High-stability ocean buoy position control device
By adopting controller devices and three-axis power distribution devices in the marine buoy position control device, the intelligent distribution of power energy and efficient utilization of wave energy are achieved, and the problems of large fixed-point errors, poor energy utilization efficiency and complex maintenance in the prior art are solved, and the positioning accuracy and motion ability of the buoy are improved.
Patent Information
- Application Number
- CN202421501861.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-28
- Publication Date
- 2025-04-15
- Estimated Expiration
- 2034-06-28
AI Technical Summary
The existing marine buoy position control devices have problems such as large fixed-point error, poor energy utilization efficiency, and complex maintenance.
The high-stability marine buoy position control device including a controller device and a three-axis power distribution device is adopted to realize intelligent distribution of power energy through a signal receiver and a motor, and use wave energy to drive propellers or motor energy storage to achieve accurate positioning and stable movement of the buoy.
It improves the positioning accuracy and movement ability of the float, enhances energy utilization efficiency, simplifies the maintenance process, and reduces the energy consumption of the system.
Smart Images
Figure CN222762421U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of buoy position control, in particular to a high-stability ocean buoy position control device. Background Art
[0002] Marine exploration has high requirements for the deployment of array buoys, which need to remain in a fixed position. Currently, buoys are mostly anchored with anchor chains, which are limited by distance, have a narrow application scenario, and are not flexible enough.
[0003] In order to solve the problem of anchoring and positioning of buoys in the ocean, a power system and a position control device are introduced into the buoy, and the ocean wave energy is used to realize the dynamic positioning of the buoy. Wave energy has a large power density, is widely distributed, and has a continuous action time. Its utilization is the focus of ocean energy development. At present, buoys use umbilical cables to connect underwater wave energy traction bodies as position control devices. Under the traction of the traction body, they can achieve small-scale navigation and movement, resist the drift and displacement of the buoy caused by the ocean current, and achieve regional position maintenance during movement.
[0004] However, the current buoy position control device has significant problems: first, the pitch and roll during the movement of the towing body will cause the buoy to have weak movement ability and a large radius of the fixed-point error circle; second, wave energy has the disadvantage of unstable motion characteristics, which leads to large fixed-point fluctuations and poor energy utilization efficiency; third, the existing control device is complicated to maintain and overhaul when used at sea, which brings great difficulties to its use at sea. Utility Model Content
[0005] The purpose of the utility model is to provide a high-stability ocean buoy position control device to solve the problems raised in the above background technology.
[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a high-stability ocean buoy position control device, comprising a controller device and a three-axis power distribution device, the controller device comprising a motor, the motor being provided with a signal receiver, a plum blossom coupling being installed at the output end of the motor, a belt pinion being installed at one side of the plum blossom coupling, a gear rack housing being installed at one side of the belt pinion, a belt movable end being rotatably installed at the top of the gear rack housing, a deep groove ball bearing being rotatably installed inside the gear rack housing, a locking device being installed at one side of the gear rack housing, a friction wheel being installed at one side of the locking device, a belt latch being rotatably installed at one side of the gear rack housing, and a brake belt being installed at the gear rack housing through the belt latch.
[0007] The three-axis power distribution device includes a power input structure, a power output structure, a generator and a propeller.
[0008] By adopting the above technical solution, the signal receiver in the controller device can receive instructions from the computer at the onshore station, and reasonably adjust the power distribution among the three axes by controlling the brake pads; when the buoy deviates slightly from the fixed position range, the wave energy is used to directly drive the propeller to return to the position; when the buoy deviates significantly from the fixed position range, the motor is used to drive the propeller to return to the position; when the buoy maintains a small movement within the fixed position range, the wave energy will be transmitted to the motor shaft, and the motor will store energy as a generator.
[0009] Preferably, the power output structure includes a power input shaft, a first brake pad is installed on one side of the power input shaft, a first planetary gear fixing frame is installed on the top of the power input shaft, a first planetary gear is rotatably installed on one side of the top of the first planetary gear fixing frame, a first planetary gear outer ring is installed on the outer side of the bottom of the first planetary gear fixing frame, a first sun gear is rotatably installed on the other side of the top of the first planetary gear fixing frame, a first sun gear shaft is rotatably installed at the middle position of the top of the first planetary gear fixing frame, a connecting shaft is installed on the top of the first sun gear shaft, a brake is installed on the outer surface of the connecting shaft, a second planetary gear carrier is installed on the top of the connecting shaft, a second planetary gear outer ring is installed on the outer side of the bottom of the second planetary gear carrier, a second planetary gear is rotatably installed on one side of the top of the second planetary gear carrier, a second sun gear is rotatably installed on the other side of the top of the second planetary gear carrier, a second sun gear shaft is rotatably installed at the middle position of the top of the second planetary gear carrier, a second coupling and a third brake pad are installed on the outer surface of the second sun gear shaft, a second output shaft is installed on the top of the second sun gear shaft, and the second output shaft is connected to the input end of the generator.
[0010] By adopting the above technical solution, the station computer detects the working condition of the buoy in real time. If the buoy moves slightly within the fixed-point range, there is no need to drive the buoy. The computer will send a brake command to the second signal receiver to lock the second brake pad so that the energy of the power input shaft is transmitted to the motor. At this time, the motor works as a generator to store wave energy as electrical energy. If the buoy deviates slightly outside the fixed-point range, power is required to drive the buoy to return to its position. The computer will send a brake command to the third signal receiver to lock the third brake pad so that the energy of the power input shaft is transmitted to the propeller. At this time, the wave energy is directly converted into mechanical energy for the buoy to return to its position. If the buoy deviates significantly outside the fixed-point range, a larger power is required to drive the buoy to return to its position. The computer will send a brake command to the first signal receiver to lock the third brake pad. At this time, the motor drives the propeller to return the buoy to the target fixed-point position range.
[0011] Preferably, the power output structure includes a second planetary gearbox, which is installed on one side of the outer ring of the second planetary gear, and the second planetary gearbox is rotatably installed with a first output shaft, a bevel gear is installed on the other side of the first output shaft, a first coupling and a second brake pad are sleeved on the other side of the outer surface of the first output shaft, and a propeller is installed on one side of the outer surface of the first output shaft.
[0012] By adopting the above technical solution, the first output shaft in the power output structure can drive the propeller to rotate, so that the three-axis power distribution device can drive the buoy to move slightly within a fixed point range.
[0013] Preferably, the signal receiver is connected to the motor via telecommunication, the belt latch is rotationally connected to the gear rack housing via a deep groove ball bearing, and the output end of the motor is clamped to a plum blossom coupling.
[0014] Preferably, the outer ring of the first planetary gear is rotatably connected to the first planetary gear and the first sun gear, the first sun gear shaft is clamped with the connecting shaft, the outer ring of the second planetary gear is rotatably connected to the second planetary gear and the second sun gear, the top of the connecting shaft passes through the second planetary gear carrier and is connected to the second sun gear shaft, and the second planetary gear is meshed with the bevel gear.
[0015] By adopting the above technical solution, the cooperation between the second planetary gear and the bevel gear can drive the first output shaft to rotate, the first planetary gear and the first sun gear are stably and firmly installed inside the outer ring of the first planetary gear, and the second planetary gear and the second sun gear are stably and firmly installed inside the outer ring of the second planetary gear.
[0016] Preferably, the first output shaft is socketed with the propeller, the top of the second output shaft is connected to the input end of the generator, and the first brake pad, the second brake pad and the third brake pad are socketed with the power input shaft, the second output shaft and the second coupling respectively.
[0017] By adopting the above technical solution, the first output shaft can drive the propeller to rotate, thereby driving the three-axis power distribution device to move, the second output shaft can provide power for the generator, and the first brake pad, the second brake pad and the third brake pad slow down or stop the rotation of the power input shaft, the second output shaft and the second coupling.
[0018] Compared with the prior art, the utility model has the following beneficial effects: the high-stability ocean buoy position control device has a simple overall structure and is easy to maintain. It can reasonably dispatch the distribution of power energy according to the different states of the buoy, improve the energy utilization efficiency, reduce the energy consumption of the system, and can fully and effectively utilize the wave energy to provide navigation driving force for the buoy, and has a high positioning accuracy, thereby improving the movement ability and position keeping ability of the buoy. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 This is a top view of the structure of the controller device of the utility model;
[0020] Figure 2 This is a front structural cross-sectional view of the controller device of the utility model;
[0021] Figure 3 This is a main structural diagram of the three-axis power distribution system of the utility model;
[0022] Figure 4 It is a side view structural diagram of the three-axis power distribution system of the utility model;
[0023] Figure 5 This is a front structural sectional view of the three-axis power distribution system of the utility model.
[0024] In the figure: 1-1, motor; 1-2, plum blossom coupling; 1-3, belt pinion; 1-4, belt latch; 1-5, belt movable end; 1-6, gear rack housing; 1-7, locker; 1-8, brake belt; 1-9, deep groove ball bearing; 1-10, friction wheel; 1-11, signal receiver.
[0025] 2-1, power input shaft; 2-2, first planetary gear fixing frame; 2-3, first planetary gear; 2-4, first planetary gear outer ring; 2-5, first sun gear shaft; 2-6, first sun gear; 2-7, bevel gear; 2-8, first coupling; 2-9, first output shaft; 2-10, second planetary gear box; 2-11, second planetary gear outer ring; 2-12, second planetary gear frame; 2-13, second planetary gear; 2-14, second sun gear; 2-15, second coupling; 2-16, second sun gear shaft; 2-17, second output shaft; 2-18, connecting shaft; 2-19, brake; 2-20, first brake pad; 2-21, second brake pad; 2-22, third brake pad. DETAILED DESCRIPTION
[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0027] See also Figure 1-5 The utility model provides an embodiment: a high-stability ocean buoy position control device, including a controller device and a three-axis power distribution device, the controller device includes a motor 1-1, a signal receiver 1-11 is arranged on the motor 1-1, a plum blossom coupling 1-2 is installed at the output end of the motor 1-1, a belt pinion 1-3 is installed on one side of the plum blossom coupling 1-2, a gear rack housing 1-6 is installed on one side of the belt pinion 1-3, a belt movable end 1-5 is rotatably installed on the top of the gear rack housing 1-6, a deep groove ball bearing 1-9 is rotatably installed inside the gear rack housing 1-6, a locker 1-7 is installed on one side of the gear rack housing 1-6, a friction wheel 1-10 is installed on one side of the locker 1-7, a belt latch 1-4 is rotatably installed on one side of the gear rack housing 1-6, and a brake belt 1-8 is installed on the gear rack housing 1-6 through the belt latch 1-4.
[0028] The three-axis power distribution device includes a power input structure, a power output structure, a generator and a propeller. The signal receiver in the controller device can receive instructions from the onshore station computer and reasonably adjust the power distribution among the three axes by controlling the brake pads; when the buoy slightly deviates from the fixed position range, the wave energy is used to directly drive the propeller to return to the position; when the buoy deviates greatly from the fixed position range, the motor is used to drive the propeller to return to the position; when the buoy maintains a small movement within the fixed position range, the wave energy will be transmitted to the motor shaft, and the motor will be used as a generator to store energy.
[0029] In this embodiment, the power output structure includes a power input shaft 2-1, a first brake pad 2-20 is installed on one side of the power input shaft 2-1, a first planetary gear fixing frame 2-2 is installed on the top of the power input shaft 2-1, a first planetary gear 2-3 is rotatably installed on one side of the top of the first planetary gear fixing frame 2-2, a first planetary gear outer ring 2-4 is installed on the outer side of the bottom of the first planetary gear fixing frame 2-2, a first sun gear 2-6 is rotatably installed on the other side of the top of the first planetary gear fixing frame 2-2, a first sun gear shaft 2-5 is rotatably installed in the middle position of the top of the first planetary gear fixing frame 2-2, a connecting shaft 2-18 is installed on the top of the first sun gear shaft 2-5, and a brake is installed on the outer surface of the connecting shaft 2-18 2-19, a second planetary gear carrier 2-12 is installed on the top of the connecting shaft 2-18, a second planetary gear outer ring 2-11 is installed on the outer side of the bottom of the second planetary gear carrier 2-12, a second planetary gear 2-13 is rotatably installed on one side of the top of the second planetary gear carrier 2-12, a second sun gear 2-14 is rotatably installed on the other side of the top of the second planetary gear carrier 2-12, a second sun gear shaft 2-16 is rotatably installed in the middle position of the top of the second planetary gear carrier 2-12, a second coupling 2-15 and a third brake pad 2-22 are installed on the outer surface of the second sun gear shaft 2-16, a second output shaft 2-17 is installed on the top of the second sun gear shaft 2-16, and the second output shaft 2-17 is connected to the input end of the generator. The station computer detects the working condition of the buoy in real time. If the buoy moves slightly within the fixed range, there is no need to drive the buoy. The computer will send a brake command to the second signal receiver to lock the second brake pad 2-21, so that the energy of the power input shaft 2-1 is transmitted to the motor. At this time, the motor works as a generator to store wave energy as electrical energy; if the buoy deviates slightly outside the fixed range, it is necessary to drive the buoy to return to its position. The computer will send a brake command to the third signal receiver to lock the third brake pad 2-22, so that the energy of the power input shaft 2-1 is transmitted to the propeller. At this time, the wave energy is directly converted into mechanical energy for the buoy to return to its position; if the buoy deviates significantly outside the fixed range, a larger power is needed to drive the buoy to return to its position. The computer will send a brake command to the first signal receiver to lock the third brake pad 2-20. At this time, the motor drives the propeller to return the buoy to the target fixed position range.
[0030] In this embodiment, the power output structure includes a second planetary gearbox 2-10, and the second planetary gearbox 2-10 is installed on one side of the second planetary gear outer ring 2-11. The second planetary gearbox 2-10 is rotatably installed with a first output shaft 2-9, and a bevel gear 2-7 is installed on the other side of the first output shaft 2-9. The other side of the outer surface of the first output shaft 2-9 is sleeved with a first coupling 2-8 and a second brake pad 2-21, and a propeller is installed on one side of the outer surface of the first output shaft 2-9. The first output shaft 2-9 in the power output structure can drive the propeller to rotate, so that the three-axis power distribution device can drive the buoy to move slightly within a fixed point range.
[0031] In this embodiment, the signal receiver 1-11 is connected to the motor 1-1 via telecommunication, the belt latch 1-4 is rotationally connected to the gear rack housing 1-6 via the deep groove ball bearing 1-9, and the output end of the motor 1-1 is clamped to the plum blossom coupling 1-2.
[0032] In this embodiment, the first planetary gear outer ring 2-4 is rotationally connected with the first planetary gear 2-3 and the first sun gear 2-6, the first sun gear shaft 2-5 is clamped with the connecting shaft 2-18, the second planetary gear outer ring 2-11 is rotationally connected with the second planetary gear 2-13 and the second sun gear 2-14, the top of the connecting shaft 2-18 passes through the second planetary gear carrier 2-12 and is connected with the second sun gear shaft 2-16, the second planetary gear 2-13 is meshed with the bevel gear 2-7, and the cooperation between the second planetary gear 2-13 and the bevel gear 2-7 can drive the first output shaft 2-9 to rotate, the first planetary gear 2-3 and the first sun gear 2-6 are stably and firmly installed inside the first planetary gear outer ring 2-4, and the second planetary gear 2-13 and the second sun gear 2-14 are stably and firmly installed inside the second planetary gear outer ring 2-11.
[0033] In this embodiment, the first output shaft 2-9 is socketed with the propeller, the top of the second output shaft 2-17 is connected to the input end of the generator, the first brake pad 2-20, the second brake pad 2-21 and the third brake pad 2-22 are respectively socketed with the power input shaft 2-1, the second output shaft 2-17 and the second coupling 2-15, the first output shaft 2-9 can drive the propeller to rotate, thereby driving the three-axis power distribution device to move, the second output shaft 2-17 can provide power for the generator, and the first brake pad 2-20, the second brake pad 2-21 and the third brake pad 2-22 slow down or stop the rotation of the power input shaft 2-1, the second output shaft 2-17 and the second coupling 2-15.
[0034] Working principle: The station computer detects the working condition of the buoy in real time. If the buoy moves slightly within the fixed range, there is no need to drive the buoy. The computer will send a brake command to the second signal receiver to lock the second brake pad 2-21, so that the energy of the power input shaft 2-1 is transmitted to the motor. At this time, the motor works as a generator to store wave energy as electrical energy; if the buoy deviates slightly outside the fixed range, it is necessary to drive the buoy to return to its position. The computer will send a brake command to the third signal receiver to lock the third brake pad 2-22, so that the energy of the power input shaft 2-1 is transmitted to the propeller. At this time, the wave energy is directly converted into mechanical energy for the buoy to return to its position; if the buoy deviates significantly outside the fixed range, a larger power is needed to drive the buoy to return to its position. The computer will send a brake command to the first signal receiver to lock the third brake pad 2-20. At this time, the motor drives the propeller to return the buoy to the target fixed position range.
[0035] During the working process of the controller device, the signal receiver 1-11 receives the brake command from the computer of the shore station, the signal receiver 1-11 drives the motor 1-1, the motor 1-1 rotates and drives the belt pinion 1-3, the belt pinion 1-3 drives the brake belt 1-8, the brake belt 1-8 passes through the friction wheel 1-10 to connect the locker 1-7, and the locker 1-7 is gradually tightened during the rotation to lock the shaft.
[0036] When the generator is storing energy, the second brake pad 2-21 works, the first output shaft 2-9 is locked, and the power input shaft 2-1 drives the first planetary gear holder 2-2 to rotate. The first planetary gear holder 2-2 drives the first planetary gear 2-3 inside the first single-row planetary gear mechanism to rotate through meshing. The first planetary gear set meshes with the first sun gear 2-6 to increase the speed of rotation. The first sun gear shaft 2-5 after increasing the speed transmits energy to the connecting shaft 2-18. The connecting shaft 2-18 is externally connected to the brake 2-19. The connecting shaft 2-18 transmits energy to the second planetary gear holder 2-12. The second planetary gear holder 2-12 meshes with the second planetary gear 2-13 and the second planetary gear outer ring 2-11 to rotate. The second planetary gear 2-12 meshes with the second sun gear 2-14 to increase the speed of rotation. The second sun gear 2-14 drives the second sun gear shaft 2-16 to transmit energy to the second output shaft 2-17. At this time, the generator works to store energy.
[0037] When wave energy drives the propeller to rotate, the third brake pad 2-2 works, the second output shaft 2-17 is locked, and the power input shaft 2-1 drives the first planetary gear holder 2-2 to rotate. The first planetary gear holder 2-2 drives the first planetary gear 2-3 inside the first single-row planetary gear mechanism to rotate through meshing. The first planetary gear set meshes with the first sun gear 2-6 to increase the speed of rotation. The first sun gear shaft 2-5 after increasing the speed transmits energy to the connecting shaft 2-18. The connecting shaft 2-18 is externally connected to the brake 2-19. The connecting shaft 2-18 transmits energy to the second planetary gear holder 2-12. The bottom bevel teeth of the second planetary gear holder 2-12 mesh with the bevel gear 2-7 to increase the speed of rotation. The bevel gear 2-7 and the first output shaft 2-9 are connected by the first coupling 2-8. The bevel gear 2-7 drives the first output shaft 2-9 to rotate, and the wave energy drives the propeller to move.
[0038] When the motor drives the propeller to rotate, the third brake pad 2-20 works, the power input shaft 2-1 is locked, the generator drives the second output shaft 2-17 to rotate, and drives the second sun gear 2-14 through the second sun gear shaft 2-16. The second sun gear 2-14 engages with the second planetary gear 2-12 to increase the speed of rotation. The bottom bevel teeth of the second planetary gear fixing frame 2-12 engage with the bevel gear 2-7 to increase the speed of rotation. The bevel gear 2-7 and the first output shaft 2-9 are connected by the first coupling 2-8. The bevel gear 2-7 drives the first output shaft 2-9 to rotate, and the motor drives the propeller to move.
[0039] For those skilled in the art, the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or scope of the present invention. Therefore, the embodiments of the present invention are exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.
Claims
1. A high-stability ocean buoy position control device, comprising a controller device and a three-axis power distribution device, characterized in that: The controller device comprises a motor (1-1), a signal receiver (1-11) is arranged on the motor (1-1), a plum blossom coupling (1-2) is installed at the output end of the motor (1-1), a belt pinion (1-3) is installed on one side of the plum blossom coupling (1-2), a gear rack housing (1-6) is installed on one side of the belt pinion (1-3), a belt movable end (1-5) is rotatably installed on the top of the gear rack housing (1-6), and a gear rack housing (1-6) is installed inside the gear rack housing (1-6). A deep groove ball bearing (1-9) is rotatably mounted on the gear rack housing (1-6), a locking device (1-7) is mounted on one side of the gear rack housing (1-6), a friction wheel (1-10) is mounted on one side of the locking device (1-7), a belt latch (1-4) is rotatably mounted on one side of the gear rack housing (1-6), and a brake belt (1-8) is mounted on the gear rack housing (1-6) via the belt latch (1-4); the three-axis power distribution device comprises a power input structure, a power output structure, a generator and a propeller.
2. A high stability ocean buoy position control device according to claim 1, characterized in that: The power output structure comprises a power input shaft (2-1), a first brake pad (2-20) is installed on one side of the power input shaft (2-1), a first planetary gear fixing frame (2-2) is installed on the top of the power input shaft (2-1), a first planetary gear (2-3) is rotatably installed on one side of the top of the first planetary gear fixing frame (2-2), a first planetary gear outer ring (2-4) is installed on the outer side of the bottom of the first planetary gear fixing frame (2-2), a first sun gear (2-6) is rotatably installed on the other side of the top of the first planetary gear fixing frame (2-2), a first sun gear shaft (2-5) is rotatably installed in the middle position of the top of the first planetary gear fixing frame (2-2), a connecting shaft (2-18) is installed on the top of the first sun gear shaft (2-5), and a brake (2-2) is installed on the outer surface of the connecting shaft (2-18). 19), a second planetary gear carrier (2-12) is mounted on the top of the connecting shaft (2-18), a second planetary gear outer ring (2-11) is mounted on the outer side of the bottom of the second planetary gear carrier (2-12), a second planetary gear (2-13) is rotatably mounted on one side of the top of the second planetary gear carrier (2-12), a second sun gear (2-14) is rotatably mounted on the other side of the top of the second planetary gear carrier (2-12), a second sun gear shaft (2-16) is rotatably mounted at the middle position of the top of the second planetary gear carrier (2-12), a second coupling (2-15) and a third brake pad (2-22) are mounted on the outer surface of the second sun gear shaft (2-16), a second output shaft (2-17) is mounted on the top of the second sun gear shaft (2-16), and the second output shaft (2-17) is connected to the input end of the generator.
3. A high stability ocean buoy position control device according to claim 2, characterized in that: The power output structure comprises a second planetary gearbox (2-10), the second planetary gearbox (2-10) is mounted on one side of a second planetary gear outer ring (2-11), a first output shaft (2-9) is rotatably mounted on the second planetary gearbox (2-10), a bevel gear (2-7) is mounted on the other side of the first output shaft (2-9), a first coupling (2-8) and a second brake pad (2-21) are sleeved on the other side of the outer surface of the first output shaft (2-9), and a propeller is mounted on one side of the outer surface of the first output shaft (2-9).
4. A high stability ocean buoy position control device according to claim 1, characterized in that: The signal receiver (1-11) is connected to the motor (1-1) via telecommunication, the belt latch (1-4) is rotationally connected to the gear rack housing (1-6) via a deep groove ball bearing (1-9), and the output end of the motor (1-1) is clamped to the plum blossom coupling (1-2).
5. A high stability ocean buoy position control device according to claim 3, characterized in that: The first planetary gear outer ring (2-4) is rotationally connected to the first planetary gear (2-3) and the first sun gear (2-6); the first sun gear shaft (2-5) is engaged with the connecting shaft (2-18); the second planetary gear outer ring (2-11) is rotationally connected to the second planetary gear (2-13) and the second sun gear (2-14); the top of the connecting shaft (2-18) passes through the second planetary gear carrier (2-12) and is connected to the second sun gear shaft (2-16); and the second planetary gear (2-13) is meshed with the bevel gear (2-7).
6. A high stability ocean buoy position control device according to claim 3, characterized in that: The first output shaft (2-9) is sleeved with the propeller, the top of the second output shaft (2-17) is connected to the input end of the generator, and the first brake pad (2-20), the second brake pad (2-21) and the third brake pad (2-22) are sleeved with the power input shaft (2-1), the second output shaft (2-17) and the second coupling (2-15), respectively.