A biomimetic robot for turbulence trapping in deep-sea drill pipes without risers

Abstract

This invention relates to the field of deep-sea oil drilling technology, specifically a biomimetic robot for capturing energy from ocean current disturbances in a riserless drill string. The robot comprises a stator assembly, a rotor assembly, a single-phase ratchet drive assembly, a ring-shaped energy storage unit, and an intelligent control module. The stator assembly is fixedly mounted on the outer wall of the drill string, while the rotor assembly is rotatably fitted around it. The rotor assembly has several biomimetic fin structures arranged circumferentially around its outer periphery. The single-phase ratchet drive assembly connects the rotor assembly to the drill string. The ring-shaped energy storage unit is located inside the stator assembly. The intelligent control module manages the electrical energy and drives the motor. This invention achieves the active capture and reuse of ocean current disturbance energy, converting ocean current disturbance forces into torque acting on the drill string, significantly suppressing vortex-induced vibration. It possesses advantages such as all-sea-condition adaptability, low maintenance, and modular installation, effectively improving the safety, efficiency, and economy of deep-sea drilling operations.

Description

Technical Field

[0001] This invention belongs to the field of deep-sea oil drilling technology, and in particular relates to a deep-sea riserless drill string disturbance energy-harvesting biomimetic robot. Background Technology

[0002] In deep-sea oil drilling operations, riserless drilling technology is widely used due to its ability to effectively reduce drilling costs and improve operational efficiency. However, in such operations, the drill string is directly exposed to the complex ocean current environment, facing severe challenges. Among these challenges, vortex-induced vibration generated by ocean currents flowing around the drill string is a major cause of drill string structural fatigue and even fracture failure. Vortex-induced vibration not only significantly shortens the service life of the drill string and increases the safety risks of drilling operations, but it can also cause lateral displacement and bending deformation of the drill string, thereby affecting drilling accuracy and efficiency.

[0003] To address these issues, traditional technologies typically employ passive vibration damping devices such as fixed spiral plates. While these devices can disrupt eddies to some extent, they often significantly increase the overall hydrodynamic drag of the drill string, leading to increased lateral displacement under ocean currents and potentially negatively impacting drilling trajectory control. Secondly, these devices operate entirely passively, failing to utilize the immense kinetic energy inherent in ocean currents and thus wasting energy by failing to convert adverse environmental disturbances into beneficial engineering benefits. Furthermore, the harsh environment of deep-sea drilling places extremely high demands on equipment reliability, maintainability, and energy supply. Existing active vibration control solutions often rely on providing electricity, hydraulic power, or complex control systems from the top platform. This not only increases system complexity and cost but also reduces its reliability and practicality in long-term deep-sea operations.

[0004] Therefore, how to effectively suppress vortex-induced vibration of deep-sea riserless drill strings, extend their service life, actively capture and utilize the energy of ocean currents and convert it into power to assist drilling operations, while possessing high reliability, self-powered characteristics, and good compatibility with existing drill string systems, thereby fundamentally improving the safety, efficiency, and economy of deep-sea drilling operations, is an urgent problem to be solved by personnel in this technical field. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a biomimetic robot for turbulence-harvesting energy in deep-sea riserless drill strings. This addresses the problem that existing passive vibration damping devices cannot effectively suppress vortex-induced vibrations in deep-sea riserless drill strings, nor can they utilize the enormous kinetic energy contained in ocean currents, resulting in low safety, efficiency, and economy in deep-sea drilling operations.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This invention provides a deep-sea riserless drill string-less flow-turbing energy-harvesting biomimetic robot, comprising: The system comprises a stator assembly, a rotor assembly, a single-phase ratchet drive assembly, a ring-shaped energy storage unit, and an intelligent control module. The stator assembly is fixedly mounted on the outer wall of the drill string. The rotor assembly is rotatably fitted onto the outside of the stator assembly and has several biomimetic fish fin structures arranged circumferentially on its outer periphery. The single-phase ratchet drive assembly is connected between the rotor assembly and the drill string. The ring-shaped energy storage unit is disposed inside the stator assembly. The intelligent control module is used to realize power management and motor drive. The biomimetic fin structure drives the rotor assembly to rotate under the action of ocean currents. The single-phase ratchet transmission assembly transmits torque to the drill string when the rotor speed is higher than the drill string speed. The rotor assembly and the stator assembly form an electromagnetic coupling mechanism. When the drill string rotates actively, it cuts magnetic field lines to generate electricity and stores it in the annular energy storage unit. Alternatively, in the absence of ocean currents, it releases electrical energy to drive the stator assembly to generate a rotating magnetic field, which in turn compensates for the torque to the drill string in the form of an electric motor.

[0007] Furthermore, it also includes a fixing sleeve, on which a plurality of intelligent control rods are provided, and the bionic fish fin is installed on the intelligent control rods.

[0008] Furthermore, the bionic fin is a flexible airfoil structure, and the intelligent control rod achieves passive adaptive adjustment of the frontal area based on the principle of hydrodynamic pressure and elastic force balance. That is, when the ocean current strengthens, the intelligent control rod drives the bionic fin to retract to reduce the frontal area, and when the ocean current weakens, the intelligent control rod drives the bionic fin to open to increase the force-bearing area.

[0009] Furthermore, the one-way ratchet drive assembly includes ratchet teeth and pawls. When the angular velocity of the rotor assembly is higher than the angular velocity of the drill string, it automatically engages to transmit torque. When the angular velocity of the drill string is higher than the angular velocity of the rotor assembly, it automatically disengages to achieve power decoupling. This allows the energy generated by the rotation of the turbulence robot device to be captured and directly applied to the drill string without affecting the rotation of the drill string itself.

[0010] Furthermore, the stator assembly includes a fixed inner sleeve support, which is provided with a ceramic insulating layer. A multi-phase winding coil is wound around the ceramic insulating layer. The internal cavity of the stator assembly integrates a toroidal lithium battery pack or a supercapacitor array, as well as an energy management module. The stator assembly and the rotor assembly form a permanent magnet synchronous electromagnetic coupling mechanism. When the drill string rotates actively, it operates in power generation mode. Under conditions without ocean currents, it releases electrical energy through the energy storage unit to drive the stator to generate a rotating magnetic field to operate in electric compensation mode.

[0011] Furthermore, the stator assembly is filled with highly insulating elastic resin through a vacuum potting process to form a fully sealed structure.

[0012] Furthermore, the rotor assembly is circumferentially embedded with several tile-shaped rare earth permanent magnets to form rotor magnetic pole pairs.

[0013] Furthermore, the device is a packaged external structure, which is tightly installed on the outer surface of the drill string through a segmented structure and bolt pre-tightening method.

[0014] Furthermore, the fixed inner sleeve bracket is made of high-strength titanium alloy or nickel-based alloy.

[0015] Furthermore, the biomimetic fish fin is made of carbon fiber reinforced composite material or elastic polymer material.

[0016] Compared with existing technologies, the deep-sea riserless drill string disturbance energy-harvesting biomimetic robot provided by this invention has at least the following advantages: Existing passive vibration damping devices cannot effectively suppress vortex-induced vibrations in deep-sea drill strings without risers, nor can they utilize the enormous kinetic energy contained in ocean currents, resulting in low safety, efficiency, and economics in deep-sea drilling operations. This invention achieves the active reuse of energy at the source of vortex-induced vibrations, directly converting the unstable ocean current disturbance that causes drill string vibrations into a rotational power input beneficial to drilling operations, fundamentally changing the engineering paradigm of deep-sea drill strings "passively bearing environmental effects." This invention actively disrupts the coherent shedding structure of the Karman vortex street in the wake through biomimetic fish fin-like perturbation, while simultaneously driving the drill string to spin in electric motor mode to generate the Magnus effect. It constructs a dual active vibration suppression mechanism from both fluid dynamics and structural dynamics perspectives, ensuring that vortex-induced vibrations are destroyed in their early stages and continuously suppressed by energy modulation. Furthermore, this invention, through a closed-loop mechanism of power generation-energy storage-electric feedback, enables the drill string to obtain stable auxiliary torque input even in the absence of ocean currents, and significantly reduces the energy consumption and mechanical fatigue risks associated with long-term high-load operation of the top drive system. During long-term service, this invention can effectively reduce drill string fatigue stress levels, significantly extend drill string service life, and simultaneously improve the continuity and stability of the drill bit's rock-breaking process. From a systems engineering perspective, it achieves simultaneous improvements in deep-sea drilling efficiency, safety, and economy. This invention possesses strong engineering practicality and feasibility. Its structure is a modular external device that can be directly installed and applied without any modification to the existing drill string structure, exhibiting excellent versatility and engineering compatibility. During operation, the device requires no external power supply, hydraulic system, or complex electrical control network, relying entirely on the kinetic energy of the ocean fluid and the rotation of the drill string to achieve energy self-sufficiency. This significantly reduces the dependence on the platform's power system in deep-sea operations, thereby effectively reducing system complexity and maintenance costs. Furthermore, all functional units of this invention utilize mature manufacturing processes and marine-resistant materials, enabling long-term adaptation to high-pressure, high-corrosion, and high-fouling conditions in the deep sea. It has low maintenance requirements, high reliability, and is suitable for long-term continuous drilling operations in the deep sea, demonstrating significant engineering promotion value and promising industrial application prospects. Attached Figure Description

[0017] To more clearly illustrate the solution of the present invention, a brief introduction will be given to the drawings used in the description of the embodiments below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A perspective view of a deep-sea hydrophobic robot with biomimetic fish fins installed, provided for an embodiment of the present invention; Figure 2 A perspective view of a deep-sea hydrophobic robot without bionic fish fins, provided for an embodiment of the present invention. Figure 3 A cross-sectional view of a deep-sea hydrophobic robot with bionic fins installed, provided as an embodiment of the present invention; Figure 4 A schematic diagram of the biomimetic fish fin of a deep-sea hydrophobic robot that traps energy by disrupting currents, provided for an embodiment of the present invention; Figure 5 A top view of a deep-sea hydrophobic robot that traps energy by disrupting currents, provided as an embodiment of the present invention; Reference numerals: 10-Stator assembly; 20-Rotor assembly; 201-Wave-type rare earth permanent magnet; 30-One-way ratchet drive assembly; 40-Ring energy storage unit; 50-Intelligent control module; 60-Bionic fish fin; 70-Fixing sleeve; 701-Intelligent control rod; 80-Bolt; 90-Drill string. Detailed Implementation

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as “length,” “width,” “upper,” “lower,” “left,” “right,” “front,” “rear,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer” indicate orientations or positions based on the orientations or positions shown in the accompanying drawings and are for ease of description only, and should not be construed as limiting the technical solution.

[0020] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion; the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a particular order. In the specification, claims, and accompanying drawings of this invention, when an element is referred to as "fixed to," "mounted to," "disposed of," or "connected to" another element, it may be directly or indirectly located on that other element. For example, when an element is referred to as "connected to" another element, it may be directly or indirectly connected to that other element.

[0021] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] This invention provides a deep-sea riserless drill string disturbance and energy-harvesting biomimetic robot for use in oil drilling in complex deep-sea current environments. The deep-sea riserless drill string disturbance and energy-harvesting biomimetic robot includes: The system comprises a stator assembly, a rotor assembly, a single-phase ratchet drive assembly, a ring-shaped energy storage unit, and an intelligent control module. The stator assembly is fixedly mounted on the outer wall of the drill string, while the rotor assembly is rotatably fitted around the stator assembly. The rotor assembly has several biomimetic fish fin structures arranged circumferentially on its outer periphery. Fish ventral fins serve functions such as assisting steering, maintaining balance, and controlling direction; therefore, the structural design is inspired by fish ventral fins. The single-phase ratchet drive assembly connects the rotor assembly and the drill string. The ring-shaped energy storage unit is located inside the stator assembly. The intelligent control module is used for energy management and motor drive. The biomimetic fish fin structures drive the rotor assembly to rotate under the influence of ocean currents. When the rotor speed is higher than the drill string speed, the torque is transmitted to the drill string via the single-phase ratchet drive assembly. The rotor assembly and stator assembly form an electromagnetic coupling mechanism. When the drill string rotates actively, it cuts magnetic lines of force to generate electricity, which is stored in the ring-shaped energy storage unit. Alternatively, in the absence of ocean currents, it releases electrical energy to drive the stator assembly to generate a rotating magnetic field, which then compensates for the torque to the drill string in reverse motor mode.

[0023] This invention enables the active capture and reuse of ocean current disturbance energy, converting ocean current disturbance force into torque acting on the drill string, significantly suppressing vortex-induced vibration, and possessing advantages such as all-sea-state adaptability, low maintenance, and modular installation, effectively improving the safety, efficiency, and economy of deep-sea drilling operations.

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0025] This invention provides a deep-sea riserless drill string disturbance and energy-harvesting biomimetic robot, applicable to oil drilling in complex deep-sea current environments, combined with... Figure 1 and Figure 2 In this embodiment, the deep-sea hydropreservation-free drill string disturbance energy-harvesting biomimetic robot includes: The system comprises a stator assembly 10, a rotor assembly 20, a single-phase ratchet drive assembly 30, an annular energy storage unit 40, and an intelligent control module 50. The stator assembly 10 is fixedly mounted on the outer wall of the drill string 90. The rotor assembly 20 is rotatably fitted onto the outside of the stator assembly 10, and its outer circumference is provided with several biomimetic fish fin structures 60. The single-phase ratchet drive assembly 30 is connected between the rotor assembly 20 and the drill string 90. The annular energy storage unit 40 is located inside the stator assembly 10. The intelligent control module 50 is used to realize power management and motor drive. The deep-sea drill string turbulence-harvesting biomimetic robot is a suit-type external structure, which is tightly installed on the outer surface of the drill string 90 by means of a segmented structure and bolts 80 pre-tightening. The rotor assembly 20 rotates circumferentially under the action of ocean currents, transforming the flow around the drill string 90 from a static cylindrical flow to a rotating multi-airfoil coupled flow. This alters the wake vortex shedding frequency and disrupts the coherent structure of the Karman vortex street. During the rotation of the rotor assembly 20, an additional circumferential velocity component is formed on the outer periphery of the drill string 90, inducing the Magnus effect to generate a lateral lift component, thereby reducing the amplitude of vortex-induced vibration. The turbulence-harvesting biomimetic robot disrupts the frequency locking phenomenon of the drill string's natural frequency and vortex shedding frequency by changing the energy distribution of the wake flow field and the synchronization conditions of vortex shedding.

[0026] Specifically, in this embodiment, based on the synergistic effect of three mechanisms—biomimetic fluid dynamics, electromagnetic energy conversion, and unidirectional mechanical coupling—the core idea is not simply to passively disrupt the flow field using rigid disturbance components. Instead, by introducing a biomimetic fin 60 structure, it simulates the sensing, modulation, and efficient utilization mechanism of fluid energy by real marine organisms in complex ocean current environments, fundamentally achieving active domestication and engineering reconstruction of ocean current disturbance forces. The biomimetic fin 60 is made of carbon fiber reinforced composite material or elastic polymer material. Under the action of ocean currents, the biomimetic fin 60 structure drives the rotor assembly 20 to rotate. Through the single-phase ratchet transmission assembly 30, torque is transmitted to the drill string 90 when the rotor speed is higher than the drill string speed. Multiple tile-shaped rare earth permanent magnets 201 are embedded circumferentially on the outer periphery of the rotor assembly 20 to form rotor magnetic pole pairs. The rotor assembly 20 and the stator assembly 10 constitute an electromagnetic coupling mechanism, and mechanical coupling is achieved through a unidirectional ratchet bearing. When the angular velocity of the rotor assembly 20 is higher than that of the drill string... At an angular velocity of 90°, it automatically engages to transmit torque. When the drill string 90 rotates faster than the rotor assembly 20, it automatically disengages to achieve power decoupling. When the drill string 90 rotates actively, it cuts magnetic field lines to generate electricity and stores it in the annular energy storage unit 40. Alternatively, in the absence of ocean currents, it releases electrical energy to drive the stator assembly 10 to generate a rotating magnetic field. In motor mode, it reverses the torque to the drill string 90, ensuring that the drill string system can maintain extremely high dynamic stability and vibration resistance under all flow field conditions. This achieves the functions of assisting drilling, suppressing vortex-induced vibration, and extending the service life of the drill string.

[0027] In this embodiment, there are two tile-shaped rare earth permanent magnets 201; in other embodiments, the number of tile-shaped rare earth permanent magnets 201 can be adjusted according to the actual working conditions.

[0028] Furthermore, this embodiment also includes a fixed sleeve 70, on which a plurality of intelligent control rods 701 are provided. The biomimetic fin 60 is installed on the intelligent control rods 701. The biomimetic fin 60 is a flexible airfoil structure that is sensitive to the direction of the incoming flow. Regardless of the angle from which the ocean current comes, it can form stable lift and drag components on the fin surface, thereby continuously outputting effective torque in complex multidirectional flow fields. At the same time, the periodic oscillation generated by the biomimetic fin 60 under the action of fluid is a fluid-structure interaction self-excited oscillation process, which can achieve a torque conversion efficiency far higher than that of rigid blades under low flow conditions, making it particularly suitable for deep-sea weak current environments. Furthermore, the intelligent control lever 701 achieves passive adaptive adjustment based on the principle of fluid dynamic pressure and elastic force balance. When the ocean current intensifies, the intelligent control lever 701 automatically drives the bionic fish fin 60 to retract and deform to reduce the area facing the current. When the ocean current weakens, the intelligent control lever 701 drives the bionic fish fin 60 to reopen under the action of elastic restoring force to increase the force-bearing area. Thus, it can achieve real-time identification and adaptive adjustment of the flow field strength without installing any sensors, electronic control units or external energy on the surface of the bionic fish fin 60.

[0029] In this embodiment, eight smart control rods 701 are arranged at equal intervals around the fixed sleeve 70, and each smart control rod 701 is provided with eight bionic fish fins 60 at equal intervals from top to bottom; in other embodiments, the number of smart control rods 701 and the number of bionic fish fins 60 on each smart control rod 701 can be adjusted according to the actual working conditions.

[0030] Furthermore, in this embodiment, the rotational torque of the biomimetic fin 60 is transmitted to the one-way ratchet drive assembly 30 inside the device. This one-way ratchet drive assembly 30, as a core mechanical coupling component, can identify the relationship between the impeller speed and the drill string 90 speed. The one-way ratchet drive assembly 30 includes ratchet teeth and pawls. When the angular velocity generated by the ocean current driving the impeller is higher than the drill string 90's own speed, the ratchet teeth and pawls in the ratchet mechanism will automatically engage, transmitting the impeller's auxiliary rotational torque unidirectionally and steplessly to the drill string 90, providing continuous rotational assistance to the drill string 90. This auxiliary torque not only effectively reduces the power burden on the top drive but also promotes the stable rotation of the drill string 90. Conversely, when the drilling rig's top drive drives the drill string 90 to rotate at high speed, causing the drill string 90's speed to exceed the impeller speed, the ratchet mechanism will quickly disengage, allowing the impeller to idle. This ensures that any resistance or drag force generated by the ocean current will not act in the opposite direction on the high-speed rotating drill string 90, thus achieving system self-protection and ensuring the dynamic stability of the drill string 90 multi-body system.

[0031] Furthermore, in this embodiment, the stator assembly 10 includes a fixed inner sleeve bracket, which is made of high-strength titanium alloy or nickel-based alloy. The fixed inner sleeve bracket is provided with a ceramic insulation layer, and a multi-phase winding coil is wound around the ceramic insulation layer. The multi-phase winding coil is wound with high-temperature resistant enameled copper wire and the pole pair layout is optimized according to the electromagnetic field simulation results. The cavity inside the stator assembly 10 integrates a toroidal lithium battery pack or supercapacitor array, as well as an industrial-grade energy management module. The entire stator assembly 10 is filled with high-insulation elastic resin through a vacuum potting process to adapt to the high pressure, high salt, and high corrosion environment of the deep sea.

[0032] The deep-sea riserless drill string disturbance energy-harvesting biomimetic robot described in the above embodiments addresses the shortcomings of existing technologies. Existing passive vibration damping devices cannot effectively suppress vortex-induced vibrations in deep-sea riserless drill strings, nor can they utilize the enormous kinetic energy contained in ocean currents, resulting in lower safety, efficiency, and economics in deep-sea drilling operations. This invention achieves active reuse of the energy source of vortex-induced vibrations, directly converting the unstable ocean current disturbance force that causes drill string vibrations into a rotational power input beneficial to drilling operations, fundamentally changing the engineering paradigm of deep-sea drill strings "passively bearing environmental effects." This invention actively disrupts the coherent shedding structure of the Karman vortex street in the wake through biomimetic fish fin-like disturbances, while simultaneously driving the drill string spin in electric motor mode to generate the Magnus effect. It constructs a dual active vibration suppression mechanism from both fluid dynamics and structural dynamics perspectives, ensuring that vortex-induced vibrations are destroyed in their early stages and continuously suppressed by energy modulation. Furthermore, this invention, through a closed-loop mechanism of power generation-energy storage-electric feedback, enables the drill string to obtain stable auxiliary torque input even under conditions without ocean currents, and significantly reduces the energy consumption and mechanical fatigue risks associated with long-term high-load operation of the top drive system. During long-term service, this invention effectively reduces drill string fatigue stress levels, significantly extends drill string service life, and improves the continuity and stability of the drill bit's rock-breaking process, achieving simultaneous improvements in deep-sea drilling efficiency, safety, and economy from a systems engineering perspective. This invention possesses strong engineering practicality and feasibility. Its structure is a modular external device that can be directly installed and applied without any modification to the existing drill string structure, exhibiting excellent versatility and engineering compatibility. During operation, the device requires no external power supply, hydraulic system, or complex electrical control network, relying entirely on the kinetic energy of the ocean fluid and the rotation of the drill string to achieve energy self-sufficiency, significantly reducing the dependence on the platform's power system in deep-sea operations, thereby effectively reducing system complexity and maintenance costs. Furthermore, all functional units of this invention employ mature manufacturing processes and marine-resistant materials, enabling them to adapt to long-term deep-sea high-pressure, high-corrosion, and high-fouling conditions. They have low maintenance requirements, high reliability, and are suitable for long-term continuous drilling operations in deep sea environments, demonstrating significant engineering promotion value and industrial application prospects.

[0033] Obviously, the embodiments described above are merely preferred embodiments of the present invention, and not all embodiments. The accompanying drawings illustrate preferred embodiments of the present invention, but do not limit the scope of the patent. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this invention.

Claims

1. A deep-sea hydrophobic robot for trapping energy by disrupting currents, characterized in that: include: The system comprises a stator assembly, a rotor assembly, a single-phase ratchet drive assembly, a ring-shaped energy storage unit, and an intelligent control module. The stator assembly is fixedly mounted on the outer wall of the drill string. The rotor assembly is rotatably fitted onto the outside of the stator assembly and has several biomimetic fish fin structures arranged circumferentially on its outer periphery. The single-phase ratchet drive assembly is connected between the rotor assembly and the drill string. The ring-shaped energy storage unit is disposed inside the stator assembly. The intelligent control module is used to realize power management and motor drive. The biomimetic fin structure drives the rotor assembly to rotate under the action of ocean currents. The single-phase ratchet transmission assembly transmits torque to the drill string when the rotor speed is higher than the drill string speed. The rotor assembly and the stator assembly form an electromagnetic coupling mechanism. When the drill string rotates actively, it cuts magnetic field lines to generate electricity and stores it in the annular energy storage unit. Alternatively, in the absence of ocean currents, it releases electrical energy to drive the stator assembly to generate a rotating magnetic field, which in turn compensates for the torque to the drill string in the form of an electric motor.

2. The deep-sea hydrophobic robot for turbulence trapping energy according to claim 1, characterized in that, It also includes a fixing sleeve, on which a plurality of intelligent control rods are provided, and the bionic fish fin is installed on the intelligent control rods.

3. The deep-sea hydrophobic biomimetic robot for turbulence trapping and energy harvesting without a riser as described in claim 2, characterized in that, The biomimetic fin is a flexible airfoil structure. The intelligent control rod achieves passive adaptive adjustment of the frontal area based on the principle of hydrodynamic pressure and elastic force balance. That is, when the ocean current strengthens, the intelligent control rod drives the biomimetic fin to retract to reduce the frontal area, and when the ocean current weakens, the intelligent control rod drives the biomimetic fin to open to increase the force-bearing area.

4. The deep-sea hydrophobic robot for turbulence trapping energy according to claim 1, characterized in that, The one-way ratchet drive assembly includes ratchet teeth and pawls. When the angular velocity of the rotor assembly is higher than the angular velocity of the drill string, it automatically engages to transmit torque. When the angular velocity of the drill string is higher than the angular velocity of the rotor assembly, it automatically disengages to achieve power decoupling.

5. The deep-sea hydrophobic biomimetic robot for turbulence trapping and energy harvesting without a riser as described in claim 1, characterized in that, The stator assembly includes a fixed inner sleeve support, which is provided with a ceramic insulating layer. A multi-phase winding coil is wound around the ceramic insulating layer. The internal cavity of the stator assembly integrates a toroidal lithium battery pack or a supercapacitor array, as well as an energy management module. The stator assembly and the rotor assembly form a permanent magnet synchronous electromagnetic coupling mechanism. When the drill string rotates actively, it operates in power generation mode. Under no-ocean-current conditions, it releases electrical energy through the energy storage unit to drive the stator to generate a rotating magnetic field to operate in electric compensation mode.

6. The deep-sea riserless drill string disturbance and energy-harvesting biomimetic robot according to claim 5, characterized in that, The stator assembly is filled with highly insulating elastic resin through a vacuum potting process to form a fully sealed structure.

7. The deep-sea hydrophobic biomimetic robot for turbulence trapping and energy harvesting without a riser as described in claim 1, characterized in that, The rotor assembly is circumferentially embedded with several tile-shaped rare earth permanent magnets to form rotor magnetic pole pairs.

8. The deep-sea hydrophobic biomimetic robot for turbulence trapping and energy harvesting without a riser as described in claim 1, characterized in that, The device is a packaged external structure, which is tightly installed on the outer surface of the drill string through a segmented structure and bolt pre-tightening.

9. A deep-sea hydrophobic robot for trapping energy without a riser as described in claim 5, characterized in that, The fixed inner sleeve bracket is made of high-strength titanium alloy or nickel-based alloy.

10. A deep-sea hydrophobic robot for trapping energy without a riser as described in claim 1, characterized in that, The biomimetic fish fin is made of carbon fiber reinforced composite material or elastic polymer material.

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