An underwater drive based on rocking motion

Abstract

This invention discloses an underwater propulsion device based on oscillating motion, relating to the field of unmanned surface vessel (USV) propulsion technology. The underwater propulsion device includes a fixed support plate, two independent wave plates, a casing, a bearing housing, a hinge shaft, a limiting assembly, and a rudder. The two independent wave plates adapt to the pitch and roll motions of the hull, oscillating synchronously during pitch and in opposite directions during roll, achieving efficient capture and conversion of wave energy. This solves the problem of existing wave propulsion devices only utilizing a single motion mode and having low energy conversion efficiency. The underwater propulsion device has advantages such as high energy utilization, adaptability to complex marine environments, structural stability, and easy maintenance, significantly improving the endurance and operational reliability of USVs.

Description

Technical Field

[0001] This invention belongs to the field of marine unmanned equipment propulsion technology, specifically relating to an underwater drive device based on swaying motion. Background Technology

[0002] With the rapid development of unmanned surface vessel (USV) technology, more and more USVs are being used in fields such as marine monitoring, data acquisition, environmental protection, and military reconnaissance. Traditional USV propulsion systems mainly rely on mechanized propulsion devices, such as engines, electric thrusters, or specific mechanical structures. These systems provide power through engines, electric motors, or wave-driven devices to propel the hull on the water surface. However, these traditional propulsion methods have some drawbacks, such as low energy efficiency, reliance on fossil fuels, high noise levels, high risk of mechanical failure, and the need for regular maintenance.

[0003] To improve energy efficiency and reduce environmental impact, innovative propulsion technologies based on natural energy sources (such as wind, solar, and wave energy) have attracted widespread attention in recent years. Particularly in the field of wave energy, by studying the characteristics of ocean waves, the idea of ​​using waves to propel a ship by incorporating unique mechanical structures connected to the hull has been proposed. This technology not only promises to reduce reliance on traditional power systems but also improves the endurance of unmanned surface vessels (USVs). Existing wave propulsion devices mostly rely on the pitch or buoyancy of the hull, utilizing energy from only a single motion mode. However, in the actual marine environment, the hull simultaneously experiences multi-dimensional motions such as vertical undulation, pitch, and roll. Current technologies cannot effectively utilize the energy from roll motion, resulting in the wave energy potential not being fully explored and propulsion efficiency being limited.

[0004] Therefore, current wave propulsion technology still has significant room for improvement in terms of multidimensional power capture, adaptation to different marine environments, and increased propulsion efficiency. Designing a device that can simultaneously utilize both pitch and roll motions of the hull to fully leverage wave energy and improve propulsion efficiency remains a challenge in marine propulsion technology development. Summary of the Invention

[0005] This invention provides an underwater propulsion device based on swaying motion, which solves the problem that existing wave propulsion devices can only utilize the energy of a single motion mode such as pitching or buoyancy, and cannot capture the energy of rolling motion, resulting in low wave energy conversion efficiency and difficulty in adapting to complex marine environments.

[0006] To solve the above problems, the specific technical solution is as follows:

[0007] This invention provides an underwater drive device based on oscillating motion, comprising a fixed support plate (4), two symmetrically arranged wave plates (1), a cover (5), a bearing seat (7), a hinge shaft (9), a limiting component, and a tail rudder (3); the fixed support plate (4) is the central structure of the underwater drive device, and a cover clamping block (19) is provided in the lower center of the fixed support plate (4); the two covers (5) are installed on both sides of the fixed support plate (4), and the two covers (5), together with the cover clamping block (19) and the clamping plate (2), form a closed structure; the bearing seat (7) is connected to the fixed support plate (4) by screws; the hinge shaft (9) passes through the shaft hole (12) of the bearing seat (7) and the clamping plate (2), one end is fastened to the wave plate (1), and the other end is screwed to the cover (5);

[0008] The limiting component includes a limiting pin (8) and a limiting groove (14). The limiting groove (14) is located on the rear side of the bearing seat (7). One end of the limiting pin (8) is fixed to the wave plate (1), and the other end slides along the limiting groove (14). The tail rudder (3) is installed inside the cover (5) near the upper center of the fixed bracket plate (4).

[0009] The wave plate (1) has an airfoil cross-section structure and achieves reciprocating oscillation around the horizontal axis through the hinge shaft (9). The two wave plates (1) move independently. When the ship pitches, the two wave plates (1) swing in the same direction and provide forward propulsion by swinging up and down. When the ship rolls, the wave plates (1) move in opposite directions and the forces acting on the two side airfoils are symmetrical and opposite. They can generate opposite oscillations according to different motion trends and can still convert wave energy to achieve forward propulsion. They can capture and utilize the wave energy of the ship's motion at the same time, improving the wave energy conversion efficiency and propulsion effect.

[0010] In a preferred embodiment of the present invention, the cover (5) is provided with first mounting holes (15) on the left and right sides and bottom edge, and is fixedly connected to the second mounting holes (16) on the fixed bracket plate (4) by screw and nut assembly. The cover (5) is provided with a through hole at the tail end for the tail end of the cover clamping block (19) to pass through and is locked by fixing hole (20).

[0011] In a preferred embodiment of the present invention, the clamping plate (2) has screw holes at the top and bottom, which are fixed to the bearing seat (7) by screws, and the tail is connected to the fixing hole (20) to form a support structure for the movement of the wave plate (1).

[0012] In a preferred embodiment of the present invention, the hinge shaft (9) and the wave plate (1) are fastened together by screws in the fastening screw hole (11), and the hinge shaft (9) and the cover (5) are screwed together by the first connecting thread hole (17).

[0013] In a preferred embodiment of the present invention, the limiting pin (8) is inserted into the shaft hole (13) and fixed to the wave plate (1) through the fastening screw hole (10). The sliding stroke of the limiting pin (8) in the limiting groove (14) corresponds to the maximum design swing angle of the wave plate (1).

[0014] In a preferred embodiment of the present invention, the tail rudder (3) is equipped with an electronically controlled servo motor, which can realize active deflection adjustment and is used to assist in controlling the direction of motion.

[0015] In a preferred embodiment of the present invention, the bearing housing (7) is provided with a bearing assembly inside for supporting the rotation of the hinge shaft (9), and the bearing housing (7) and the hinge shaft (9) are connected by an easily detachable fastener.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) Improved energy conversion efficiency: By using two independent wave plates to adapt to the pitch and roll motions of the hull respectively, the wave plates swing synchronously during pitch and swing in opposite directions during roll, thereby capturing multidimensional wave energy and significantly improving energy conversion efficiency. (2) Adaptability to complex marine environments: The device can flexibly respond to the hull motion under different sea conditions and can work efficiently under microwave, small wave and complex wave conditions, enhancing the environmental adaptability of the unmanned vessel. (3) Stable and reliable structure: The limiting component prevents the wave plates from overturning excessively, and the multi-point connected shell and fixed support plate improve the vibration and impact resistance, ensuring the long-term stable operation of the device. (4) Easy maintenance: The bearings, hinge shafts and wave plates are connected with easy-to-disassemble fasteners, which facilitates quick inspection and replacement and reduces maintenance costs. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This application provides an overall structural schematic diagram of an underwater drive device based on oscillating motion, as an embodiment of the present application.

[0019] Figure 2 An exploded view of the front side of an underwater drive device based on oscillating motion is provided for an embodiment of this application.

[0020] Figure 3 An exploded view of the rear side of an underwater drive device based on oscillating motion is provided for an embodiment of this application.

[0021] Reference numerals: 1. Wave plate; 2. Clamping plate; 3. Tail rudder; 4. Fixed bracket plate; 5. Cover; 6. Fairing; 7. Bearing seat; 8. Limiting pin; 9. Hinge; 10. Fastening screw hole; 11. Fastening screw hole; 12. Shaft hole; 13. Shaft hole; 14. Limiting groove; 15. First mounting hole; 16. Second mounting hole; 17. First connecting threaded hole; 18. Second connecting threaded hole; 19. Cover clamping block; 20. Fixing hole. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The terms "upper," "lower," "front," "rear," "left," and "right," etc., used when describing the installation position or direction of the structure or components in this embodiment are based on the orientation shown in the accompanying drawings. They are merely for convenience of description, used to distinguish the relative positions of various components or directions, and do not represent the orientation of the system or functional components in this embodiment during use.

[0023] Due to the low efficiency of wave energy conversion, current unmanned surface vessel (USV) wave propulsion systems are limited to a single motion mode. Most existing wave propulsion devices rely solely on the vertical and pitch (forward and backward swaying) motions of the hull to convert wave energy for propulsion. However, the ocean environment is complex and variable; the hull not only experiences vertical undulation and pitching motions but also significant lateral rolling motions. Existing propulsion technologies cannot effectively utilize the energy generated during these lateral rolling motions, thus failing to fully leverage the potential of all natural waves.

[0024] The technical solution of this invention lies in providing a wave propulsion device capable of simultaneously utilizing both pitch and roll motions of a ship. Unlike existing technologies that rely solely on pitch motion, this invention designs two independent wave plates that can adapt to different directions of ship movement (pitch and roll), thereby maximizing the utilization of wave energy for propulsion. Through this dual-motion mode drive, the device can effectively adapt to complex wave conditions in the marine environment, further improving propulsion efficiency. The principle behind this invention's solution: The wave propulsion device of this invention utilizes the pitch and roll motions of the ship to provide power through two independent elastic wave plates installed below the hull. When the ship pitches, the two wave plates swing in the same direction, like a whale's tail, using up-and-down swaying to provide forward propulsion with wave energy; when the ship rolls, the two wave plates move in opposite directions, and the forces acting on the two side plates are symmetrical and opposite. Traditional coaxial designs of the two side plates would prevent them from swinging. However, this invention designs the two side plates independently, allowing them to swing in opposite directions according to different motion trends, still converting wave energy and achieving forward propulsion. This device can simultaneously capture and utilize wave energy from both types of ship motion, significantly improving wave energy conversion efficiency and propulsion effect. Technical advantages of this invention: Improved energy conversion efficiency: By capturing wave energy in two directions (pitch and roll), the dual-wave plate design of this invention significantly improves wave energy conversion efficiency. Even with significant hull roll or pitch motion, the device can efficiently capture and convert wave energy, providing stable propulsion.

[0025] Specifically, such as Figure 1 , Figure 2 and Figure 3 As shown, this embodiment of the invention provides an underwater drive device based on oscillating motion, including a fixed support plate 4, two symmetrically arranged wave plates 1, a cover 5, a bearing seat 7, a hinge shaft 9, a limiting assembly, and a tail rudder 3. The fixed support plate 4 is the central structure of the underwater drive device, supporting and connecting other functional components. A cover clamping block 19 is provided in the lower center of the fixed support plate 4, serving as the core support component connecting the left and right covers, and providing internal connection and positioning functions. The two covers 5 are installed on both sides of the fixed support plate 4, and the two covers 5, together with the cover clamping block 19 and the clamping plate 2, form a closed structure.

[0026] The bearing housing 7 is connected to the fixed bracket plate 4 by screws. The hinge shaft 9 passes through the shaft hole 12 of the bearing housing 7 and the clamping plate 2, with one end fastened to the wave plate 1 and the other end screwed to the cover 5. In this embodiment, the hinge shaft 9 passes through the clamping plate 2 and into the shaft hole 12 in the horizontal direction, and extends to the middle of the wave plate 1, forming the main swing shaft of the wave plate.

[0027] The limiting assembly includes a limiting pin 8 and a limiting groove 14. The limiting groove 14 is located on the rear side of the bearing seat 7. One end of the limiting pin 8 is fixed to the wave plate 1, and the other end slides along the limiting groove 14. The stern rudder 3 is installed inside the housing 5 near the upper center of the fixed support plate 4. It can be equipped with an electronically controlled rudder motor to achieve active deflection adjustment for auxiliary control of the direction of motion. In practical applications, the stern rudder 3 deflects in real time according to the wave direction or control signal, which can be used to assist in controlling the direction of motion of the platform or small vessel, improving system response and stability.

[0028] Wave plate 1 has an airfoil cross-section structure and achieves reciprocating oscillation around the horizontal axis through hinge shaft 9. The two wave plates 1 move independently. When the hull pitches, the two wave plates 1 oscillate in the same direction, using the energy of the waves to provide forward propulsion through up-and-down oscillation. When the hull rolls, the wave plates 1 move in opposite directions, and the forces acting on the two side airfoils are symmetrical and opposite. They can generate opposite oscillations according to different motion trends, and can still convert wave energy to achieve forward propulsion. It can capture and utilize the wave energy of the hull's motion at the same time, improving the wave energy conversion efficiency and propulsion effect.

[0029] The cover 5 has first mounting holes 15 on its left and right sides and bottom edge, which are fixedly connected to the second mounting holes 16 on the fixed bracket plate 4 by screw and nut assembly. The cover 5 has a through hole at the tail end for the tail end of the cover clamping block 19 to pass through, and is locked by the fixing hole 20 to ensure that the rear end of the cover 5 is firmly connected.

[0030] The head of the clamping plate 2 is provided with screw holes at the top and bottom, and is fixed to the bearing seat 7 by screws. The tail is connected to the fixing hole 20, which constitutes the support structure for the movement of the wave plate 1.

[0031] The hinge shaft 9 and the wave plate 1 are fastened together by screws in the fastening screw hole 11. The hinge shaft 9 and the cover 5 are fixed together by screws in the first connecting thread hole 17 to ensure that the torque under wave excitation can be stably transmitted and to prevent the shaft from coming off or shaking. A limit groove 14 is provided on the rear side of the bearing seat 7. This groove is a sliding guide structure for the limit pin 8. The limit pin 8 is inserted into the shaft hole 13 to reach the middle of the wave plate 1. Then, screws are used to pass through the fastening screw hole 10 to fix the limit pin 8 to the wave plate 1. As the wave plate 1 swings up and down, the limit pin 8 also slides up and down along the limit groove 14. When the wave plate reaches the maximum design swing angle, the limit pin will contact the end of the limit groove, thereby achieving physical limitation and preventing the wave plate from overturning or structural interference, ensuring the safe and reliable operation of the device.

[0032] The limiting pin 8 is inserted into the shaft hole 13 and fixed to the wave plate 1 through the fastening screw hole 10. The sliding stroke of the limiting pin 8 in the limiting groove 14 corresponds to the maximum design swing angle of the wave plate 1. The tail rudder 3 is equipped with an electronically controlled servo motor, which can realize active deflection adjustment to assist in controlling the direction of movement. The bearing housing 7 has a bearing assembly inside to support the rotation of the hinge shaft 9. The bearing housing 7 and the hinge shaft 9 are connected by easily detachable fasteners. In addition, the end of the limiting pin 8 is also provided with a second connecting threaded hole 18 to facilitate the connection between the limiting pin 8 and the wave plate 1.

[0033] Wave plates 1, mounted on both sides of the device, are wave energy receiving elements of this invention. Their main function is to reciprocate around the hinge shaft 9 under wave action, simulating the natural swaying process of a whale's tail, and output thrust by generating forward force during the swaying. The torque generated by the wave plates 1 is transmitted to the bearing housing 7 and internal structure via the hinge shaft 9. In practical applications, it can also be connected to other devices to provide thrust. Clamping plates 2 are mounted on the left and right sides of the housing 5, forming a stable clamping structure together with the housing clamping block 19 and the housing 5. Clamping plates 2 not only clamp the housing, providing precise assembly positioning and structural support for the moving shaft components, but also fix the bearing housing 7, ensuring the stability and durability of the hinge shaft 9's rotation.

[0034] The housing 5 and the fixed support plate 4 are fixedly connected through multiple first mounting holes 15 and multiple second mounting holes 16. The housing 5 has several first mounting holes 15 on its left and right sides and bottom edge, and the fixed support plate 4 has corresponding second mounting holes 16. During assembly, multiple screws and nuts are sequentially passed through the first mounting holes 15 and second mounting holes 16 to securely mount the housing 5 onto the fixed support plate 4. This multi-point connection method not only enhances the connection strength between the housing 5 and the fixed support plate 4 but also improves the overall structure's vibration and impact resistance, ensuring the stability and safety of the device under wave-excited conditions. Through the above structural coordination, the entire device forms a stable system with the fixed support plate 4 as the core, the housing 5 and housing clamping block 19 providing closed support, the wave plate 1 swinging freely, and the tail rudder 3 deflecting for control. It possesses good structural integrity, wave response capability, and torque output performance, converting wave energy into kinetic energy.

[0035] After installation, the two covers 5 clamp the fixing bracket plate 4, perfectly fitting the shape of the hull. The overall frontal surface is extremely small, and the streamlined design of the fairing 6 further reduces water flow separation and wake vortex formation. When the hull is moving forward, the device has a negligible impact on the speed. Under the action of waves, the wave plate 16 can start to oscillate with a very low energy threshold, fully capturing microwaves and small waves, ensuring efficient energy absorption under various sea conditions.

[0036] This invention utilizes two independent wave plates mounted beneath the hull to capture wave energy from different directions. When the hull pitches on the water, the two wave plates swing in the same direction, capturing the energy of vertical waves through up-and-down movement. When the hull rolls, the two wave plates swing in opposite directions, capturing the energy of horizontal waves through asynchronous up-and-down movement. Since wave movement is three-dimensional, this invention allows for flexible adjustment of the wave plate's swing direction under different sea conditions, maximizing the conversion of wave energy in complex sea conditions and improving the system's adaptability. The airfoil cross-section of wave plate 1 generates not only a swinging torque during up-and-down movement but also considerable thrust under different wave directions and heights, thus propelling the hull forward. Simultaneously, the rudder 3, controlled by a servo motor, can adjust its angle in real time, providing steering force to the hull.

[0037] The underwater propulsion device of this invention features an independent design of dual wave plates and a modular structure, resulting in uniform stress distribution, low vibration, and long fatigue life at each connection point. All bearings are housed within the casing 5 and bearing seats 7, allowing for easy replacement with a small number of screws, greatly simplifying maintenance. Both the wave plates 1 and the hinge shaft 9 of the rotating mechanism utilize easily detachable fasteners, enabling rapid maintenance at sea or in port. This achieves efficient utilization of wave energy and stable propulsion, making it suitable for the long-term autonomous navigation needs of various unmanned vessels.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater drive device based on oscillating motion, characterized in that, The device includes a fixed support plate (4), two symmetrically arranged wave plates (1), a cover (5), a bearing seat (7), a hinge shaft (9), a limiting assembly, and a tail rudder (3). The fixed support plate (4) is the central structure of the underwater drive device. A cover clamping block (19) is provided in the middle of its lower part. The two covers (5) are installed on both sides of the fixed support plate (4). The two covers (5), together with the cover clamping block (19) and the clamping plate (2), form a closed structure. The bearing seat (7) is connected to the fixed support plate (4) by screws. The hinge shaft (9) passes through the shaft hole (12) of the bearing seat (7) and the clamping plate (2). One end is fastened to the wave plate (1), and the other end is screwed to the cover (5). The limiting component includes a limiting pin (8) and a limiting groove (14). The limiting groove (14) is located on the rear side of the bearing seat (7). One end of the limiting pin (8) is fixed to the wave plate (1), and the other end slides along the limiting groove (14). The tail rudder (3) is installed inside the cover (5) near the upper middle position of the fixed bracket plate (4). The wave plate (1) has an airfoil cross-section structure and achieves reciprocating oscillation around the horizontal axis through the hinge shaft (9). The two wave plates (1) move independently. When the ship pitches, the two wave plates (1) swing in the same direction and provide forward propulsion by swinging up and down. When the ship rolls, the wave plates (1) move in opposite directions and the forces acting on the two side airfoils are symmetrical and opposite. They generate opposite oscillations according to different motion trends, convert the energy of the waves, and achieve forward propulsion. They can capture and utilize the wave energy of the ship's motion at the same time, improve the wave energy conversion efficiency and propulsion effect. The cover (5) has first mounting holes (15) on its left and right sides and bottom edge, which are fixedly connected to the second mounting holes (16) on the fixed bracket plate (4) by screw and nut assembly. The cover (5) has a through hole at its tail, through which the tail end of the cover clamping block (19) passes and is locked by fixing hole (20). The clamping plate (2) has screw holes at the top and bottom, which are fixed to the bearing seat (7) by screws, and the tail is connected to the fixing hole (20) to form a support structure for the movement of the wave plate (1). The hinge shaft (9) is fastened to the wave plate (1) by screws in the fastening screw hole (11), and the hinge shaft (9) is fixed to the cover (5) by screws in the first connecting thread hole (17). The limiting pin (8) is inserted into the shaft hole (13) and fixed to the wave plate (1) through the fastening screw hole (10). The sliding stroke of the limiting pin (8) in the limiting groove (14) corresponds to the maximum design swing angle of the wave plate (1).

2. The underwater drive device based on oscillating motion according to claim 1, characterized in that, The tail rudder (3) is equipped with an electronically controlled servo motor, which can achieve active deflection adjustment and is used to assist in controlling the direction of movement.

3. The underwater drive device based on oscillating motion according to claim 1, characterized in that, The bearing housing (7) is provided with a bearing assembly inside, which is used to support the rotation of the hinge shaft (9). The bearing housing (7) and the hinge shaft (9) are connected by easy-to-disassemble fasteners.

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