CN109178261B - Self-generating underwater detection robot based on oscillation floating pendulum and application thereof - Google Patents

Abstract

The invention relates to an oscillation floating pendulum-based self-power generation type underwater detection robot and application thereof, wherein the underwater detection robot comprises an energy supply device and an underwater detection robot, the energy supply device comprises an oscillation part, an energy transmission part and a power generation part which are sequentially connected from top to bottom, the oscillation part is impacted by sea waves to move, and the energy transmission part drives the power generation part to perform power generation operation; the underwater detection robot comprises a protection part, a combination fixing part and a walking foot which are sequentially connected from top to bottom, wherein the bottom of the power generation part is connected with the combination fixing part through a cable and supports and protects the whole energy supply device through the protection part, and the power generation part provides required power for the operation of the underwater detection robot. The underwater detection robot can realize self-power generation by utilizing wave energy, does not need to carry out additional power supply, is more advanced and intelligent in design, and provides powerful guarantee for long-term deep sea operation of the underwater detection robot.

Description

Self-generating underwater detection robot based on oscillation floating pendulum and application thereof

Technical Field

The invention relates to an oscillation floating pendulum-based self-power generation type underwater detection robot and application thereof, and belongs to the technical field of ocean detection.

Background

Ocean is one of the most abundant places in energy, human beings can not know the form of an underwater area and can not provide sufficient energy far away from land so as to stop the exploration in the open sea or the deep sea, and the current energy supply mode of the underwater robot comprises the traditional solar energy or the magnetic induction line cutting caused by utilizing a wave impact power generation device to generate magnetic induction current and a built-in power supply or an oil tank, but the problems of instability and small supply amount of the energy supply and the need of self-replenishment of part of the supply mode exist in the energy supply, so that the supply device capable of supplying the energy can only float or float on the water surface periodically so as to meet the energy supply requirement, and meanwhile, the design of the underwater robot is biased to the simple propulsion design and can not meet the energy production place identification research of the deep sea energy area and the scientific research exploration of the complicated sea.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an oscillation floating pendulum-based self-power generation type underwater detection robot.

The invention also provides a working method of the self-generating underwater detection robot based on the oscillation floating pendulum.

The technical scheme of the invention is as follows:

the utility model provides a from electricity generation formula detection robot under water based on vibration pendulum, includes energy supply device and detection robot under water, wherein:

the energy supply device comprises an oscillating part, an energy transmission part and a power generation part which are sequentially connected from top to bottom, wherein the oscillating part is impacted by sea waves to move, and the energy transmission part drives the power generation part to perform power generation operation;

the underwater detection robot comprises a protection part, a combination fixing part and a walking foot which are sequentially connected from top to bottom, wherein the power generation part is connected with the combination fixing part through a cable and supports and protects the whole energy supply device through the protection part, and the power generation part provides required electric energy for the operation of the underwater detection robot.

Preferably, the oscillating part comprises a wave energy collecting cavity base, a wave energy collecting cavity partition board and a sealing top shell which are sequentially connected from bottom to top, a wave energy collecting cavity is formed in the wave energy collecting cavity base, the wave energy collecting cavity partition board and the sealing top shell, a floating pendulum rotating pin is arranged in the middle of the wave energy collecting cavity partition board, two sides of the floating pendulum rotating pin are respectively connected with a floating pendulum, and a wave inlet is formed in the wave energy collecting cavity partition board and is opposite to the floating pendulum.

Preferably, the energy transmission part comprises a cylinder body, and an upper reset spring, a spring vibrator, a lower reset spring, a rocker device, a transmission system and a planetary speed increaser are arranged in the cylinder body; the upper and lower ends of the spring vibrator are respectively connected with an upper reset spring and a lower reset spring, four rocker devices are connected around the spring vibrator, and the bottom ends of the rocker devices are connected with a planetary speed increaser through a transmission system.

Preferably, four supporting springs are further connected to the periphery of the spring vibrator, and the four supporting springs and the four rocker devices are installed on the same circumference of the inner wall of the cylinder at intervals.

Preferably, the spring vibrator comprises a resonant rack and a resonant gear which are matched with each other, the upper end and the lower end of the resonant rack are respectively connected with an upper reset spring and a lower reset spring, and the upper end of the resonant rack is also connected with a floating pendulum transmission pin through a cycloid; the inner wall of the spring vibrator is provided with a sliding rail, the resonant rack is provided with a sliding block, and the sliding block is connected with the sliding rail in a matching way. The design has the advantages that the additionally arranged sliding blocks and sliding rails can ensure that the resonant racks do stable reciprocating motion in the spring vibrators, and meanwhile, the oscillation kinetic energy generated by the spring vibrators can be amplified.

Preferably, the rocker device comprises a vertical upward conical gear, a vertical downward conical gear, a horizontal left conical gear and a horizontal right conical gear which are meshed with each other; the vertical upward conical gear is connected with a vertical gear shaft, the vertical downward conical gear is connected with a vertical transmission gear shaft, the horizontal left conical gear and the horizontal right conical gear are respectively connected with a horizontal rocker gear shaft, the horizontal rocker gear shaft is connected with rocker arms through sliding bearings, the two rocker arms are connected through rocker arms, a telescopic connecting rod is arranged on the rocker arms, and one end of the telescopic connecting rod is hinged with the spring vibrator.

Preferably, the transmission system comprises a longitudinal transmission shaft, a horizontal angle transmission bevel gear, a vertical angle transmission bevel gear, a horizontal transmission gear shaft, a small bevel gear, a large bevel gear and a vertical transmission shaft which are sequentially connected; the vertical transmission shaft is connected with a vertical transmission gear shaft through a coupler, and the vertical transmission shaft is connected with a planetary speed increaser.

Preferably, the power generation part comprises a power generation transmission shaft, an inertia wheel, a power generation wheel friction material shell, an outer wall friction material shell and a power output device; the output shaft of the planetary speed increaser is connected with a power generation transmission shaft through a coupler, the power generation transmission shaft is connected with a power generation wheel after passing through an inertia wheel, the periphery of the power generation wheel is connected with a power generation wheel friction material shell and is arranged in an outer wall friction material shell together, a power generation wheel friction material layer on the power generation wheel friction material shell and an outer wall friction material layer on the outer wall friction material shell carry out rotary friction, and the transmitted mechanical energy is converted into electric energy and current is led out through an electric power output device.

Preferably, the combining and fixing part comprises a connecting seat, a magnetic adsorption fixing device is arranged in the center of the connecting seat and connected with the connecting seat through a support arm, a total driving pusher is arranged at the bottom of the magnetic adsorption fixing device, and a cable recovery fixing port is arranged at the top of the magnetic adsorption fixing device; the power output device is connected with a cable, and the cable passes through the cable recovery fixing port to be connected with the total driving pusher so as to charge and store energy for the total driving pusher; the night vision camera and the strong lamp are arranged around the connecting seat, the protection part is arranged at the top of the connecting seat, the walking foot is arranged at the bottom of the connecting seat, and the night vision camera, the strong lamp and the walking foot are respectively connected and controlled by the total driving pusher.

Preferably, the support arm is provided with an auxiliary pusher and the auxiliary pusher is electrically connected with the total driving pusher. The design has the advantages that the auxiliary pusher can store electric energy exceeding the limit of the total driving pusher, and sufficient electric energy guarantee is provided for the operation of the underwater detection robot.

Preferably, a motor is arranged in the magnetic adsorption fixing device, a reel is arranged on an output shaft of the motor, and the cable is wound on the reel through a cable recovery fixing port.

Preferably, the protection part comprises a plurality of arc-shaped protective fences, the arc-shaped protective fences are uniformly distributed at the edge of the top of the connecting seat, and cutting edges are arranged on the arc-shaped protective fences at intervals.

A working method of an oscillation floating pendulum-based self-power generation type underwater detection robot comprises the following steps:

A. and (3) power generation stage:

under the impact of waves, the floating pendulum swings, and the cycloid drives the resonant rack to do reciprocating motion, so that the driving rocker device transmits mechanical kinetic energy to the power generation part through the planetary speed increaser to generate power, the power generation part transmits electric energy to the total driving pusher through the power output device, and the total driving pusher and the auxiliary pusher store the electric energy;

B. and (3) a submerged floating stage:

when the underwater detection robot is in a submerged stage, the total driving pusher and the auxiliary pusher are matched for operation, and when a large lifting height is required, the total driving pusher is accelerated to operate so as to realize lifting; when the underwater detection robot needs to incline, accelerate and advance or ascend by a small extent, corresponding actions are realized by respectively adjusting the speed of the auxiliary pusher;

C. walking stage:

when the underwater detection robot is in a walking stage, a rotating motor in the robot starts to work, a cable is pulled to be received in a cable recovery fixing port, meanwhile, the energy supply device is driven to be close to the robot, when the energy supply device is close to the arc-shaped guard rail, the bottom of the magnetic adsorption fixing device is strongly adsorbed to realize forward installation with the magnetic adsorption fixing device, and the arc-shaped guard rail firmly clamps the energy supply device; and the camera realizes panoramic shooting under the assistance of strong lamps so as to identify an energy area, and the robot automatically plans an optimal safe route and walks on the feet according to the planned optimal safe route.

The invention has the beneficial effects that:

1) The wave energy collecting cavity is designed by combining the oscillating floating pendulum with the semi-closed wave energy collecting cavity, one side of the oscillating floating pendulum is opposite to the open water inlet area and can avoid being directly impacted by excessive wave energy, the other side of the oscillating floating pendulum is opposite to the wave energy reflecting wall and can furthest receive reflected secondary wave energy, meanwhile, the designed collecting cavity device adopts a single-chamber structure and can furthest utilize wave reflection to achieve an energy collecting effect, scattered wave energy is reflected to the floating pendulum after contacting the cavity wall, at the moment, the floating pendulum receives the secondary wave energy again, the utilization rate of the wave energy is furthest improved, the wind wave resistant structure of the wave energy device is further improved, and important movable parts of the wave energy generating device exposed in ocean are protected.

2) The designed spring vibrator is provided with a plurality of springs, the resonant gear box is arranged in a mechanism in the middle of the inner cavity, when the floating body swings left and right or floats up and down due to wave energy, the spring vibrator generates oscillation kinetic energy, meanwhile, the wave energy received by the floating pendulum drives the cycloid stretching resonant rack, the resonant rack reciprocates under the action of the upper reset spring and the lower reset spring, the resonant rack and the meshed gear simulate reciprocating start-stop actions to achieve first-order critical rotation speed to generate resonance, and the oscillation kinetic energy generated by the spring vibrator is amplified to be used as power for swinging of the rocker device.

3) The four designed supporting springs support the resonance gear box and convert wave energy into oscillation kinetic energy under the driving of the resonance gear box, so as to drive the rocker device to swing, and further increase energy transmission.

4) The invention can absorb wave energy in any angle and direction, is insensitive to wave direction, and can convert the oscillating kinetic energy of the resonant spring vibrator in all directions into the rotational kinetic energy in a single direction to provide the rotational kinetic energy for a transmission system so as to drive a power generation device to rotate for power generation according to fixed steering, thereby greatly improving the utilization rate of wave energy.

5) The power generation structure of the design is a primary planetary speed increaser, the energy of low-speed large torque is converted into the energy of high-speed small torque for the power generation device, the energy conversion efficiency of the power generation device is improved to the maximum extent, the power generation transmission shaft is connected with the power generation wheel after passing through the inertia wheel to drive the friction power generation material on the power generation wheel to rub with the fixed friction material at the bottom of the inner wall of the outer support shell, and the transmitted mechanical energy is converted into electric energy by utilizing the coupling of friction electrification and electrostatic induction effect.

6) The underwater robot and the energy supply device can be separated or combined, when the energy is insufficient, the energy supply device floats on the water surface or floats to a region with large wave, the energy supply device is connected with the underwater robot through the cable to supply energy, the underwater robot accelerates and recovers the cable after the energy supply is sufficient, and the energy supply device returns to the underwater robot to comprehensively realize exploration and movement of the underwater robot at any ocean depth.

7) The energy supply device of the design can absorb and convert low-density wave energy at any time, realizes stable and continuous power supply, can integrate strong durability and high reliability into a whole, can adapt to conditions of any tide level, terrain and sea condition, and provides guarantee for long-term deep sea operation of the underwater robot.

8) According to the invention, the underwater robot adopts a 6-guard rail mode, wherein the acute angle cutting device (cutting edge) is arranged outside 3 guard rails of the 6-arc guard rails, the 3 guard rails can effectively cut or slide out to block when encountering seaweed and algae winding in the underwater motion process by adopting the smooth device, and meanwhile, the 6-arc guard rails can effectively fix the oscillating floating self-generating energy supply device and prevent the damage caused by the impact of large fishes on the underwater robot.

9) According to the invention, a motion mode of combining a 6 walking foot with the total driving pusher and 6 auxiliary pushers is adopted in the aspect of an underwater operation mechanism, the 6 walking foot can realize high underwater free walking stability, the adopted walking foot has blade composite properties, the anti-winding and anti-attack in the walking process can be realized, in addition, the corner point adopts a sharp corner design, the free climbing and the free walking under the complex working condition can be effectively realized without the situation of blocking and the like when the walking faces the complex working condition, the total driving pusher is directly connected with an energy supply device, the maximum buoyancy can be provided, and the 6 auxiliary pushers positioned at the upper part of the underwater robot can realize the acceleration rising and the submerging in different directions and different directions through the combination of the adjustment of the rotating speed of the auxiliary pushers and the total driving pusher, so that the free walking in any direction of a non-walking sea area can be realized.

10 9 night vision cameras are additionally arranged at the circumference of the round walker, a magnetic absorption device is additionally arranged at the center of the round walker, the 9 night vision cameras can realize omnibearing panoramic recording, three-dimensional coordinate drawing of an underwater area can be realized through combination with AI, meanwhile, characteristics of an underwater image are automatically identified, the type of energy (petroleum/natural gas and the like) is judged, the robot is self-adaptively walked, the special storage and backup are carried out on the images and the three-dimensional coordinates of the energy area, the magnetic absorption device can realize vertical automatic suction in the combined area of the underwater robot quickly reached by the energy supply device, and the collision between the energy supply device and the arc protection device in the cable recovery process is avoided.

11 The vibration floating pendulum seals the power generation main body part from seawater through the closed titanium alloy shell outside the power generation energy supply device, strictly isolates corrosive substances such as seawater and the like outside, improves the corrosion resistance and storm damage resistance, greatly prolongs the service life and reduces the maintenance cost.

Drawings

FIG. 1a is a perspective view of an oscillating portion of the present invention;

FIG. 1b is a perspective view of an oscillating portion of the present invention;

FIG. 2 is a cross-sectional view I of the energy supply device of the present invention;

FIG. 3 is a cross-sectional view II of the energy supply device of the present invention;

FIG. 4a is a partial cross-sectional view of the center plane of the spring resonator according to the present invention;

FIG. 4b is a perspective view of a spring element area of the present invention;

FIG. 4c is a cross-sectional view of a rocker device of the present invention;

FIG. 4d is a schematic diagram of the connection between the spring vibrator and the rocker device according to the present invention;

FIG. 5 is a partial cross-sectional view of the central face of the horizontal transfer gear shaft of the present invention;

FIG. 6 is a partial cross-sectional view of the central plane of the planetary speed increaser of the present invention;

FIG. 7 is an assembly view of the walking robot of the present invention;

FIG. 8 is a bottom view of the walking robot of the present invention;

FIG. 9 is a top view of the walking robot of the present invention;

FIG. 10 is an assembly view of an oscillating, floating and swinging self-generating type underwater detection robot of the present invention;

FIG. 11 is an assembly diagram I of an oscillation floating pendulum self-generating underwater detection robot with a hidden cylinder wall;

FIG. 12 is an assembly view II of an oscillating floating self-generating underwater detection robot with a hidden cylinder wall;

FIG. 13 is an assembly view of the energy device of the oscillation floating pendulum self-generating underwater exploration robot in a floating state;

FIG. 14 is an assembly view of the floating state of the energy device of the self-generating underwater detection robot with the oscillation floating pendulum behind the hidden cylinder wall;

FIG. 15 is a schematic view of the structure of the walking foot of the present invention;

wherein: 1. floating pendulum; 2. sealing the top shell; 3. a floating swing rotation pin; 4. a wave energy collection chamber base; 5. floating pendulum; 6. a wave energy collection chamber baffle; 7. an upper return spring; 8. a slide block; 9. a spring vibrator; 10. a slide rail; 11. a rocker device; 12. a vertical gear shaft; 13. a vertically upward conical gear; 14. a vertically downward conical gear; 15. a vertical transmission gear shaft; 16. a coupling type one-way overrunning clutch; 17. a longitudinal drive shaft; 18. a lower return spring; 19. a horizontal angle drive bevel gear; 20. a vertical angle drive bevel gear; 21. a horizontal transmission gear shaft; 22. bevel pinion; 23. bevel pinion; 24. bevel pinion; 25. a large bevel gear; 26. a vertical transmission shaft; 27. a planetary speed increaser; 28. a power generation transmission shaft; 29. an inertia wheel; 30. a friction material housing for the power generation wheel; 31. a friction material layer of the power generation wheel; 32. an outer wall friction material layer; 33. an outer wall friction material housing; 34. a power output device; 35. bevel gears; 36. a power generation wheel; 37. a resonance gear; 38. a resonant rack; 39. a resonance gear; 40. a horizontal bevel gear; 41. a support spring; 42. a longitudinal drive shaft; 43. a rocker device; 44. a support spring; 45. a rocker device; 46. a longitudinal drive shaft; 47. a support spring; 48. a rocker device; 49. a longitudinal drive shaft; 50. a support spring; 51. an angle drive gear set; 52. an angle drive gear set; 53. an angle drive gear set; 54. an angle drive gear set; 55. a planet wheel; 56. a planet wheel; 57. a sun gear; 58. a planet wheel; 59. arc-shaped guard rails; 60. an auxiliary pusher; 61. arc-shaped guard rails; 62. an auxiliary pusher; 63. arc-shaped guard rails; 64. an auxiliary pusher; 65. an auxiliary pusher; 66. arc-shaped guard rails; 67. an auxiliary pusher; 68. arc-shaped guard rails; 69. an auxiliary pusher; 70. arc-shaped guard rails; 71. night vision cameras; 72. walking feet; 73. night vision cameras; 74. a strong lamp; 75. walking feet; 76. night vision cameras; 77. night vision cameras; 78. walking feet; 79. night vision cameras; 80. a strong lamp; 81. walking feet; 82. night vision cameras; 83. night vision cameras; 84. night vision cameras; 85. a strong lamp; 86. walking feet; 87. a total drive pusher; 88. a magnetic adsorption fixing device; 89. a cable recovery fixing port; 90. a rotating electric machine; 92. walking feet; 93. night vision cameras; 94. a first joint; 95. a second joint; 96. a third joint; 97. a hinge shaft; 98. a rocker arm; 99. a sliding bearing; 100. a rocker; 101. a retractable connecting rod; 102. a horizontal rocker gear shaft.

Detailed Description

The invention will now be further illustrated by way of example, but not by way of limitation, with reference to the accompanying drawings.

Example 1:

the embodiment provides a self-generating type underwater detection robot based on oscillation floating pendulum, which comprises an energy supply device and an underwater detection robot, wherein the energy supply device is needed for providing electric energy for walking and detection of the underwater detection robot, and the energy supply device can generate electricity in the ocean by means of sea waves without charging by manpower on the shore, so that long-term ocean operation of the underwater detection robot is truly realized:

the energy supply device comprises an oscillating part, an energy transmission part and a power generation part which are sequentially connected from top to bottom, wherein the oscillating part is impacted by sea waves to move, and the energy transmission part drives the power generation part to perform power generation operation;

the underwater detection robot comprises a protection part, a combination fixing part and a walking foot which are sequentially connected from top to bottom, wherein the bottom of the power generation part is connected with the combination fixing part through a cable and supports and protects the whole energy supply device through the protection part, and the power generation part provides required power for the operation of the underwater detection robot.

The oscillating part is used for absorbing energy of wave impact, and the oscillating part comprises a wave energy collecting cavity base 4, a wave energy collecting cavity baffle 6 and a sealing top shell 2 which are sequentially connected from bottom to top, and a wave energy collecting cavity is formed in the wave energy collecting cavity base 4, the wave energy collecting cavity baffle 6 and the sealing top shell 2. As shown in fig. 1, the wave energy collecting cavity baffle 6 is shaped like a taiji, the wave energy collecting cavity is divided into two cavities, a floating pendulum rotating pin 3 is arranged in the middle of the wave energy collecting cavity baffle 6, two sides of the floating pendulum rotating pin 3 are respectively connected with a floating pendulum 1, the floating pendulums at two sides in the embodiment are different in size, one side is a small floating pendulum, the other side is a large floating pendulum, and a wave inlet is formed in the wave energy collecting cavity baffle 6 and is opposite to the small floating pendulum. The small floating pendulum is opposite to the wave inlet and can avoid excessive direct impact besides receiving enough wave energy, the large floating pendulum is opposite to the wave energy reflecting wall and can furthest receive reflected secondary wave energy, the scattered wave energy is reflected to the floating pendulum after contacting the cavity wall, and at the moment, the floating pendulum receives the secondary wave energy again, so that the utilization rate of the wave energy is furthest improved.

The energy transmission part is an intermediate link connecting the oscillating part and the power generation part and is a pivot for converting mechanical energy caused by wave energy absorbed by the oscillating part into electric energy. The energy transmission part comprises a cylinder body, and an upper reset spring 7, a spring vibrator 9, a lower reset spring 18, a rocker device 11, a transmission system and a planetary speed increaser 27 are arranged in the cylinder body; the upper and lower ends of the spring vibrator 9 are respectively connected with an upper reset spring 7 and a lower reset spring 18, four rocker devices 11 are connected around the spring vibrator 9, and the bottom ends of the four rocker devices 11 are connected with a planetary speed increaser 27 through a transmission system.

The spring vibrator 9 is used as an energy source of mechanical energy, and the floating pendulum 1 drives the spring vibrator 9 to move. Specifically, the spring vibrator 9 comprises a resonant rack 38 and a resonant gear 37 which are matched, the resonant gear 37 is arranged in a shell of the spring vibrator 9, an installation seat A and an installation seat B are arranged at the upper end and the lower end of the resonant rack 38, the bottom end of the upper return spring 7 is fixed on the installation seat A, the upper end is fixed at the bottom of the wave energy collecting cavity base 4, the upper end of the lower return spring 18 is fixed on the installation seat B, and the lower end is fixed on the shell of the transmission system; the inner wall of the spring vibrator 9 is also provided with a sliding rail 10, the resonant rack 38 is provided with a sliding block, the sliding block is connected with the sliding rail 10 in a matched manner, the additionally arranged sliding block and the sliding rail 10 can ensure that the resonant rack 38 can perform stable reciprocating motion in the spring vibrator, and meanwhile, the oscillation kinetic energy generated by the spring vibrator can be amplified. The mounting seat A and the wave energy collecting cavity base 4 are provided with hollow sealing screws, the floating pendulum rotating pin 3 is connected with cycloids, and the cycloids penetrate through the hollow sealing screws to be fixedly connected with the mounting seat A. When the floating pendulum 1 is impacted by sea waves, the floating pendulum rotating pin 3 rotates and drives the resonant rack 38 to reciprocate up and down through the cycloid, so that the resonant gear 37 drives the spring vibrator 9 to vibrate up and down, and the spring vibrator 9 transmits mechanical energy to the power generation part through the rocker device and the transmission system. The upper return spring 7 and the lower return spring 18 can ensure the return of the spring vibrator 9 during vibration.

The four rocker devices 11, 43, 45 and 48 are connected with the spring oscillator 9 and are used for transmitting mechanical energy of the spring oscillator 9, the four rocker devices are identical in structure, and each rocker device comprises a vertical upward conical gear 13, a vertical downward conical gear 14, a horizontal left conical gear and a horizontal right conical gear which are meshed with each other; the vertical upward conical gear 13 is connected with a vertical gear shaft 12, the vertical downward conical gear 14 is connected with a vertical transmission gear shaft, the horizontal left conical gear and the horizontal right conical gear are respectively connected with a horizontal rocker gear shaft 102, the horizontal rocker gear shaft is connected with a rocker 98 through a sliding bearing 99, the two rocker arms are connected through a rocker 100, the rocker 100 is connected with a telescopic connecting rod 101, and one end of the telescopic connecting rod 101 is hinged with the spring vibrator 9.

The transmission system transmits mechanical energy to the power generation part, and finally the power generation part converts the mechanical energy into electric energy. The transmission system comprises a longitudinal transmission shaft 17, a horizontal angle transmission bevel gear 19, a vertical angle transmission bevel gear 20, a horizontal transmission gear shaft 21, small bevel gears 22, 23 and 24 (four small bevel gears are shown as three in fig. 2), a large bevel gear 25 and a vertical transmission shaft 26 which are connected in sequence; the longitudinal transmission shaft 17 is connected with the vertical transmission gear shaft 15 through a coupling, and the vertical transmission shaft 26 is connected with the planetary speed increaser 27. Wherein the horizontal angle drive bevel gear 19 and the vertical angle drive bevel gear 20 combine to form angle drive gear sets 51, 52, 53, 54.

The power generation part finally realizes the conversion of mechanical energy into electric energy, and comprises a power generation transmission shaft 28, an inertia wheel 29, a power generation wheel 36, a power generation wheel friction material shell 30, an outer wall friction material shell 33 and a power output device 34; the output shaft of the planetary speed increaser 27 is connected with a power generation transmission shaft 28 through a coupler, the power generation transmission shaft 28 is connected with a power generation wheel 36 after passing through an inertia wheel 29, the periphery of the power generation wheel 36 is connected with a power generation wheel friction material shell 30 and is arranged in an outer wall friction material shell 33 together, a power generation wheel friction material layer on the power generation wheel friction material shell 30 and an outer wall friction material layer on the outer wall friction material shell 33 carry out rotation friction, and the transmitted mechanical energy is converted into electric energy and is led out of current through an electric power output device 34.

The combined fixing part is a main body of the underwater detection robot and comprises a connecting seat, the center of the connecting seat is provided with a magnetic adsorption fixing device 88, the magnetic adsorption fixing device 88 is connected with the connecting seat through six support arms, the bottom of the magnetic adsorption fixing device 88 is provided with a total driving pusher 87, the top of the magnetic adsorption fixing device 88 is provided with a cable recovery fixing port 89, and the six support arms are respectively provided with auxiliary pushers 60, 62, 64, 65, 67 and 69 and are electrically connected with the total driving pusher 87; the power output device 34 is connected with a cable, and the cable passes through the cable recovery fixing port 89 to be electrically connected with the total driving pusher 87, so as to charge and store energy for the total driving pusher 87 and the auxiliary pusher; night vision cameras 71, 73, 76, 77, 79, 82, 83, 84 and 93 and strong lamps 74, 80 and 85 are arranged on the periphery of the connecting seat, the protection part is arranged at the top of the connecting seat, the walking feet 72, 75, 78, 81, 86 and 92 are arranged at the bottom of the connecting seat, and the total driving pusher 87 provides required electric energy for the night vision cameras, the strong lamps and the walking feet.

The guard portion includes six stationary arc rail guards 59, 61, 63, 66, 68, 70, and six arc rail guards equipartition are in connecting seat top edge department, and the interval is provided with the cutting edge on six arc rail guards, and the cutting edge is used for cutting off marine algae plant, prevents algae plant winding equipment. Six arc-shaped guard rails can protect the energy supply device when the magnetic adsorption fixing device 88 is attracted to the energy supply device.

The walking foot adopts prior art, and it structurally includes three joints, and first joint 94, second joint 95, the third joint 96 that is articulated in proper order through articulated shaft 97 promptly, and first joint 94 all has blade complex property and can realize the antiwind in the walking process and prevent attacking, and the corner adopts the closed angle design can effectively realize walking and faces the free climbing under the complicated operating mode and the circumstances such as card death can not appear in the walking in addition. The second knuckle 95 is responsible for flexible steering and the knuckle surface has a diagonal to effectively prevent entanglement. The third joint 96 is responsible for steering horizontally and is fixed to the base and receives control signals.

The main driving propeller and the auxiliary propeller are of a conventional technology, the structure of the main driving propeller and the auxiliary propeller are the same, the propeller is an integral underwater propeller, the propelling function is mainly that a motor drives a rotary blade (similar to a propeller) to drive a robot to sink and float up and down, the main action of the robot is controlled by an AI chip (not shown in the figure), the motor is just arranged below the AI chip and the electricity storage device, and the motor is additionally arranged and drives the rotary blade to operate. The night vision camera, the strong lamp and the walking foot are also controlled by the AI chip in a program.

In the embodiment, the cable wire adopts the JHS waterproof cable, so that the waterproof insulation performance and the bending performance are excellent, the machine body adopts a high-strength titanium alloy material, the corrosion resistance is realized, the mechanical property of high strength is realized, the driving motor adopts an underwater alternating current asynchronous motor and is packaged in the machine body, and the waterproof cable has the characteristics of high compressive strength and high sealing performance.

Example 2:

the self-generating underwater detection robot based on the oscillating levitation pendulum according to embodiment 1 is structurally different in that: four supporting springs 41, 44, 47 and 50 are further connected to the periphery of the spring vibrator 9, and the four supporting springs 41, 44, 47 and 50 and the four rocker devices 11, 43, 45 and 48 are installed on the same circumference of the inner wall of the cylinder at intervals.

The four additionally-arranged supporting springs play a role of reinforcing the supporting spring vibrators, the cylinder body can incline left and right when being impacted by external sea waves, the spring vibrators shake left and right along with the supporting springs, and then the rocking bar device is driven to swing, so that energy transmission is further increased. The four supporting springs can ensure the stability and elastic reset of the spring vibrator when the vibrator shakes left and right.

Example 3:

a working method of an oscillation floating pendulum-based self-power generation type underwater detection robot comprises the following steps:

A. and (3) power generation stage:

under the impact of waves, the floating pendulum swings, and the cycloid drives the resonant rack to do reciprocating motion, so that the driving rocker device transmits mechanical kinetic energy to the power generation part through the planetary speed increaser to generate power, and the power generation part transmits electric energy to the total driving pusher through the power output device to supply power for the total driving pusher;

B. and (3) a submerged floating stage:

when the underwater detection robot is in a submerged stage, the total driving pusher and the auxiliary pusher are matched for operation, and when a large lifting height is required, the total driving pusher is accelerated to operate, and the rotating blades are driven to rotate by a motor under the control of an AI chip, so that lifting is realized; when the underwater detection robot needs to incline, accelerate and advance or ascend by a small extent, corresponding actions are realized by respectively adjusting the speed of the auxiliary pusher; at the moment, six small auxiliary thrusters on the support arm cooperate with the total driving thrusters, and when the auxiliary thrusters need to go obliquely forward or descend, the six auxiliary thrusters respectively run at different speeds and realize the functions through the acceleration or the deceleration of the total driving thrusters by the rotation speed difference;

C. walking stage:

when the underwater detection robot is in a walking stage, a rotating motor in the robot starts to work, a cable wire is pulled to be drawn into a cable recovery fixing port, meanwhile, the energy supply device is driven to be close to the robot, when the energy supply device is close to the arc-shaped guard rail, the bottom of the magnetic adsorption fixing device is firmly adsorbed to realize the normal installation of the magnetic adsorption fixing device, and the arc-shaped guard rail firmly clamps the energy supply device; and the camera realizes panoramic shooting under the assistance of strong lamps so as to identify an energy area, and the robot automatically plans an optimal safe route and walks on the feet according to the planned optimal safe route.

Claims (4)

1. The utility model provides a from electricity generation formula detection robot under water based on vibration pendulum which characterized in that, including energy supply device and detection robot under water, wherein:

the energy supply device comprises an oscillating part, an energy transmission part and a power generation part which are sequentially connected from top to bottom, wherein the oscillating part is impacted by sea waves to move, and the energy transmission part drives the power generation part to perform power generation operation;

the underwater detection robot comprises a protection part, a combination fixing part and a walking foot which are sequentially connected from top to bottom, wherein a power generation part is connected with the combination fixing part through a cable and supports and protects the whole energy supply device through the protection part, and the power generation part provides required electric energy for the operation of the underwater detection robot;

the oscillating part comprises a wave energy collecting cavity base, a wave energy collecting cavity partition plate and a sealing top shell which are sequentially connected from bottom to top, a wave energy collecting cavity is formed in the wave energy collecting cavity base, the wave energy collecting cavity partition plate and the sealing top shell, a floating pendulum rotating pin is arranged in the middle of the wave energy collecting cavity partition plate, two sides of the floating pendulum rotating pin are respectively connected with a floating pendulum, a wave inlet is formed in the wave energy collecting cavity partition plate, and the wave inlet is opposite to the floating pendulum;

the energy transmission part comprises a cylinder body, and an upper reset spring, a spring vibrator, a lower reset spring, a rocker device, a transmission system and a planetary speed increaser are arranged in the cylinder body; the upper end and the lower end of the spring vibrator are respectively connected with an upper reset spring and a lower reset spring, four rocker devices are connected around the spring vibrator, and the bottom ends of the rocker devices are connected with a planetary speed increaser through a transmission system;

four supporting springs are further connected to the periphery of the spring vibrator, and the four supporting springs and the four rocker devices are installed on the same circumference of the inner wall of the cylinder at intervals;

the spring vibrator comprises a resonant rack and a resonant gear which are matched with each other, the upper end and the lower end of the resonant rack are respectively connected with an upper reset spring and a lower reset spring, and the upper end of the resonant rack is also connected with a floating pendulum transmission pin through a cycloid; the inner wall of the spring vibrator is provided with a sliding rail, the resonant rack is provided with a sliding block, and the sliding block is connected with the sliding rail in a matching way;

the rocker device comprises a vertical upward conical gear, a vertical downward conical gear, a horizontal left conical gear and a horizontal right conical gear which are meshed with each other; the vertical upward conical gear is connected with a vertical gear shaft, the vertical downward conical gear is connected with a vertical transmission gear shaft, the horizontal left conical gear and the horizontal right conical gear are respectively connected with a horizontal rocker gear shaft, the horizontal rocker gear shaft is connected with rocker arms through sliding bearings, the two rocker arms are connected through rocker arms, a telescopic connecting rod is arranged on the rocker arms, and one end of the telescopic connecting rod is hinged with the spring vibrator;

the transmission system comprises a longitudinal transmission shaft, a horizontal angle transmission bevel gear, a vertical angle transmission bevel gear, a horizontal transmission gear shaft, a small bevel gear, a large bevel gear and a vertical transmission shaft which are connected in sequence; the vertical transmission shaft is connected with a vertical transmission gear shaft through a coupler, and the vertical transmission shaft is connected with a planetary speed increaser;

the power generation part comprises a power generation transmission shaft, an inertia wheel, a power generation wheel friction material shell, an outer wall friction material shell and a power output device; the output shaft of the planetary speed increaser is connected with a power generation transmission shaft through a coupler, the power generation transmission shaft is connected with a power generation wheel after passing through an inertia wheel, the periphery of the power generation wheel is connected with a power generation wheel friction material shell and is arranged in an outer wall friction material shell together, a power generation wheel friction material layer on the power generation wheel friction material shell and an outer wall friction material layer on the outer wall friction material shell carry out rotary friction, and the transmitted mechanical energy is converted into electric energy and current is led out through an electric power output device.

2. The self-generating underwater detection robot based on the oscillating floating pendulum as claimed in claim 1, wherein the combined fixing part comprises a connecting seat, a magnetic adsorption fixing device is arranged in the center of the connecting seat and connected with the connecting seat through a support arm, a total driving pusher is arranged at the bottom of the magnetic adsorption fixing device, and a cable recovery fixing port is arranged at the top of the magnetic adsorption fixing device; the power output device is connected with a cable, and the cable passes through the cable recovery fixing port to be connected with the total driving pusher so as to charge and store energy for the total driving pusher; the night vision camera and the strong lamp are arranged around the connecting seat, the protection part is arranged at the top of the connecting seat, the walking foot is arranged at the bottom of the connecting seat, and the night vision camera, the strong lamp and the walking foot are respectively connected and controlled by the total driving pusher;

the support arm is provided with an auxiliary pusher and the auxiliary pusher is electrically connected with the total driving pusher.

3. The self-generating underwater detection robot based on the oscillating levitation pendulum as set forth in claim 2, wherein a motor is arranged in the magnetic adsorption fixing device, a reel is mounted on an output shaft of the motor, and a cable is wound on the reel through a cable recovery fixing port;

the protection part comprises a plurality of arc-shaped protective fences which are uniformly distributed at the edge of the top of the connecting seat, and cutting edges are arranged on the arc-shaped protective fences at intervals.

4. A method of operating an oscillating-floating-pendulum-based self-generating underwater detection robot as claimed in claim 3, comprising:

A. and (3) power generation stage:

under the impact of waves, the floating pendulum swings, and the cycloid drives the resonant rack to do reciprocating motion, so that the driving rocker device transmits mechanical kinetic energy to the power generation part through the planetary speed increaser to generate power, the power generation part transmits electric energy to the total driving pusher through the power output device, and the total driving pusher and the auxiliary pusher store the electric energy;

B. and (3) a submerged floating stage:

when the underwater detection robot is in a submerged stage, the total driving pusher and the auxiliary pusher are matched for operation, and when a large lifting height is required, the total driving pusher is accelerated to operate so as to realize lifting; when the underwater detection robot needs to incline, accelerate and advance or ascend by a small extent, corresponding actions are realized by respectively adjusting the speed of the auxiliary pusher;

C. walking stage:

when the underwater detection robot is in a walking stage, a rotating motor in the robot starts to work, a cable is pulled to be received in a cable recovery fixing port, meanwhile, the energy supply device is driven to be close to the robot, when the energy supply device is close to the arc-shaped guard rail, the bottom of the magnetic adsorption fixing device is strongly adsorbed to realize forward installation with the magnetic adsorption fixing device, and the arc-shaped guard rail firmly clamps the energy supply device; and the camera realizes panoramic shooting under the assistance of strong lamps so as to identify an energy area, and the robot automatically plans an optimal safe route and walks on the feet according to the planned optimal safe route.