CN110445235A - A kind of UUV and energy recharge method with energy recharge system - Google Patents
A kind of UUV and energy recharge method with energy recharge system Download PDFInfo
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- CN110445235A CN110445235A CN201910754605.2A CN201910754605A CN110445235A CN 110445235 A CN110445235 A CN 110445235A CN 201910754605 A CN201910754605 A CN 201910754605A CN 110445235 A CN110445235 A CN 110445235A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 12
- SJIMZWZHTDHXRI-UHFFFAOYSA-N 4-bromo-1-(2-methoxyethyl)pyrazole Chemical compound COCCN1C=C(Br)C=N1 SJIMZWZHTDHXRI-UHFFFAOYSA-N 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims description 17
- 239000003990 capacitor Substances 0.000 claims description 12
- 210000003746 feather Anatomy 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 238000000926 separation method Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 5
- 230000001502 supplementing effect Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000001914 filtration Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000004064 recycling Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 239000000654 additive Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000883990 Flabellum Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012407 engineering method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000009469 supplementation Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/1423—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle with multiple batteries
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- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
A kind of UUV and energy recharge method with energy recharge system, is related to marine energy field, in order to solve the problem of that propeller is persistently increased the probability that propeller damages by drag effect during surface mother ship pulls carrying UUV under water.UUV stern is provided with main propulsion motor and propeller；The power output shaft of main propulsion motor and the main shaft of propeller are coaxially connected；Clutch is equipped between the power output shaft of main propulsion motor and the main shaft of propeller；When in the state of carrying, clutch is in disengaged position, and power output shaft is separated with main shaft, and by propeller-driven generator rotary work, generator is the charging of UUV internal battery by charging control circuit；When execution task, clutch is in meshing state, and power output shaft is engaged with main shaft, and main propulsion motor drives propeller rotational.The present invention not only reduces the masses hit resistance that propeller blade is subject to during carrying, moreover it is possible to electric energy needed for supplementing for itself.
Description
Technical field
The present invention relates to marine energy fields.
Background technique
China will improve marine resources development ability, turn ocean power, the exploitation to marine technology, marine settings into
Just seem particularly critical.Deep-sea is used as urgently one of treasured place leaved for development and high-tech sector, also particularly important, while
It is one of the focus of keen competition in the world in recent years.(underwater unmanned vehicle's writes a Chinese character in simplified form UUV, underwater nothing
People's aircraft) exist in ocean development and using the importance in field no less than spaceship and rocket as a kind of high-tech means
Effect in exploration of the universe space.
Is generallyd use by surface mother ship towing carrying UUV and is extremely appointed due to its own limited energy by the above-mentioned UUV referred to
Business region is laid again and starts execution task.Since UUV itself is lower with respect to the speed of a ship or plane, when UUV has been executed in a certain sea area
After task, it usually needs be recycled on lash ship deck, carried by lash ship to another task sea area, execute to lay-execute again and appoint
Business-recycling process.Sea lays recycling UUV, and there are greater risks, and need to consume the longer activity duration, therefore in UUV
The link for laying recycling should be reduced in use process to the greatest extent.When UUV complete a certain sea area job task after, can complete under water with
The docking of lash ship towing system pulls carrying UUV by lash ship and resails to another task sea area, discharges UUV and simultaneously starts this sea
Domain job task reduces the cargo handling operation that UUV is recycled to lash ship deck.
And for the above process, the stern propulsion electric machine propeller of UUV due to original mechanical structure design, not with pushing away
When into motor rotation work, propeller is connected on propulsion electric machine, can not be rotated freely, so that tow platform is taken under water
Biggish resistance is generated during carrying.For UUV, due to propeller during towing persistently by drag effect, increase
The probability that propeller damages in an inactive state is added.
Summary of the invention
The purpose of the present invention is to solve surface mother ship under water pull carry UUV during propeller persistently by
Drag effect, increase propeller damage probability the problem of, to provide a kind of UUV and the energy with energy recharge system
Replenishing method.
A kind of UUV with energy recharge system of the present invention, UUV1 stern are provided with main propulsion motor 101 and spiral shell
Revolve paddle 102；
The power output shaft 109 of main propulsion motor 101 and the main shaft 105 of propeller 102 are coaxially connected；
UUV1 further includes clutch 103, generator 111 and charging control circuit 112；
Clutch 103 is equipped between the power output shaft 109 of main propulsion motor 101 and the main shaft 105 of propeller 102；
When UUV1 is in carrying state, clutch 103 is in disengaged position, and power output shaft 109 divides with main shaft 105
From by drive 111 rotary work of generator of propeller 102, generator 111 is built in UUV1 by charging control circuit 112
Battery charging；
When UUV1 executes task, clutch 103 is in meshing state, and power output shaft 109 is engaged with main shaft 105, main
Propulsion electric machine 101 drives propeller 102 to rotate.
Preferably, clutch 103 includes electromagnet 104, spring 106, gear type armature 107, clutch 108 and hair
Motor-driven gear 110；
Clutch 108 includes the half-clutch device 108-1 in driving shaft side and the half-clutch device 108-2 in driven shaft side being oppositely arranged；
The half-clutch device 108-1 in driving shaft side is fixed on the end of power output shaft 109, is successively arranged electromagnetism on main shaft 105
Iron 104, spring 106, gear type armature 107 and the half-clutch device 108-2 in driven shaft side, the half-clutch device 108-2 in driven shaft side are fixed
In the end of main shaft 105, one end and the half-clutch device 108-2 in driven shaft side of gear type armature 107 are fixed, gear type armature 107
The other end connect with electromagnet 104 by spring 106；
Generator drive gear gear 110, the main shaft and generator 111 of generator drive gear gear 110 are equipped with right above spring 106
Line shaft be fixedly and coaxially connected；
When UUV1 is in carrying state, electromagnet 104 is powered, and electromagnet 104 attracts gear type armature 107, makes spring 106
Compression, and the half-clutch device 108-2 in driven shaft side and the half-clutch device 108-1 in driving shaft side is driven to be detached from, gear type armature 107 is drawn
Extremely engaged with generator drive gear gear 110；
When UUV1 executes task, electromagnet 104 is powered off, and gear type armature 107 is pushed back initial position by spring 106, is generated electricity
Vacantly between gear type armature 107 and electromagnet 104, clutch 108 restores to meshing state machine transmission gear 110.
Preferably, the half-clutch device 108-2 in driven shaft side is fixed on main shaft 105 by feather key, and feather key makes driven
The half-clutch device 108-2 in axis side is along the circumferential direction fixed.
Preferably, charging control circuit 112 is used for when 102 revolving speed of propeller reaches threshold value, directly built in UUV1
Battery charging is first battery GB charging, then by battery GB in UUV1 when 102 revolving speed of propeller is not up to threshold value
Set battery charging.
Preferably, charging control circuit 112 includes rectifier diode D1 to D6, fuse F1, fuse F2, filtered electrical
Container C1, capacitor C2, resistance R1, variable potentiometer R2, resistance R3 to R6, zener diode Q1, tri- pole of PNP triode Q2, PNP
Pipe Q3, NPN triode Q4 to Q7, light emitting diode VL1, light emitting diode VL2, diode D7 and switch S1；
Rectifier diode D1 to D6 is built into rectified three-phase circuit, and the three-phase alternating current input terminal of rectified three-phase circuit connects hair
The three-phase ac signal output end of motor 111, one end of the positive pole output end connection fuse F1 of rectified three-phase circuit, is protected
The other end of dangerous silk F1 connect simultaneously one end of filter condenser C1, one end of resistance R1, light emitting diode VL1 anode, electricity
Hinder one end of R4, the collector of NPN triode Q4, the collector of NPN triode Q6 and NPN triode Q7 collector；
The other end of resistance R1 connects the cathode of zener diode Q1 and one end of variable potentiometer R2 simultaneously；Variable electric potential
The base stage of the other end connection PNP triode Q2 of device R2；
The anode of the cathode connection diode D7 of light emitting diode VL1, the cathode of diode D7 connect resistance R3's simultaneously
The base stage of one end and PNP triode Q3, the other end of the emitter connection resistance R4 of PNP triode Q3, the collection of PNP triode Q3
Electrode connects the emitter of NPN triode Q5 and the base stage of NPN triode Q4 simultaneously；The collector of NPN triode Q5 connects PNP
The emitter of triode Q2；The base stage of the emitter connection NPN triode Q6 of NPN triode Q4, the emitter of NPN triode Q6
Connect the base stage of NPN triode Q7, the emitter of NPN triode Q7 connect simultaneously the base stage of NPN triode Q5, resistance R5 one
End, one end of capacitor C2, the anode of battery GB and fuse F2 one end；
The anode of the other end connection light emitting diode VL2 of fuse F2, and as 111 positive pole output end of generator
+OUT；
One end of the cathode connection resistance R6 of light emitting diode VL2；
The other end of one end of the power cathode output end connection switch S1 of rectified three-phase circuit, switch S1 connects filter simultaneously
The other end of wave capacitor C1, the anode of zener diode Q1, the other end of resistance R3, PNP triode Q2 collector, resistance
The other end of R5, the other end of capacitor C2, the cathode of battery GB and resistance R6 the other end, and as 111 power supply of generator
Cathode output end-OUT.
A kind of energy recharge method of the present invention, method includes the following steps:
Step 1: UUV1, in carrying state procedure, clutch 103 enters disengaged position, power output shaft 109 and master
Axis 105 separates, and the beginning of propeller 102 is rotated with water flow；
Step 2: UUV1 is detected and is judged to internal battery, and when internal battery needs to charge, 102 band of propeller
Dynamic 111 rotary work of generator, charges to UUV1 internal battery by charging control circuit 112, realizes energy recharge；
This method is based on a kind of above-mentioned UUV realization with energy recharge system.
Beneficial effects of the present invention: the present invention achieves many things at one stroke: can both effectively reduce UUV propeller blade in carrying process
In by masses hit resistance bring hidden danger, while using the external environment energy be electric energy needed for itself is supplemented, reduce UUV
Demand to the lash ship energy increases task efficiency.
The present invention in UUV itself in feature and based on job requirements, from the problem of existing method and deficiency, needle
UUV mechanical structure condition and self-demand are proposed through the invention in conjunction with outside environmental elements and actual requirement of engineering
Method and system, can when UUV is carried by surface mother ship towing to designated position, eliminate carry in operation process due to
The potential risk that water impact damages UUV stern propeller effectively utilizes water flow and mends to UUV self electric quantity
It fills, makes full use of environmental energy, from Gen Ben, energy-efficient ground solving practical problems.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the surface mother ship towing carrying UUV in specific embodiment one；
Fig. 2 is the structural schematic diagram of the clutch in specific embodiment one in meshing state；
Fig. 3 is the structural schematic diagram of the clutch in specific embodiment one in disengaged position；
Fig. 4 is the circuit diagram of the charging control circuit in specific embodiment two；
Fig. 5 is a kind of functional block diagram of energy recharge method described in specific embodiment three；
Fig. 6 is a kind of flow chart of energy recharge method described in specific embodiment three.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of tool described in present embodiment in conjunction with Fig. 1 to Fig. 3
There is the UUV of energy recharge system, UUV1 stern is provided with main propulsion motor 101 and propeller 102；
The power output shaft 109 of main propulsion motor 101 and the main shaft 105 of propeller 102 are coaxially connected；
UUV1 further includes clutch 103, generator 111 and charging control circuit 112；
Clutch 103 is equipped between the power output shaft 109 of main propulsion motor 101 and the main shaft 105 of propeller 102；
When UUV1 is in carrying state, clutch 103 is in disengaged position, and power output shaft 109 divides with main shaft 105
From by drive 111 rotary work of generator of propeller 102, generator 111 is built in UUV1 by charging control circuit 112
Battery charging；
When UUV1 executes task, clutch 103 is in meshing state, and power output shaft 109 is engaged with main shaft 105, main
Propulsion electric machine 101 drives propeller 102 to rotate.
Logical towrope 4 of surface mother ship 3 and underwater towing platform 2 connects, and is taken by underwater towing platform 2 to UUV1 towing
It carries.
In present embodiment, clutch 103 includes electromagnet 104, spring 106, gear type armature 107, clutch 108
With generator drive gear gear 110；
Clutch 108 includes the half-clutch device 108-1 in driving shaft side and the half-clutch device 108-2 in driven shaft side being oppositely arranged,
And opposite end face is with tooth；
The half-clutch device 108-1 in driving shaft side is fixed on the end of power output shaft 109, is successively arranged electromagnetism on main shaft 105
Iron 104, spring 106, gear type armature 107 and the half-clutch device 108-2 in driven shaft side, the half-clutch device 108-2 in driven shaft side are fixed
In the end of main shaft 105, one end and the half-clutch device 108-2 in driven shaft side of gear type armature 107 are fixed, gear type armature 107
The other end connect with electromagnet 104 by spring 106；
Generator drive gear gear 110, the main shaft and generator 111 of generator drive gear gear 110 are equipped with right above spring 106
Line shaft be fixedly and coaxially connected；
When UUV1 is in carrying state, electromagnet 104 is powered, and electromagnet 104 attracts gear type armature 107, makes spring 106
Compression, and the half-clutch device 108-2 in driven shaft side is driven to be disengaged from the half-clutch device 108-1 in driving shaft side, power output shaft 109
It is separated with main shaft 105, gear type armature 107 is pulled to be engaged with generator drive gear gear 110；
When UUV1 executes task, electromagnet 104 is powered off, and gear type armature 107 is pushed back initial position by spring 106, is generated electricity
Vacantly between gear type armature 107 and electromagnet 104, clutch 108 restores to meshing state, power machine transmission gear 110
Output shaft 109 is engaged with main shaft 105, and main propulsion motor 101 drives propeller 102 to rotate.
The half-clutch device 108-2 in driven shaft side is fixed on main shaft 105 by feather key, and feather key keeps driven shaft side half-clutch
Device 108-2 is along the circumferential direction fixed, and the half-clutch device 108-2 in driven shaft side slides axially along main shaft 105.Main shaft 105 is that second level is embedding
Nested structure, when spring 106 is shunk, 105 corresponding portion of main shaft is shunk.
Underwater towing platform (2) assigns instruction to UUV (1) after being planned according to overall situation requirement, passes through surface mother ship (2)
Communication between UUV (1) makes UUV (1) to enter carrying state, passes through clutch (103) in UUV (1) under this state
Make the main shaft 105 of propeller 102 and the power output shaft 109 of main propulsion motor 101) separate, the main shaft 105 of propeller 102 with
Generator (111) is connected, and is rotated by propeller (102) and generator (111) is driven to produce electricl energy, then pass through charging control circuit
(112) it charges to UUV (1) internal battery, UUV (1) has electricity self-test and charging protection function.
The feature of clutch (103) are as follows: the axis between the main propulsion motor (101) and propeller (102) of UUV1
Propeller (102) and main propulsion motor (101) can be fixedly connected when executing task there are two states by portion, can be with
It is original between change propeller (102) and main propulsion motor (102) to be fixedly connected with relationship, it can control main propulsion motor
(101) whether it is able to drive the ability of propeller (102), allows the propeller (102) of UUV (1) under certain condition can be with
The mechanism that water flow is freely rotated, be in mechanism to allow to export larger torque or higher rotation speed when drive state, can pass through
Electric signal indirectly controls the meshing relation of engaging tooth, has corresponding mechanism to make propeller (102) and other after changing separation and reunion
The connected arrangement of clutch of operating mechanism.
Specific embodiment 2: illustrating present embodiment in conjunction with Fig. 4, present embodiment is to specific embodiment one
A kind of UUV with energy recharge system is described further, and in present embodiment, charging control circuit 112 includes
Rectifier diode D1 to D6, fuse F1, fuse F2, filter condenser C1, capacitor C2, resistance R1, variable potentiometer R2, electricity
Hinder R3 to R6, zener diode Q1, PNP triode Q2, PNP triode Q3, NPN triode Q4 to Q7, light emitting diode VL1,
Light emitting diode VL2, diode D7 and switch S1；
Rectifier diode D1 to D6 is built into rectified three-phase circuit, and the three-phase alternating current input terminal of rectified three-phase circuit connects hair
The three-phase ac signal output end of motor 111, one end of the positive pole output end connection fuse F1 of rectified three-phase circuit, is protected
The other end of dangerous silk F1 connect simultaneously one end of filter condenser C1, one end of resistance R1, light emitting diode VL1 anode, electricity
Hinder one end of R4, the collector of NPN triode Q4, the collector of NPN triode Q6 and NPN triode Q7 collector；
The other end of resistance R1 connects the cathode of zener diode Q1 and one end of variable potentiometer R2 simultaneously；Variable electric potential
The base stage of the other end connection PNP triode Q2 of device R2；
The anode of the cathode connection diode D7 of light emitting diode VL1, the cathode of diode D7 connect resistance R3's simultaneously
The base stage of one end and PNP triode Q3, the other end of the emitter connection resistance R4 of PNP triode Q3, the collection of PNP triode Q3
Electrode connects the emitter of NPN triode Q5 and the base stage of NPN triode Q4 simultaneously；The collector of NPN triode Q5 connects PNP
The emitter of triode Q2；The base stage of the emitter connection NPN triode Q6 of NPN triode Q4, the emitter of NPN triode Q6
Connect the base stage of NPN triode Q7, the emitter of NPN triode Q7 connect simultaneously the base stage of NPN triode Q5, resistance R5 one
End, one end of capacitor C2, the anode of battery GB and fuse F2 one end；
The anode of the other end connection light emitting diode VL2 of fuse F2, and as 111 positive pole output end of generator
+OUT；
One end of the cathode connection resistance R6 of light emitting diode VL2；
The other end of one end of the power cathode output end connection switch S1 of rectified three-phase circuit, switch S1 connects filter simultaneously
The other end of wave capacitor C1, the anode of zener diode Q1, the other end of resistance R3, PNP triode Q2 collector, resistance
The other end of R5, the other end of capacitor C2, the cathode of battery GB and resistance R6 the other end, and as 111 power supply of generator
Cathode output end-OUT.
It is connected when propeller 102 is rotated with water flow with the transmission mechanism of generator 111, generator 111 passes through after producing electricl energy
Rectification, filtering, pressure stabilizing and additives for overcharge protection circuit, can export steady dc voltage, can charge to UUV1, can
To cooperate UUV1 electricity self-checking function to work together, it can control whether charging circuit is connected.
Charging control circuit 112 include current rectifying and wave filtering circuit, from voltage regulator circuit, constant voltage outputting circuit and power supply instruction electricity
Road, rectifying and wave-filtering part are made of rectifier diode D1 to D6, fuse F1 and filter condenser C1；By triode Q2 to Q7,
Resistor R1, R3, R4, R5, capacitor C2, variable potentiometer R2, light emitting diode VL1, diode D7 and zener diode Q1 group
At from voltage regulator circuit；Constant voltage outputting circuit is made of battery GB and fuse F2；Power indicating circuit part is then by resistance
R6 and light emitting diode VL2 composition.The three-phase alternating voltage that generator rotation generates is rectified through D1-D6, after C1 filtering, generates one
A smooth dc voltage (generally being fluctuated between 0-40V) changed with revolving speed size conversion.The DC voltage pressure stabilizing is 12V
Afterwards, then to battery GB it charges.When battery GB end voltage is lower than threshold value, self-stabilization potential circuit just charges to GB, until
The end voltage of GB reaches standard value.When 102 revolving speed of propeller is larger, the output voltage of generator is higher, self-stabilization voltage electricity
Road works normally, and charges normal to UUV internal battery；If 102 revolving speed of propeller is slower, the output voltage of generator is inclined
Low, produced electricity charges to battery GB after rectifying and wave-filtering, and UUV, which changes, to be provided burning voltage by battery GB for it and filled
Electricity.S1 is magnetic switch, and after UUV self-test electricity finds itself without charging, S1 is disconnected, and cuts off charging circuit, is protected in UUV
Set battery.In addition, being embedded with additives for overcharge protection circuit on UUV internal battery, cooperation electricity self-checking function protects UUV in-built electrical together
Pond prevents its overcharge.
Specific embodiment 3: illustrating present embodiment, a kind of energy described in present embodiment in conjunction with Fig. 5 and Fig. 6
Source replenishing method, method includes the following steps:
Step 1: surface mother ship 3, which recycles/lay task to this, carries out overall planning；
The target position of arrival needed for determining orientation, task execution locating for orientation locating for UUV1, surface mother ship 3, simultaneously
Tasks clear target, task need, after environmental condition, to the movement of completion needed for surface mother ship 3 and UUV1 carry out this recycling/
Lay the overall planning of task；
Step 2: UUV1 waits surface mother ship 3 to send instruction, and surface mother ship 3 is according to mission planning after the completion of planning
UUV1 is sent and carries instruction, UUV1 is instructed to complete relevant action, UUV1 is carried with the completion of underwater towing platform 2 and docks；
Step 3: the UUV1 in carrying state goes to task waters by the carrying of surface mother ship 3, state procedure is being carried
In, clutch 103 enters disengaged position, and power output shaft 109 is separated with main shaft 105, and propeller 102 starts to turn with water flow
It is dynamic；
Step 4: UUV1 is detected and is judged to internal battery, when UUV1 not enough power supply or UUV1 think self electric quantity
When requiring supplementation with, propeller 102 drives 111 rotary work of generator, charges to UUV1 internal battery；As UUV1 thinks certainly
Body electricity abundance is without charging, then charging control circuit 112 can prevent electricity from flowing into UUV1 internal battery, prevents from causing in-built electrical
Pond overcharge, to protect the internal battery of UUV1；
Step 5: UUV1 keeps in communication with surface mother ship 3 during entire carry, when surface mother ship 3 sends UUV1
It carries completion instruction or UUV1 arrives at designated position, clutch 103 enters meshing state, power output shaft 109 and main shaft 105
Engagement, main propulsion motor 101 drive propeller 102 to rotate, after the separation license for obtaining underwater towing platform 2, UUV1 and water
Lower tow platform 2, which releases, to be docked and separates, and carrying process is completed；
Present embodiment is real based on a kind of UUV with energy recharge system described in above-mentioned any one embodiment
It is existing.
In above-mentioned steps, step 3 to five is the committed step of present embodiment, with a portion of office to this in Fig. 5
The refinement explanation in portion.
When needing to separate the power output shaft 109 of stern main propulsion motor 101 with the main shaft 105 of propeller 102, from
It closes mechanism 103 to work, electromagnet 104 is powered, and attracts gear type armature 107, gear type armature 107 is because of by magnetic force, compression
Spring 106 simultaneously drives the half-clutch device 108-2 in driven shaft side to be disengaged from the half-clutch device 108-1 in driving shaft side, to make power
Output shaft 109 is separated with main shaft 105, meanwhile, gear type armature 107 intermeshes with generator drive gear gear 110, makes generator
111 start to work.When needing power output shaft 109 to engage with main shaft 105, electromagnet 104 is powered off, and spring 106 is by gear type
The automatic pushed home of armature 107 is set, and engages power output shaft 109 again with main shaft 105.Wherein, each work of clutch 103
When making, electromagnet 104 is powered by UUV1 internal battery, when stern propeller 102 starts stable electric generation, is turned by generator
111 power supplies, save the energy with this.
The present invention generated resistance during carrying for UUV, from the original mechanical structure of UUV, designing one kind can
In the method eliminated some resistance and carry out reverse charging to UUV internal battery using the resistance, meanwhile, it designs a set of practical
Reliable apparatus feasible, that some resistance can be effectively eliminated and charged using it to UUV.To allow UUV to exist
The resistance that propeller blade is subject to is reduced when carrying, eliminates the hidden danger that some resistance keeps flabellum impaired, and utilize outside resources
For UUV charging, make UUV that can carry out energy recharge during carrying, and task efficiency can be improved.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
Claims (6)
1. a kind of UUV with energy recharge system, UUV (1) stern is provided with main propulsion motor (101) and propeller (102)；
The power output shaft (109) of main propulsion motor (101) and the main shaft (105) of propeller (102) are coaxially connected；
It is characterized in that, UUV (1) further includes clutch (103), generator (111) and charging control circuit (112)；
Clutch is equipped between the power output shaft (109) of main propulsion motor (101) and the main shaft (105) of propeller (102)
(103)；
When UUV (1) is in carrying state, clutch (103) is in disengaged position, power output shaft (109) and main shaft (105)
Separation drives generator (111) rotary work by propeller (102), and generator (111) passes through charging control circuit (112)
For the charging of UUV (1) internal battery；
When UUV (1) executes task, clutch (103) is in meshing state, and power output shaft (109) is nibbled with main shaft (105)
It closes, main propulsion motor (101) drives propeller (102) rotation.
2. a kind of UUV with energy recharge system according to claim 1, which is characterized in that the clutch
It (103) include electromagnet (104), spring (106), gear type armature (107), clutch (108) and generator drive gear gear
(110)；
Clutch (108) includes the half-clutch device in driving shaft side (108-1) being oppositely arranged and the half-clutch device (108- in driven shaft side
2)；
Driving shaft side half-clutch device (108-1) is fixed on the end of power output shaft (109), and main shaft is sequentially coaxially set on (105)
Have electromagnet (104), spring (106), a half-clutch device of gear type armature (107) and driven shaft side (108-2), driven shaft side half from
Clutch (108-2) is fixed on the end of main shaft (105), one end of gear type armature (107) and the half-clutch device (108- in driven shaft side
2) fixed, the other end of gear type armature (107) is connect by spring (106) with electromagnet (104)；
Generator drive gear gear (110) are equipped with right above spring (106), the main shaft and generator of generator drive gear gear (110)
(111) line shaft is fixedly and coaxially connected；
When UUV (1) is in carrying state, electromagnet (104) is powered, and electromagnet (104) attracts gear type armature (107), makes bullet
Spring (106) compression, and the half-clutch device in driven shaft side (108-2) and the half-clutch device in driving shaft side (108-1) is driven to be detached from, gear type
Armature (107) is pulled to be engaged with generator drive gear gear (110)；
When UUV (1) executes task, gear type armature (107) is pushed back initial position by electromagnet (104) power-off, spring (106),
Vacantly between gear type armature (107) and electromagnet (104), clutch (108) restores to nibbling generator drive gear gear (110)
Conjunction state.
3. a kind of UUV with energy recharge system according to claim 2, which is characterized in that the driven shaft side half
Clutch (108-2) is fixed on main shaft (105) by feather key, and feather key makes driven shaft side half-clutch device (108-2) along circle
Circumferential direction is fixed.
4. a kind of UUV with energy recharge system according to claim 1, which is characterized in that the charge control electricity
Road (112) is used for when propeller (102) revolving speed reaches threshold value, is directly the charging of UUV (1) internal battery, when propeller (102)
It is first battery GB charging when revolving speed is not up to threshold value, then passing through battery GB is the charging of UUV (1) internal battery.
5. a kind of UUV with energy recharge system according to claim 1, which is characterized in that the charge control electricity
Road (112) includes rectifier diode D1 to D6, fuse F1, fuse F2, filter condenser C1, capacitor C2, resistance R1, can be changed
Potentiometer R2, resistance R3 to R6, zener diode Q1, PNP triode Q2, PNP triode Q3, NPN triode Q4 to Q7 shine
Diode VL1, light emitting diode VL2, diode D7 and switch S1；
Rectifier diode D1 to D6 is built into rectified three-phase circuit, and the three-phase alternating current input terminal of rectified three-phase circuit connects generator
(111) three-phase ac signal output end, one end of the positive pole output end connection fuse F1 of rectified three-phase circuit, insurance
Silk F1 the other end simultaneously connect one end of filter condenser C1, one end of resistance R1, light emitting diode VL1 anode, resistance
One end of R4, the collector of NPN triode Q4, the collector of NPN triode Q6 and NPN triode Q7 collector；
The other end of resistance R1 connects the cathode of zener diode Q1 and one end of variable potentiometer R2 simultaneously；Variable potentiometer R2
The other end connection PNP triode Q2 base stage；
The anode of the cathode connection diode D7 of light emitting diode VL1, the cathode of diode D7 connect one end of resistance R3 simultaneously
With the base stage of PNP triode Q3, the other end of the emitter connection resistance R4 of PNP triode Q3, the collector of PNP triode Q3
The emitter of NPN triode Q5 and the base stage of NPN triode Q4 are connected simultaneously；The collector of NPN triode Q5 connects tri- pole PNP
The emitter of pipe Q2；The base stage of the emitter connection NPN triode Q6 of NPN triode Q4, the emitter connection of NPN triode Q6
The base stage of NPN triode Q7, the emitter of NPN triode Q7 connect simultaneously the base stage of NPN triode Q5, one end of resistance R5,
One end of capacitor C2, the anode of battery GB and fuse F2 one end；
Fuse F2 the other end connection light emitting diode VL2 anode, and as generator (111) positive pole output end+
OUT；
One end of the cathode connection resistance R6 of light emitting diode VL2；
The other end of one end of the power cathode output end connection switch S1 of rectified three-phase circuit, switch S1 connects filtered electrical simultaneously
The other end of container C1, the anode of zener diode Q1, the other end of resistance R3, the collector of PNP triode Q2, resistance R5
The other end, the other end of capacitor C2, the cathode of battery GB and resistance R6 the other end, and it is negative as generator (111) power supply
Pole output end-OUT.
6. a kind of energy recharge method, which is characterized in that method includes the following steps:
Step 1: UUV (1) carry state procedure in, clutch (103) enter disengaged position, power output shaft (109) with
Main shaft (105) separation, propeller (102) beginning are rotated with water flow；
Step 2: UUV (1) is detected and is judged to internal battery, and when internal battery needs to charge, propeller (102) band
Dynamic generator (111) rotary work, charges to UUV (1) internal battery by charging control circuit (112), realizes the energy
Supply；
This method is realized based on a kind of UUV with energy recharge system described in above-mentioned any one claim.
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| CN201910754605.2A CN110445235A (en) | 2019-08-15 | 2019-08-15 | A kind of UUV and energy recharge method with energy recharge system |
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Cited By (1)
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| CN116378970A (en) * | 2023-05-16 | 2023-07-04 | 利欧集团浙江泵业有限公司 | Switching pump capable of switching flow and lift state |
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Application publication date: 20191112 |