CN109178261A - One kind is based on the floating pendulum self-power generation type underwater detection robot of oscillation and its application - Google Patents
One kind is based on the floating pendulum self-power generation type underwater detection robot of oscillation and its application Download PDFInfo
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- CN109178261A CN109178261A CN201811036400.2A CN201811036400A CN109178261A CN 109178261 A CN109178261 A CN 109178261A CN 201811036400 A CN201811036400 A CN 201811036400A CN 109178261 A CN109178261 A CN 109178261A
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- Prior art keywords
- power generation
- energy
- underwater detection
- detection robot
- gear
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/28—Arrangement of offensive or defensive equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
- F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
- F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
Abstract
The present invention relates to one kind based on the floating pendulum self-power generation type underwater detection robot of oscillation and its application, the underwater detection robot includes energy supply device and underwater detection robot, wherein energy supply device includes from top to bottom sequentially connected oscillating portion, passes energy portion and Power Generation Section, oscillating portion is moved by sea beat, and drives Power Generation Section to carry out power generation operation by passing energy portion；Underwater detection robot includes from top to bottom sequentially connected protection department, in conjunction with fixed part and walking foot, the bottom of Power Generation Section, which is connect with combination fixed part by cable and passes through protection department, is supported protection to entire energy supply device, and Power Generation Section provides required electric power for underwater detection robot operation.Underwater detection robot of the present invention can be realized using wave energy self power generation, and without carrying out additional power supply, design is more advanced more intelligent, provide a strong guarantee for the long-term deep ocean work of underwater detection robot.
Description
Technical field
The present invention relates to one kind based on the floating pendulum self-power generation type underwater detection robot of oscillation and its application, belongs to hydrospace detection
Technical field.
Background technique
Ocean is to contain one of place the most abundant in the energy, the mankind for its explore but because to underwater area format not
Understand and the sufficient energy can not be provided and stop at off-lying sea or deep-sea exploration far from land, the energy of underwater robot supplies at present
Answer mode include traditional solar energy or using wave stroke power generator promote magnetic strength wire cutting generate magnetic strength electric current and
Built-in power or fuel tank, but above-mentioned energy supply is small there are unstable, supply and part method of supplying needs self-adding
Problem, so as to cause can the feeding mechanism of multiple energy supply can only float or periodically upper floatation surface reaches energy recharge with this
Demand, while the energy production for simply promoting design not to be able to satisfy deep sea energy source region is also partial in the design of underwater robot
The scientific research of ground Study of recognition and complicated sea situation is explored.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of based on the floating pendulum self-power generation type underwater detection robot of oscillation.
The present invention also provides a kind of above-mentioned working methods based on the floating pendulum self-power generation type underwater detection robot of oscillation.
Technical scheme is as follows:
One kind is based on the floating pendulum self-power generation type underwater detection robot of oscillation, including energy supply device and undersea detection machine
People, in which:
Energy supply device includes from top to bottom sequentially connected oscillating portion, passes energy portion and Power Generation Section, and oscillating portion is by sea
Wave impact is moved, and drives Power Generation Section to carry out power generation operation by passing energy portion；
Underwater detection robot includes from top to bottom sequentially connected protection department, in conjunction with fixed part and walking foot, Power Generation Section
It connect with combination fixed part by cable and passes through protection department and protection is supported to entire energy supply device, Power Generation Section is water
Electric energy needed for robotic explorer operation provides.
Preferably, the oscillating portion includes from bottom to top sequentially connected wave-energy collection chamber pedestal, wave-energy collection chamber
Partition and sealing top shell, in wave-energy collection chamber pedestal, wave-energy collection chamber partition and the inside formation wave for sealing top shell three
Unrestrained energy collecting chamber is equipped with a floating pendulum rotational pin at the middle part of wave-energy collection chamber partition, and the floating two sides for putting rotational pin are separately connected
It is floating to put, it is offered on wave-energy collection chamber partition into unrestrained mouth and is put into unrestrained mouth face is floating.
Preferably, biography energy portion includes a cylinder, is provided with upper reset spring, spring oscillator, lower reset bullet in cylinder
Spring, rocker actuator, power train and planet gear speeder；The upper and lower ends of spring oscillator are separately connected upper reset spring and lower reset bullet
The surrounding of spring, spring oscillator connects four rocker actuators, and the bottom end of rocker actuator connects planet gear speeder by power train.
Preferably, the surrounding of the spring oscillator is also connected with four support springs, four support springs and four rocking bar dresses
Interval is set to be mounted on the same circumference of cylinder inboard wall.
Preferably, comprising the resonance rack gear and resonance gear that match in the spring oscillator, up and down the two of the rack gear that resonates
End is separately connected upper reset spring and lower reset spring, and the upper end for the rack gear that resonates also connects floating pendulum trundle by cycloid；Spring
It is provided with sliding rail on the inner wall of oscillator, sliding block is installed on the rack gear that resonates, sliding block and sliding rail are cooperatively connected.The benefit of this design exists
In the sliding block and sliding rail added can ensure that resonance rack gear does stable reciprocating motion in spring oscillator, while can amplify bullet
The oscillation kinetic energy that spring oscillator generates.
Preferably, the rocker actuator includes the conical gear straight up being meshed, straight down conical gear, level
Conical gear and horizontally to the right conical gear to the left；Conical gear is connected with vertical teeth wheel shaft straight up, straight down circular cone
Gear is connected with vertical-transmission gear shaft, horizontal conical gear to the left and conical gear is connected separately with horizontal rocking bar horizontally to the right
Gear shaft is connected with rocker arm by sliding bearing on horizontal rocker gear axis, is connected between two rocker arms by rocking bar, on rocking bar
It is provided with extensible link, one end of extensible link and spring oscillator are hinged.
Preferably, the power train includes sequentially connected longitudinal drive shaft, horizontal direction angle drive bevel gear, vertically to angle
Drive bevel gear, horizontal conveyor gear shaft, bevel pinion, bevel gear wheel and vertical transmission shaft；Longitudinal drive shaft passes through shaft coupling
With vertical-transmission gear axis connection, vertical transmission shaft is connect with planet gear speeder.
Preferably, the Power Generation Section includes power generation transmission shaft, flying wheel, power wheel, power wheel friction material shell, outer wall
Friction material shell and electric power output apparatus；The output shaft of planet gear speeder connects power generation transmission shaft by shaft coupling, and power generation passes
Moving axis is connect after flying wheel with power wheel, and power wheel periphery connects power wheel friction material shell and is placed in outer wall together and rubs
It wipes in material housing, the outer wall on power wheel friction material layer and external wall friction material housing on power wheel friction material shell
Friction material layer carries out pivoting friction, converts electric energy for the mechanical energy of transmitting and by electric power output apparatus derived current.
Preferably, the combination fixed part includes a connecting seat, and the center of attachment base is equipped with the fixed device of magnetic suck and magnetic
Absorption fixation device is connect by support arm with attachment base, and the bottom of the fixed device of magnetic suck is equipped with total driving pusher, top is set
There is cable to recycle fixing port；Electric power output apparatus is connected with cable and cable passes through cable recycling fixing port and total driving pusher
Connection, for total driving pusher charging accumulation of energy；The surrounding of attachment base is provided with night vision cam and strong lamp, and protection department is mounted on company
The top of joint chair, walking foot are mounted on the bottom of attachment base, and night vision cam, strong lamp, walking foot are respectively by always driving pusher
Connection control.
Preferably, the support arm is equipped with auxiliary pushing device and auxiliary pushing device is electrically connected with total driving pusher.This sets
Meter is advantageous in that auxiliary pushing device can store the electric energy beyond total driving pusher limitation, makees for underwater detection robot
Industry provides sufficient electric energy guarantee.
Preferably, it is provided with motor in the fixed device of the magnetic suck, reel, cable is installed on the output shaft of motor
Fixing port is recycled by cable to be wrapped on reel.
Preferably, the protection department includes multiple arcs protective fence, and multiple arcs protective fence is evenly arranged on attachment base top sides
At edge, blade is arranged at intervals on multiple arcs protective fence.
A kind of working method based on the floating pendulum self-power generation type underwater detection robot of oscillation, comprising:
A, power generating stage:
Under wave stroke, floating pendulum is swung, and drives resonance rack gear to move reciprocatingly by cycloid, thus drive rocker
Mechanical kinetic energy is transmitted to Power Generation Section by planet gear speeder and generated electricity by device, and Power Generation Section passes through electric power output apparatus for electric energy
It is transferred to total driving pusher, by always driving pusher and auxiliary pushing device to store electric energy；
B, the snorkeling stage:
It is total to drive pusher and auxiliary pushing device coordinating operation when underwater detection robot is in the snorkeling stage, when need
It is total to drive pusher accelerated service when wanting big lifting height, it realizes and rises；Before underwater detection robot needs to tilt acceleration
Into or when rising by a small margin, realize corresponding actions by adjusting the speed of auxiliary pushing device respectively；
C, walking phase:
When underwater detection robot is in walking phase, the rotating electric machine of robot interior is started to work, and pulls cable
It takes in cable recycling fixing port, while kinetic energy source supply device, close to robot, the fixed device of magnetic suck is in energy supply
Strong adsorption energy supply bottom of device realizes the formal dress and arc with the fixed device of magnetic suck when device is close to arc-shaped guard railing
Protective fence is firm to block energy supply device；This rear camera realizes panoramic shooting under the assistance of strong lamp to identify energy park
Domain, robot voluntarily plan that optimal emergency route, walking foot are advanced according to the optimal emergency route of planning.
The beneficial effects of the present invention are:
1) designed in conjunction with semiclosed wave-energy collection chamber using the floating pendulum of oscillation, side, which is floated, ajusts split pool of putting into and exists
Receiving to be avoided except enough wave energies by more direct impacts, the other side is floating to ajust to wave energy reflecting wall,
It can receive reflected secondary wave energy to greatest extent, while the collecting chamber device designed can be most using the structure of single chamber
Big degree reflects up to cumulative effect using wave, and the wave energy of dispersion, to floating pendulum, floats pendulum again at this time in contact cavity wall back reflection
Secondary wave energy is received, the utilization rate of wave energy is improved to the greatest extent, further improves wave energy apparatus wind and wave resistance
Structure protects the exposed important moving parts in ocean of wave energy generating set.
2) resonance gear-box is placed in the mechanism in the middle part of inner cavity by using multiple springs are arranged by the spring oscillator designed,
When wave energy makes floating body be swung left and right or rise and fall up and down, spring oscillator is made to generate oscillation kinetic energy, while the wave energy that floating pendulum receives
Band dynamic cycloid draw resonance rack gear, resonance rack gear moves reciprocatingly under the action of upper and lower two reset springs, with the tooth engaged
The reciprocal start-stop of wheel simulation generates resonance to reach first critical speed, and the oscillation kinetic energy that amplification spring oscillator generates, which is used as, to be shaken
The power that lever apparatus waves.
3) while the four support springs support resonance gear-box designed under the drive of resonance gear-box, by wave energy
It is converted into oscillation kinetic energy, the swing of rocker actuator is driven, further increases energy transmission.
4) present invention can absorb the wave energy in any angle and direction, and to wave to insensitive, no matter floating body is made in wave energy
Under how it is regular or it is irregular swing and rise and fall up and down, rocker actuator can be by resonant spring oscillator all directions
Oscillation kinetic energy be converted into the rotational kinetic energy of single direction and be supplied to transmission system to drive power generator to turn to rotation by fixed
Power generation, greatly improves the utilization rate to wave energy.
5) electrification structure of the design is primary planet speed increaser, converts the energy of low speed high torque to for power generator
The energy of the small torque of the high speed used improves the energy conversion efficiency of power generator to greatest extent, and power generation transmission shaft passes through inertia
Couple the fixed friction material for driving triboelectricity material and outer support inner walls bottom in power wheel after wheel with power wheel
It rubs, using the coupling of triboelectrification and electrostatic induction effect, converts electric energy for the mechanical energy of transmitting.
6) underwater robot of the present invention both can separate or merge with energy supply device, the energy in energy deficiency
It floatation surface or floats to the big region of wave on feeding mechanism and carries out collection of energy, offer is connect with underwater robot by cable
Energy supply, underwater robot accelerates recycling cable, energy supply device return and underwater robot after energy supply abundance
The exploration and movement of any ocean depth of underwater robot are realized comprehensively.
7) the energy supply device of the design is capable of the wave energy of moment sorption enhanced low-density, and realizes and stablize lasting supply
Electricity can integrate strong durability and high reliability, can adapt to any tidal level, landform and sea conditions, be underwater robot
Long-term deep ocean work provide safeguard.
8) underwater robot of the present invention uses 6 protective fence modes, using 6 arc-shaped guard railings wherein 3 protective fence appearances
With acute angle cutter device (blade), 3 protective fences use smooth device can realize during sub-aqua sport encounter sea grass with
And obstruction is effectively cut or slid out when algae winding, while the setting of 6 arc-shaped guard railings may be implemented to vibrate floating pendulum self-power generation type
The effective of energy supply device fixes and prevents larger fish destruction caused by the shock of underwater robot.
9) 6 walking foots and always driving pusher and 6 auxiliary pushing device phases are used in terms of operating mechanism under water of the invention
In conjunction with motion mode, 6 walking foots may be implemented that underwater free walking stability is high, and the walking used all has blade enough
Recombination property can be realized the antiwind and attack protection in walking process, and furthermore angle point can be realized effectively using pointed design and is expert at
Walk to face situations such as freely climbing with walking under complex working condition is not in stuck, it is total to drive pusher and energy supply device
It is direct-connected, it is possible to provide maximum buoyancy, 6 auxiliary pushing devices positioned at underwater robot top can pass through the adjusting to its revolving speed
With always driving pusher combine realize different directions different direction accelerate and dive so that in non-walking sea area times
It freely advances in meaning direction.
10) it is installed additional at the circumference of round walking device and installs magnetic receiving apparatus, 9 night visions at 9 night vision cam centers additional
Camera can realize that comprehensive panorama is recorded, by combining the three-dimensional coordinate drafting that underwater region can be achieved with AI simultaneously to water
Lower image carries out Automatic feature recognition, the adaptive walking of energy source type (oil/gas etc.) and robot is judged, to energy
Source region image and three-dimensional coordinate carry out special storage and backup, and magnetic receiving apparatus can reach underwater machine in energy supply device fastly
Device people combines region and realizes that vertical automatic pick avoids energy supply device and arc in cable removal process from protecting
Device collides.
11) the floating pendulum self-power generation type energy supply device outside of oscillation is by closed titanium alloy casing power generation main body component
It seals and is isolated with seawater, stringent be isolated in the corrosive substances such as seawater is outer, improves corrosion resistance and anti-storm damage
Ability greatly improves working life, reduces maintenance cost.
Detailed description of the invention
Fig. 1 a is the perspective view of oscillating portion in the present invention；
Fig. 1 b is the perspective view of oscillating portion in the present invention；
Fig. 2 is the sectional view I of energy supply device in the present invention；
Fig. 3 is the sectional view II of energy supply device in the present invention；
Fig. 4 a is spring oscillator median plane partial sectional view in the present invention；
Fig. 4 b is the perspective view in spring oscillator region in the present invention；
Fig. 4 c is the cross-sectional view of rocker actuator in the present invention；
Fig. 4 d is the structural schematic diagram of spring oscillator and rocker actuator connection relationship in the present invention；
Fig. 5 is horizontal conveyor gear shaft median plane partial sectional view in the present invention；
Fig. 6 is planet gear speeder median plane partial sectional view in the present invention；
Fig. 7 is the installation diagram of walking robot in the present invention；
Fig. 8 is the bottom view of walking robot in the present invention；
Fig. 9 is the top view of walking robot in the present invention；
Figure 10 is the installation diagram of the floating pendulum self-power generation type underwater detection robot of present invention oscillation；
Figure 11 is the installation diagram I that floating pendulum self-power generation type underwater detection robot is vibrated after hiding barrel；
Figure 12 is the installation diagram II that floating pendulum self-power generation type underwater detection robot is vibrated after hiding barrel；
Figure 13 is the floating pendulum self-power generation type underwater detection robot energy source device floating state installation diagram of oscillation；
Figure 14 is that floating pendulum self-power generation type underwater detection robot energy source device floating state installation diagram is vibrated after hiding barrel；
Figure 15 is sufficient structural schematic diagram of walking in the present invention；
Wherein: 1, floating pendulum；2, top shell is sealed；3, pendulum rotational pin is floated；4, wave-energy collection chamber pedestal；5, pendulum is floated；6, wave
It can collecting chamber partition；7, upper reset spring；8, sliding block；9, spring oscillator；10, sliding rail；11, rocker actuator；12, vertical gear
Axis；13, conical gear straight up；14, conical gear straight down；15, vertical-transmission gear shaft；16, shaft coupling type unidirectionally surpasses
More clutch；17, longitudinal drive shaft；18, lower reset spring；19, horizontal direction angle drive bevel gear；20, it is driven and bores to angle vertically
Gear；21, horizontal conveyor gear shaft；22, bevel pinion；23, bevel pinion；24, bevel pinion；25, bevel gear wheel；26, it erects
Direct transfer moving axis；27, planet gear speeder；28, generate electricity transmission shaft；29, flying wheel；30, power wheel friction material shell；31, it generates electricity
Take turns friction material layer；32, external wall friction material layer；33, external wall friction material housing；34, electric power output apparatus；35, bevel gear；
36, power wheel；37, resonate gear；38, resonate rack gear；39, resonate gear；40, horizontal direction bevel gear；41, support spring；42,
Longitudinal drive shaft；43, rocker actuator；44, support spring；45, rocker actuator；46, longitudinal drive shaft；47, support spring；48,
Rocker actuator；49, longitudinal drive shaft；50, support spring；51, angle driving gear set；52, angle driving gear set；53, angle is driven
Gear set；54, angle driving gear set；55, planetary gear；56, planetary gear；57, sun gear；58, planetary gear；59, arc-shaped guard railing；
60, auxiliary pushing device；61, arc-shaped guard railing；62, auxiliary pushing device；63, arc-shaped guard railing；64, auxiliary pushing device；65, it assists
Pusher；66, arc-shaped guard railing；67, auxiliary pushing device；68, arc-shaped guard railing；69, auxiliary pushing device；70, arc-shaped guard railing；
71, night vision cam；72, walking foot；73, night vision cam；74, strong lamp；75, walking foot；76, night vision cam；77, night vision
Camera；78, walking foot；79, night vision cam；80, strong lamp；81, walking foot；82, night vision cam；83, night vision cam；
84, night vision cam；85, strong lamp；86, walking foot；87, pusher is always driven；88, the fixed device of magnetic suck；89, cable recycles
Fixing port；90, rotating electric machine；92, walking foot；93, night vision cam；94, the first joint；95, second joint；96, third is closed
Section；97, articulated shaft；98, rocker arm；99, sliding bearing；100, rocking bar；101, extensible link；102, horizontal rocker gear axis.
Specific embodiment
The present invention will be further described by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1:
The present embodiment provides one kind based on the floating pendulum self-power generation type underwater detection robot of oscillation comprising energy supply device
With underwater detection robot two large divisions, wherein energy supply device provides electric energy for the walking and detection of underwater detection robot
It is required, and the energy supply device can be truly realized by wave self power generation without manpower charging of debarking in ocean
Underwater detection robot long-term ocean operation:
Wherein, energy supply device includes from top to bottom sequentially connected oscillating portion, passes energy portion and Power Generation Section, oscillating portion by
It is moved to sea beat, and drive Power Generation Section to carry out power generation operation by passing energy portion；
Underwater detection robot includes from top to bottom sequentially connected protection department, in conjunction with fixed part and walking foot, Power Generation Section
Bottom connect in conjunction with fixed part by cable and passes through protection department protection is supported to entire energy supply device, power generation
Portion provides required electric power for underwater detection robot operation.
Oscillating portion is used to absorb the energy of sea beat, and oscillating portion includes from bottom to top sequentially connected wave-energy collection chamber
Pedestal 4, wave-energy collection chamber partition 6 and sealing top shell 2, in wave-energy collection chamber pedestal 4, wave-energy collection chamber partition 6 and close
Bind 2 three of shell inside formed wave-energy collection chamber.As shown in Figure 1, wave-energy collection chamber partition 6 is a Tai Ji shape, it will
Wave-energy collection chamber is divided into two chambers, is equipped with a floating pendulum rotational pin 3 at the middle part of wave-energy collection chamber partition 6, floats rotation
The two sides of dynamic pin 3 are separately connected floating pendulum 1, and the floating pendulum in two sides in the present embodiment is of different sizes, and side is small floating pendulum, and the other side is big
Floating pendulum offers on wave-energy collection chamber partition 6 into unrestrained mouth and into the small floating pendulum of unrestrained mouth face.Small floating ajust is receiving into unrestrained mouth
It can also be avoided except enough wave energies by more direct impacts, big float is ajusted to wave energy reflecting wall, can be maximum
The reflected secondary wave energy of the receiving of limit, the wave energy of dispersion, to floating pendulum, float pendulum again at this time in contact cavity wall back reflection
Secondary wave energy is received, improves the utilization rate of wave energy to the greatest extent.
Passing energy portion is the intermediate link for connecting oscillating portion and Power Generation Section, is machinery caused by the wave energy for absorbing oscillating portion
The hinge of electric energy can be converted into.Passing energy portion includes a cylinder, is provided with upper reset spring 7, spring oscillator 9, lower reset in cylinder
Spring 18, rocker actuator 11, power train and planet gear speeder 27；The upper and lower ends of spring oscillator 9 are separately connected upper reset spring 7
Four rocker actuators 11 are connected with the surrounding of lower reset spring 18, spring oscillator 9, the bottom end of four rocker actuators 11 passes through transmission
System's connection planet gear speeder 27.
The energy of the spring oscillator 9 as mechanical energy is moved by floating 1 drive spring oscillator 9 of pendulum.Specifically, in spring oscillator 9
Comprising the resonance rack gear 38 and resonance gear 37 matched, resonance gear 37 is mounted in the shell of spring oscillator 9, and resonate rack gear
38 upper and lower ends are designed with mounting base A and mounting base B, and the bottom end of upper reset spring 7 is fixed on mounting base A, upper end is fixed
In 4 bottom of wave-energy collection chamber pedestal, the upper end of lower reset spring 18 is fixed on mounting base B upper and lower end and is fixed on power train
On shell；It is additionally provided with sliding rail 10 on the inner wall of spring oscillator 9, sliding block is installed on the rack gear 38 that resonates, sliding block is matched with sliding rail 10
Connection is closed, the sliding block and sliding rail 10 added can ensure that resonance rack gear 38 does stable reciprocating motion in spring oscillator, simultaneously
The oscillation kinetic energy of spring oscillator generation can be amplified.Mounting base A and wave-energy collection chamber pedestal 4 are equipped with hollow seal screw, float
Pendulum rotational pin 3 is connected with cycloid, and cycloid passes through hollow seal screw and mounting base A is connected.When floating pendulum 1 by sea beat,
Resonance rack gear 38 is driven to pump by cycloid while floating pendulum rotational pin 3 rotates, thus by resonance 37 band of gear
Dynamic spring oscillator 9 vibrates up and down, and mechanical energy is transmitted to Power Generation Section by rocker actuator, power train again by spring oscillator 9.Upper reset
Spring 7 and lower reset spring 18 can guarantee reset of the spring oscillator 9 in vibration processes.
Four rocker actuators 11,43,45,48 are connected with spring oscillator 9, for transmitting the mechanical energy of spring oscillator 9, four
Identical in rocker actuator structure, rocker actuator includes the conical gear straight up 13 being meshed, straight down circular cone tooth
Take turns 14, horizontal conical gear to the left and horizontally to the right conical gear；Conical gear 13 is connected with vertical teeth wheel shaft 12 straight up,
Conical gear 14 is connected with vertical-transmission gear shaft, horizontal conical gear to the left and horizontally to the right conical gear difference straight down
Be connected with horizontal rocker gear axis 102, rocker arm 98 be connected with by sliding bearing 99 on horizontal rocker gear axis, two rocker arms it
Between connected by rocking bar 100, extensible link 101, one end of extensible link 101 and spring oscillator 9 are connected on rocking bar 100
Hingedly.
Mechanical energy is transmitted to Power Generation Section by power train, finally converts electric energy for mechanical energy by Power Generation Section.Power train includes
Sequentially connected longitudinal drive shaft 17, horizontal direction angle drive bevel gear 19, vertically to angle drive bevel gear 20, horizontal conveyor gear
Axis 21, bevel pinion 22,23,24 (there are four bevel pinions, and label only shows three in Fig. 2), bevel gear wheel 25 and vertical biography
Moving axis 26；Longitudinal drive shaft 17 is connect by shaft coupling with vertical-transmission gear shaft 15, vertical transmission shaft 26 and planet gear speeder
27 connections.Wherein, horizontal direction angle drive bevel gear 19 and vertically to angle drive bevel gear 20 combine angulation driving gear set 51,
52、53、54。
Power Generation Section finally realizes that mechanical energy is converted into electric energy, and Power Generation Section includes power generation transmission shaft 28, flying wheel 29, power wheel
36, power wheel friction material shell 30, external wall friction material housing 33 and electric power output apparatus 34；The output of planet gear speeder 27
Axis connects power generation transmission shaft 28 by shaft coupling, and power generation transmission shaft 28 is connect after flying wheel 29 with power wheel 36, power wheel
36 peripheries connection power wheel friction material shell 30 is simultaneously placed in external wall friction material housing 33, power wheel friction material material shell together
The external wall friction material layer on power wheel friction material layer and external wall friction material housing 33 on body 30 carries out pivoting friction, will
The mechanical energy of transmitting is converted into electric energy and by 34 derived current of electric power output apparatus.
It is the main body of underwater detection robot in conjunction with fixed part, includes a connecting seat, the center of attachment base in conjunction with fixed part
Equipped with the fixed device 88 of magnetic suck and the fixed device 88 of magnetic suck is connect by six support arms with attachment base, the fixed device of magnetic suck
88 bottom is equipped with total driving pusher 87, top is equipped with cable and recycles fixing port 89, is respectively provided with auxiliary pushing on six support arms
Device 60,62,64,65,67,69 and auxiliary pushing device are electrically connected with total driving pusher 87；34 connecting cable of electric power output apparatus,
Cable passes through cable recycling fixing port 89 and is electrically connected with total driving pusher 87, fills for total driving pusher 87 and auxiliary pushing device
Electric accumulation of energy；The surrounding of attachment base is provided with night vision cam 71,73,76,77,79,82,83,84,93 and strong lamp 74,80,85,
Protection department is mounted on the top of attachment base, and walking foot 72,75,78,81,86,92 is mounted on the bottom of attachment base, and total driving is carried out
Device 87 is night vision cam, strong lamp, walking foot provide required electric energy.
Protection department includes six fixed arc-shaped guard railings 59,61,63,66,68,70, and six arc-shaped guard railings are equal
Cloth is arranged at intervals with blade at attachment base top edge on six arc-shaped guard railings, blade is used to separate marine algae plant,
Prevent algae Wiring apparatus.When the fixed device 88 of magnetic suck is attracted energy supply device, six arc-shaped guard railings can
To play a protective role.
Walking foot uses the prior art, includes three joints in structure, that is, passes through articulated shaft 97 successively hinged the
One joint 94, second joint 95, third joint 96, the first joint 94 all have blade recombination property and can be realized in walking process
Antiwind and attack protection, furthermore angle point using pointed design can effectively realize walking faces freely climbing under complex working condition
Situations such as with walking being not in stuck.Second joint 95 is responsible for flexibly turning to and articular surface effectively prevent twining with twill
Around.Third joint 96 is responsible for horizontal direction and turns to and be fixed on the base, and receives control signal.
Total to drive pusher and auxiliary pushing device for routine techniques, identical in the two structure, pusher is essentially one
Whole underwater propeller, propulsion functions are mainly driven by a motor rotating vane (similar propeller) band mobile robot and rise and fall up and down,
Its main actions is controlled by AI chip (not shown), and it is additional that motor, which is just mounted on the lower section of AI chip and electric storage device,
A motor being arranged drives rotating vane operation by the motor.Night vision cam, strong lamp, walking foot be also by AI chip into
Line program control.
Cable conductor uses JHS water-proof cable in the present embodiment, has outstanding waterproof insulation performance and bending property, machine
Body uses high-strength titanium alloy material, corrosion-resistant, has high-intensitive mechanical characteristic, and driving motor uses underwater AC induction motor
And be encapsulated in body, there is compressive resistance height, the strong feature of sealing performance.
Embodiment 2:
It is a kind of as described in Example 1 that pendulum self-power generation type underwater detection robot is floated based on oscillation, the difference in structure
Point is: the surrounding of spring oscillator 9 is also connected with four support springs 41,44,47,50, four 41,44,47,50 and of support spring
Four intervals of rocker actuator 11,43,45,48 are mounted on the same circumference of cylinder inboard wall.
Four support springs added play the role of reinforcing support spring oscillator, while cylinder is rushed by external wave
It can tilt when hitting, spring oscillator also double swerve therewith, and then the swing of rocker actuator is driven again, further increase energy
Transmitting.Stability and elastic reset when four support springs can guarantee spring oscillator double swerve.
Embodiment 3:
A kind of working method based on the floating pendulum self-power generation type underwater detection robot of oscillation, comprising:
A, power generating stage:
Under wave stroke, floating pendulum is swung, and drives resonance rack gear to move reciprocatingly by cycloid, thus drive rocker
Mechanical kinetic energy is transmitted to Power Generation Section by planet gear speeder and generated electricity by device, and Power Generation Section passes through electric power output apparatus for electric energy
It is transferred to total driving pusher, is provided needed for electric power for total driving pusher；
B, the snorkeling stage:
It is total to drive pusher and auxiliary pushing device coordinating operation when underwater detection robot is in the snorkeling stage, when need
It is total to drive pusher accelerated service when wanting big lifting height, under the control of AI chip, rotating vane rotation is driven by motor
Turn, realizes and rise；When underwater detection robot, which needs to tilt, to be accelerated to advance or rise by a small margin, pushed away by adjusting auxiliary respectively
The speed of row device realizes corresponding actions；Six small total driving pushers of auxiliary pushing devices collaboration at this time on support arm, when need
When tilting advance or dive, six auxiliary pushing devices run through the total driving of rotational speed difference collaboration at different rates respectively to be carried out
The acceleration or deceleration of device realizes above-mentioned function；
C, walking phase:
When underwater detection robot is in walking phase, the rotating electric machine of robot interior is started to work, and pulls cable
Conducting wire is taken in cable recycling fixing port, while kinetic energy source supply device, close to robot, the fixed device of magnetic suck is in the energy
When feeding mechanism is close to arc-shaped guard railing strong adsorption energy supply bottom of device realize with the formal dress of the fixed device of magnetic suck and
Arc-shaped guard railing consolidates clamping energy supply device；This rear camera realizes panoramic shooting under the assistance of strong lamp to identify energy
Source region, robot voluntarily plan that optimal emergency route, walking foot are advanced according to the optimal emergency route of planning.
Claims (10)
1. one kind is based on the floating pendulum self-power generation type underwater detection robot of oscillation, which is characterized in that including energy supply device and water
Robotic explorer, in which:
Energy supply device includes from top to bottom sequentially connected oscillating portion, passes energy portion and Power Generation Section, and oscillating portion is rushed by wave
It hits and is moved, and drive Power Generation Section to carry out power generation operation by passing energy portion；
Underwater detection robot includes from top to bottom sequentially connected protection department, in conjunction with fixed part and walking foot, and Power Generation Section passes through
Cable, which connect with combination fixed part and passes through protection department, is supported protection to entire energy supply device, and Power Generation Section is underwater visits
Survey electric energy needed for robot manipulating task provides.
2. as described in claim 1 based on the floating pendulum self-power generation type underwater detection robot of oscillation, which is characterized in that the oscillation
Portion includes from bottom to top sequentially connected wave-energy collection chamber pedestal, wave-energy collection chamber partition and sealing top shell, in wave energy
Collecting chamber pedestal, wave-energy collection chamber partition and the inside formation wave-energy collection chamber for sealing top shell three, in wave-energy collection
The middle part of chamber partition is equipped with a floating pendulum rotational pin, and the two sides of floating pendulum rotational pin are separately connected floating pendulum, on wave-energy collection chamber partition
It offers into unrestrained mouth and is put into unrestrained mouth face is floating.
3. as claimed in claim 2 based on the floating pendulum self-power generation type underwater detection robot of oscillation, which is characterized in that the biography energy
Portion includes a cylinder, is provided with upper reset spring, spring oscillator, lower reset spring, rocker actuator, power train and planet in cylinder
Speed increaser；The upper and lower ends of spring oscillator are separately connected upper reset spring and lower reset spring, the surrounding connection four of spring oscillator
The bottom end of a rocker actuator, rocker actuator connects planet gear speeder by power train；
The surrounding of the spring oscillator is also connected with four support springs, and four support springs and four rocker actuator intervals are mounted on
On the same circumference of cylinder inboard wall.
4. as claimed in claim 3 based on the floating pendulum self-power generation type underwater detection robot of oscillation, which is characterized in that the spring
Comprising the resonance rack gear and resonance gear that match in oscillator, the upper and lower ends for the rack gear that resonates are separately connected upper reset spring under
Reset spring, the upper end for the rack gear that resonates also connect floating pendulum trundle by cycloid；It is provided with sliding rail on the inner wall of spring oscillator, altogether
Sliding block is installed, sliding block and sliding rail are cooperatively connected on vibration rack gear.
5. as claimed in claim 3 based on the floating pendulum self-power generation type underwater detection robot of oscillation, which is characterized in that the rocking bar
Device includes the conical gear straight up being meshed, straight down conical gear, horizontal conical gear to the left and horizontally to the right
Conical gear；Conical gear is connected with vertical teeth wheel shaft straight up, and conical gear is connected with vertical-transmission gear straight down
Axis, horizontal conical gear to the left and conical gear is connected separately with horizontal rocker gear axis, horizontal rocker gear axis horizontally to the right
It is upper that rocker arm is connected with by sliding bearing, it is connected between two rocker arms by rocking bar, is provided with extensible link on rocking bar, can stretch
One end of contracting connecting rod and spring oscillator are hinged.
6. as claimed in claim 5 based on the floating pendulum self-power generation type underwater detection robot of oscillation, which is characterized in that the transmission
System includes sequentially connected longitudinal drive shaft, horizontal direction angle drive bevel gear, vertically to angle drive bevel gear, horizontal conveyor gear
Axis, bevel pinion, bevel gear wheel and vertical transmission shaft；Longitudinal drive shaft is erected by shaft coupling and vertical-transmission gear axis connection
The moving axis that direct transfers is connect with planet gear speeder.
7. as claimed in claim 3 based on the floating pendulum self-power generation type underwater detection robot of oscillation, which is characterized in that the power generation
Portion includes power generation transmission shaft, flying wheel, power wheel, power wheel friction material shell, external wall friction material housing and electric power output
Device；The output shaft of planet gear speeder by shaft coupling connect power generation transmission shaft, generate electricity transmission shaft after flying wheel with power generation
Wheel connection, power wheel periphery connection power wheel friction material shell are simultaneously placed in external wall friction material housing together, and power wheel is rubbed
Power wheel friction material layer on wiping material housing carries out rotation with the external wall friction material layer on external wall friction material housing and rubs
It wipes, converts electric energy for the mechanical energy of transmitting and by electric power output apparatus derived current.
8. as claimed in claim 7 based on the floating pendulum self-power generation type underwater detection robot of oscillation, which is characterized in that the combination
Fixed part includes a connecting seat, and the center of attachment base is equipped with the fixed device of magnetic suck and the fixed device of magnetic suck passes through support arm and company
Joint chair connection, the bottom of the fixed device of magnetic suck is equipped with total driving pusher, top is equipped with cable and recycles fixing port；Electric power output
Device is connected with cable and cable passes through cable recycling fixing port and connect with total driving pusher, stores for total driving pusher charging
Energy；The surrounding of attachment base is provided with night vision cam and strong lamp, and protection department is mounted on the top of attachment base, the foot company of being mounted on of walking
The bottom of joint chair, night vision cam, strong lamp, walking foot are respectively by always driving pusher connection control；
The support arm is equipped with auxiliary pushing device and auxiliary pushing device is electrically connected with total driving pusher.
9. as claimed in claim 8 based on the floating pendulum self-power generation type underwater detection robot of oscillation, which is characterized in that the magnetic
It is provided with motor in attached fixed device, reel is installed on the output shaft of motor, cable recycles fixing port by cable and winds
On reel；
The protection department includes multiple arcs protective fence, and multiple arcs protective fence is evenly arranged at attachment base top edge, multiple arcs
Blade is arranged at intervals on shape protective fence.
10. a kind of such as the described in any item work based on the floating pendulum self-power generation type underwater detection robot of oscillation of claim 1-9
Method, comprising:
A, power generating stage:
Under wave stroke, floating pendulum is swung, and drives resonance rack gear to move reciprocatingly by cycloid, thus drive rocker device
Mechanical kinetic energy is transmitted to Power Generation Section by planet gear speeder to generate electricity, electric energy is transmitted by electric power output apparatus in Power Generation Section
To total driving pusher, by always driving pusher and auxiliary pushing device to store electric energy；
B, the snorkeling stage:
It is total to drive pusher and auxiliary pushing device coordinating operation when underwater detection robot is in the snorkeling stage, it is big when needing
Lifting height when, it is total to drive pusher accelerated service, realize and rise；When underwater detection robot need tilt accelerate advance or
When rising by a small margin, corresponding actions are realized by adjusting the speed of auxiliary pushing device respectively；
C, walking phase:
When underwater detection robot is in walking phase, the rotating electric machine of robot interior is started to work, and pulls cable income
Cable recycles in fixing port, while kinetic energy source supply device, close to robot, the fixed device of magnetic suck is in energy supply device
Strong adsorption energy supply bottom of device is realized with the formal dress of the fixed device of magnetic suck when close to arc-shaped guard railing and arc protects
Column is firm to block energy supply device；This rear camera realized under the assistance of strong lamp panoramic shooting to identifying energy region,
Robot voluntarily plans that optimal emergency route, walking foot are advanced according to the optimal emergency route of planning.
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| CN201811036400.2A CN109178261B (en) | 2018-09-06 | 2018-09-06 | Self-generating underwater detection robot based on oscillation floating pendulum and application thereof |
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