Water current energy generator robot

Abstract

The present application relates to the technical field of power generation by water flow, and particularly relates to a water flow energy power generation robot, which comprises an anchor stone, a floating body, an anchor rope, a connecting beam, a power generation mechanism and a first sundry cleaning mechanism, wherein the anchor stone is fixed on the water bottom; the floating body floats on the water surface; one end of the anchor rope is connected with the anchor stone, and the other end is connected with the floating body, which is used for limiting the movement range of the floating body when the floating body moves with the water flow; the connecting beam is obliquely arranged, the top end of the connecting beam is installed on the floating body, and the bottom end of the connecting beam is inserted into the water below the water surface, which supports the power generation mechanism; the power generation mechanism is installed at the bottom end of the connecting beam, and can generate power by using the water flow; and the first sundry cleaning mechanism is installed on the connecting beam, which can move the sundry along the connecting beam from top to bottom, so as to prevent the sundry from adhering to the connecting beam and the power generation mechanism.

Description

Technical Field

[0001] This invention relates to the field of water flow power generation technology, and more particularly to a water flow power generation robot. Background Technology

[0002] Without the need for dams, water-powered robots utilize naturally flowing water from ditches, streams, and rivers as their power source, providing a sustainable and stable electricity output. While the relatively stable flow rates of rivers, streams, and ditches are conducive to power generation, they also tend to contain a significant amount of debris. This large amount of debris adhering to the water-powered robot can easily cause it to sink. Therefore, preventing debris from accumulating on the water-powered robot is a crucial technical problem that needs to be addressed by those skilled in the art. Summary of the Invention

[0003] This invention provides a water flow power generation robot to solve the problem of how to prevent debris in water from adhering to the water flow power generation robot.

[0004] This invention provides a water flow energy generation robot, comprising: Anchor stone; floating body; Anchor rope, one end connected to the anchor rock, the other end connected to the buoy; The connecting beam is inclined and its top is installed on the float. The power generation mechanism, installed at the bottom of the connecting beam, is capable of generating electricity using water flow. The first debris removal mechanism, installed on the connecting beam, enables debris to move down the connecting beam.

[0005] In some embodiments, the first debris-clearing mechanism includes: The drive sprocket is rotatably mounted inside the top of the connecting beam; The driven sprocket is rotatably mounted inside the bottom end of the connecting beam; The chain is wound around the driving sprocket and the driven sprocket; The saw teeth are multiple and are evenly installed on the chain along its circumference.

[0006] In some embodiments, the first debris-clearing mechanism further includes: The first rotary drive, connected to the drive sprocket, is used to drive the drive sprocket to rotate.

[0007] In some embodiments, the float includes: Fixed frame; the fixed frame is fixedly connected to the top of the connecting beam; There are multiple pontoons, all of which are installed at the bottom of the fixed frame.

[0008] In some embodiments, the power generation mechanism includes: The propeller has a hub and multiple blades; the root of each blade is rotatably mounted on the hub so that the angle between the lines of every two blades can be adjusted. The rotating drum is fixedly connected to the propeller hub at one end and can rotate with the propeller hub; The fixed cylinder has one end rotatably connected to the other end of the rotating cylinder, and the other end is fixed to the bottom end of the connecting beam; The generator is installed inside a fixed cylinder, with the moving part fixedly connected to the rotating cylinder.

[0009] In some embodiments, the power generation mechanism further includes: The first transmission rod is inserted into the rotor hub in a way that allows it to reciprocate along the axial direction of the rotor hub. There are multiple second transmission rods, all of which are located inside the propeller hub. One end of each rod is hinged to one end of the first transmission rod, and the other end is hinged to the blade root of each of the multiple propeller blades. A linear actuator, installed inside a rotating drum, has its output end connected to the end of the first transmission rod furthest from the second transmission rod, and is used to drive the first transmission rod to move.

[0010] In some embodiments, it also includes: The power transmission line is connected to the power generation unit.

[0011] In some embodiments, it also includes: The second debris removal mechanism, installed on the anchor rope, is used to prevent debris from adhering to the anchor rope.

[0012] In some embodiments, the second debris-clearing mechanism includes: The rotating part is capable of rotation and has a clearance hole in the middle for the anchor rope to pass through; The debris removal aid is installed on the side wall of the rotating part and can rotate with the rotating part.

[0013] In some embodiments, the second debris-clearing mechanism further includes: The second rotary driver is connected to the rotating part and is used to drive the rotating part to rotate.

[0014] The beneficial effects of this invention are as follows: The water flow power generation robot of this invention is constructed by setting up an anchor, a float, an anchor rope, a connecting beam, a power generation mechanism, and a first debris removal mechanism. The anchor is fixed to the bottom of the water. The float floats on the water surface. One end of the anchor rope is connected to the anchor, and the other end is connected to the float, which limits the range of motion of the float when it moves with the water flow. The connecting beam is inclined, with its top end installed on the float and its bottom end extending below the water surface, providing support for the power generation mechanism. The power generation mechanism is installed at the bottom end of the connecting beam and can generate electricity using water flow. The first debris removal mechanism is installed on the connecting beam, enabling debris to move down the connecting beam to prevent debris from adhering to the connecting beam and the power generation mechanism. Attached Figure Description

[0015] Figure 1 This is a structural schematic diagram of some specific embodiments of a water flow energy generation robot according to the present invention; Figure 2 yes Figure 1 The diagram shows the internal structure of the water flow power generation robot. Figure 3 yes Figure 1 The diagram shown is a structural schematic of the power generation mechanism in the water flow power generation robot. Figure 4 yes Figure 3 The diagram shows the internal structure of the power generation mechanism. Figure 5 This is a schematic diagram of the combined structure of the second debris removal mechanism and the anchor rope.

[0016] In the attached diagram, 110 is the anchor stone; 120 is the float; 121 is the buoy; 122 is the fixing frame; 130 is the anchor rope; 140 is the connecting beam; 150 is the power generation mechanism; 151 is the propeller; 1511 is the propeller hub; 1512 is the propeller blade; 152 is the rotating drum; 153 is the fixing cylinder; 154 is the first transmission rod; 155 is the second transmission rod; 156 is the linear actuator; 160 is the first debris removal mechanism; 161 is the driving sprocket; 162 is the driven sprocket; 163 is the chain; 164 is the sawtooth; 165 is the support body; 170 is the power transmission line; 180 is the second debris removal mechanism; 181 is the rotating part; 182 is the debris removal aid part; 183 is the reversing gearbox; and 184 is the water turbine. Detailed Implementation

[0017] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] As described in the background section, although the flow rates of rivers, streams, creeks, and ditches are relatively stable, which is conducive to power generation, there is also a relatively large amount of garbage and debris in the water. A large amount of debris adhering to the water-powered robot can easily cause it to sink. Therefore, how to prevent debris from adhering to the water-powered robot has become a technical problem that urgently needs to be solved by those skilled in the art.

[0019] To solve the above problems, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 This invention provides a water flow power generation robot, comprising an anchor 110, a float 120, an anchor rope 130, a connecting beam 140, a power generation mechanism 150, and a first debris removal mechanism 160. The anchor 110 is fixed to the bottom of the water. The float 120 floats on the water surface. One end of the anchor rope 130 is connected to the anchor 110, and the other end is connected to the float 120, used to limit the range of motion of the float 120 when it moves with the water flow. The connecting beam 140 is inclined, with its top end mounted on the float 120 and its bottom end extending below the water surface, providing support for the power generation mechanism 150. The power generation mechanism 150 is mounted on the bottom end of the connecting beam 140 and can generate electricity using water flow. The first debris removal mechanism 160 is mounted on the connecting beam 140, enabling debris to move down the connecting beam 140 to prevent debris from adhering to the connecting beam 140 and the power generation mechanism 150.

[0020] Specifically, in the example, such as Figure 1 and Figure 2 As shown, the first debris-clearing mechanism 160 includes a drive sprocket 161, a driven sprocket 162, a chain 163, and a plurality of saw teeth 164. The drive sprocket 161 is rotatably mounted inside the top end of the connecting beam 140. The driven sprocket 162 is rotatably mounted inside the bottom end of the connecting beam 140. The chain 163 is wound around the drive sprocket 161 and the driven sprocket 162. The plurality of saw teeth 164 are evenly mounted on the chain 163 circumferentially. When the drive sprocket 161 rotates clockwise, it drives the chain 163 and the driven sprocket 162 to rotate clockwise, thereby driving the plurality of saw teeth 164 to move clockwise. Figure 1 The direction of the middle arrow indicates the direction of water flow. When debris moves with the water flow to the connecting beam 140, the saw teeth 164 installed on the right side of the chain 163 force the debris on the water-facing side of the connecting beam 140 to move from top to bottom along the connecting beam 140 to below the bottom end of the connecting beam 140. Afterwards, the debris moves with the water flow and detaches from the connecting beam 140, preventing debris from adhering to the connecting beam 140 and the power generation mechanism 150.

[0021] Preferably, the first debris removal mechanism 160 further includes a support body 165. The support body 165 is installed inside the connecting beam 140 and located inside the chain 163 to prevent excessive deformation of the chain 163.

[0022] Preferably, the back of each saw tooth 164 installed on the right side of the chain 163 is facing downwards, and the cutting edge is facing upwards. The back of each saw tooth 164 installed on the left side of the chain 163 is facing upwards, and the cutting edge is facing downwards.

[0023] Specifically, in the exemplary embodiment, the first debris-clearing mechanism 160 also includes a first rotary drive. The first rotary drive is connected to the drive sprocket 161 and can be operated by means of water flow or electrical energy to drive the drive sprocket 161 to rotate.

[0024] In some embodiments, the first rotary driver is a stepper motor or a servo motor, mounted on the top of the connecting beam 140, with its output shaft fixedly connected to the drive sprocket 161. This electrically driven design offers advantages such as high reliability, energy efficiency, small size, simple maintenance, fast response, and wide applicability.

[0025] In other embodiments, the first rotary drive is an impeller, rotatably mounted on the top of the connecting beam 140 and fixedly connected to the drive sprocket 161. The impeller can rotate with the help of water flow, converting water flow energy into kinetic energy to drive the drive sprocket 161 to rotate, thus reducing the consumption of non-renewable energy.

[0026] Specifically, in the example, such as Figure 1 As shown, the float 120 includes multiple pontoons 121 and a mounting frame 122. The mounting frame 122 is fixedly connected to the top of the connecting beam 140. The multiple pontoons 121 are all installed at the bottom of the mounting frame 122. The multiple pontoons 121 are able to float on the water surface. One end of the anchor rope 130 is connected to the mounting frame 122.

[0027] Preferably, there are two pontoons 121. The orthographic projection of the fixing frame 122 from one end to the other is an arc-shaped structure, and the bottom of the opposite sides is respectively provided with a constraint seat adapted to the pontoon 121.

[0028] It should be noted that the floating body 120 can also be a ship or a floating box, etc.

[0029] Specifically, in the example, such as Figure 1 , Figure 3 and Figure 4As shown, the power generation mechanism 150 includes a propeller 151, a rotating drum 152, a fixed drum 153, and a generator. The propeller 151 is provided with a hub 1511 and multiple blades 1512. The root of each blade 1512 is rotatably mounted on the hub 1511, so that the included angle between any two blades 1512 is adjustable. One end of the rotating drum 152 is fixedly connected to the hub 1511 and can rotate with the hub 1511. One end of the fixed drum 153 is rotatably connected to the other end of the rotating drum 152, and the other end is fixed to the bottom end of the connecting beam 140. The generator is installed inside the fixed drum 153, and the mover is fixedly connected to the rotating drum 152. The skin of each blade 1512 can rotate about its own axis. During operation, the entire power generation mechanism 150 is located below the water surface. The flowing water acts on multiple blades 1512, causing the hub 1511 to rotate, which in turn drives the rotor 152 to rotate, thereby driving the generator's mover to rotate and generate electricity. The number of blades 1512 can be two, three, or more. The skin of each blade 1512 can reciprocate 180° around its own axis. When the water flow velocity is moderate, the angle between the lines containing every two blades 1512 can be adjusted to a certain range, and / or, the skin of each blade 1512 can rotate 90° clockwise around its own axis, causing the hub 1511 to rotate at a certain speed, which in turn causes the rotor 152 and the generator's mover to rotate at a certain speed. When the water flow velocity decreases, the angle between the lines containing two blades 1512 can be increased, and / or the skin of each blade 1512 can rotate counterclockwise by 0°-90° around its own axis, increasing the surface area of ​​the water-facing surface of each blade 1512, thus maintaining a stable rotational speed of the hub 1511, and consequently, maintaining a stable rotational speed of the drum 152 and the generator's mover. Conversely, when the water flow velocity increases, the angle between the lines containing two blades 1512 can be decreased, and / or the skin of each blade 1512 can rotate clockwise by 90°-180° around its own axis, decreasing the surface area of ​​the water-facing surface of each blade 1512, thus maintaining a stable rotational speed of the hub 1511, and consequently, maintaining a stable rotational speed of the drum 152 and the generator's mover. Overall, this ensures a relatively stable voltage output from the generator, eliminating the need for a separate voltage stabilization and regulation device. In addition, when the water flow velocity is high, the angle between the straight lines of every two blades 1512 can be adjusted to 0°. Debris attached to the blades 1512 can be removed by the water flow, giving the blades 1512 a self-cleaning function, eliminating the need for manual cleaning of the blades 1512.

[0030] Preferably, such as Figure 4As shown, the power generation mechanism 150 also includes a first transmission rod 154, a plurality of second transmission rods 155, and a linear actuator 156. The first transmission rod 154 is reciprocatingly inserted into the rotor hub 1511 along its axial direction. The plurality of second transmission rods 155 are all disposed within the rotor hub 1511, one end of each being hinged to one end of the first transmission rod 154, and the other end being hinged to the blade roots of a plurality of blades 1512. The blade root of each blade 1512 is rotatably mounted within the rotor hub 1511 via a rotating shaft. The linear actuator 156 is mounted within the rotating drum 152, and its output end is connected to the end of the first transmission rod 154 away from the second transmission rods 155. It drives the first transmission rod 154 to move, thereby driving each second transmission rod 155 to move, thus causing the plurality of blades 1512 to rotate synchronously, such that the angle between any two blades 1512 on the same line is adjustable from 0° to 180°. Multiple blades 1512 can rotate synchronously, greatly improving the efficiency of angle adjustment and ensuring that each blade 1512 experiences the same water flow impact force. Because the adjustable range of the angle between any two blades 1512 is larger, it is suitable for a wider range of operating conditions.

[0031] Preferably, when the number of blades 1512 is two, three, or four or more, the corresponding number of second transmission rods 155 is two, three, or four or more.

[0032] Preferably, the linear actuator 156 can be an electric actuator, a hydraulic cylinder, or a pneumatic cylinder, etc.

[0033] Preferably, each blade 1512 further includes a gear ring, a second gear, and a servo motor. The gear ring is installed inside the skin near the blade root. The second gear is disposed inside the gear ring, with its sidewall meshing with the inner wall of the gear ring. The rotating second gear can drive the gear ring and the skin to rotate. The servo motor is installed inside the blade root, and the output end is fitted with the second gear to drive the second gear to rotate. In this way, the skin of each blade 1512 can reciprocate 180° around its own axis.

[0034] Preferably, a guide groove is provided at the end of the propeller hub 1511 away from the rotor 152. The guide groove can limit the movement amplitude and trajectory of the blade root of each blade 1512. A seal is installed in the guide groove to prevent water from flowing into the propeller hub 1511. The seal has a pleated structure, is made of rubber, and can undergo a certain degree of deformation. It can keep the guide groove sealed even when the blade root position changes.

[0035] Specifically, in the example, such as Figure 1 As shown, the water flow power generation robot also includes a power transmission line 170. The power transmission line 170 is connected to the generator of the power generation mechanism 150 and can output power to the outside.

[0036] Specifically, in the example, such as Figure 5 As shown, the water flow power generation robot also includes a second debris removal mechanism 180. The second debris removal mechanism 180 is installed on the anchor rope 130 to prevent debris from adhering to the anchor rope 130. Figure 5 The direction of the arrow indicates the direction of water flow. The second debris removal mechanism 180 includes a rotating part 181, a debris removal aid 182, and a second rotary actuator. The rotating part 181 is capable of rotation and has a clearance hole in its center for the anchor rope 130 to pass through. The rotating part 181, relative to the anchor rope 130 which does not rotate, can rotate by the water flow, or by the second rotary actuator powered by the water flow, or by the second rotary actuator powered by electricity. During the operation of the anchor rope 130, when debris in the water comes into contact with the rotating part 181, it can continue to move relatively smoothly with the water flow, or, after rotating to the back side of the rotating part 181, it can be detached from the rotating part 181 under the impact of the water flow. This effectively prevents debris in the water from adhering to the anchor rope 130. Manual cleaning of debris on the anchor rope 130 is no longer required, saving manpower. Furthermore, it eliminates the need for cleaning equipment to remove debris during the rewinding process of the anchor rope 130. Because the cross-sectional dimension of the rotating part 181 is much larger than that of the anchor rope 130, debris requires a longer length to potentially entangle on the rotating part 181, greatly reducing the risk of debris entanglement. The debris removal aid 182 is installed on the side wall of the rotating part 181 and can rotate with it. The debris removal aid 182 can lift debris that wants to adhere to the rotating part 181, reducing the contact area between the debris and the rotating part 181, increasing the distance between the debris's particles and the center of the rotating part 181, thus making it easier for the debris to detach from the rotating part 181 under centrifugal force. Simultaneously, the debris removal aid 182 increases the local cross-sectional area or the cross-sectional dimension of each part along the length of the second debris cleaning mechanism 180, requiring a longer length of debris to potentially entangle on the rotating part 181, greatly reducing the risk of debris entanglement. The second rotary actuator is connected to the rotating part 181 and can be operated by water flow or electrical energy to drive the rotating part 181 to rotate. Compared to the uncontrollable rotation of the rotating part 181 by means of water flow, this design makes the operation of the rotating part 181 more controllable and more stable.

[0037] Preferably, the rotating part 181 is cylindrical, and the debris removal aid 182 is spiral-shaped around the axis of the rotating part 181. The spiral shape of the debris removal aid 182, under the impact of water flow, makes it easier for the rotating part 181 to transition from a static state to a rotating state. The opposite ends of the debris removal aid 182 extend to the opposite ends of the rotating part 181, requiring debris to be longer to potentially entangle on the rotating part 181, greatly reducing the risk of debris entanglement. The debris removal aid 182 can be made of bristles. The debris removal aid 182 can also be a hydrofoil. Both hydrofoils and bristles can meet different working conditions. Compared to bristles, hydrofoils more easily utilize water flow to generate hydrodynamic force, accelerating the rotation speed of the rotating part 181. Simultaneously, hydrofoils provide better support for debris adhering to the rotating part 181 and more easily change the position of the debris's mass.

[0038] Preferably, the second rotary actuator includes a water turbine 184 and a reversing gearbox 183. The reversing gearbox 183 is fixedly mounted on the anchor rope 130. The reversing gearbox 183 is rotatably connected to one end of the rotating part 181 via a bearing. The water turbine 184 is drivenly connected to one end of the rotating part 181 via the reversing gearbox 183. The water turbine 184 can rotate with the help of water flow, converting water flow energy into kinetic energy to drive the rotating part 181, thus reducing the consumption of non-renewable energy. The size and number of water turbines 184 can be adjusted according to actual needs to adjust the actual output torque. When there are two water turbines 184, an input shaft is provided on each opposite side of the reversing gearbox 183, and an output shaft is provided inside. The axis of the output shaft is perpendicular to the axis of the input shaft. A driving bevel gear is fitted on each input shaft. The two water turbines 184 are respectively provided on opposite sides of the reversing gearbox 183, and their axes are perpendicular to the axis of the rotating part 181. Two water turbines 184 are fitted onto the input shafts in a one-to-one correspondence. The two water turbines 184 and the anchor rope 130 are structurally designed to avoid interference with the normal operation of the water turbines 184. A driven bevel gear, compatible with the driving bevel gear, is fitted onto the output shaft. The output shaft is fixedly connected to one end of the rotating part 181. When the water turbines 184 rotate with the help of water flow, they drive the input shaft and the driving bevel gear to rotate, which in turn drives the driven bevel gear and the output shaft to rotate, thereby causing the rotating part 181 to rotate.

[0039] In reality, since rivers always flow in one direction, the prevention effect is better if the rotating part 181 can always rotate in one direction. Therefore, a one-way ratchet can be installed on each input shaft to ensure that the output shaft rotates in one direction, thereby ensuring that the rotating part 181 rotates in one direction.

[0040] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0044] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A water flow energy-generating robot, characterized in that, include: Anchor stone; floating body; An anchor rope, one end of which is connected to the anchor stone, and the other end of which is connected to the buoy; The connecting beam is inclined and its top is installed on the float. A power generation mechanism, installed at the bottom end of the connecting beam, is capable of generating electricity using water flow; The first debris removal mechanism is installed on the connecting beam and enables debris to move down along the connecting beam. The first debris cleaning mechanism includes: The drive sprocket is rotatably mounted inside the top of the connecting beam; The driven sprocket is rotatably mounted inside the bottom end of the connecting beam; A chain is wound around the driving sprocket and the driven sprocket; The saw teeth are multiple and are evenly installed on the chain along the circumference; wherein the saw teeth located on the water-facing side of the chain have their backs facing down and their cutting edges facing up. A support body, installed inside the connecting beam and located inside the chain, is used to prevent the chain from deforming; A first rotary driver is connected to the drive sprocket and is used to drive the drive sprocket to rotate; Also includes: The second debris removal mechanism is installed on the anchor rope to prevent debris from adhering to the anchor rope. The second debris removal mechanism includes: The rotating part is capable of rotation and has a clearance hole in the middle for the anchor rope to pass through; the rotating part is cylindrical. The debris removal aid is installed on the side wall of the rotating part and can rotate with the rotating part; the debris removal aid is spiral about the axis of the rotating part, and the opposite ends of the debris removal aid extend to the opposite ends of the rotating part; The second rotary actuator is connected to the rotating part and is used to drive the rotating part to rotate. The second rotary actuator includes a water turbine and a reversing gearbox. The reversing gearbox is fixedly installed on the anchor rope. The water turbine is connected to one end of the rotating part through the reversing gearbox and can rotate with the help of water flow.

2. The water flow energy generation robot according to claim 1, characterized in that, The floating body includes: A fixing frame; the fixing frame is fixedly connected to the top end of the connecting beam; There are multiple pontoons, all of which are installed at the bottom of the fixed frame.

3. The water flow power generation robot according to claim 1, characterized in that, The power generation mechanism includes: A propeller having a hub and multiple blades; the root of each blade is rotatably mounted on the hub so that the angle between the lines of every two blades is adjustable; The rotating drum is fixedly connected to the propeller hub at one end and can rotate with the propeller hub; A fixed cylinder, one end of which is rotatably connected to the other end of the rotating cylinder, and the other end of which is fixed to the bottom end of the connecting beam; The generator is installed inside the fixed cylinder, and the moving part is fixedly connected to the rotating cylinder.

4. The water flow energy generation robot according to claim 3, characterized in that, The power generation mechanism also includes: The first transmission rod is reciprocatingly inserted into the propeller hub along the axial direction of the hub; There are multiple second transmission rods, all of which are located inside the propeller hub. One end of each rod is hinged to one end of the first transmission rod, and the other end is hinged to the blade root of each of the multiple propeller blades. A linear actuator, installed inside the rotating drum, has its output end connected to the end of the first transmission rod furthest from the second transmission rod, and is used to drive the first transmission rod to move.

5. The water flow energy generation robot according to claim 1, characterized in that, Also includes: The power transmission line is connected to the power generation mechanism.

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