Integrated wave power generation hydraulic PTO system for AUV

Abstract

The invention discloses an integrated wave power generation hydraulic PTO system for an AUV, and belongs to the technical field of follow-up power generation devices. The four hydraulic electromagnetic stop valves are respectively connected into a low-pressure oil return manifold and a high-pressure oil inlet manifold through hydraulic cylinder oil inlet pipelines, the low-pressure oil return manifold is connected with an oil outlet of a first hydraulic motor, the high-pressure oil inlet manifold is connected with an oil inlet of the first hydraulic motor, a high-pressure energy accumulator is connected with an oil inlet of the first hydraulic motor, and the low-pressure energy accumulator is connected with an outlet of the first hydraulic motor. And the low-pressure energy accumulator is communicated with the low-pressure oil return manifold. The hydraulic PTO system has an energy rectification function, hydraulic oil transfer and transportation are carried out on two or more input elements through a rectification loop designed by the invention and a fixed hydraulic wall-passing joint, the hydraulic motor can always rotate forwards in any motion state, the multiple input elements do not interfere with each other, and the power transmission efficiency is greatly improved. The single rotation of the hydraulic motor can be realized no matter the input element moves forwards or backwards.

Description

Technical Field

[0001] The present invention belongs to the technical field of seabed power generation devices, and particularly relates to an integrated wave energy power generation hydraulic PTO system for AUVs. Background Art

[0002] The ocean accounts for about 71% of the Earth's area and contains rich resources and renewable energy. Against the backdrop of the increasing depletion of land resources, the development of the deep sea and the open sea is of great significance. China's development of the deep sea and the open sea has been continuously promoted. In the fields of scientific and technological environmental resource exploration and collection, the application demand for autonomous underwater vehicles (AUVs) has been increasing, and the demand for new types of underwater autonomous vehicles with multiple functions, long endurance, and high intelligence has been growing day by day. An autonomous underwater vehicle is an unmanned ocean robot that can navigate autonomously underwater without cables. It has the advantages of autonomous route planning, task execution, low operating cost, and the ability to operate in the deep sea and dangerous areas. The increase in actuators, processors, and sensors brought about by the diversification of AUV functions has resulted in a synchronous increase in the power consumption and power of AUVs. Limited by the batteries or fuel carried, the operation range of AUVs is limited, and the endurance time is short. It is necessary to return for salvage, replace the batteries, and replenish the fuel, which affects the operation efficiency.

[0003] The working range of AUVs has abundant environmental energy reserves, such as wind energy, solar energy, temperature difference energy, tidal energy, and wave energy, etc. Among them, wave energy has significant characteristics such as wide temporal and spatial distribution and high energy density, making it the best choice for AUVs to utilize environmental energy for power supply.

[0004] For unmanned ocean equipment (unmanned ships, buoys, surface vehicles, underwater vehicles, etc.) to utilize wave energy for energy supplementation, researchers have proposed some solutions to extract and absorb wave kinetic energy and convert it into electrical energy to power unmanned ocean equipment. Patent document CN113148074A externally mounts a device on an AUV vehicle that captures wave kinetic energy through two symmetrically arranged hydrofoils and transmits the wave-excited motion to a generator for power generation through mechanical transmission devices such as gears; patent document CN118030350A utilizes the motion inertia of an ocean robot under wave excitation, combined with a folding structure and a pull disk mechanism to drive an engine for power generation. Patent document CN115822850A designs a swinging hydrofoil to swing up and down following the waves, collects wave energy, and uses a mechanical transmission mechanism to transfer the kinetic energy to a power generation device in a receiving cavity for power generation, so as to improve the endurance time of an ocean vehicle and increase the operation radius.

[0005] Some existing related in-situ power generation structures use mechanical PTOs. Under the periodic motion of wave energy, metal parts will suffer fatigue damage due to frequent commutation and wave impact forces, resulting in a decrease in overall reliability; in the high-salt fog environment of the ocean, the risk of metal parts corroding and rusting is high, and it is easy to cause part failure. Summary of the Invention

[0006] In view of the deficiencies in the existing solutions for AUVs to utilize wave energy to provide electrical energy, the present invention proposes an integrated wave energy generation hydraulic PTO system for use in AUVs.

[0007] The technical solution adopted by the present invention is as follows:

[0008] An integrated wave energy generation hydraulic PTO system for use in AUVs, comprising a low-pressure return oil manifold, a high-pressure inlet oil manifold, four three-way joints, four pairs of hydraulic quick connectors, four hydraulic through-wall joints, four hydraulic electromagnetic cut-off valves, four hydraulic cylinder inlet oil pipelines and two accumulators;

[0009] The four hydraulic electromagnetic cut-off valves are respectively connected to the low-pressure return oil manifold and the high-pressure inlet oil manifold through the hydraulic cylinder inlet oil pipelines. The low-pressure return oil manifold is connected to the oil outlet of the hydraulic motor, and the high-pressure inlet oil manifold is connected to the oil inlet of the hydraulic motor.

[0010] The two accumulators are respectively a high-pressure accumulator and a low-pressure accumulator. The high-pressure accumulator is connected to the oil inlet of the hydraulic motor, and the low-pressure accumulator is connected to the outlet of the hydraulic motor. The low-pressure accumulator is communicated with the low-pressure return oil manifold.

[0011] A high-pressure overflow valve is installed on the pipeline where the high-pressure inlet oil manifold is communicated with the low-pressure return oil manifold.

[0012] The present invention has the following beneficial effects compared with the prior art:

[0013] 1. The hydraulic PTO system of the present invention has an energy rectification function. For two or more input elements, through the rectification circuit designed by the present invention, the hydraulic oil is transmitted and transported through fixed hydraulic through-wall joints, so that the hydraulic motor can always rotate forward under any motion state, and multiple input elements do not interfere with each other. Whether the input element moves forward or backward, the single rotation of the hydraulic motor can be realized. This design method saves the space inside the sealed cabin of the AUV wave energy in-body power generation device, does not involve the dynamic motion seal of the sealed cabin, and has good integration and sealing performance.

[0014] 2. The present invention conducts wave energy transfer through hydraulic software. Compared with mechanical component transmission, it has good dynamic sealing performance and can better adapt to various unmanned vehicles. Compared with the mechanical PTO device, the hydraulic PTO device is lighter in weight, more flexible in installation, and convenient for layout and installation inside the unmanned vehicle.

[0015] 3. The hydraulic transmission PTO of the present invention improves the reliability of the overall equipment. The hydraulic PTO has better corrosion resistance and shock resistance, enabling it to work for a long time, further increasing the endurance of the marine unmanned vehicle, reducing the maintenance cost, and being easy to diagnose faults.

[0016] 4. The hydraulic PTO of the present invention can integrate control algorithms in various ways, accurately control parameters such as flow rate and pressure according to the current sea conditions, and then perform dynamic optimal power control. Brief Description of the Drawings

[0017] Figure 1 is a schematic structural diagram of the present invention;

[0018] Figure 2 is a schematic diagram of the main hydraulic hatch of the present invention;

[0019] Wherein: 4. Vane type swing hydraulic cylinder; 6. Swing cylinder hydraulic cylinder rocker arm; 13. Hydraulic through-wall joint; 18. Hydraulic electromagnetic cut-off valve; 19. Hydraulic cylinder inlet oil pipeline; 20. Built-in micro check valve; 21. Digital display pressure sensor; 22. Low-pressure return oil manifold; 23. High-pressure inlet oil manifold; 25. High-pressure relief valve; 26. Accumulator mounting clamp; 27. Accumulator; 28. Accumulator bottom plate; 29. Accumulator four-way oil pipe; 30. Hydraulic motor. Detailed Embodiment

[0020] In order to better understand the purpose, structure and function of the present invention, the following further detailed description of the present invention will be made in conjunction with the accompanying drawings.

[0021] As Figure 1 , Figure 2 shown, the present invention provides an integrated wave energy generation hydraulic PTO system for AUV, including a low-pressure return oil manifold 22, a high-pressure inlet oil manifold 23, four three-way joints, four pairs of hydraulic quick connectors, four hydraulic through-wall joints 13, four hydraulic electromagnetic cut-off valves 18, four hydraulic cylinder inlet oil pipelines 19, six digital display pressure sensors 21 and two accumulators 27;

[0022] The oil outlets A and B of the two vane type swing hydraulic cylinders 4 of the AUV wave energy power generation device with the body are respectively connected to the corresponding three-way joints through hydraulic hoses. The outer side pipe orifices of the four three-way joints are respectively connected to the corresponding hydraulic quick connectors, which are hydraulic oil filling and supplementary oil orifices. The directly connected side pipe orifices of the four three-way joints are respectively connected to the corresponding hydraulic through-wall joints 13. The four hydraulic through-wall joints 13 pass through the main body sealing cabin and are connected to the corresponding hydraulic electromagnetic cut-off valves 18,

[0023] All four of the hydraulic electromagnetic cut-off valves 18 are respectively connected to the low-pressure return oil manifold 22 and the high-pressure inlet oil manifold 23 through the hydraulic cylinder inlet oil pipelines 19. The low-pressure return oil manifold 22 is connected to the oil outlet of the hydraulic motor 30, and the high-pressure inlet oil manifold 23 is connected to the oil inlet of the hydraulic motor 30.

[0024] Six of the digital display pressure sensors 21 are respectively arranged at four hydraulic cylinder inlet pipelines 19 and two accumulators 27. The two accumulators 27 are a high-pressure accumulator and a low-pressure accumulator respectively. The high-pressure accumulator is connected to the digital display pressure sensor 21 and the inlet of the hydraulic motor 30, and the low-pressure accumulator is connected to the digital display pressure sensor 21 and the outlet of the hydraulic motor 30. The low-pressure accumulator is communicated with the low-pressure return pipe manifold 22.

[0025] Built-in micro check valves 20 are arranged in eight pipelines where the four hydraulic cylinder inlet pipelines 19 are connected to the low-pressure return pipe manifold 22 and the high-pressure inlet pipe manifold 23.

[0026] A high-pressure overflow valve 25 is installed on the pipeline where the high-pressure inlet pipe manifold 23 is communicated with the low-pressure return pipe manifold 22.

[0027] The hydraulic electromagnetic cut-off valve 18 is powered by a 12V power supply and controlled by an io control card. It is turned on or off when needed to conduct experiments and prepare for replenishing hydraulic oil, and realizes the locking control algorithm of maximum power tracking control. The hydraulic electromagnetic cut-off valve 18 uses a live nut transition joint to connect the hydraulic through-wall joint 13 and a reduced-diameter transition joint to connect the hydraulic cylinder inlet pipeline 19.

[0028] The hydraulic cylinder inlet pipeline 19 is welded and processed from a steel pipe and a four-way joint. Live nuts are arranged at key points of the oil pipe to facilitate the installation of the digital display pressure sensor 21 and the transition joint. The hydraulic cylinder inlet pipeline 19 is connected to the vane type oscillating hydraulic cylinder 4 through the hydraulic electromagnetic cut-off valve 18. The two vane type oscillating hydraulic cylinders 4 correspond to four in / out oil ports, and each in / out oil port is connected in the above connection manner. The hydraulic cylinder inlet pipeline 19 is equipped with a built-in micro check valve 20.

[0029] Built-in micro check valve 20: For each vane type oscillating hydraulic cylinder 4, a hydraulic rectification circuit needs to be formed, so eight built-in micro check valves 20 are used to form four hydraulic rectification circuits.

[0030] The built-in micro check valve 20 has an external thread and can be installed into the internal thread of the pipeline of the hydraulic cylinder inlet pipeline 19, reducing the use of joints and reducing the risk of hydraulic oil leakage.

[0031] The digital display pressure sensor 21 is powered by 5 - 24V, outputs the pressure value in analog quantity, and transmits the pressure value with 4 - 20mA. The pressure gauge range is 0 - 16MPa, and the highest sampling frequency is 300Hz. When the pressure reaches 80% of the preset alarm value, the yellow indicator light turns on to remind that the pressure is about to exceed the limit. When the pressure reaches 100% of the preset value, the red indicator light turns on to remind that the pressure exceeds the standard and the test needs to be stopped immediately and the pressure needs to be relieved.

[0032] The digital display pressure sensor 21 can display the pressure value at the current hydraulic oil pipe position in real time, facilitating the observation of the phenomena and pressures of various components and also facilitating the debugging of the sensor value.

[0033] The digital display pressure sensors 21 are respectively arranged at the four hydraulic cylinder oil inlet pipelines 19 and at the two accumulators 27. The four digital display pressure sensors 21 arranged at the hydraulic cylinder oil inlet pipelines 19 are located behind the hydraulic electromagnetic cut-off valve 18 and in front of the built-in micro check valve 20; the two are arranged at the outlets of the high-pressure accumulator and the low-pressure accumulator.

[0034] The low-pressure return oil manifold 22 is composed of a metal pipe, a three-way joint and a live nut welded together. Through the hydraulic hose assembly, it is connected to the oil outlet of the hydraulic motor 30. Through the built-in micro check valve 20 installed inside, it forms a one-way anti-backflow oil return circuit and is connected to the hydraulic cylinder oil inlet pipeline 19, returning to the vane type swing hydraulic cylinder 4 to form a complete hydraulic circuit.

[0035] The high-pressure inlet oil manifold 23 is composed of a metal pipe, a three-way joint and a live nut welded together; for the high-pressure inlet oil manifold 23, the four inlets are connected to the outlets of the built-in micro check valves 20 of the hydraulic cylinder oil inlet pipelines 19, and then through the hydraulic hose assembly, it is connected to the oil inlet of the hydraulic motor 30 to form a complete hydraulic circuit.

[0036] The high-pressure relief valve 25 is connected to the high-pressure inlet oil manifold 23 and, through a three-way joint and the hydraulic hose assembly, is connected to the low-pressure return oil manifold 22. When the pressure of the high-pressure inlet oil manifold 23 does not reach the set value, the circuit works normally and the high-pressure relief valve 25 actually acts as a passage; when the pressure of the high-pressure inlet oil manifold 23 exceeds the preset value of the high-pressure relief valve 25, the high-pressure relief valve 25 is activated to unload the pressure into the low-pressure return oil manifold 22 to protect the circuit pressure from exceeding the set value of the high-pressure relief valve 25.

[0037] The high-pressure accumulator can absorb the fluctuating hydraulic pressure in the hydraulic circuit, reduce hydraulic shock and make the rotation of the hydraulic motor 30 stable; the high-pressure accumulator is connected to the digital display pressure sensor 21 through the accumulator four-way oil pipe 29 and is connected to the oil inlet of the hydraulic motor 30;

[0038] The low-pressure accumulator serves as a spare oil tank in the circuit, can supplement the hydraulic oil reduced in the oil circuit and maintain a certain back pressure to reduce the occurrence of hazards such as cavitation; the low-pressure accumulator is connected to the digital display pressure sensor 21 through the accumulator four-way oil pipe 29 and is connected to the outlet of the hydraulic motor 30, and through the hydraulic hose assembly, is connected to the inlet of the low-pressure return oil manifold 22.

[0039] The accumulator four-way oil pipe 29 is made by welding a metal pipe and a live nut, and is connected to the accumulators 27 (high-pressure accumulator and low-pressure accumulator), the digital display pressure sensor 21 and the hydraulic motor 30 in cooperation with the adapter and the three-way joint.

[0040] The hydraulic motor 30 is a gear hydraulic motor with a rated displacement of 8 cc / rev, which converts hydraulic energy into rotational energy. After passing through the torque and speed sensor, it drives a DC permanent magnet generator to generate electricity.

[0041] The two accumulators 27 are installed on the main frame of the AUV wave energy follow-up power generation device through accumulator mounting clamps 26, and the tails of the two accumulators 27 are fixedly supported on the main frame by an accumulator bottom plate 28.

[0042] There are two accumulator mounting clamps 26 in total. They are connected relatively and installed on the main frame through an adapter sheet metal part to restrict the movement of the two accumulators 27 and fix them on the formed main frame.

[0043] The accumulator bottom plate 28 provides support for the accumulator 27. When the device is placed vertically during operation, it bears part of the weight so that the weight does not act on the accumulator four-way oil pipe 29, protecting the oil pipe from damage and leakage.

[0044] The connection method of the hydraulic part of the hydraulic PTO system is as follows: One of the two oil outlets A and B of a vane type oscillating hydraulic cylinder 4 is connected to a three-way joint through a hydraulic hose. The outer side of the three-way joint is connected to a hydraulic quick connector, which is the hydraulic oil filling and supplementary oil port. The direct connection side of the three-way joint is connected to a hydraulic through-wall joint 13. The hydraulic through-wall joint 13 passes through the main body sealed cabin and is connected to hydraulic electromagnetic cut-off valves 18A1 and B1. After the hydraulic electromagnetic cut-off valve 18A1, it is connected to an oil inlet built-in micro check valve 20a1 and an oil return built-in micro check valve 20b1. After the hydraulic electromagnetic cut-off valve 18B1, it is connected to an oil inlet built-in micro check valve 20a2 and an oil return built-in micro check valve 20b2. The built-in micro check valves 20a1, b1, a2, and b2 form an oil inlet high-pressure check valve group. After rectification by the check valves, it is connected to a high-pressure relief valve 25. The overflow outlet of the high-pressure relief valve 25 is used to connect to the low-pressure accumulator flow outlet and the high-pressure accumulator. The high-pressure accumulator is connected to the inlet of the hydraulic motor 30. The outlet of the hydraulic motor 30 is connected to the low-pressure accumulator. The low-pressure accumulator is connected to an oil return low-pressure check valve group composed of built-in micro check valves 20a3, a4, b3, and b4 and returns to the two oil outlets A and B of the vane type oscillating hydraulic cylinder 4.

[0045] The two oil outlets IIA and IIB of another vane type oscillating hydraulic cylinder 4 are connected to a three-way joint through hydraulic hoses. The outer side of the three-way joint is connected to a hydraulic quick connector, which serves as the oil filling and supplementary oil port for hydraulic oil. The directly connected side of the three-way joint is connected to a hydraulic through-wall joint 13. The hydraulic through-wall joint 13 passes through the main body seal chamber and is connected to hydraulic electromagnetic shut-off valves 18A2 and B2. After the hydraulic electromagnetic shut-off valve 18A2, it is connected to an oil inlet built-in micro check valve 20a3 and an oil return built-in micro check valve 20b3. After the hydraulic electromagnetic shut-off valve 18B2, it is connected to an oil inlet built-in micro check valve 20a4 and an oil return built-in micro check valve 20b4. The built-in micro check valves 20a3, b3, a4, and b4 form an oil inlet high-pressure check valve group. After rectification by the check valves, it is connected to a high-pressure relief valve 25. The overflow outlet of the high-pressure relief valve 25 is used to connect to the low-pressure accumulator flow outlet and the high-pressure accumulator. The high-pressure accumulator is connected to the inlet of a hydraulic motor 30. The outlet of the hydraulic motor 30 is connected to the low-pressure accumulator. The low-pressure accumulator is connected to an oil return low-pressure check valve group composed of built-in micro check valves a3, a4, b3, and b4, and returns to the oil outlets IIA and IIB of the vane type oscillating hydraulic cylinder 4.

[0046] The working process of the AUV wave energy follow-up power generation device is as follows: when the power of the AUV is lower than a certain threshold, the hydraulic motor II in the main body seal chamber starts. Through the electromagnetic directional control valve to control the oil circuit, the vane type oscillating hydraulic cylinder 4 is rotated to the angle at which the foldable hydrofoil is opened, and then the electromagnetic directional control valve is switched to switch the vane type oscillating hydraulic cylinder 4 to the power generation closed loop to complete the power generation preparation work.

[0047] After the AUV wave energy follow-up power generation device completes the power generation preparation work, the foldable hydrofoil assembly rotates relative to the main body seal chamber under the excitation of the waves. The relative rotation drives the vane type oscillating hydraulic cylinder 4 to rotate, converting the kinetic energy of the wave energy into hydraulic energy and transmitting it into the hydraulic PTO system.

[0048] Through the hydraulic PTO system, the kinetic energy of the wave energy is converted into the rotation of the hydraulic motor 30.

[0049] When the power of the AUV reaches the predetermined value or when it is necessary to switch the state, the drive oil circuit starts. The electromagnetic directional control valve in the drive oil circuit disconnects the closed loop of the hydraulic wave energy power generation device and connects to the drive loop with an oil bladder. Through the electromagnetic directional control valve, the hydraulic motor 30 drives the vane type oscillating hydraulic cylinder 4 to retract the foldable hydrofoil and restore it to the working state.

[0050] At the two accumulators 27, two pressure sensors are installed, which can reflect the internal pressure conditions of the high-pressure accumulator and the low-pressure accumulator, calculate the corresponding conversion efficiency, and judge the starting pressure of the hydraulic motor 30.

[0051] It will be understood that the present invention is described by way of some embodiments, and those skilled in the art will know that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Additionally, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application belong to the scope protected by the present invention.

Claims

1. An integrated wave energy conversion hydraulic PTO system for an AUV, characterized in that: It includes a low-pressure return oil pipeline manifold (22), a high-pressure inlet oil pipeline manifold (23), four three-way joints, four pairs of hydraulic quick connectors, four hydraulic through-wall joints (13), four hydraulic electromagnetic cut-off valves (18), four hydraulic cylinder inlet oil pipelines (19) and two accumulators (27); The four hydraulic electromagnetic cut-off valves (18) are respectively connected to the low-pressure return oil pipeline manifold (22) and the high-pressure inlet oil pipeline manifold (23) through the hydraulic cylinder inlet oil pipelines (19). The low-pressure return oil pipeline manifold (22) is connected to the oil outlet of the hydraulic motor (30), and the high-pressure inlet oil pipeline manifold (23) is connected to the oil inlet of the hydraulic motor (30). The two accumulators (27) are respectively a high-pressure accumulator and a low-pressure accumulator. The high-pressure accumulator is connected to the oil inlet of the hydraulic motor (30), and the low-pressure accumulator is connected to the outlet of the hydraulic motor (30). The low-pressure accumulator is communicated with the low-pressure return oil pipeline manifold (22). A high-pressure overflow valve (25) is installed on the pipeline where the high-pressure inlet oil pipeline manifold (23) is communicated with the low-pressure return oil pipeline manifold (22).

2. The integrated wave energy power generation hydraulic PTO system for AUV according to claim 1, characterized in that: The hydraulic PTO system for the self-sustained wave energy generation of the unmanned vehicle further includes six digital display pressure sensors (21), and the six digital display pressure sensors (21) are respectively arranged at the four hydraulic cylinder inlet oil pipelines (19) and the two accumulators (27).

3. The integrated wave energy power generation hydraulic PTO system used in the AUV according to claim 1 or 2, characterized in that: Built-in micro check valves (20) are arranged in the eight pipelines where the four hydraulic cylinder inlet oil pipelines (19) are connected to the low-pressure return oil pipeline manifold (22) and the high-pressure inlet oil pipeline manifold (23).

4. The integrated wave energy power generation hydraulic PTO system for AUV according to claim 1, characterized in that: The two accumulators (27) are installed on the main frame of the AUV wave energy follow-up power generation device through accumulator mounting clamps (26), and the tails of the two accumulators (27) are fixedly supported on the main frame by accumulator bottom plates (28).

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