Autonomous underwater robot based on wake flow energy recovery power generation

Abstract

The utility model provides an autonomous underwater robot based on wake flow energy recovery power generation. The autonomous underwater robot comprises a shell, a rudder wing direction mechanism, a propelling mechanism, a wake flow recovery power generation mechanism, a first sealed cabin, a second sealed cabin, a primary dry battery, a rechargeable lithium battery and carrying equipment. The rudder wing direction mechanism is installed on the shell, the propelling mechanism is installed on the middle side of the tail of the robot, the wake flow recovery power generation mechanisms are installed on the two sides of the tail of the robot, the first sealed cabin, the second sealed cabin and the carrying equipment are installed in the shell, and the primary dry battery is installed in the first sealed cabin and used for supplying power to the propelling mechanism. And the rechargeable lithium battery is mounted in the second sealed cabin. Wake flow generated by propelling of the propeller drives the blades and the coil to rotate for energy recovery and power generation, and the wake flow recovery power generation is provided for the rechargeable lithium battery, so that energy self-recovery of the underwater robot is realized, the average power consumption of the underwater robot is reduced, and the underwater service time of the underwater robot is prolonged.

Description

Technical Field

[0001] The utility model belongs to the field of underwater robots, and particularly relates to an autonomous underwater robot based on wake energy recovery power generation. Background Technique

[0002] Autonomous underwater robots are used for long-distance collection of underwater environmental information, detection of underwater terrain, reconnaissance, and data collection. They have the advantage that their activity range is not restricted by cables. Traditional autonomous underwater vehicles mostly use batteries as the energy source and propellers as the power mechanism. The battery power is the key factor restricting the working time and distance of underwater robots. Utilizing the wake generated by the rotation of the propeller underwater for energy recovery power generation can reduce the average energy consumption of underwater robots and extend their working time and distance. Content of the Utility Model

[0003] The purpose of the utility model is to provide an autonomous underwater robot based on wake energy recovery power generation to extend the working time and distance of the underwater robot.

[0004] An autonomous underwater robot based on wake energy recovery power generation includes a housing, carrying equipment, a rudder wing direction mechanism, a propulsion mechanism, a wake recovery power generation mechanism, a first sealed cabin, a second sealed cabin, a primary dry battery, a rechargeable lithium battery, and a control module;

[0005] The carrying equipment is installed at the head of the housing, the rudder wing direction mechanism is installed at the middle front and the tail of the housing, the propulsion mechanism is installed at the middle side of the tail of the housing, the wake recovery power generation mechanism is installed on both sides of the tail of the housing, the first sealed cabin and the second sealed cabin are installed inside the housing, the primary dry battery and the control module are installed in the first sealed cabin, and the rechargeable lithium battery is installed in the second sealed cabin.

[0006] Further, the housing includes a head housing, a middle first housing, a middle second housing, and a tail housing arranged coaxially and linearly;

[0007] The carrying equipment is installed at the position of the head housing, the propulsion mechanism and the wake recovery power generation mechanism are installed at the position of the tail housing, the first sealed cabin and the second sealed cabin are installed inside the middle first housing and the middle second housing, the rudder wing direction mechanism is connected to the middle first housing and the tail housing, and the wake recovery power generation mechanism is installed on both sides of the tail housing.

[0008] Further, the carrying equipment includes a camera, a lighting lamp, a communication device, and a depth sounder; the camera and the lighting lamp are fixedly installed at the front end of the head housing, the communication device is fixedly installed at the upper end of the head housing, and the depth sounder is fixedly installed at the lower end of the head housing.

[0009] Furthermore, the rudder wing direction mechanism includes a front wing, a rear wing, and a steering gear; the front wing is connected to the first middle shell, the rear wing is connected to the tail shell, including a horizontal rear wing and a vertical rear wing, and the steering gear is installed inside the tail shell and connected to the horizontal rear wing and the vertical rear wing.

[0010] Furthermore, the propulsion mechanism includes a propulsion motor, an output shaft, and a tail propeller; one end of the output shaft is connected to the propulsion motor, and the other end is connected to the tail propeller; the propulsion motor is located inside the tail shell and close to the position where the rudder wing direction mechanism is installed on the tail shell; the tail propeller is located outside the end of the tail shell.

[0011] Furthermore, the wake recovery power generation mechanism includes a conduit, a stator, a secondary propulsion paddle, a connecting rod, a rotor, a chute, a magnetic coil, and a blade paddle; the stator is installed on the front side, the secondary propulsion paddle is connected to the stator through the connecting rod; the chute is located at the rear side of the conduit, and the rotor is installed in the chute; the magnetic coils are installed in a circumferential array inside the rotor structure, and the blade paddles are installed in a circumferential array on the inner side of the rotor.

[0012] Furthermore, a support frame is installed inside the first middle shell and the second middle shell, and the support frames are connected by support rods; the first sealed cabin and the second sealed cabin are installed on the support frame.

[0013] Furthermore, the front wing is two fixed structure wings, the horizontal rear wing is two pitch control wings, the vertical rear wing is two yaw control wings, and the steering gears are two; the two front wings are symmetrically connected to both sides of the first middle shell; one horizontal rear wing and one vertical rear wing form a group, and the two symmetric groups of rear wings are respectively connected to one steering gear.

[0014] Furthermore, the wake recovery power generation mechanism is symmetrically installed on both sides of the tail shell, the front side of the conduit is the flow field water inlet side, and the rear side of the conduit is the flow field water outlet side.

[0015] Furthermore, the primary dry battery is an alkaline battery, which is connected to the propulsion motor of the control module and the propulsion mechanism; the rechargeable lithium battery is connected to the secondary propulsion paddle of the wake recovery power generation mechanism.

[0016] The beneficial effects of the present utility model are as follows:

[0017] The present utility model provides an underwater robot that uses the wake generated by the rotation of the propeller to drive the rotation of the rotor magnetic coil for energy recovery power generation. The wake recovery power generation mechanism is arranged symmetrically on the left and right sides of the tail of the underwater robot, with a reasonable spatial layout. The rechargeable lithium battery is used to supply power to the secondary propulsion paddle of the wake recovery power generation mechanism, and the power generated by the rotation of the rotor magnetic coil driven by the recovered wake is recycled, which can reduce the average energy consumption of the underwater robot and extend the working time and distance of the underwater robot. Brief Description of the Drawings

[0018] Figure 1 This is a three-dimensional structure schematic diagram of an autonomous underwater robot based on wake energy recovery power generation of the present utility model;

[0019] Figure 2 This is a top view of an autonomous underwater robot based on wake energy recovery power generation of the present utility model;

[0020] Figure 3 This is a front view of an autonomous underwater robot based on wake energy recovery power generation of the present utility model;

[0021] Figure 4 This is a rear view of an autonomous underwater robot based on wake energy recovery power generation of the present utility model;

[0022] Figure 5 This is a side view of an autonomous underwater robot based on wake energy recovery power generation of the present utility model;

[0023] Figure 6 This is a schematic diagram of the internal structure of an autonomous underwater robot based on wake energy recovery power generation of the present utility model;

[0024] Figure 7 This is a front view of the wake recovery power generation mechanism of an autonomous underwater robot based on wake energy recovery power generation of the present utility model;

[0025] Figure 8 This is an isometric view of the wake recovery power generation mechanism of an autonomous underwater robot based on wake energy recovery power generation of the present utility model;

[0026] Figure 9 This is an internal sectional view of the wake recovery power generation mechanism of an autonomous underwater robot based on wake energy recovery power generation of the present utility model.

[0027] Among them, 1 is the head shell, 2 is the first middle shell, 3 is the second middle shell, 4 is the tail shell, 5 is the front wing, 6 is the horizontal rear wing, 7 is the vertical rear wing, 8 is the steering gear, 9 is the propulsion motor, 10 is the output shaft, 11 is the tail propeller, 12 is the duct, 13 is the stator, 14 is the auxiliary propulsion paddle, 15 is the connecting rod, 16 is the rotor, 17 is the chute, 18 is the magnetic coil, 19 is the blade paddle, 20 is the camera, 21 is the lighting lamp, 22 is the communication machine, 23 is the depth sounder, 24 is the first sealed cabin, 25 is the primary dry battery, 26 is the control module, 27 is the second sealed cabin, 28 is the rechargeable lithium battery, 29 is the support frame, 30 is the support rod. Detailed Embodiment

[0028] The present utility model will be further described below with reference to the drawings.

[0029] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. It should be noted that, without conflict, the embodiments and features in the embodiments of the present utility model can be combined with each other. The described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0030] See Figures 1-9 In this embodiment, an autonomous underwater robot based on wake energy recovery power generation includes a housing, a payload, a rudder wing direction mechanism, a propulsion mechanism, a wake recovery power generation mechanism, a first sealed cabin 24, a second sealed cabin 27, a primary dry battery 25, a rechargeable lithium battery 28, and a control module 26. The rudder wing direction mechanism is installed on the housing. The propulsion mechanism is installed in the middle of the robot's tail. The wake recovery power generation mechanism is installed on both sides of the robot's tail. The first sealed cabin 24, the second sealed cabin 27, and the payload are installed inside the housing. The primary dry battery 25 is installed in the first sealed cabin 24 to supply power to the propulsion mechanism. The rechargeable lithium battery 28 is installed in the second sealed cabin 27 to supply power to the wake recovery power generation mechanism and charge the recovered power.

[0031] The housing includes a head housing 1, a middle first housing 2, a middle second housing 3, and a tail housing 4 arranged coaxially and linearly. The payload is installed at the position of the head housing 1. The propulsion mechanism and the wake recovery power generation mechanism are installed at the position of the tail housing 4. The first sealed cabin 24 and the second sealed cabin 27 are installed in the middle first housing 2 and the middle second housing 3 through a support frame 29 and a support rod 30. The rudder wing direction mechanism is connected to the middle first housing 2 and the tail housing 4. The wake recovery power generation mechanism is installed on both sides of the tail housing 4.

[0032] The rudder wing direction mechanism includes a front wing 5, a rear wing, and a steering gear 8. The front wing 5 is connected to the middle first housing 2. The rear wing includes a horizontal rear wing 6 and a vertical rear wing 7. The rear wing is connected to the tail housing 4. The horizontal rear wing 6 and the vertical rear wing 7 are respectively driven by two symmetrically arranged steering gears 8.

[0033] The propulsion mechanism includes a propulsion motor 9, an output shaft 10, and a tail propeller 11. One end of the output shaft 10 is connected to the propulsion motor 9, and the other end is connected to the tail propeller 11. The propulsion motor 9 drives the output shaft 10 and the tail propeller 11 to rotate.

[0034] The wake recovery power generation mechanism includes a conduit 12, a stator 13, an auxiliary propeller 14, a connecting rod 15, a rotor 16, a chute 17, a magnetic coil 18, and a blade propeller 19; the stator 13 is installed on the front side of the conduit 12, and the auxiliary propeller 14 is connected to the stator 13 through the connecting rod 15. The chute 17 is located on the rear side of the conduit 12, the rotor 16 is installed in the chute 17, the magnetic coils 18 are installed in a circumferential array inside the structure of the rotor 16, and the blade propellers 19 are installed in a circumferential array on the inner side of the rotor 16.

[0035] The carried equipment includes a camera 20, a lighting lamp 21, a communication device 22, and a depth sounder 23; the camera 20 and the lighting lamp 21 are fixedly installed at the front end of the head housing 1, the communication device 22 is fixedly installed at the upper end of the head housing 1, and the depth sounder 23 is fixedly installed at the lower end of the head housing 1. The camera 20 is responsible for recording the front-end image information, the lighting lamp 21 is responsible for providing an underwater lighting source, and the depth sounder 23 is responsible for measuring the underwater depth information.

[0036] Among them, a support frame 29 is installed inside the middle first housing 2 and the middle second housing 3, the support frames 29 are connected by support rods 30, the first sealed cabin 24 and the second sealed cabin 27 are installed on the support frame 29, a primary dry battery 25 and a control module 26 are installed inside the first sealed cabin 24, and a rechargeable lithium battery 28 is installed inside the second sealed cabin 27. The front wing 5 is a fixed-structure wing, the horizontal rear wing 6 is a pitching control wing of the robot, the vertical rear wing 7 is a left-right control wing of the robot, and a pair of symmetric horizontal rear wings 6 and vertical rear wings 7 are respectively controlled by separate steering gears 8.

[0037] The wake recovery power generation mechanism is arranged on both sides of the tail housing 4 of the robot. The front side of the conduit 12 is the flow field water inlet side, and the rear side of the conduit 12 is the flow field water outlet side. The auxiliary propeller 14 rotates electrically to form a wake to push the blade propeller 19 to drive the rotor 16 to rotate, and the magnetic coils 18 in the rotor 16 rotate with the rotor 16 to generate a magnetic field for power generation. The primary dry battery 25 is an alkaline battery, which supplies power to the control module 26 and the propulsion motor 9 in the propulsion mechanism. The rechargeable lithium battery 28 supplies power to the auxiliary propeller 14 of the wake recovery power generation mechanism and recovers the electric energy generated by driving the rotation of the magnetic coils 18 of the rotor 16 by the wake.

[0038] When the underwater robot moves, the primary dry battery 25 powers the propulsion motor 9 to rotate. The rotation is transmitted via the output shaft 10 to drive the tail propeller 11 to rotate. The rechargeable lithium battery 28 powers the secondary propulsion paddle 14 to rotate. The control module 26 controls the servo 8 to drive the horizontal rear wing 6 and the vertical rear wing 7, thereby realizing the direction control of the underwater robot. When the underwater robot moves forward, the secondary propulsion paddle 14 generates a wake. The wake acts on the vane paddle 19, driving the rotor 16 on the inner chute 17 of the conduit 12 to rotate. The magnetic coil 18 inside the rotor 16 rotates to generate electrical energy. The generated electrical energy is supplied to the rechargeable lithium battery 28, realizing the recycling of the propulsion energy of the secondary propulsion paddle 14.

[0039] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An autonomous underwater robot based on wake energy recovery and power generation, characterized by: It comprises a housing, carrying equipment, a rudder wing direction mechanism, a propulsion mechanism, a wake recovery power generation mechanism, a first sealed cabin (24), a second sealed cabin (27), a primary dry battery (25), a rechargeable lithium battery (28) and a control module (26); The head of the shell is equipped with a carrying device, the middle front part and the tail part of the shell are equipped with a rudder wing direction mechanism, the middle side of the tail part of the shell is equipped with a propulsion mechanism, the two sides of the tail part of the shell are equipped with a wake recovery power generation mechanism, and a first sealed cabin (24) and a second sealed cabin (27) are installed inside the shell. A primary dry battery (25) and a control module (26) are installed in the first sealed cabin (24), and a rechargeable lithium battery (28) is installed in the second sealed cabin (27).

2. The autonomous underwater robot based on wake energy recovery and power generation according to claim 1, characterized in that: The housing comprises a head housing (1), a middle first housing (2), a middle second housing (3) and a tail housing (4) which are coaxially arranged along a straight line; The carrying equipment is installed at the head shell (1), the propulsion mechanism and the wake recovery power generation mechanism are installed at the tail shell (4), the first sealed cabin (24) and the second sealed cabin (27) are installed in the middle first shell (2) and the middle second shell (3), the rudder wing direction mechanism is connected to the middle first shell (2) and the tail shell (4), and the wake recovery power generation mechanism is installed on both sides of the tail shell (4).

3. The autonomous underwater robot based on wake energy recovery and power generation according to claim 2, characterized in that: The onboard equipment comprises a camera (20), an illuminating light (21), a communication device (22) and a depth sounder (23); the camera (20) and the illuminating light (21) are fixedly mounted on the front end of the head shell (1), the communication device (22) is fixedly mounted on the upper end of the head shell (1), and the depth sounder (23) is fixedly mounted on the lower end of the head shell (1).

4. The autonomous underwater robot based on wake energy recovery and power generation according to claim 2, characterized in that: The rudder wing direction mechanism comprises a front wing (5), a rear wing, and a steering gear (8); the front wing (5) is connected to the middle first shell (2), the rear wing is connected to the tail shell (4), and comprises a horizontal rear wing (6) and a vertical rear wing (7); the steering gear (8) is installed inside the tail shell (4), and the steering gear (8) is connected to the horizontal rear wing (6) and the vertical rear wing (7).

5. The autonomous underwater robot based on wake energy recovery and power generation according to claim 2, characterized in that: The propulsion mechanism comprises a propulsion motor (9), an output shaft (10) and a tail propeller (11); one end of the output shaft (10) is connected to the propulsion motor (9), and the other end is connected to the tail propeller (11); the propulsion motor (9) is located inside the tail shell (4) and close to the position where the rudder wing direction mechanism is installed on the tail shell (4); and the tail propeller (11) is located outside the end of the tail shell (4).

6. The autonomous underwater robot based on wake energy recovery and power generation according to claim 2, characterized in that: The wake recovery power generation mechanism comprises a duct (12), a stator (13), an auxiliary propeller (14), a connecting rod (15), a rotor (16), a slide groove (17), a magnetic coil (18) and a blade propeller (19); the stator (13) is installed on the front side of the duct (12), and the auxiliary propeller (14) is connected to the stator (13) through the connecting rod (15); the slide groove (17) is located on the rear side of the duct (12), and the rotor (16) is installed in the slide groove (17); the magnetic coil (18) is installed in a circumferential array inside the rotor (16) structure, and the blade propeller (19) is installed in a circumferential array on the inner side of the rotor (16).

7. The autonomous underwater robot based on wake energy recovery and power generation according to claim 2, characterized in that: Support frames are installed in the first middle shell (2) and the second middle shell (3), and the support frames are connected via support rods (30); the first sealed cabin (24) and the second sealed cabin (27) are installed on the support frames.

8. The autonomous underwater robot based on wake energy recovery and power generation according to claim 4, characterized in that: The front wings (5) are two fixed structure wings, the horizontal rear wings (6) are two pitch control wings, the vertical rear wings (7) are two left and right control wings, and there are two steering gears (8); the two front wings (5) are symmetrically connected to the two sides of the middle first shell (2); a horizontal rear wing (6) and a vertical rear wing (7) form a group, and the two symmetrical groups of rear wings are respectively connected to a steering gear (8).

9. The autonomous underwater robot based on wake energy recovery and power generation according to claim 6, characterized in that: The wake recovery power generation mechanism is symmetrically mounted on both sides of the tail shell (4); the front side of the duct (12) is the water inlet side of the flow field, and the rear side of the duct (12) is the water outlet side of the flow field.

10. The autonomous underwater robot based on wake energy recovery and power generation according to claim 1, characterized in that: The primary dry battery (25) is an alkaline battery, connected to the control module (26) and the propulsion motor (9) of the propulsion mechanism; the rechargeable lithium battery (28) is connected to the auxiliary propulsion propeller (14) of the wake recovery power generation mechanism.

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