Wave energy power generation device and underwater unmanned vehicle

Abstract

The invention relates to a wave energy power generation device and an underwater unmanned vehicle. The power generation device comprises a floater, an inflation and deflation assembly and a power generation mechanism. The inflating and deflating assembly is used for inflating or deflating the floater; the power generation mechanism comprises a transmission assembly and a power generator, and the input end and the output end of the transmission assembly are connected to the floater and the input end of the power generator in a one-to-one correspondence mode. The floater is inflated and deflated through the inflation and deflation assembly, the size of the floater can be greatly increased on the basis of the size of the power generation mechanism, and therefore energy capture is improved, and the power generation power of the power generator is improved. In addition, the floater can be conformal with the unmanned underwater vehicle after being recycled, so that the navigation resistance is reduced to the maximum extent.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned underwater vehicles, and particularly relates to a wave energy power generation device and an unmanned underwater vehicle. Background Art

[0002] An unmanned underwater vehicle (hereinafter referred to as UUV) is an important robot for underwater exploration, and is an important carrier for carrying out tasks such as marine environmental monitoring, marine scientific research, and marine military. It is an underwater self-navigating equipment that can execute various tasks by carrying sensors and different task modules.

[0003] Under the current technical conditions, UUV mainly uses the carried storage battery to provide electric energy for itself. However, the storage capacity of the storage battery is limited, and it needs to be frequently recovered and deployed, making it difficult to achieve ultra-long-term remote operation. This has also become the main problem restricting the development of UUV. The present invention aims to effectively improve the power generation capacity of the wave energy power generation device while maintaining the underwater shape of UUV.

[0004] In related prior art, the wave energy power generation device of an unmanned underwater vehicle includes a float and a power generation mechanism, etc. During power generation, the float floats on the sea surface to capture wave energy, enabling the power generation mechanism to generate electricity. After the float is recovered, it can conform to the shape of the unmanned underwater vehicle. However, currently, most floats are closed spherical structures. During the power generation process, due to the limitation of the volume of the power generation device, the small volume of the float results in a small captured wave energy power, which limits the improvement of the power generation power from the input end. Summary of the Invention

[0005] Based on the above description, the present invention provides a wave energy power generation device and an unmanned underwater vehicle, aiming to solve the problem that the existing float has limited volume, resulting in a low power generation power of wave energy.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: In a first aspect, a wave energy power generation device, the power generation device includes: A float; An inflation and deflation assembly for inflating or deflating the float; A power generation mechanism, including a transmission assembly and a generator, the input end and the output end of the transmission assembly are respectively connected to the float and the input end of the generator in a one-to-one correspondence.

[0007] Based on the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, the float includes a top plate, an airbag, a bottom plate and a joint pipe arranged in sequence along the vertical direction. The joint pipe is arranged on the bottom plate, and one end of the joint pipe away from the bottom plate is connected to the airbag.

[0009] Furthermore, at least two memory metal wires are provided at both ends of the airbag.

[0010] Furthermore, the inflation and deflation assembly includes a gas container, an air pump, a connecting pipe and a charging and deflation pipe, the two ends of the connecting pipe are connected to the gas outlet end of the gas container and one end of the air pump in a one-to-one correspondence, one end of the charging and deflation pipe is connected to the other end of the air pump, and the other end of the charging and deflation pipe is used to inflate or deflate the float.

[0011] Furthermore, the joint pipe has a first one-way cavity and a second one-way cavity, the gas flow direction of the first one-way cavity and the gas flow direction of the second one-way cavity are constructed to be arranged in opposite directions, and the float includes two one-way components, and the two one-way components are arranged in the first one-way cavity and the second one-way cavity in a one-to-one correspondence.

[0012] Furthermore, the air inlet end of the first one-way cavity and the air inlet end of the second one-way cavity are both provided with an air inlet hole, and the air outlet end of the first one-way cavity and the air outlet end of the second one-way cavity are both provided with at least two exhaust holes. The first one-way cavity and the second one-way cavity each include a first cavity and a second cavity, and the first cavity is connected to the second cavity through at least two connecting holes. The one-way component includes a sealing plate, a guide rod and a first elastic member. The sealing plate is provided in the first cavity, and the guide rod is movably provided on the partition wall between the first cavity and the second cavity. The first elastic member is sleeved on the guide rod, and one end of the first elastic member abuts against the sealing plate, and the other end of the first elastic member abuts against the partition wall between the first cavity and the second cavity.

[0013] Furthermore, at least two arc-shaped protrusions are provided on the joint tube, and the charging and discharging assembly includes two clamping assemblies, and the two clamping assemblies are both provided at the other end of the charging and discharging tubes. The clamping assembly includes two pushing members and an elastic sheet, and the two pushing members are arranged at intervals along the axial direction of the charging and discharging tubes. The pushing member includes a shell and a second elastic member, the shell is connected to the charging and discharging tubes, the second elastic member is provided in the shell, and the elastic sheet is provided outside the charging and discharging tubes. The other end of the charging and discharging tubes corresponds to each of the shells to open a through hole, and the two ends of the elastic sheet pass through the through holes one by one and are connected to the second elastic member.

[0014] Further, the transmission assembly includes a transmission shaft, transmission wheels and transmission chains. The transmission wheels and transmission chains are both configured to be at least two. The transmission wheels are all arranged on the transmission shaft, and the transmission chains are respectively wound around the transmission wheels one by one. One end of each transmission chain is connected to the bottom plate.

[0015] Further, the transmission assembly includes at least two torsion springs, and each torsion spring is arranged on the transmission shaft.

[0016] In a second aspect, an underwater unmanned vehicle includes: A fuselage; The wave energy power generation device according to the first aspect, and the power generation device is arranged inside the fuselage.

[0017] Compared with the prior art, the technical solution of the present application has the following beneficial technical effects: (1) In the present application, the float is inflated and deflated through the inflation and deflation assembly, and the volume of the float can be greatly increased on the basis of the volume of the power generation mechanism, so as to improve energy capture and increase the power generation power of the generator.

[0018] (2) In the present application, the airbag is restored to its original shape by the shape memory wire, and both ends of the airbag do not protrude from the top plate.

[0019] (3) During the inflation and deflation process of the present application, when the elastic piece aligns with the arc-shaped protrusion, the housing is compressed under the influence of the gas. The elastic piece is driven by the second elastic member, and the elastic piece moves towards the arc-shaped protrusion and engages with the arc-shaped protrusion, so as to fix the inflation and deflation pipe and the joint pipe and prevent the inflation and deflation pipe from falling off. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic structural diagram of a wave energy power generation device provided in an embodiment of the present invention; Figure 2 It is a cross-sectional view of a float in an embodiment of the present invention; Figure 3 It is Figure 2 A partial enlarged view at A in Figure 4 It is a three-dimensional view of a float in an embodiment of the present invention; Figure 5This is a schematic structural diagram of an inflation and deflation assembly according to an embodiment of the present invention; Figure 6 This is a schematic structural diagram of a power generation mechanism in an embodiment of the present invention; Figure 7 is a cross-sectional view of a charging and discharging tube according to an embodiment of the present invention; Figure 8 for Figure 7 A partial enlarged view of point B in the middle; Figure 9 A schematic structural diagram of an underwater unmanned vehicle provided in an embodiment of the present invention; Figure 10 A cross-sectional view of an underwater unmanned vehicle provided in an embodiment of the present invention.

[0022] Description of reference numerals: 100. Power generation device; 110, float; 111, top plate; 112, airbag; 1121, memory wire; 113, bottom plate; 114, joint tube; 1141, first one-way cavity; 1141a, air inlet; 1141b, air outlet; 11411, first cavity; 11412, second cavity; 1142, arc-shaped protrusion; 1142, second one-way cavity; 1143, guide cover; 115, one-way assembly; 1151, blocking plate; 1152, guide rod; 1153, first elastic member; 120, gas charging and discharging assembly; 121, gas container; 122, air pump; 123, connecting pipe; 124, charging and discharging pipe; 125, snap-fit assembly; 1251, pushing member; 12511, housing; 12512, second elastic member; 1252, elastic sheet; 126, third elastic member; 130. Power generation mechanism; 131. Transmission assembly; 1311. Transmission shaft; 1312. Transmission wheel; 1313. Transmission chain; 13131. Steel cable unit; 13132. Chain unit; 200. Underwater unmanned vehicles; 210. Device body; 211. Receiving chamber; 212. Sealing chamber. DETAILED DESCRIPTION

[0023] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0025] It will be understood that spatial relationship terms such as "under", "beneath", "below", "underneath", "above", "upper", etc. may be used herein to describe the relationship of one element or feature shown in the drawings to other elements or features. It should be understood that, in addition to the orientation shown in the drawings, spatial relationship terms also include different orientations of the device in use and operation. For example, if the device in the drawings is flipped, an element or feature described as "under other elements" or "beneath them" or "under it" will be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "beneath" can include both an upper and a lower orientation. In addition, the device may also have other orientations (such as rotated 90 degrees or other orientations), and the spatial descriptors used herein are to be interpreted accordingly.

[0026] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprises / comprising" or "has / have" etc. specify the presence of the stated features, wholes, steps, operations, components, parts or combinations thereof, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0027] Referring to Figure 1 As shown, the present invention provides a technical solution: a wave energy power generation device, the power generation device 100 includes a float 110, an air charging and discharging assembly 120 and a power generation mechanism 130; the air charging and discharging assembly 120 is used to inflate or deflate the float 110; the power generation mechanism 130 includes a transmission assembly 131 and a generator, and the input end and the output end of the transmission assembly 131 are respectively connected to the float 110 and the input end of the generator in one-to-one correspondence.

[0028] In this embodiment, the air charging and discharging assembly 120 inflates the float 110, so that while the float 110 expands and unfolds to generate buoyancy, the volume of the float 110 is increased to improve the energy capture of the float 110. During power generation, the float 110 moves up and down with the waves, driving the transmission assembly 131 to transmit mechanical energy to the generator for power generation.

[0029] Referring to Figure 1 and Figure 4As shown, in some embodiments, the float 110 includes a top plate 111, an airbag 112, a bottom plate 113 and a joint tube 114 arranged in sequence along the vertical direction. The joint tube 114 is arranged on the bottom plate 113, and the end of the joint tube 114 facing away from the bottom plate 113 is connected to the airbag 112.

[0030] In this embodiment, the buoyancy is increased during inflation to expand the airbag 112, and the buoyancy is reduced during deflation to shrink the airbag 112. The bottom plate 113 and the top plate 111 together provide support for the airbag 112 to ensure the stability of the float 110.

[0031] Reference Figures 1 to 2 As shown, in some embodiments, at least two memory metal wires 1121 are provided at both ends of the airbag 112 .

[0032] Exemplarily, the material of the memory metal wire 1121 can be nickel-titanium alloy or the like.

[0033] In this embodiment, by using the properties of the memory wire 1121 itself, the airbag 112 can be restored to its original shape when the airbag 112 is recovered, and the two ends of the airbag 112 do not expose the top plate 111, so that it can conform to the underwater unmanned vehicle.

[0034] Reference Figure 1 and Figure 5 As shown, in some embodiments, the inflation and deflation assembly 120 includes a gas container 121, an air pump 122, a connecting pipe 123 and a charging and deflation pipe 124. The two ends of the connecting pipe 123 are connected to the gas outlet end of the gas container 121 and one end of the air pump 122 respectively, one end of the charging and deflation pipe 124 is connected to the other end of the air pump 122, and the other end of the charging and deflation pipe 124 is used to inflate or deflate the float 110.

[0035] In this embodiment, when power generation is required, the air pump 122 inputs the gas in the gas container 121 into the air bag 112 through the charging and discharging pipe 124. When power generation is not required, the air pump 122 inputs the gas in the air bag 112 into the gas container 121 through the charging and discharging pipe 124 to recycle the air bag 112.

[0036] Reference Figure 1 and Figure 5 As shown, in some embodiments, the joint tube 114 has a first one-way cavity 1141 and a second one-way cavity 1142, and the gas flow direction of the first one-way cavity 1141 and the gas flow direction of the second one-way cavity 1142 are constructed to be arranged in reverse, and the float 110 includes two one-way components 115, and the two one-way components 115 are arranged in the first one-way cavity 1141 and the second one-way cavity 1142 in a one-to-one correspondence.

[0037] For example, the one-way component 115 may be a one-way valve or the like.

[0038] In this embodiment, the one-way component 115 of the first one-way chamber 1141 inflates the airbag 112 when the air pump 122 inflates. The one-way component 115 of the second one-way chamber 1142 deflates the airbag 112 when the air pump 122 inhales. The one-way component 115 controls the inflation and deflation paths, preventing backflow of gas. This ensures efficient and reliable inflation and deflation processes, avoiding energy waste.

[0039] Reference Figures 2 to 3 As shown, in other embodiments, the air inlet end of the first one-way cavity 1141 and the air inlet end of the second one-way cavity 1142 are both provided with an air inlet hole 1141a, the air outlet end of the first one-way cavity 1141 and the air outlet end of the second one-way cavity 1142 are both provided with at least two exhaust holes 1141b, the first one-way cavity 1141 and the second one-way cavity 1142 each include a first cavity 11411 and a second cavity 11412, the first cavity 11411 is connected to the second cavity 11412 through at least two connecting holes, and the one-way cavity 11411 is connected to the second cavity 11412 through at least two connecting holes. Component 115 includes a sealing plate 1151, a guide rod 1152 and a first elastic member 1153. The sealing plate 1151 is arranged in the first cavity 11411. The guide rod 1152 is movably arranged on the partition wall between the first cavity 11411 and the second cavity 11412. The first elastic member 1153 is sleeved on the guide rod 1152. One end of the first elastic member 1153 abuts against the sealing plate 1151, and the other end of the first elastic member 1153 abuts against the partition wall between the first cavity 11411 and the second cavity 11412.

[0040] In this embodiment, when the air pump 122 inflates one one-way component 115, the gas pushes the blocking plate 1151 to compress the first elastic member 1153, thereby inflating the airbag 112. When the air pump 122 inhales the other one-way component 115, the negative pressure exerts a suction force on the blocking plate 1151, causing the blocking plate 1151 to compress the first elastic member 1153, thereby inflating the airbag 112.

[0041] Reference Figures 7 to 8 As shown, in some embodiments, at least two arc-shaped protrusions 1142 are provided on the joint tube 114, and the inflation and deflation assembly 120 includes two clamping assemblies 125, and the two clamping assemblies 125 are both provided at the other end of the charging and discharging tube 124, and the clamping assembly 125 includes two pushing members 1251 and an elastic sheet 1252, and the two pushing members 1251 are arranged at intervals along the axial direction of the charging and discharging tube 124, and the pushing member 1251 includes a shell 12511 and a second elastic member 12512, the shell 12511 is connected to the charging and discharging tube 124, the second elastic member 12512 is provided in the shell 12511, and the elastic sheet 1252 is provided outside the charging and discharging tube 124, and the other end of the charging and discharging tube 124 corresponds to each shell 12511 to open a through hole, and the two ends of the elastic sheet 1252 pass through the through hole one by one and are connected to the second elastic member 12512.

[0042] For example, the housing 12511 is made of an elastic material, etc. The elastic sheet 1252 can be made of a metal material, such as steel.

[0043] In this embodiment, during inflation and deflation, when elastic sheet 1252 aligns with arcuate protrusion 1142, housing 12511 is compressed by the gas. Driven by second elastic member 12512, elastic sheet 1252 moves toward arcuate protrusion 1142, engaging with it and securing charging / discharging tube 124 to connector tube 114, preventing it from falling off.

[0044] Reference Figures 1 to 2 and Figure 4 As shown, in some embodiments, a guide cover 1143 is provided on a side of the bottom plate 113 facing away from the airbag 112 and corresponding to the joint tube 114 .

[0045] In this embodiment, the guide cover 1143 can guide the charging and discharging tubes 124 to dock, providing convenience for the docking of the charging and discharging tubes 124.

[0046] Reference Figure 5 As shown, in some embodiments, the inflation and deflation assembly 120 includes a third elastic member 126 , and the third elastic member 126 is sleeved on the inflation and deflation tube 124 .

[0047] In this embodiment, when the float 110 floats upward, the elastic action of the third elastic member 126 ensures that the charging and discharging tube 124 can be reset.

[0048] Reference Figure 1 and Figure 6 As shown, in some embodiments, the transmission assembly 131 includes a transmission shaft 1311, a transmission wheel 1312 and a transmission chain 1313, and the transmission wheel 1312 and the transmission chain 1313 are configured as at least two, the transmission wheels 1312 are all arranged on the transmission shaft 1311, and the transmission chains 1313 are wound around the transmission wheels 1312 one by one, and one end of each transmission chain 1313 is connected to the base plate 113.

[0049] In this embodiment, when the float 110 moves, the transmission chain 1313 drives the transmission wheel 1312 to rotate, thereby rotating the transmission shaft 1311 and driving the generator to generate electricity. By distributing the load through multiple chains, the risk of single point failure is reduced and the stability of the transmission shaft 1311 is improved.

[0050] Reference Figure 1 and Figure 6As shown, in some embodiments, the drive chain 1313 includes a cable portion 13131 and a chain portion 13132. One end of the cable portion 13131 is connected to the bottom plate 113, one end of the chain portion 13132 is rotatably connected to the other end of the cable portion 13131, and the other end of the chain portion 13132 is wound around the drive wheel 1312.

[0051] In this embodiment, by rotatably connecting the chain portion 13132 and the cable portion 13131, the float 110 can capture wave energy from multiple directions, thereby improving the utilization efficiency.

[0052] Referring to Figure 1 and Figure 6 As shown, in some embodiments, the drive assembly 131 includes a tension spring (not shown in the figure). The number of tension springs is associated with the number of drive chains 1313, and the tension springs correspond to the drive chains 1313 one by one. One end of the tension spring is connected to the end of the cable portion 13131 that is away from the bottom plate 113.

[0053] In this embodiment, when the float 110 floats upward, the float 110 can be restricted within a certain range by the action of the tension spring. When the float 110 descends, the tension spring can reset the float 110 in a timely manner.

[0054] In some other embodiments, in the absence of a tension spring, a reverse rotation driving force can be provided by a generator, which can drive the float 110 to recover.

[0055] Referring to Figure 1 and Figure 6 As shown, in some embodiments, the drive assembly 131 includes two bearings (not shown in the figure), and the two bearings are respectively disposed between the two drive wheels 1312 and the drive shaft 1311.

[0056] In this embodiment, the bearings can reduce the friction between the drive wheel 1312 and the drive shaft 1311, thereby reducing the loss of the drive shaft 1311.

[0057] The above-mentioned first elastic member 1153, second elastic member 12512, and third elastic member 126 can be springs or elastic rubber rings, etc.

[0058] Referring to Figures 9 to 10 As shown, the present invention provides a technical solution: an underwater unmanned vehicle. The underwater unmanned vehicle 200 includes a vehicle body 210 and the wave energy generating device according to the above, and the generating device 100 is disposed inside the vehicle body 210.

[0059] Exemplarily, the body 210 has a accommodating chamber 211 and a sealed chamber 212; the float 110 is located in the accommodating chamber 211, the inflation and deflation assembly 120 and the power generation mechanism 130 are both located in the sealed chamber 212, and a movable hole for the movement of the inflation and deflation tube 124 and the transmission chain 1313 is provided between the accommodating chamber 211 and the sealed chamber 212. The shape of the top plate 111 is constructed in an arc shape, and one end of the first elastic member 1153 can abut against the partition wall between the sealed chamber 212 and the accommodating chamber 211, and the end of the torsion spring facing away from the transmission shaft 1311 can abut against the side wall of the sealed chamber 212.

[0060] In this embodiment, when the underwater unmanned vehicle is low on power, the underwater unmanned vehicle floats up to a certain distance from the sea surface. At the same time, the inflation and deflation component 120 inflates the float 110, causing the float 110 to float to the sea surface. During power generation, the float 110 moves up and down with the waves, driving the transmission component 131 to transfer mechanical energy to the generator to generate electricity, providing continuous power for the underwater unmanned vehicle. After power generation is completed, the inflation and deflation component 120 deflates the float 110, and the float 110 returns to the accommodating chamber 211 as a whole; and the accommodating chamber 211 is closed by the curved top plate 111, so that the curved top plate 111 is conformal to the body 210. Such an integrated design not only saves space, but also enhances the endurance of underwater equipment.

[0061] The specific implementation steps of the wave energy power generation device 100 of the underwater unmanned vehicle are as follows: During ascent, the air pump 122 pumps gas from the gas container 121 into the airbag 112, where it passes through the inflation tube and connector tube 114. Simultaneously, the gas pressure compresses the housing 12511, driving the elastic sheet 1252, driven by the second elastic member 12512, toward the arc-shaped protrusion 1142, where it engages with the latter. Subsequently, the gas pushes the sealing plate 1151 of the first one-way chamber 1141, compressing the first elastic member 1153. The gas then enters the first cavity 11411 and second cavity 11412 of the first one-way chamber 1141, and then enters the airbag 112 through the exhaust hole 1141b of the first one-way chamber 1141, causing it to inflate. Once the airbag 112 is fully inflated, the air pump 122 stops supplying gas to the airbag 112, and the housing 12511 is no longer subjected to the gas pressure. At this time, the second elastic member 12512 drives the elastic sheet 1252 to return to its original position. The airbag 112 is acted upon by the buoyancy force, the connector tube 114 is separated from the charging and discharging tube 124 , the airbag 112 floats to the sea surface, and the charging and discharging tube 124 is affected by the third elastic member 126 and returns to the accommodating chamber 211 .

[0062] During power generation, the buoy 110 moves up and down with the waves, driving the transmission assembly 131 to transfer mechanical energy to the generator to generate electricity.

[0063] During recovery, the underwater unmanned vehicle rises, allowing the charging and discharging tube 124 to dock with the connector tube 114. The air pump 122 begins to provide suction, driving the sealing plate 1151 of the second one-way chamber 1142 to compress the first elastic member 1153. The gas enters the first cavity 11411 and second cavity 11412 of the second one-way chamber 1142 through the air inlet 1141a of the second one-way chamber 1142, and then enters the connector tube 114 through the exhaust hole 1141b of the second one-way chamber 1142. At the same time, the pressure of the gas pushes the shell 12511 to compress, and the elastic sheet 1252 is driven by the second elastic member 12512, moving the elastic sheet 1252 toward the arc-shaped protrusion 1142 and engaging with the arc-shaped protrusion 1142. The gas then returns to the gas container 121 through the charging and discharging tubes 124. As the gas in the airbag 112 decreases, the generator uses reverse driving force to rotate the transmission shaft 1311. The tension spring, in conjunction with the transmission chain 1313, pulls the airbag 112 back into the accommodating chamber 211. Guided by the guide cover 1143, the charging and discharging tubes 124 reconnect with the connector tube 114, preparing for further inflation. Simultaneously, the top plate 111 covers the airbag 112 in the accommodating chamber 211, maintaining a single piece with the body 210.

[0064] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A wave energy power generation device, characterized in that, The power generation device (100) comprises: float(110); An inflation and deflation assembly (120) for inflating or deflation of the float (110); The power generation mechanism (130) comprises a transmission assembly (131) and a generator, wherein the input end and the output end of the transmission assembly (131) are connected to the float (110) and the input end of the generator in a one-to-one correspondence.

2. The wave energy power generation device according to claim 1, wherein, The float (110) comprises a top plate (111), an airbag (112), a bottom plate (113), and a joint pipe (114) arranged in sequence along a vertical direction. The joint pipe (114) is arranged on the bottom plate (113), and one end of the joint pipe (114) facing away from the bottom plate (113) is connected to the airbag (112).

3. The wave energy power generation device according to claim 2, wherein, At least two memory metal wires (1121) are provided at both ends of the airbag (112).

4. The wave energy power generation device according to claim 3, characterized in that, The gas charging and discharging assembly (120) comprises a gas container (121), an air pump (122), a connecting pipe (123) and a charging and discharging pipe (124). The two ends of the connecting pipe (123) are connected to the gas outlet end of the gas container (121) and one end of the air pump (122) in a one-to-one correspondence. One end of the charging and discharging pipe (124) is connected to the other end of the air pump (122). The other end of the charging and discharging pipe (124) is used to inflate or deflate the float (110).

5. The wave energy power generation device according to claim 4, characterized in that, The joint pipe (114) has a first one-way cavity (1141) and a second one-way cavity (1142), and the gas flow direction of the first one-way cavity (1141) and the gas flow direction of the second one-way cavity (1142) are configured to be arranged in opposite directions. The float (110) includes two one-way components (115), and the two one-way components (115) are arranged in the first one-way cavity (1141) and the second one-way cavity (1142) in a one-to-one correspondence.

6. The wave energy power generation device according to claim 5, characterized in that, The intake ends of the first one-way cavity (1141) and the second one-way cavity (1142) are both provided with intake holes (1141a), and the outlet ends of the first one-way cavity (1141) and the second one-way cavity (1142) are both provided with at least two exhaust holes (1141b). The first one-way cavity (1141) and the second one-way cavity (1142) each include a first cavity (11411) and a second cavity (11412), and the first cavity (11411) is communicated with the second cavity (11412) through at least two communication holes. The one-way component (115) includes a plugging plate (1151), a guide rod (1152), and a first elastic member (1153). The plugging plate (1151) is arranged in the first cavity (11411), the guide rod (1152) is movably arranged on the partition wall between the first cavity (11411) and the second cavity (11412), the first elastic member (1153) is sleeved on the guide rod (1152), one end of the first elastic member (1153) abuts against the plugging plate (1151), and the other end of the first elastic member (1153) abuts against the partition wall between the first cavity (11411) and the second cavity (11412).

7. The wave energy power generation device according to claim 6, characterized in that At least two arc-shaped protrusions (1142) are provided on the joint pipe (114). The charging and discharging assembly (120) includes two clamping assemblies (125). Both of the two clamping assemblies (125) are arranged at the other end of the charging and discharging pipe (124). The clamping assembly (125) includes two pushing members (1251) and an elastic sheet (1252). The two pushing members (1251) are arranged at intervals along the axial direction of the charging and discharging pipe (124). The pushing member (1251) includes a housing (12511) and a second elastic member (12512). The housing (12511) is connected to the charging and discharging pipe (124), the second elastic member (12512) is arranged in the housing (12511), the elastic sheet (1252) is arranged outside the charging and discharging pipe (124), through holes are provided in the other end of the charging and discharging pipe (124) corresponding to each housing (12511), and both ends of the elastic sheet (1252) pass through the through holes one by one and are connected to the second elastic member (12512).

8. The wave energy power generation device according to any one of claims 2 to 7, characterized in that, The transmission assembly (131) includes a transmission shaft (1311), transmission wheels (1312), and transmission chains (1313). Both the transmission wheels (1312) and the transmission chains (1313) are configured to be at least two. The transmission wheels (1312) are all arranged on the transmission shaft (1311), and the transmission chains (1313) are wound around the transmission wheels (1312) one by one. One end of each transmission chain (1313) is connected to the bottom plate (113).

9. The wave energy power generation device according to claim 8, wherein, The transmission assembly (131) includes at least two torsion springs (1314), and each torsion spring (1314) is arranged on the transmission shaft (1311).

10. An underwater unmanned vehicle, characterized in that, The underwater unmanned vehicle (200) includes: A body (210); The wave energy power generation device according to claim 9, and the power generation device (100) is arranged inside the body (210).

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