CN106394845A - Seaborne detection robot driven by both wave energy and wind energy - Google Patents

Abstract

The invention relates to a marine robot, which comprises a water floating body device, an intermediate connection device and a power drive device. The floating body device on water adopts a hull-like structure, on which anti-rolling bodies, sealed cabins, solar panels, GPS, communication antennas, sensors are arranged, and batteries and communication controllers are arranged in the sealed cabins; The flexible cable made of special materials can transmit electric energy and signal, and can transmit kinetic energy; the power drive device includes wind energy drive components and wave energy drive components. A marine detection robot driven jointly by wave energy and wind energy uses renewable energy wave energy and wind energy as the direct driving force, the underwater glider driven by wave energy is used as the main force to pull the floating body forward underwater, and the propeller driven by wind energy generates The thrust is used as the auxiliary power, and through the automatic cruise control of the communication controller, the purpose of making the marine detection robot sail along the predetermined trajectory is jointly achieved.

Description

A marine detection robot driven jointly by wave energy and wind energy

technical field

The invention relates to a marine robot, in particular to a marine detection robot driven jointly by wave energy and wind energy.

Background technique

The ocean accounts for about 71% of the earth's surface area and 97% of its water volume. The vast ocean not only affects global climate change, but also contains rich mineral resources, food resources and energy, and is the future warehouse of human beings. In recent years, people have turned their attention to the research and development of various marine equipment for marine resource development and marine environment monitoring. At present, the researches on these aspects are mainly focused on the underwater detection robot and so on. Water detection robots are mainly used to perform tasks that are dangerous and not suitable for manned ships, and are mainly used for scientific research, detection, search and rescue, navigation and survey. The propulsion power system of traditional water detection robots mostly uses hydraulic pressure and electric motors, etc., which require energy supply and have limited battery life, making it impossible to achieve continuous long-term operation. In recent years, there have been many marine robots powered by renewable energy, such as motorized buoys powered by wave energy. However, marine robots that are jointly driven by multiple renewable energy sources are relatively rare. The present invention innovatively designs a marine detection robot that is jointly driven by wave energy and wind energy.

Contents of the invention

In order to avoid the deficiencies of existing technologies, overcome problems such as difficult energy supply, limited battery life, inability to achieve continuous long-term operation, and low comprehensive utilization rate of renewable energy. The invention provides a marine detection robot driven jointly by wave energy and wind energy, and the marine robot has strong maneuverability and continuous navigation capability.

The technical solution adopted by the present invention to solve the technical problem is: a marine detection robot driven jointly by wave energy and wind energy, including a floating body device, an intermediate connection device, and a power drive device.

The water floating device includes a buoy base, a communication antenna, an anti-rolling body I, a storage battery, a communication controller, a solar panel, a sealing strip, a sealed cabin, a partition of the sealed cabin, a sensor, an anti-rolling body II, and a GPS. The float base adopts a structure similar to that of a ship, and the material is glass fiber reinforced plastic, which can reduce sailing resistance; install anti-rolling body I and anti-rolling body II on both sides of the float base, which can make the entire floating body sailing more stable; in front of the float base There is a sealed cabin, which is divided into two compartments by the partition of the sealed cabin, and the battery and the communication controller are installed respectively. The STM32 development board is installed, which can control the rudder drive motor and process the signals measured by GPS and sensors; the solar panel and the sealing strip seal the airtight cabin through fastening screws to keep the cabin dry, and the solar panel can store the generated electric energy into the battery; the sensor is an ADCP sensor, which can measure the current velocity, flow and other data; the GPS and communication antenna are installed in the middle of the float base through fastening screws, and the GPS can measure the real-time position to achieve accurate positioning. The communication antenna It can make the communication controller and the ground base station carry out real-time data transmission.

The intermediate connecting device refers to a flexible cable, the upper end of the flexible cable is connected to the lower bottom surface of the buoy base, and the lower end is connected to the upper ring of the glider. The flexible cable is made of special rubber material, and the steering gear power line and steering gear signal line are inlaid inside, and the electric energy and signal are transmitted to the rudder drive motor. During the voyage, the flexible cable can transmit the up and down motion of the buoy base to the underwater glider caused by the wave force.

The power drive device includes a wind energy drive assembly and a wave energy drive assembly.

The wind energy driving assembly includes a large rotating shaft, a blade group I, a blade group II, a seated bearing I, a seated bearing II, a large fixed plate, a small bevel gear, a large bevel gear, a small fixed frame, a propeller, and a small rotating shaft. The large fixed plate is installed on the float base through fastening screws, and the large fixed plate is opened and the bearing with seat I is installed; the large rotating shaft is assembled with the bearing with seat I, and the lower end is connected with a key to install the small bevel gear; the blade group I and the blade Group II adopts interference fit and is fixed on the upper end of the large rotating shaft. The blade group has streamlined blades and support frames, and the angle difference between the two groups is 60° when installed, which can better receive wind energy from all directions. One end of the blade is thin and the other is thin. The thick special structure at one end can ensure that it only rotates in one direction, avoiding the effect of the propeller being reversed and affecting the propulsion effect; the small fixed frame connects the bearing with seat II to the large fixed plate, and the bearing with seat II is equipped with a small rotating shaft; the small The front end of the rotating shaft is connected to the large bevel gear through a key, and the rear end is connected to the propeller through a key; the small bevel gear meshes with the large bevel gear. During the movement, the blade group converts wind energy into kinetic energy, and then transmits the kinetic energy to the propeller through bevel gear transmission, finally generating forward propulsion.

The wave energy driving assembly includes an upper suspension ring, a left wing, a wing fixing rod, a glider base frame, a rudder blade, a rudder drive motor frame, a rudder drive motor, a right side wing, and a wing limit rod. The base frame of the glider is an assembly connected by bolts, the upper part is connected to the upper ring by bolts, and the rudder drive motor frame is installed at the tail; the rudder drive motor is installed on the rudder drive motor frame, and receives power and signals from the floating body to drive the rudder The blades rotate to achieve the purpose of controlling the direction of the underwater glider; the left wing and the right wing are fixed on the wing fixing rod and the wing limit rod by hexagon socket screws, and then fixed on the glider base frame. During the movement, the up and down movement of the underwater glider causes the 6 sets of wings to rotate clockwise and counterclockwise. The rotation of the wings interacts with the water flow to generate a forward propulsion, and the rotation of the rudder blades controls the direction, thereby realizing the glider together. exercise.

A marine detection robot driven jointly by wave energy and wind energy uses renewable energy wave energy and wind energy as the direct driving force, the underwater glider driven by wave energy is used as the main force to pull the floating body forward underwater, and the propeller driven by wind energy generates The thrust is used as the auxiliary power, and through the automatic cruise control of the communication controller, the purpose of making the marine detection robot sail along the predetermined trajectory is jointly achieved.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the wind energy driving assembly of the present invention.

Fig. 3 is a schematic diagram of the wave energy drive assembly of the present invention.

In the figure 1. float base, 2. communication antenna, 3. anti-rolling body I, 4. battery, 5. communication controller, 6. solar panel, 7. sealing strip, 8. airtight cabin, 9. GPS, 10 .Anti-rolling body II, 11. Sensor, 12. Sealed cabin partition, 13. Flexible cable, 14. Large rotating shaft, 15. Blade group I, 16. Blade group II, 17. Bearing with seat I, 18. Large Fixed plate, 19. small bevel gear, 20. bearing seat II, 21. large bevel gear, 22. small fixed frame, 23. small rotating shaft, 24. propeller, 25. upper ring, 26. left wing, 27. wing fixing bar, 28. glider base frame, 29. rudder blade, 30. rudder drive motor frame, 31. rudder drive motor, 32. right side wing, 33. wing limit lever.

detailed description

Referring to Fig. 1-Fig. 3, the present embodiment is a marine detection robot driven jointly by wave energy and wind energy, including a floating body device, an intermediate connection device, and a power drive device.

The floating body device on water comprises a buoy base (1), a communication antenna (2), an anti-rolling body 1 (3), a storage battery (4), a communication controller (5), a solar panel (6), and a sealing strip (7) , airtight cabin (8), airtight cabin partition (12), sensor (11), anti-rolling body II (10), GPS (9). The float base (1) adopts a structure similar to that of a ship, and the material is glass fiber reinforced plastic, which can reduce navigation resistance; the anti-rolling body I (3) and anti-rolling body II (10) are respectively installed on both sides of the float base (1), which can make the whole float The body is more stable during navigation; there is a sealed cabin (8) in front of the buoy base (1), and the sealed cabin (8) is divided into two cabins by the sealed cabin partition (12) and respectively installed in the battery (4) and the communication controller (5), wherein the storage battery (4) can supply power for electronic equipment such as the rudder drive motor (31) and the communication controller (5), and the STM32 development board is integrated in the communication controller (5), which can control the rudder Drive motor (31) and process the signal that GPS (9), sensor (11) measure; Solar panel (6) and sealing strip (7) seal cabin (8) by fastening screw, keep dry in the cabin, And the solar panel (6) can store the generated electric energy in the middle of the storage battery (4); the sensor (11) is an ADCP sensor, which can measure data such as the velocity and flow of the sea current; the GPS (9) and the communication antenna (2) pass through The fastening screw is installed in the middle part of the float base (1), wherein the GPS (9) can measure the real-time position to realize accurate positioning, and the communication antenna (2) can enable the communication controller (5) to perform real-time data transmission with the ground base station.

The intermediate connecting device refers to a flexible cable (13), the upper end of the flexible cable (13) is connected to the lower bottom surface of the buoy base (1), and the lower end is connected to the upper ring (25) of the glider. The flexible cable is made of special rubber material, and the steering gear power line and the steering gear signal line are inlaid inside, so as to transmit electric energy and signals to the rudder drive motor (31). During the sailing process, the flexible cable can transmit the up and down movement of the buoy base body (1) generated by the wave force to the underwater glider.

The power drive device includes a wind energy drive assembly and a wave energy drive assembly.

The wind energy drive assembly includes a large rotating shaft (14), blade group I (15), blade group II (16), seated bearing I (17), seated bearing II (20), a large fixed plate (18), Small bevel gear (19), large bevel gear (21), small fixed mount (22), propeller (24), small rotating shaft (23). The large fixed plate (18) is installed on the float base (1) by fastening screws, the opening on the large fixed plate (18) and the belt seat bearing I (17); the large rotating shaft (14) and the belt seat bearing I ( 17) Assembly, the lower end is connected with a small bevel gear (19) by a key; blade group I (15) and blade group II (16) are fixed on the upper end of the large rotating shaft (14) by interference fit, and the blade group has a streamlined The blade and the support frame, and the two groups are installed at an angle of 60°, which can better receive wind energy from all directions. The special structure of the blade is thin at one end and thick at the other end, which can ensure that it only rotates in one direction, avoiding the propeller (24) Reversal occurs to affect the propulsion effect; the small fixed frame (22) connects the bearing with seat II (20) with the large fixed plate (18), and the bearing with seat II (20) is equipped with a small rotating shaft (23); the small rotating shaft The front end of (23) is connected with large bevel gear (21) by key, and the rear end is connected with propeller (24) by key; Small bevel gear (19) meshes with large bevel gear (21). During the movement, the blade group converts wind energy into kinetic energy, and then transmits the kinetic energy to the propeller (24) through bevel gear transmission, finally generating forward propulsion.

The wave energy drive assembly includes an upper suspension ring (25), a left wing (26), a wing fixing rod (27), a glider base frame (28), a rudder blade (29), a rudder drive motor frame (30), Rudder drive motor (31), right wing (32), wing limit lever (33). The glider base frame (28) is an assembly that utilizes bolt connection, and the top is connected with the upper ring (25) by bolts, and the tail is equipped with a rudder drive motor frame (30); the rudder drive motor (31) is installed on the rudder drive motor frame (30 ), and receive power and signals from the floating body to drive the rudder blades (29) to rotate to achieve the purpose of controlling the direction of the underwater glider; the left wing (26) and the right wing (32) are fixed by hexagon socket screws Above the fin fixing rod (27) and the fin limit rod (33), and then be fixed on the glider base frame (28). During the movement, the up and down movement of the underwater glider causes the 6 sets of wings to rotate clockwise and counterclockwise, the rotation of the wings interacts with the water flow to generate a forward propulsion, and the rudder blade (29) rotates to control the direction, thereby Together to achieve the movement of the glider.

Claims (6)

1. A sea detection robot that utilizes wave energy and wind energy to drive jointly is characterized in that: a kind of sea detection robot that utilizes wave energy and wind energy to drive jointly comprises floating body device on water, intermediate connecting device, power drive unit. 2. The floating body device on water according to claim 1, characterized in that it comprises a buoy base, a communication antenna, an anti-rolling body 1, a storage battery, a communication controller, a solar panel, a sealing strip, a sealed cabin, a sealed cabin partition, a sensor , Stabilizer II, GPS. The float base adopts a structure similar to that of a ship, and the material is glass fiber reinforced plastic, which can reduce sailing resistance; install anti-rolling body I and anti-rolling body II on both sides of the float base, which can make the entire floating body sailing more stable; in front of the float base There is a sealed cabin, which is divided into two compartments by the partition of the sealed cabin, and the battery and the communication controller are installed respectively. The STM32 development board is installed, which can control the rudder drive motor and process the signals measured by GPS and sensors; the solar panel and the sealing strip seal the airtight cabin through fastening screws to keep the cabin dry, and the solar panel can store the generated electric energy into the battery; the sensor is an ADCP sensor, which can measure the current velocity, flow and other data; the GPS and communication antenna are installed in the middle of the float base through fastening screws, and the GPS can measure the real-time position to achieve accurate positioning. The communication antenna It can make the communication controller and the ground base station carry out real-time data transmission. 3. The intermediate connection device according to claim 1, characterized in that it refers to a flexible cable, the upper end of which is connected to the lower bottom surface of the buoy base, and the lower end is connected to the upper ring of the glider. The flexible cable is made of special rubber material, and the steering gear power line and steering gear signal line are inlaid inside, and the electric energy and signal are transmitted to the rudder drive motor. During the voyage, the flexible cable can transmit the up and down motion of the buoy base to the underwater glider caused by the wave force. 4. The power drive device according to claim 1, characterized in that it comprises a wind energy drive assembly and a wave energy drive assembly. 5. The wind energy driving assembly according to claim 4, characterized in that it comprises a large rotating shaft, a blade group I, a blade group II, a seated bearing I, a seated bearing II, a large fixed plate, a small bevel gear, a large bevel gear, Small fixed frame, propeller, small rotating shaft. The large fixed plate is installed on the float base through fastening screws, the large fixed plate is opened and the bearing with seat I is installed; the large rotating shaft is assembled with the bearing with seat I, and the lower end is connected with a key to install the small bevel gear; the blade group I and the blade Group II adopts interference fit and is fixed on the upper end of the large rotating shaft. The blade group has streamlined blades and support frames, and the angle difference between the two groups is 60° when installed, which can better receive wind energy from all directions. One end of the blade is thinner and the other is thinner. The thick special structure at one end can ensure that it only rotates in one direction, avoiding the effect of the propeller being reversed and affecting the propulsion effect; the small fixed frame connects the bearing with seat II to the large fixed plate, and the bearing with seat II is equipped with a small rotating shaft; the small The front end of the rotating shaft is connected to the large bevel gear through a key, and the rear end is connected to the propeller through a key; the small bevel gear meshes with the large bevel gear. During the movement, the blade group converts wind energy into kinetic energy, and then transmits the kinetic energy to the propeller through bevel gear transmission, finally generating forward propulsion. 6. The wave energy drive assembly according to claim 4, characterized in that it comprises an upper suspension ring, a left wing, a wing fixing rod, a glider base frame, a rudder blade, a rudder drive motor frame, a rudder drive motor, and a right wing , Wing limit rod. The base frame of the glider is an assembly connected by bolts, the upper part is connected to the upper ring by bolts, and the rudder drive motor frame is installed at the tail; the rudder drive motor is installed on the rudder drive motor frame, and receives power and signals from the floating body to drive the rudder The blades rotate to achieve the purpose of controlling the direction of the underwater glider; the left wing and the right wing are fixed on the wing fixing rod and the wing limit rod by hexagon socket screws, and then fixed on the glider base frame. During the movement, the up and down movement of the underwater glider causes the 6 sets of wings to rotate clockwise and counterclockwise. The rotation of the wings interacts with the water flow to generate a forward propulsion, and the rotation of the rudder blades controls the direction, thereby realizing the glider together. exercise.