Energy self-sustaining type unmanned underwater vehicle

Abstract

The invention relates to the technical field of underwater vehicles. The invention provides an energy self-sustaining type unmanned underwater vehicle which comprises a shell provided with a containing cavity; the electrical storage device is arranged in the accommodating cavity; the power generation device is connected with the shell, the power generation device is electrically connected with the power storage device, and the power generation device is used for rotating relative to the shell under the driving of ocean current energy to generate electric energy. The ocean current energy is utilized to generate electric energy through the power generation device, the electric energy is stored in the electric power storage device, the electric power storage device provides running power for the underwater vehicle, electric quantity self-sustaining of the underwater vehicle is achieved, the ocean current energy is effectively utilized, the difficulty of utilizing the ocean current energy to supply power to deep sea observation equipment is reduced, and the underwater vehicle is more convenient to use. The target of long-time deep sea observation in any sea area is achieved.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle technology, and more specifically, to an energy-self-sustaining unmanned underwater vehicle. Background Technology

[0002] The deep sea (water depth greater than 200 meters) contains extremely rich mineral resources. Deep-sea observation is the foundation for developing deep-sea resources. However, the power supply problem of deep-sea observation equipment is a bottleneck that limits deep-sea observation and makes it impossible to achieve the goal of long-term deep-sea observation in any sea area. Summary of the Invention

[0003] In view of the above situation, this application provides an energy-self-sustaining unmanned underwater vehicle, which aims to solve the above problems or at least partially solve the above problems.

[0004] This application provides an energy-self-sustaining unmanned underwater vehicle, comprising: A housing having a receiving cavity; An energy storage device, wherein the energy storage device is disposed within the receiving cavity; A power generation device is connected to the housing and electrically connected to the energy storage device. The power generation device is used to generate electrical energy by rotating relative to the housing under the drive of ocean current energy.

[0005] Preferably, the power generation device includes a coil assembly, a permanent magnet assembly, and an ocean current drive structure; The coil assembly is disposed within the receiving cavity of the housing, the permanent magnet assembly is rotatably connected to the housing, and the coil assembly and the permanent magnet assembly are matched and disposed. The permanent magnet assembly is connected to the ocean current driving structure, and the ocean current driving structure drives the permanent magnet assembly to rotate relative to the coil assembly.

[0006] Preferably, the current-driven structure and the housing are connected by a bearing, and the permanent magnet assembly is disposed on the current-driven structure.

[0007] Preferably, the current-driven structure includes a support and blades; The bracket is connected to the permanent magnet assembly, the blade is connected to the bracket, and multiple blades are provided, which are evenly arranged circumferentially around the axis of the bracket.

[0008] Preferably, the unmanned underwater vehicle further includes a first limiting structure; The current-driven structure includes a first elastic element, which is disposed between the blade and the support of the current-driven structure. The first limiting structure and the housing are slidably connected. When the first limiting structure and the blade abut against each other, the blade is in the retracted position. When the first limiting structure and the blade separate, the blade unfolds under the action of the first elastic member and is in the extended position.

[0009] Preferably, the first limiting structure includes a first slide, a first transmission structure, and a first driving member; The first driving member is disposed on the housing, the first slide cylinder is coaxially disposed with the housing, the first driving member and the first slide cylinder are connected through the first transmission structure, the first driving member is used to drive the first slide cylinder to slide along the axial extension direction of the housing through the first transmission structure, and the first slide cylinder and the blade are slidably connected.

[0010] Preferably, the first transmission structure includes a first gear, a first rack, and a first connecting rod; The first gear is connected to the drive shaft of the first driving member, the first gear is meshed with the first rack, and the first rack is connected to the first slide cylinder through the first connecting rod. The direction of movement of the first rack is perpendicular to the direction of movement of the first slide cylinder; or, The first transmission structure includes a lead screw and a lead screw nut. The drive shaft of the first drive member is connected to the lead screw, the lead screw nut is threadedly connected to the lead screw, the lead screw nut is connected to the first slide cylinder, and the axial extension direction of the lead screw is parallel to the axial extension direction of the housing.

[0011] Preferably, the unmanned underwater vehicle further includes a balancing device and a second limiting structure; The balancing device and the second limiting structure are respectively connected to the housing. The balancing device can rotate relative to the housing, and the second limiting structure can slide relative to the housing. When the second limiting structure and the balancing device are in contact, the balancing device is in a retracted position. When the second limiting structure and the balancing device are separated, the balancing device is in an extended position.

[0012] Preferably, the balancing device includes a buoyancy component, a connecting rod, and a second elastic component. The buoyancy component is disposed at one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the housing. The second elastic component is disposed between the connecting rod and the housing.

[0013] Preferably, the second limiting structure includes a second slide, a second transmission structure, and a second driving member; The second driving member is disposed on the housing, the second slide cylinder is coaxially disposed with the housing, the second driving member and the second slide cylinder are connected through the second transmission structure, the second driving member is used to drive the second slide cylinder to slide along the axial extension direction of the housing through the second transmission structure, and the first slide cylinder and the balancing device are slidably connected.

[0014] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects: This application utilizes ocean current energy to generate electricity through a power generation device, stores the electricity in an energy storage device, and then uses the energy storage device to provide power for the underwater vehicle, achieving self-sufficiency in the underwater vehicle's power supply. This effectively utilizes ocean current energy, reduces the difficulty of using ocean current energy to power deep-sea observation equipment, and realizes the goal of conducting long-term deep-sea observations in any sea area. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is an isometric view of an energy-self-sustaining unmanned underwater vehicle with the blades in the recovery position according to one embodiment of the present invention; Figure 2 This is an isometric perspective view of an energy-self-sustaining unmanned underwater vehicle with the blades in the recovery position according to an embodiment of the present invention; Figure 3 This is a front view of an energy-self-sustaining unmanned underwater vehicle with the blades in the recovery position according to one embodiment of the present invention; Figure 4 This is a front perspective view of an energy-self-sustaining unmanned underwater vehicle with the blades in the recovery position according to an embodiment of the present invention; Figure 5 This is an isometric view of an energy-self-sustaining unmanned underwater vehicle with its blades in the extended position according to one embodiment of the present invention; Figure 6 This is an isometric perspective view of an energy-self-sustaining unmanned underwater vehicle with the blades in the extended position according to an embodiment of the present invention; Figure 7 This is a front view of an energy-self-sustaining unmanned underwater vehicle with its blades in the extended position, according to one embodiment of the present invention. Figure 8 This is a front perspective view of an energy-self-sustaining unmanned underwater vehicle with the blades in the extended position according to an embodiment of the present invention; Figure 9 This is an isometric view of the current-driven structure when the blades are in the recovery position according to one embodiment of the present invention; Figure 10This is an isometric view of the current-driven structure with the blade in the extended position according to one embodiment of the present invention; Figure 11 This is a schematic diagram of the principle of the first limiting structure in one embodiment of the present invention; Figure 12 This is an isometric view of the balancing device when the blade is in the recovery position according to one embodiment of the present invention; Figure 13 This is an isometric view of the balancing device when the blades are in the extended position according to one embodiment of the present invention; Figure 14 This is a schematic diagram of the operation of the balancing device in one embodiment of the present invention; Figure 15 This is an isometric view of a power generation device in one embodiment of the present invention; Figure 16 This is an isometric view of an anchoring device according to an embodiment of the present invention; Figure 17 This is a transparent isometric view of the anchoring device in one embodiment of the present invention; Figure 18 This is a schematic diagram of the operation of an energy-self-sustaining unmanned underwater vehicle in one embodiment of the present invention; Figure 19 This is another schematic diagram of the principle of the first limiting structure in one embodiment of the present invention; Figure 20 This is an isometric view of an energy-self-sustaining unmanned underwater vehicle with the blades in the recovery position according to another embodiment of the present invention; Figure 21 This is a front view of an energy-self-sustaining unmanned underwater vehicle with the blades in the recovery position according to another embodiment of the present invention; Figure 22 This is an isometric view of an energy-self-sustaining unmanned underwater vehicle with the blades in the extended position according to another embodiment of the present invention; Figure 23 This is a schematic diagram of the forces acting on the blades of an energy-self-sustaining unmanned underwater vehicle in another embodiment of the present invention.

[0016] The reference numerals in the figure are respectively: 1-Front cabin; 2-Shell; 2-1-First hull; 2-2-Second hull; 2-3-Third hull; 3-Tail structure; 4-Camera; 5-Electric storage device; 6-Power equipment; 7-Propeller; 8-Current drive structure; 8-1-Bracket; 8-2-First slide; 8-3-First elastic element; 8-4-Blade; 8-5-Blade seat; 8-6-First gear; 8-7-First drive element; 8-8-First slide rail; 8-9-First rack; 8-10- 9-First connecting rod; 9-Balancing device; 9-1-Rock seat; 9-2-Second connecting rod; 9-3-Second rack; 9-4-Second slide cylinder; 9-5-Second elastic element; 9-6-Connecting rod; 9-7-Buoyancy element; 10-Bearing; 11-Power generation device; 11-1-Coil assembly; 11-2-Permanent magnet assembly; 12-Anchor lifting device; 12-1-Sealed housing; 12-2-Intelligent control power device; 12-3-Roller reel; 12-4-Cable; 12-5-Anchor.

[0017] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the term "comprising" and its variations should be interpreted as open-ended terms meaning "including but not limited to."

[0020] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0021] Example 1 like Figures 1 to 18As shown, this application provides an energy-self-sustaining unmanned underwater vehicle, comprising: a hull 2 ​​with a receiving cavity; an energy storage device 5 disposed within the receiving cavity; and a power generation device 11 connected to the hull 2 ​​and electrically connected to the energy storage device 5. The power generation device 11 is used to generate electrical energy by rotating relative to the hull 2 ​​under the drive of ocean current energy. This application utilizes ocean current energy to generate electrical energy through the power generation device 11 and stores the electrical energy in the energy storage device 5, achieving energy self-sustainability for the underwater vehicle. The energy storage device 5 provides power for the vehicle's operation, effectively utilizing ocean current energy and reducing the difficulty of powering deep-sea observation equipment with ocean current energy. The power generation device 11 can promptly recharge the energy storage device 5 when its charge is low, ensuring the energy storage device 5's endurance and achieving the goal of long-term deep-sea observation equipment in any sea area.

[0022] Specifically, such as Figure 1 and Figure 2 As shown, the hull 2 ​​includes a first hull 2-1, a second hull 2-2, and a third hull 2-3. The first hull 2-1 and the third hull 2-3 are connected through the second hull 2-2, and the first hull 2-1 and the second hull 2-2 are in communication. The second hull 2-2 and the third hull 2-3 are in communication. A forward compartment 1 is located at one end of the hull 2, and the forward compartment 1 is in communication with the first hull 2-1. Observation equipment, such as a camera 4, is located in the forward compartment 1. A tail structure 3 is located at the other end of the hull 2, and the tail structure 3 is connected to the third hull 2-3. A power unit 6 is located inside the third hull 2-3, and a propeller 7 is located in the tail structure 3. The drive shaft of the power unit 6 is connected to the propeller 7, and the power unit 6 drives the propeller 7 to rotate so that the vehicle can operate. An energy storage device 5 is located inside the third hull 2-3, and the power unit 6 and the energy storage device 5 are electrically connected. In this embodiment, the energy storage device 5 is a battery, and the power unit 6 includes a propeller drive motor.

[0023] Specifically, such as Figure 15As shown, the power generation device 11 includes a coil assembly 11-1, a permanent magnet assembly 11-2, and a current-driven structure 8. The coil assembly 11-1 is disposed within the receiving cavity of the housing 2. The permanent magnet assembly 11-2 is rotatably connected to the housing 2, and the coil assembly 11-1 and the permanent magnet assembly 11-2 are matched. The permanent magnet assembly 11-2 is connected to the current-driven structure 8, and the current-driven structure 8 drives the permanent magnet assembly 11-2 to rotate relative to the coil assembly 11-1. In this embodiment, the coil assembly 11-1 is disposed inside the housing 2, and the permanent magnet assembly 11-2 is disposed outside the housing 2. The permanent magnet assembly 11-2 is composed of several centrally symmetrical permanent magnets, and the coil assembly 11-1 is composed of several centrally symmetrical coils. Under the action of the current, the current-driven structure 8 drives the permanent magnet assembly 11-2 to rotate, thereby generating an alternating magnetic field, which in turn generates current in the coil assembly 11-1. The coil assembly 11-1 and the permanent magnet assembly 11-2 are set separately, so that the conversion of mechanical energy into electrical energy can be completed without a drive shaft and any dynamic sealing device, reducing the risk of water entering the hull 2 ​​and further increasing the stability of the aircraft.

[0024] Specifically, such as Figure 15 As shown, the current-driven structure 8 and the housing 2 are connected by a bearing 10, and the permanent magnet assembly 11-2 is disposed on the current-driven structure 8. Specifically, the current-driven structure 8 and the second housing 2-2 are connected by a bearing 10, and the permanent magnet assembly 11-2 is disposed on the side of the current-driven structure 8 facing the third housing 2-3.

[0025] Furthermore, such as Figure 9 , Figure 10 As shown, the current-driven structure 8 includes a support 8-1 and blades 8-4. The support 8-1 is connected to the permanent magnet assembly 11-2, and the blades 8-4 are connected to the support 8-1. Multiple blades 8-4 are arranged circumferentially around the axis of the support 8-1. Specifically, the inner wall of the support 8-1 is circular and connected to the outer ring of the bearing 10. The outer wall of the support 8-1 is circular or polygonal. The blades 8-4 are mounted on the outer wall of the support 8-1, and the permanent magnet assembly 11-2 is mounted on one side of the support 8-1. A blade seat 8-5 is provided on the support 8-1, and one end of the blade 8-4 is connected to the blade seat 8-5.

[0026] Furthermore, such as Figure 9 , Figure 10As shown, the unmanned underwater vehicle also includes a first limiting structure; the current-driven structure 8 includes a first elastic element 8-3, which is disposed between the blade 8-4 and the support 8-1 of the current-driven structure 8; the first limiting structure is slidably connected to the shell 2; when the first limiting structure and the blade 8-4 abut against each other, the blade 8-4 is in the retracted position; when the first limiting structure and the blade 8-4 separate, the blade 8-4 unfolds under the action of the first elastic element 8-3, and the blade 8-4 is in the extended position. Specifically, one end of the blade 8-4 and the blade seat 8-5 are connected by a pivot, and the blade 8-4 can rotate relative to the blade seat 8-5. The first elastic element 8-3 is a first torsion spring, which is disposed between the blade 8-4 and the blade seat 8-5, and the first torsion spring applies a spring force to the blade 8-4 away from the axis of the shell 2. When the first limiting structure abuts against the blade 8-4, the first limiting structure applies a force to the blade 8-4 in the direction of the axis of the housing 2. The force applied to the blade 8-4 by the first limiting structure is greater than the force applied to the blade 8-4 by the first torsion spring, causing the blade 8-4 to be in the retracted position. In the retracted position, the length extension direction of the blade 8-4 is parallel to the axial extension direction of the housing 2, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown. When the first limiting structure separates from the blade 8-4, the force exerted by the first limiting structure on the blade 8-4 disappears. Under the action of the force exerted by the first torsion spring on the blade 8-4, the blade 8-4 unfolds into its extended position. In the extended position, the length extension direction of the blade 8-4 is perpendicular to the axial extension direction of the housing 2, as shown. Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown.

[0027] Furthermore, such as Figures 9 to 11As shown, the first limiting structure includes a first slide cylinder 8-2, a first transmission structure, and a first driving member 8-7. The first driving member 8-7 is disposed on the housing 2, and the first slide cylinder 8-2 and the housing 2 are coaxially arranged. The first driving member 8-7 and the first slide cylinder 8-2 are connected through the first transmission structure. The first driving member 8-7 is used to drive the first slide cylinder 8-2 to slide along the axial extension direction of the housing 2 through the first transmission structure. The first slide cylinder 8-2 and the blade 8-4 are slidably connected. Specifically, a first slide rail 8-8 is disposed on the housing 2, and the extension direction of the first slide rail 8-8 is parallel to the axial extension direction of the housing 2. The first slide cylinder 8-2 and the first slide rail 8-8 are slidably connected. The first driving member 8-7 is a drive motor, and the first transmission structure is connected to the first driving member 8-7. The first transmission structure is used to convert the rotational motion of the first driving member 8-7 into linear motion. When the first slide 8-2 and the blade 8-4 abut against each other, the blade 8-4 is in the retracted position. When the first slide 8-2 and the blade 8-4 separate, the blade 8-4 unfolds under the action of the first elastic element 8-3 and is in the extended position. The extended position increases the contact area between the blade 8-4 and the ocean current, which can effectively utilize the energy of the ocean current. Under the action of the ocean current energy, the blade 8-4 begins to rotate. The rotation of the blade 8-4 drives the permanent magnet assembly 11-2 to rotate relative to the coil assembly 11-1, thereby generating an alternating magnetic field, which in turn generates current in the coil assembly 11-1.

[0028] Furthermore, such as Figure 9 and Figure 11 As shown, the first transmission structure includes a first gear 8-6, a first rack 8-9, and a first connecting rod 8-10. The first gear 8-6 is connected to the drive shaft of the first driving member 8-7, the first gear 8-6 and the first rack 8-9 are meshed and connected, and the first rack 8-9 and the first slide cylinder 8-2 are connected through the first connecting rod 8-10. The movement direction of the first rack 8-9 is perpendicular to the movement direction of the first slide cylinder 8-2. Specifically, the first gear 8-6 rotates under the drive of the first driving member 8-7, and the first gear 8-6 drives the first rack 8-9 to move along the radial extension direction of the housing 2. The first rack 8-9 drives the first slide cylinder 8-2 to move along the axial extension direction of the housing 2 through the first connecting rod 8-10. Specifically, the second housing 2-2 can be integral. To increase the installation space of the first transmission structure, the second housing 2-2 can also be divided into two sections, and the two sections of the second housing 2-2 are connected. The first transmission structure is disposed between the two sections of the second housing 2-2. The first driving component 8-7 is located at the axial position of the housing 2, and the two sections of the second housing 2-2 are connected by the first slide rail 8-8.

[0029] Alternatively, the first transmission structure includes a lead screw and a lead screw nut. The drive shaft of the first driving member 8-7 is connected to the lead screw, the lead screw nut is threadedly connected to the lead screw, and the lead screw nut is connected to the first slide cylinder 8-2. The axial extension direction of the lead screw is parallel to the axial extension direction of the housing 2. The first driving member 8-7 drives the lead screw to rotate, and the lead screw drives the first slide cylinder 8-2 to move along the axial extension direction of the housing 2 through the lead screw nut.

[0030] Furthermore, such as Figure 12 , Figure 13 and Figure 14 As shown, the energy-self-sustaining unmanned underwater vehicle also includes a balancing device 9 and a second limiting structure. The balancing device 9 and the second limiting structure are respectively connected to the shell 2. The balancing device 9 can rotate relative to the shell 2, and the second limiting structure can slide relative to the shell 2. When the second limiting structure and the balancing device 9 are in contact, the balancing device 9 is in a retracted position; when the second limiting structure and the balancing device 9 are separated, the balancing device 9 is deployed and is in the deployed position. Specifically, the balancing device 9 is a torque balancing device. When the current-driven structure 8 is deployed, the balancing device 9 deploys simultaneously, balancing the rotational torque of the current-driven structure 8 as it rotates, preventing the entire vehicle from rotating with the current-driven structure 8.

[0031] Furthermore, such as Figure 12 and Figure 13 As shown, the balancing device 9 includes a buoyancy element 9-7, a connecting rod 9-6, and a second elastic element 9-5. The buoyancy element 9-7 is located at one end of the connecting rod 9-6, and the other end of the connecting rod 9-6 is rotatably connected to the housing 2. The second elastic element 9-5 is located between the connecting rod 9-6 and the housing 2. Specifically, one end of the connecting rod 9-6 is connected to the rod seat 9-1 via a pivot. The rod seat 9-1 is mounted on the housing 2, and the connecting rod 9-6 can rotate relative to the rod seat 9-1. The second elastic element 9-5 is a second torsion spring, located between the connecting rod 9-6 and the rod seat 9-1. The second torsion spring applies a spring force to the connecting rod 9-6 away from the axis of the housing 2. When the second limiting structure abuts against the connecting rod 9-6, the second limiting structure applies a force to the connecting rod 9-6 in the direction of the axis of the housing 2. The force applied to the connecting rod 9-6 by the second limiting structure is greater than the force applied to the connecting rod 9-6 by the second torsion spring, causing the connecting rod 9-6 to be in a retracted position. At the retracted position, the extension direction of connecting rod 9-6 is parallel to the extension direction of the axis of housing 2, such as... Figure 12 As shown. When the second limiting structure separates from the connecting rod 9-6, the force exerted by the second limiting structure on the connecting rod 9-6 disappears. Under the action of the force exerted by the second torsion spring on the connecting rod 9-6, the connecting rod 9-6 unfolds to the unfolded position. In the unfolded position, the length extension direction of the connecting rod 9-6 is perpendicular to the axial extension direction of the housing 2, as shown. Figure 13 As shown.

[0032] Furthermore, such as Figure 12 As shown, the second limiting structure includes a second slide cylinder 9-4, a second transmission structure, and a second driving member. The second driving member is mounted on the housing 2, and the second slide cylinder 9-4 and housing 2 are coaxially arranged. The second driving member and the second slide cylinder 9-4 are connected through the second transmission structure. The second driving member is used to drive the second slide cylinder 9-4 to slide along the axial extension direction of the housing 2 through the second transmission structure. Specifically, a second slide rail is provided on the housing 2, and the extension direction of the second slide rail is parallel to the axial extension direction of the housing 2. The second slide cylinder 9-4 and the second slide rail are slidably connected. The second driving member is a drive motor, and the second transmission structure is connected to the second driving member. The second transmission structure is used to convert the rotational motion of the second driving member into linear motion. When the second slide cylinder 9-4 and the connecting rod 9-6 abut against each other, the connecting rod 9-6 is in the retracted position. When the second slide cylinder 9-4 and the connecting rod 9-6 separate, the connecting rod 9-6 unfolds under the action of the second elastic member 9-5 and is in the extended position. Furthermore, the second transmission structure includes a second gear, a second rack 9-3, and a second connecting rod 9-2; the second gear and the drive shaft of the second driving member are connected, the second gear and the second rack 9-3 are meshed and connected, and the second rack 9-3 and the second slide cylinder 9-4 are connected through the second connecting rod 9-2; the movement direction of the second rack 9-3 and the movement direction of the second slide cylinder 9-4 are perpendicular to each other. Specifically, the second gear rotates under the drive of the second driving member, and the second gear drives the second rack 9-3 to move along the radial extension direction of the housing 2. The second rack 9-3 drives the second slide cylinder 9-4 to move along the axial extension direction of the housing 2 through the second connecting rod 9-2. Specifically, the second housing 2-2 can be integral. To increase the installation space of the second transmission structure, the second housing 2-2 can also be divided into two sections, and the two sections of the second housing 2-2 are connected. The second transmission structure is located between the two sections of the second housing 2-2. The second driving member is located at the axial position of the housing 2, and the two sections of the second housing 2-2 are connected through a second slide rail. Alternatively, the second transmission structure includes a lead screw and a lead screw nut, a drive shaft of the second drive member connected to the lead screw, a lead screw nut and a lead screw threaded connection, and a lead screw nut and a second slide cylinder 9-4 connected. The axial extension direction of the lead screw is parallel to the axial extension direction of the housing 2. The second drive member drives the lead screw to rotate, and the lead screw drives the second slide cylinder 9-4 to move along the axial extension line of the housing 2 via the lead screw nut.

[0033] Furthermore, in this example, the first slide rail 8-8 and the second slide rail are the same slide rail, and the first slide cylinder 8-2 and the second slide cylinder 9-4 are both slidably connected to the same slide rail to reduce the number of parts and simplify the structure. The first rack 8-9 and the second rack 9-3 are arranged in parallel, and the first slide cylinder 8-2 and the second slide cylinder 9-4 move simultaneously, with the directions of movement of the first slide cylinder 8-2 and the second slide cylinder 9-4 always being opposite. Further, as... Figure 14As shown, when blade 8-4 rotates clockwise, the vehicle tends to capsize in the direction of the clockwise arrow due to the torque of blade 8-4. At this time, the buoyancy of the vehicle acting on the buoyancy component 9-7 and the connecting rod 9-6 is balanced with the torque of blade 8-4 and the vehicle's weight, stabilizing the vehicle in the ocean current and preventing it from capsizing. Specifically, when the self-sustaining unmanned underwater vehicle tilts at a small angle due to a slight disturbance in the marine environment, the offset between the center of buoyancy and the center of gravity generates a counteracting torque that can counteract the torque generated during rotation. Under the combined action of the current-driven structure 8 and the balancing device 9, an equal and opposite torque is generated, thus preventing the self-sustaining unmanned underwater vehicle in mooring from becoming unstable.

[0034] In another embodiment, such as Figure 19 As shown, the first rack 8-9 and the second rack 9-3 share the same rack. The first connecting rod 8-10 and the second connecting rod 9-2 are both connected to the same rack. Similarly, only one gear is provided to drive the rack's movement, and only one drive motor is provided to drive the gear's rotation. The first slide rail 8-8 and the second slide rail are the same slide rail, and the first slide cylinder 8-2 and the second slide cylinder 9-4 are both slidably connected to the same slide rail. During operation, the drive motor drives the gear to rotate, the gear drives the rack to move, and the rack simultaneously drives the first connecting rod 8-10 and the second connecting rod 9-2 to move. The first slide cylinder 8-2 and the second slide cylinder 9-4 move simultaneously, and their directions of movement are always opposite.

[0035] Furthermore, such as Figure 12 As shown, the third shell 2-3 is provided with a groove, and the buoyancy component 9-7 is a buoyancy ball or buoyancy block. When the connecting rod 9-6 is in the retraction position, the buoyancy component 9-7 is located in the groove.

[0036] Furthermore, such as Figure 3 , Figure 4 , Figure 16 and Figure 17As shown, the first housing 2-1 is equipped with an anchor-lifting device 12, which consists of a sealed housing 12-1, an intelligent control power unit 12-2, a reel 12-3, a cable 12-4, and an anchor 12-5. The sealed housing 12-1 is fixed to the first housing 2-1, and the intelligent control power unit 12-2 is installed inside the sealed housing 12-1. The output shaft of the intelligent control power unit 12-2 is connected to the reel 12-3, driving the reel 12-3 to rotate, thereby releasing or tightening the cable 12-4. The end of the cable 12-4 is connected to the anchor 12-5. When the power storage device 5 detects that the power capacity is lower than the preset value, it automatically seeks a mooring position to generate electricity. The mooring position is a sea area with a large current velocity and a seabed depth less than that of the mooring cable 12-4. When the unmanned underwater vehicle moves to the mooring position, the anchor-lifting device 12 releases the anchor 12-5 and sinks it to the bottom, thereby fixing the energy-self-sustaining unmanned underwater vehicle. Once the battery storage device 5 is fully charged, the anchor-raising device 12 tightens the cable 12-4 and retracts the anchor 12-5, allowing the unmanned underwater vehicle to continue its observation mission.

[0037] Furthermore, the energy storage device 5, the first drive component 8-7, the second drive component, the intelligent control power unit 12-2, and the power equipment 6 are electrically connected or wirelessly connected to the control platform. The control platform can be located inside the hull 2 ​​of the aircraft or can be remotely configured.

[0038] like Figure 18As shown, in one specific embodiment, the energy-self-sustaining unmanned underwater vehicle (UUV) is deployed into the ocean by a research vessel and performs tasks such as marine resource exploration and hydrological data measurement. When the control platform detects that the capacity of the energy storage device 5 is lower than a preset value, the control platform controls the UUV to automatically find a mooring position. When it reaches the mooring position, the control anchor device 12 releases the anchor 12-5 to the bottom, allowing the UUV to hover at the mooring position in preparation for moored power generation. The control platform controls the first drive component 8-7 to drive the first slide 8-2 to slide, causing the first slide 8-2 to separate from the blade 8-4. The blade 8-4 unfolds under the elastic force of the first elastic component 8-3. At the same time, the control platform controls the second drive component to drive the second slide 9-4 to slide, causing the second slide 9-4 to separate from the connecting rod 9-6. The connecting rod 9-6 unfolds under the elastic force of the second elastic component 9-5. The blade 8-4 rotates under the action of the high-speed ocean current, converting the kinetic energy in the ocean current into the mechanical energy of the ocean current drive structure 8. The mechanical energy of the ocean current drive structure 8 is converted into electrical energy through the power generation device 11 and stored in the energy storage device 5. At the same time, the balancing device 9 balances the rotational torque of the ocean current drive structure 8 to prevent the vehicle from capsizing. After charging is completed, the anchor-raising device 12 is controlled to retract the anchor 12-5. The first drive component 8-7 drives the first slide 8-2 to slide, so that the first slide 8-2 abuts against the blade 8-4. The blade 8-4 is retracted under the action of the first slide 8-2. At the same time, the second drive component is controlled to drive the second slide 9-4 to slide, so that the second slide 9-4 abuts against the connecting rod 9-6. The connecting rod 9-6 is retracted under the action of the second slide 9-4. The vehicle continues to perform its ocean observation mission.

[0039] In this embodiment, blade 8-4 is made of rigid material and has a multi-segment structure, which can achieve automatic folding and extension.

[0040] Example 2 In this embodiment, blades 8-4 are made of flexible material, and the other structures are the same as those in Embodiment 1, so they will not be described again here.

[0041] Specifically, blades 8-4 are folding wings. When the current-driven structure 8 is in the recovery state, the folding wings are folded and their length extension direction is parallel to the axial extension direction of the shell 2. When the current-driven structure 8 is in the working state, the folding wings are deployed and their length extension direction is perpendicular to the axial extension direction of the shell 2. When deployed, the folding wings of this application have a large cross-sectional area, effectively utilizing a large amount of current energy. The current-driven structure 8 converts this current energy into chemical energy in the energy storage device 5, which then provides power to the vehicle, improving its endurance.

[0042] Preferably, the folding wing includes multiple sub-wings, which are linked together; when the folding wing is in the folded state, the length extension direction of the multiple sub-wings is parallel to the axial extension direction of the housing 2, and the multiple sub-wings are arranged in a Z-shape, such as... Figure 20 and Figure 21 As shown; when the folding wings are in the deployed state, the length extension direction of the multiple sub-wings is perpendicular to the axial extension direction of the shell 2, and the multiple sub-wings are arranged in a single pattern, as shown. Figure 22 As shown. Specifically, multiple sub-wings are connected by a planar linkage mechanism. When the current-driven structure 8 changes from the recovery state to the working state, the folding wing changes from the folded state to the deployed state. During the change, multiple sub-wings deploy synchronously. When the current-driven structure 8 changes from the working state to the recovery state, the folding wing changes from the deployed state to the folded state. During the change, multiple sub-wings fold synchronously.

[0043] Preferably, the sub-wing includes a frame and a winglet; the winglet and the frame are connected, and the winglet is made of a flexible material; one side of the winglet is a free side. Specifically, in this embodiment, the frame is a three-sided rectangular frame, the three sides of the winglet are respectively connected to the three sides of the frame, and the fourth side of the winglet is a free side, capable of swaying with the ocean current. Figure 23 As shown in the figure, the direction of the ocean current is indicated by the arrow. Under the action of the ocean current, the blade swings downstream. There is drag and lift on the free side of the blade. Under the action of drag and lift, the blade drives the folding wing to rotate.

[0044] Specifically, multiple folding wings are provided; in this example, 3 to 15 folding wings are provided, and the multiple folding wings are evenly arranged circumferentially around the axis of the shell 2. Under the action of the ocean current, the multiple folding wings drive the ocean current drive structure 8 to rotate, converting ocean current energy into mechanical energy, and then converting mechanical energy into chemical energy in the energy storage device 5.

[0045] like Figure 15 As shown, the current-driven structure 8 includes a support 8-1, on which a blade seat 8-5 is mounted. The folding wing is mounted on the blade seat 8-5 of the support 8-1 and is rotatably connected to the blade seat 8-5 via a rotating shaft, allowing the folding wing to rotate relative to the support 8-1 and realize the transformation between the folding wing and the unfolded state.

[0046] When the first slide tube 8-2 and the folding wing are in contact, the folding wing is in a folded state. When the first slide tube 8-2 and the folding wing separate, the folding wing unfolds under the action of the first elastic element 8-3, and the folding wing is in an unfolded state. The folding wing in the unfolded state has a larger contact area with the ocean current, which can effectively utilize the energy of the ocean current. Under the action of the energy of the ocean current, the folding wing begins to rotate. The rotation of the folding wing drives the permanent magnet assembly 11-2 to rotate relative to the coil assembly 11-1, thereby generating an alternating magnetic field, which in turn generates a current in the coil assembly 11-1.

[0047] like Figure 18 As shown, in one specific embodiment, the unmanned underwater vehicle (UUV) is deployed into the ocean by a research vessel and performs tasks such as marine resource exploration and hydrological data measurement. When the control platform detects that the capacity of the energy storage device 5 is lower than a preset value, the control platform controls the UUV to automatically find a mooring position. When it reaches the mooring position, the control anchor device 12 releases the anchor 12-5 to the bottom, allowing the UUV to hover at the mooring position in preparation for moored power generation. The control platform controls the first drive component 8-7 to drive the first slide 8-2 to slide, causing the first slide 8-2 to separate from the folding wing. The folding wing unfolds under the elastic force of the first elastic component 8-3. At the same time, it controls the second drive component to drive the second slide 9-4 to slide, causing the second slide 9-4 to separate from the connecting rod 9-6. The connecting rod 9-6 unfolds under the elastic force of the second elastic component 9-5. The folding wing rotates under the action of the high-speed ocean current, converting the kinetic energy in the ocean current into the mechanical energy of the ocean current drive structure 8. The mechanical energy of the ocean current drive structure 8 is converted into electrical energy through the power generation device 11 and stored in the energy storage device 5. At the same time, the balancing device 9 balances the rotational torque of the ocean current drive structure 8 to prevent the vehicle from capsizing. After charging is completed, the anchor-raising device 12 is controlled to retract the anchor 12-5. The first drive component 8-7 drives the first slide 8-2 to slide, so that the first slide 8-2 abuts against the blade 8-4. The blade 8-4 is retracted under the action of the first slide 8-2. At the same time, the second drive component is controlled to drive the second slide 9-4 to slide, so that the second slide 9-4 abuts against the connecting rod 9-6. The connecting rod 9-6 is retracted under the action of the second slide 9-4. The vehicle continues to perform its ocean observation mission.

[0048] In this invention, the terms "second" and "secondary" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined. The term "connection" refers to a direct or indirect connection.

[0049] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0050] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An energy-self-sustaining unmanned underwater vehicle, characterized in that, include: A housing having a receiving cavity; An energy storage device, wherein the energy storage device is disposed within the receiving cavity; A power generation device is connected to the housing and electrically connected to the energy storage device. The power generation device is used to generate electrical energy by rotating relative to the housing under the drive of ocean current energy.

2. The self-sustaining unmanned underwater vehicle according to claim 1, characterized in that, The power generation device includes a coil assembly, a permanent magnet assembly, and a current-driven structure. The coil assembly is disposed within the receiving cavity of the housing, the permanent magnet assembly is rotatably connected to the housing, and the coil assembly and the permanent magnet assembly are matched and disposed. The permanent magnet assembly is connected to the ocean current driving structure, and the ocean current driving structure drives the permanent magnet assembly to rotate relative to the coil assembly.

3. The self-sustaining unmanned underwater vehicle according to claim 2, characterized in that, The current-driven structure and the housing are connected by bearings, and the permanent magnet assembly is mounted on the current-driven structure.

4. An energy-self-sustaining unmanned underwater vehicle according to any one of claims 2 or 3, characterized in that, The current-driven structure includes a support frame and blades; The bracket is connected to the permanent magnet assembly, the blade is connected to the bracket, and multiple blades are provided, which are evenly arranged circumferentially around the axis of the bracket.

5. An energy-self-sustaining unmanned underwater vehicle according to any one of claims 2 or 3, characterized in that, The unmanned underwater vehicle also includes a first limiting structure; The current-driven structure includes a first elastic element, which is disposed between the blade and the support of the current-driven structure. The first limiting structure and the housing are slidably connected. When the first limiting structure and the blade abut against each other, the blade is in the retracted position. When the first limiting structure and the blade separate, the blade unfolds under the action of the first elastic member and is in the extended position.

6. The energy-self-sustaining unmanned underwater vehicle according to claim 5, characterized in that, The first limiting structure includes a first slide, a first transmission structure, and a first driving component; The first driving member is disposed on the housing, the first slide cylinder is coaxially disposed with the housing, the first driving member and the first slide cylinder are connected through the first transmission structure, the first driving member is used to drive the first slide cylinder to slide along the axial extension direction of the housing through the first transmission structure, and the first slide cylinder and the blade are slidably connected.

7. The self-sustaining unmanned underwater vehicle according to claim 6, characterized in that, The first transmission structure includes a first gear, a first rack, and a first connecting rod; The first gear is connected to the drive shaft of the first driving member, the first gear is meshed with the first rack, and the first rack is connected to the first slide cylinder through the first connecting rod. The direction of movement of the first rack is perpendicular to the direction of movement of the first slide cylinder; or, The first transmission structure includes a lead screw and a lead screw nut. The drive shaft of the first drive member is connected to the lead screw, the lead screw nut is threadedly connected to the lead screw, the lead screw nut is connected to the first slide cylinder, and the axial extension direction of the lead screw is parallel to the axial extension direction of the housing.

8. The self-sustaining unmanned underwater vehicle according to claim 1, characterized in that, The unmanned underwater vehicle also includes a balancing device and a second limiting structure; The balancing device and the second limiting structure are respectively connected to the housing. The balancing device can rotate relative to the housing, and the second limiting structure can slide relative to the housing. When the second limiting structure and the balancing device are in contact, the balancing device is in a retracted position. When the second limiting structure and the balancing device are separated, the balancing device is in an extended position.

9. A self-sustaining unmanned underwater vehicle according to claim 8, characterized in that, The balancing device includes a buoyancy component, a connecting rod, and a second elastic component. The buoyancy component is disposed at one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the housing. The second elastic component is disposed between the connecting rod and the housing.

10. The energy-self-sustaining unmanned underwater vehicle according to claim 8, characterized in that, The second limiting structure includes a second slide, a second transmission structure, and a second driving component; The second driving member is disposed on the housing, the second slide cylinder is coaxially disposed with the housing, the second driving member and the second slide cylinder are connected through the second transmission structure, the second driving member is used to drive the second slide cylinder to slide along the axial extension direction of the housing through the second transmission structure, and the first slide cylinder and the balancing device are slidably connected.

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