-power supply system of the unmanned submersible according to claim 2, characterized in that: The first elastic member (13) and the second elastic member (14) are both springs.

4. The underwater self-power supply system for an unmanned submersible according to any one of claims 1 to 3, characterized in that: It also includes a secondary hydraulic transmission structure connecting the primary hydraulic transmission structure and the hydraulic motor (8), wherein the secondary hydraulic transmission structure includes: A pressure transmission structure, comprising a fourth piston (20) and a second sealed oil cylinder (19) that are telescopically matched, wherein the fourth piston (20) divides the inner cavity of the second sealed oil cylinder (19) into a second action cavity (1901) and a second liquid return cavity (1902), wherein the second action cavity (1901) is connected to a liquid inlet of the hydraulic motor (8), and the second liquid return cavity (1902) is connected to a liquid outlet of the hydraulic motor (8), and the second action cavity (1901) and the second liquid return cavity (1902) are connected via a third pipeline (21), and the third pipeline (21) is provided with a third one-way valve (22) for directing to the second action cavity (1901); A constant pressure transmission structure comprises a fifth piston (24), a third sealed oil cylinder barrel (23), a second spring return hydraulic oil cylinder (27) and a third spring return hydraulic oil cylinder (28); the fifth piston (24) is telescopically arranged in the third sealed oil cylinder barrel (23) and divides the inner cavity of the third sealed oil cylinder barrel (23) into a third action cavity (2301) and a third liquid return cavity (2302); the third action cavity (2301) is connected to the oil cavity of the second spring return hydraulic oil cylinder (27); the second spring return hydraulic oil cylinder (27) is connected to the third action cavity (2301) and the oil cavity of the second spring return hydraulic oil cylinder (27) is connected to the third action cavity (2301) and the oil cavity of the second spring return hydraulic oil cylinder (27) is connected to the third action cavity (2301) and the oil cavity of the second spring return hydraulic oil cylinder (27) is connected to the third action cavity (2301) and the oil cavity of the second spring return hydraulic oil cylinder (27) is connected to the third action cavity (2301) and the oil cavity of the second spring return hydraulic oil cylinder (27) is connected to the third action cavity (2301) and the oil cavity of the third ...8) is connected to the third action cavity (2301) and the The driving end of the third spring return hydraulic cylinder (28) is connected to the fourth piston (20) and is used to push the fourth piston (20) to compress the second action chamber (1901). The driving end of the third spring return hydraulic cylinder (28) is connected to the fifth piston (24) and is used to push the fifth piston (24) to compress the third action chamber (2301). The third action chamber (2301) and the third return liquid chamber (2302) are connected via a fourth pipe (25). The fourth pipe (25) is provided with a fourth one-way valve (26) to point to the third action chamber (2301). Wherein, the oil chamber volume of the first spring return hydraulic cylinder (5) and the oil chamber volume of the second spring return hydraulic cylinder (27) are both smaller than the volume of the third sealed cylinder barrel (23); A second two-position three-way solenoid valve (29), whose P port and A port are respectively connected to the third action chamber (2301) and the oil chamber of the second spring return hydraulic cylinder (27), and whose R port is used to connect to the third return liquid chamber (2302); The third two-position three-way solenoid valve (30) has its P port and A port connected to the first action chamber (101) and the oil chamber of the third spring return hydraulic cylinder (28) respectively, and its R port is used to connect to the first return liquid chamber.

5. The underwater self-power supply system of the unmanned submersible according to claim 4, characterized in that: The number of the secondary hydraulic transmission structures is two, the two secondary hydraulic transmission structures are arranged in parallel, and the inlet ends are simultaneously connected to the primary hydraulic transmission structure, and the outlet ends are simultaneously connected to the hydraulic motor (8).

6. The underwater self-power supply system of the unmanned submersible according to claim 1, characterized in that: It also includes a hydraulic pump (18), the inlet of which is connected to the oil tank (7), and the outlet of which is connected to the oil chamber of the first spring return hydraulic cylinder (5).

7. The underwater self-power supply system of the unmanned submersible according to claim 1, characterized in that: The generator (9) is electrically connected to an energy storage battery (10) for storing the electrical energy generated by the generator (9). 8.Unmanned underwater vehicle self-power supply system, characterized in that: include: A transmission-coordinated hydraulic motor (8) and a generator (9); A primary hydraulic transmission structure comprises a two-way reset hydraulic cylinder (31) and a telescopically matched first piston (2) and a first sealed cylinder barrel (1); the first piston (2) divides the inner cavity of the first sealed cylinder barrel (1) into a first action cavity (101) and a first liquid return cavity (102); the first action cavity (101) is connected to a liquid inlet of the hydraulic motor (8); the first liquid return cavity (102) is connected to a liquid outlet of the hydraulic motor (8); the first action cavity (101) and the first liquid return cavity (102) are connected via a first pipeline (3); the first pipeline (3) is provided with a first one-way valve (4) for pointing to the first action cavity (101); the driving end of the two-way reset hydraulic cylinder (31) is connected to the first piston (2) for pushing the first piston (2) to compress the first action cavity (101); Wherein, the volume of the first sealed oil cylinder (1) is greater than the oil chamber volume of the reset hydraulic oil cylinder (5); A hydraulic accumulator, used for converting the pressure of seawater into hydraulic energy, wherein the oil outlet of the hydraulic accumulator is connected to the rodless chamber of the two-way reset hydraulic cylinder (31); and An oil supply circulation component comprises an oil tank (7) and a two-position five-way solenoid valve (32), wherein the oil outlet of the hydraulic accumulator is connected to the P port of the two-position five-way solenoid valve (32), the A port and the B port of the two-position five-way solenoid valve (32) are respectively connected to the rodless chamber and the rod chamber of the two-way reset hydraulic cylinder (31), and the R1 port and the R2 port of the two-position five-way solenoid valve (32) are both connected to the oil tank (7); Wherein, the oil inlet of the hydraulic accumulator is connected to the oil tank (7).

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