CN201371933Y

CN201371933Y - Gliding propeller based on wave energy

Info

Publication number: CN201371933Y
Application number: CN200920063752U
Authority: CN
Inventors: 尚建忠; 罗自荣; 王晓明; 丛楠
Original assignee: National University of Defense Technology
Current assignee: National University of Defense Technology
Priority date: 2009-03-20
Filing date: 2009-03-20
Publication date: 2009-12-30
Anticipated expiration: 2019-03-20

Abstract

The utility model discloses a gliding propeller based on wave energy. A machine body frame is provided with a wave energy conversion device, batteries and a glide propelling control device, and the wave sensing part of the wave energy conversion device comprises an inner frame, a cross shaft, a first vertical shaft, a second vertical shaft and a heavy hammer. The first vertical shaft and the second vertical shaft are connected with a worm spring reversing power generation part by a motion transmission part and a one-way motion conversion part, and a gear pump of the glide propelling control device is driven by a gear pump motor. The outer layer of a double-layer bladder is communicated with external water, and the inner layer of the double-layer bladder is communicated with an oil port A of a three-position four-way reversing valve. An oil box is communicated with an oil port B of the three-position four-way reversing valve, the output end of the gear pump is communicated with an oil port P of the three-position four-way reversing valve, and the input end of the gear pump is communicated with an oil port O of the three-position four-way reversing valve. Both ends of an overflow valve are communicated with the input end and the output end of the gear pump, and the end part of the cross shaft and the end parts of the vertical shaft are provided with corner control motors. The propeller can convert wave energy into electrical energy and realize gliding and steering by changing the position of center of gravity.

Description

Gliding propeller based on wave energy

Technical field

The utility model relates to underwater propeller, relates in particular to the gliding propeller based on wave energy.

Background technology

Underwater propeller is actual to be a kind of remote-operated vehicle, and the propulsion mode of existing underwater propeller has multiple, as screw propeller propelling, the propelling etc. of gliding.The underwater gliding propelling unit adopts is a kind of novel propulsion system plug-in screw propeller, that rely on self buoyancy-driven of not having, and it relies on built-in actuating device to realize navigation and attitude control fully, navigates by water along the serration track.The underwater gliding propelling unit has characteristics such as scope of work is wide, uninterrupted working time is long, energy consumption is low, operating cost is few, becomes a research focus of current underwater propeller technical field.

At present, three the most advanced in the world underwater gliding propelling unit series are: Si Bailei (Spray), ocean aerodone (Seaglider) and Slocombe (SLOCUM).Si Bailei (Spray) is by Woods Hole Oceanographic Institution (WHOI), and one of pioneer of American National ocean office (SIO) and underwater glider (AUG) Doug weber (Doug Webb) is developed jointly and developed; Ocean aerodone (Seaglider) is to be developed by the team that the Charlie Ai Likesen of University of Washington (Charlie Eriksen) is led; Weber research institution (Webb Research Corp) has designed " battery powered Slocombe aerodone " (Slocum Battery Glider) for adapting to more shallow coastal water.Afterwards, about utilizing the imagination of the sea temperature sudden change layer heat that produces, developed " thermal gradient energy Slocombe aerodone " (SlocumThermal Glider) according to this moral Mel (Stommel) again.

At present, domestic have three units at research underwater gliding propelling unit, is respectively Shenyang Inst of Automation, Chinese Academy of Sciences, University Of Tianjin's robot and automotive technology research institute and mechano-electronic dominant project research institute of Zhejiang University.Wherein automation research institute in Shenyang has carried out correlative study to the underwater gliding propelling unit and has been on the leading domestic level, and has successfully developed the wing (SEA-WING) of underwater gliding propelling unit experimental prototype ocean, and has carried out the lake examination.Simultaneously, University Of Tianjin's robot and automotive technology Research Institute underwater gliding propelling unit (be called again thermal gradient energy drive marine monitoring platform), mechano-electronic dominant project research institute of Zhejiang University also test.

In addition, the energy resource supply problem of underwater propeller has become restriction, and it uses the technical bottleneck that develops to deeply, how to make full use of the huge energy in ocean, solves the energy resource supply problem of underwater propeller, also becomes the emphasis of each country's research.

The utility model content

The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art, provide a kind of and wave energy can be converted to electric energy, support long-distance navigation, and can realize glide, the gliding propeller that turns to by changing center-of-gravity position and buoyancy based on wave energy.

For solving the problems of the technologies described above, the utility model by the following technical solutions:

A kind of gliding propeller based on wave energy, comprise fuselage ring, be equiped with Wave energy converter on the described fuselage ring, the storage battery and the propelling control setup that glides, described Wave energy converter comprises the wave sensing part, the Motion Transmission part, one-way movement conversion portion and spiral spring reverse power generation part, described wave sensing part comprises inner frame, transverse axis, first longitudinal axis, second longitudinal axis and weight, described first longitudinal axis and second longitudinal axis are supported on the fuselage ring, described inner frame one end bearing is on first longitudinal axis, the other end is captiveed joint with second longitudinal axis, the described transverse axis and first longitudinal axis are arranged vertically, and being supported at both ends on the inner frame of transverse axis, be equiped with middle tap gear and weight on the described transverse axis, be equiped with first finishing bevel gear cuter on described first longitudinal axis with the middle tap gear mesh, first longitudinal axis partly links to each other with Motion Transmission respectively with second longitudinal axis, described Motion Transmission part is reversed power generation part by one-way movement conversion portion and spiral spring and is linked to each other, spiral spring reverses power generation part and links to each other with storage battery, described glide advances control setup to comprise locating support, gear type pump, fuel tank, by pass valve, two double-deck leather bags and two three position four-way directional control valves, described gear type pump, fuel tank, by pass valve, two double-deck leather bags and two three position four-way directional control valves all are installed on the locating support, be equiped with on the described gear type pump and storage battery bonded assembly gear pump motor, the skin of each double-deck leather bag is communicated with extraneous water, the internal layer of each double-deck leather bag passes through three position four-way directional control valve, gear type pump is communicated with fuel tank, by pass valve one end is communicated with the gear delivery side of pump, the other end is communicated with the input end of gear type pump, the end of described transverse axis is equiped with the first angle control motor, and the end of described second longitudinal axis is equiped with the second angle control motor.

The internal layer of described each double-deck leather bag is communicated with the A hydraulic fluid port of a three position four-way directional control valve respectively, fuel tank is communicated with the B hydraulic fluid port of each three position four-way directional control valve, the gear delivery side of pump is communicated with the P hydraulic fluid port of each three position four-way directional control valve, and the input end of gear type pump is communicated with the O hydraulic fluid port of each three position four-way directional control valve.

Described propulsive mechanism comprises flank screw propeller, flank screw propeller transmission device and flank screw propeller drive motor, and described flank screw propeller is supported on the tilter, and described flank screw propeller drive motor links to each other with the flank screw propeller by flank screw propeller transmission device.

Be equiped with on the described fuselage ring and storage battery bonded assembly empennage vector propulsion device, described empennage vector propulsion device comprises empennage screw propeller, empennage screw propeller transmission device, empennage screw propeller drive motor, turning rack and turn drive motor, described turning rack is supported on the tail end of fuselage ring, the mouth of turn drive motor is connected with turning rack, the empennage screw propeller is supported on the turning rack, and empennage screw propeller drive motor links to each other with the empennage screw propeller by empennage screw propeller transmission device.

Described Motion Transmission partly comprises two groups of belt gears, described one-way movement conversion portion comprises first reversing arrangement and second reversing arrangement, the mouth of the mouth of described first reversing arrangement and second reversing arrangement is connected to the two ends that spiral spring reverses power generation part, the input end of first reversing arrangement is connected with first longitudinal axis by one group of belt gear, and the input end of second reversing arrangement is connected with second longitudinal axis by another group belt gear.

Described first reversing arrangement and second reversing arrangement include two-way input shaft, unidirectional output shaft, one-way clutch gear, free-wheel clutch, inner gear shaft and satellite gear, the inner ring of described one-way clutch gear and free-wheel clutch is all affixed with two-way input shaft, and the clutch rotation direction of one-way clutch gear and free-wheel clutch is opposite, the inner gear portion of inner gear shaft one end is by the gear part engagement of satellite gear and one-way clutch gear outer ring, the outer ring of the inner gear shaft other end and free-wheel clutch joins, and described unidirectional output shaft is captiveed joint with the outer ring of free-wheel clutch.

Described spiral spring reverses power generation part and comprises the accumulation of energy spiral spring, first magnetic clutch, friction wheel, second magnetic clutch, counter controller, electrical generator and two displacement pickups, the mouth of described first reversing arrangement is connected with the inner ring of accumulation of energy spiral spring, the mouth of second reversing arrangement is connected with the outer ring flywheel of accumulation of energy spiral spring through first magnetic clutch, described friction wheel and outer ring flywheel fit tightly, the friction wheel mouth is connected with the electrical generator input end through second magnetic clutch, two displacement pickups are located at the mouth of first reversing arrangement and second reversing arrangement respectively, the data acquisition end of counter controller links to each other with two displacement pickups, the control end of counter controller links to each other with second magnetic clutch with first magnetic clutch, and electrical generator is connected with storage battery.

Compared with prior art, advantage of the present utility model is:

1, the Wave energy converter and the propelling control setup that glides are combined, utilize Wave energy converter to produce mechanical energy by wave motion, and mechanical energy is converted to power storage in storage battery, and make storage battery can be continuously propelling unit the energy is provided, realize long-distance navigation.Wave energy converter comprises the wave sensing part, the Motion Transmission part, one-way movement conversion portion and spiral spring reverse power generation part, when wave motion acts on the propelling unit, the inner frame of wave sensing part and weight form reciprocally swinging, wave energy is converted to mechanical energy, the Motion Transmission part arrives the one-way movement conversion portion with the reciprocating machine Motion Transmission, convert crank motion to unidirectional rotation through the one-way movement conversion portion, the spiral spring generation that spiral spring is reversed in the power generation part is reversed, thereby the form of mechanical energy with elastic potential energy is stored in the spiral spring, when spiral spring is torqued into set amount, concentrate and discharge elastic potential energy, make elastic potential energy by the motor-driven electric energy that changes into that generates electricity, at last with power storage in battery, be used to propelling unit that power is provided.Utilizing glides advances control setup by changing displacement of volume the suffered buoyancy of propelling unit to be adjusted, make propelling unit can realize sedimentation and two kinds of motions of come-up, and by controlling the deflecting direction change propelling unit center-of-gravity position of pendulum or inner frame, make hang gliding and horizontal surface on the propelling unit form certain angle, thereby in the process of propelling unit sedimentation or come-up, be subjected to the influence of hang gliding, realize gliding and advance, turn to; When being in the glide advanced state, the propelling unit consumption of current is low, can disconnect the electric power of drive part after buoyancy and center of gravity are adjusted to the right place, only utilizes the mutual action of propelling unit and water to realize advancing.

2, tilt rotor vector propulsion device comprises hang gliding and propulsive mechanism, propulsive mechanism is installed in the end of hang gliding by the control mechanism that verts, this control mechanism that verts can drive tilter by the drive motor that verts and drive the propulsive mechanism rotation, thereby change the propulsive force direction that propulsive mechanism produces, under the cooperation of many group tilt rotor vector propulsion devices, can make not only that propelling unit is realized advancing, retreated, vertical uplift, vertically descend the degradation simple motion, and can realize quick steering and compound movement such as laterally roll.

3, be equiped with the empennage vector propulsion device on the fuselage ring, the empennage screw propeller of this empennage vector propulsion device is supported on the turning rack, this turning rack can drive the swing of empennage screw propeller under turn drive motor drives, make the empennage screw propeller not only can be, and can improve angle of rake steering capability for propelling unit provides bigger power.

4, the gliding propeller based on wave energy of the present utility model also has manufacturing cost and maintenance cost is low, can reuse, throw in to reclaim and characteristics such as make things convenient for, can lay in a large number.

Description of drawings

Fig. 1 is a structural representation of the present utility model;

Fig. 2 is the schematic diagram of mechanism of the utility model tilt rotor vector propulsion device and empennage vector propulsion device;

Fig. 3 is the structural representation one of the utility model Wave energy converter;

Fig. 4 is the structural representation two of the utility model Wave energy converter;

Fig. 5 is the structural representation of the utility model reversing arrangement;

Fig. 6 is the sectional structure scheme drawing of the utility model reversing arrangement;

Fig. 7 is the structural representation that the utility model glide advances control setup;

Fig. 8 is the hydraulic schematic diagram that the utility model glide advances control setup.

Each label is represented among the figure:

1, fuselage ring 2, Wave energy converter

3, tilt rotor vector propulsion device 4, empennage vector propulsion device

5, storage battery 6, glide advance control setup

21, first reversing arrangement 22, second reversing arrangement

31, hang gliding 32, propulsive mechanism

33, vert drive motor 34, tilter

41, empennage screw propeller 42, empennage screw propeller transmission device

43, empennage screw propeller drive motor 44, turning rack

45, turn drive motor 60, locating support

61, gear type pump 62, fuel tank

63, by pass valve 64, double-deck leather bag

65, three position four-way directional control valve 66, gear pump motor

201, inner frame 202, transverse axis

203, first longitudinal axis 204, second longitudinal axis

205, first finishing bevel gear cuter 206, middle tap gear

207, weight 208, accumulation of energy spiral spring

209, first magnetic clutch 210, friction wheel

211, second magnetic clutch 212, electrical generator

213, counter controller 214, displacement pickup

215, two-way input shaft 216, unidirectional output shaft

217, one-way clutch gear 218, free-wheel clutch

219, inner gear shaft 220, satellite gear

221, planetary wheel carrier 222, the first angle control motor

223, the second angle control motor 224, big belt wheel

225, small pulley 226, drive belt

321, flank screw propeller 322, flank screw propeller transmission device

323, flank screw propeller drive motor 2081, inner ring

2082, outer ring flywheel

The specific embodiment

As shown in Figure 1, the gliding propeller based on wave energy of the present utility model comprises fuselage ring 1, Wave energy converter 2, tilt rotor vector propulsion device 3, empennage vector propulsion device 4, storage battery 5 and glides advancing control setup 6.Tilt rotor vector propulsion device 3 and empennage vector propulsion device 4 are angle of rake major impetus devices, and all can adjust direction of propulsion, and tilt rotor vector propulsion device 3 is provided with two groups in the present embodiment, and are installed on fuselage ring 1 both sides respectively; Empennage vector propulsion device 4 is provided with one group, and is installed in the tail end of fuselage ring 1.Glide to advance control setup 6 to be installed in the front portion of fuselage ring 1, be mainly used in and adjust propelling unit suffered buoyancy in water.Wave energy converter 2 is installed in the rear portion of fuselage ring 1, is used for wave energy is converted to electric energy and is stored in storage battery 5, makes storage battery 5 can be continuously tilt rotor vector propulsion device 4 power is provided, and makes propelling unit can realize long-distance navigation.

As Fig. 3, Fig. 4, Fig. 5 and shown in Figure 6, in the present embodiment, Wave energy converter 2 comprises that wave sensing part, Motion Transmission part, one-way movement conversion portion and spiral spring reverse power generation part.The wave sensing part comprises inner frame 201, transverse axis 202, first longitudinal axis 203 and second longitudinal axis 204, first longitudinal axis 203 and second longitudinal axis 204 are supported on the fuselage ring 1 by bearing, be equiped with first finishing bevel gear cuter 205 on first longitudinal axis 203, inner frame 201 1 ends are supported on first longitudinal axis 203 by bearing, the other end is captiveed joint with second longitudinal axis 204, the transverse axis 202 and first longitudinal axis 203 are arranged vertically, and being supported at both ends on the inner frame 201 of transverse axis 202, be equiped with on the transverse axis 202 weight 207 and with first finishing bevel gear cuter, 205 ingear middle tap gears 206, this weight 207 is by rigid rod, weight box and mass are formed, rigid rod one end is captiveed joint with transverse axis 202, the other end is captiveed joint with weight box, mass is installed in the weight box, use storage battery 5 as mass in the present embodiment, so both can utilize the big characteristics of storage battery 5 weight to satisfy the counterweight requirement, can save the space again, be convenient to the installation of other assembly in the propelling unit.The Motion Transmission part is made up of two groups of belt gears, and each belt gear includes big belt wheel 224, small pulley 225 and drive belt 226, and big belt wheel 224 is connected by drive belt 226 with small pulley 225.The one-way movement conversion portion comprises first reversing arrangement 21 and second reversing arrangement 22, first reversing arrangement 21 and second reversing arrangement 22 include two-way input shaft 215, unidirectional output shaft 216, one-way clutch gear 217, free-wheel clutch 218, inner gear shaft 219, satellite gear 220 and be supported on planetary wheel carrier 221 on the two-way input shaft 215 by bearing, the inner ring of one-way clutch gear 217 and free-wheel clutch 218 is all affixed with two-way input shaft 215, and the clutch rotation direction of one-way clutch gear 217 and free-wheel clutch 218 is opposite, the rotating shaft of satellite gear 220 is fixed on the planetary wheel carrier 221, the inner gear portion of inner gear shaft 219 1 ends is by the gear part engagement of satellite gear 220 with one-way clutch gear 217 outer rings, the outer ring of inner gear shaft 219 other ends and free-wheel clutch 218 joins, and unidirectional output shaft 216 is captiveed joint with the outer ring of free-wheel clutch 218.The two-way input shaft 215 of first reversing arrangement 21 is connected with first longitudinal axis 203 by one group of belt gear, and wherein big belt wheel 224 is connected with first longitudinal axis 203, and small pulley 225 is connected with two-way input shaft 215; The two-way input shaft 215 of second reversing arrangement 22 is connected with second longitudinal axis 204 by another group belt gear, wherein big belt wheel 224 is connected with second longitudinal axis 204, small pulley 225 is connected with two-way input shaft 215, the unidirectional output shaft 216 of first reversing arrangement 21 and second reversing arrangement 22 is on the same axis, and the hand of rotation of output is opposite.Spiral spring reverses power generation part and comprises accumulation of energy spiral spring 208, first magnetic clutch 209, friction wheel 210, second magnetic clutch 211, counter controller 213, with storage battery 5 bonded assembly electrical generators 212 and two displacement pickups 214, the unidirectional output shaft 216 of first reversing arrangement 21 is connected with the inner ring 2081 of accumulation of energy spiral spring 208, the unidirectional output shaft 216 of second reversing arrangement 22 is connected with the outer ring flywheel 2082 of accumulation of energy spiral spring 208 through first magnetic clutch 209, friction wheel 210 fits tightly with outer ring flywheel 2082, friction wheel 210 mouths are connected with electrical generator 212 input ends through second magnetic clutch 211, two displacement pickups 214 are located at the mouth of first reversing arrangement 21 and second reversing arrangement 22 respectively, the data acquisition end of counter controller 213 links to each other with two displacement pickups 214, and the control end of counter controller 213 links to each other with second magnetic clutch 211 with first magnetic clutch 209.

The concrete working process of Wave energy converter 2 can be divided into accumulation of energy process and two parts of power generation process.In the accumulation of energy process, first magnetic clutch, 209 closures, second magnetic clutch 211 disconnects, when wave action is on fuselage ring 1, inner frame 201 and weight 207 are because the inertia of itself can produce the swing with respect to fuselage ring 1, during inner frame 201 swings, drive second longitudinal axis 204 of captiveing joint with it and do back and forth to rotate, second longitudinal axis 204 back and forth rotates the two-way input shaft 215 that is delivered to second reversing arrangement 22 through belt gear with this.When two-way input shaft 215 with Fig. 3 in during direction forward input shown in the arrow, the inner ring of one-way clutch gear 217 is with two-way input shaft 215 forward rotation, the rolling body between the inside and outside circle is in the big end in gap between the inside and outside circle, does not rotate with inner ring the outer ring; Simultaneously, the inner ring of free-wheel clutch 218 is with two-way input shaft 215 forward rotation, because free-wheel clutch 218 is opposite with the clutch rotation direction of one-way clutch gear 217, so in the free-wheel clutch 218, in rolling body between the outer ring is urged to, gap small end between the outer ring, and inner ring holds out against the outer ring by rolling body, the outer ring that makes free-wheel clutch 218 is with the inner ring forward rotation, the unidirectional output shaft 216 forwards output of captiveing joint with free-wheel clutch 218 outer rings, and outer ring flywheel 2082 forward rotation that drive accumulation of energy spiral springs 208 through first magnetic clutch 209 (simultaneously, inner gear shaft 219 forward rotation of captiveing joint with free-wheel clutch 218 outer rings, and pass to the gear part of one-way clutch gear 217 outer rings through satellite gear 220, make the relative inner ring backward rotation in one-way clutch gear 217 outer rings, can not cause interference) the forward rotation of inner ring.When two-way input shaft 215 is oppositely imported, the inner ring of one-way clutch gear 217 is with two-way input shaft 215 backward rotation, in, in rolling body between the outer ring is urged to, gap small end between the outer ring, inner ring holds out against the outer ring by rolling body, the gear part that makes one-way clutch gear 217 outer rings is with the inner ring backward rotation, and footpath satellite gear 220 passes to the inner gear portion of inner gear shaft 219, make inner gear shaft 219 forward rotation, inner gear shaft 219 passes to unidirectional output shaft 216 by free-wheel clutch 218 outer rings with forward rotation, make unidirectional output shaft 216 forwards output, and outer ring flywheel 2082 forward rotation that drive accumulation of energy spiral springs 208 through first magnetic clutch 209 (simultaneously, free-wheel clutch 218 inner ring backward rotation, the outer ring forward rotation, in the free-wheel clutch 218, in rolling body between the outer ring is in, the big end in gap between the outer ring can be in the free-wheel clutch 218, relatively rotating between the outer ring caused interference).During weight 207 swings, transverse axis 202 back and forth rotates thereupon, and successively through middle tap gear 206, first finishing bevel gear cuter 205, first longitudinal axis 203 and belt gear pass to the two-way input shaft 215 of first reversing arrangement 21, the principle of work of first reversing arrangement 21 is identical with the principle of work of second reversing arrangement 22, do not repeat them here, but the direction of rotation of unidirectional output shaft 216 in the rotation direction of unidirectional output shaft 216 and second reversing arrangement 22 in first reversing arrangement 21, like this, unidirectional output shaft 216 drives inner ring 2081 backward rotation of accumulation of energy spiral spring 208 in first reversing arrangement 21, inner ring 2081 is opposite with the hand of rotation of outer ring flywheel 2082, the acceleration energy accumulation improves wave power utilization efficient.In the accumulation of energy process, the displacement pickup 214 of first reversing arrangement 21 and second reversing arrangement, 22 mouths is used to collect the output shaft rotation number of turns of first reversing arrangement 21 and second reversing arrangement 22, and this information is delivered to counter controller 213, counter controller 213 is with both rotation number of turns additions, when both rotation number of turns sums reach setting value, counter controller 213 sends control signal, first magnetic clutch 209 is disconnected, second magnetic clutch, 211 closures, Wave energy converter 2 enters power generation process.In power generation process, the outer ring flywheel 2082 of accumulation of energy spiral spring 208 rotates under the effect of elastic potential energy, and by outer ring flywheel 2082 drive friction wheels 210 high speed revolutions, friction wheel 210 is delivered to electrical generator 212 through second magnetic clutch 211 with rotation, make electrical generator 212 begin generating, the electric energy that electrical generator 212 produces is stored in the storage battery 5.

As shown in Figure 7 and Figure 8, being equiped with on the fuselage ring 1 glides advances control setup 6, glide and advance control setup 6 to comprise locating support 60 and the gear type pump 61 that is installed on the locating support 60, fuel tank 62, by pass valve 63, two double-deck leather bags 64 and two three position four-way directional control valves 65, in the fuel tank 62 fluid is housed, be equiped with the gear pump motor 66 that is used for driving gear pump 61 on the gear type pump 61, the skin of each double-deck leather bag 64 is communicated with extraneous water, the internal layer of each double-deck leather bag 64 is communicated with the A hydraulic fluid port of a three position four-way directional control valve 65 respectively, fuel tank 62 is communicated with the B hydraulic fluid port of each three position four-way directional control valve 65, the mouth of gear type pump 61 is communicated with the P hydraulic fluid port of each three position four-way directional control valve 65, the input end of gear type pump 61 is communicated with the O hydraulic fluid port of each three position four-way directional control valve 65, by pass valve 63 1 ends are communicated with the mouth of gear type pump 61, the other end is communicated with the input end of gear type pump 61, the end that the end of transverse axis 202 is equiped with the first angle control motor, 222, the second longitudinal axis 204 is equiped with the second angle control motor 223.

Glide when advancing control setup 6 work, propelling unit enters the glide advanced state, does not start tilt rotor vector propulsion device 3 and empennage vector propulsion device 4 propelling unit is moved to the destination, and still, Wave energy converter 2 stops accumulation of energy.Glide and advance control setup 6 the suffered buoyancy of propelling unit to be adjusted by changing displacement of volume, make propelling unit can realize sedimentation and two kinds of motions of come-up, and by controlling the deflecting direction change propelling unit center-of-gravity position of weight 207 or inner frame 201, make the hang gliding 31 on the propelling unit form certain angle with horizontal surface, thereby in the process of propelling unit sedimentation or come-up, be subjected to the influence of hang gliding 31, the realization glide is advanced and is turned to.In the glide progradation, if need to increase buoyancy, promptly require to increase the displacement of volume of double-deck leather bag 64, by control three position four-way directional control valve 65, the A hydraulic fluid port is communicated with the P hydraulic fluid port, the B hydraulic fluid port is communicated with the O hydraulic fluid port, fluid in the fuel tank 62 enters gear type pump 61 through B hydraulic fluid port and O hydraulic fluid port successively under the effect of gear type pump 61, again by entering interior leather bag through P hydraulic fluid port and A hydraulic fluid port successively after gear type pump 61 superchargings, make the endothecium bark capsule volume of double-deck leather bag 64 increase, the seawater in the outer leather bag is extruded, and makes displacement of volume increase, buoyancy increases, and propelling unit begins come-up; On the contrary, if will reduce buoyancy, promptly require to reduce the displacement of volume of double-deck leather bag 64, by control three position four-way directional control valve 65, the A hydraulic fluid port is communicated with the O hydraulic fluid port, the B hydraulic fluid port is communicated with the P hydraulic fluid port, the pressure of seawater forces that the endothecium bark bag pressure of double-deck leather bag 64 contracts, volume reduces, fluid in the internal layer leather bag enters gear type pump 61 through A hydraulic fluid port and O hydraulic fluid port successively, after gear type pump 61 outputs, be back to the fuel tank 62 through P hydraulic fluid port and B hydraulic fluid port successively again, after the internal layer leather bag of double-deck leather bag 64 is compressed, make displacement of volume reduce, buoyancy reduces, and propelling unit begins to sink.After the oiling of finishing the internal layer leather bag or oil extraction, control three position four-way directional control valve 65 disconnects each hydraulic fluid port, and is not communicated with mutually, keeps the oil mass in the internal layer leather bag, and buoyancy is remained unchanged.When propelling unit begins to float, drive transverse axis 202 by the first angle control motor 222 and rotate, weight 207 is swung backward, angle of rake center of gravity is moved after with respect to the centre of buoyancy, angle of rake front end is upwarped, and propelling unit just can be realized advancing in the process of come-up like this; When propelling unit begins to sink, drive transverse axis 202 by the first angle control motor 222 and rotate, weight 207 is swung forward, angle of rake center of gravity moves forward with respect to the centre of buoyancy, and angle of rake rear end is upwarped, and propelling unit just can be realized advancing in the sinking process like this.In the process of propelling unit come-up or sinking, drive second longitudinal axis 204 by the second angle control motor 223 and rotate, make inner frame 201 deflections, cause the variation of propelling unit transverse center of gravity, produce rolling moment, form roll angle, make propelling unit under gravity and hydrodynamic effect, realize turning to.Double-deck leather bag 64 also can participate in the adjustment of transverse center of gravity simultaneously, injects fluid in double-deck leather bag 64 internal layers of a side, and the fluid in double-deck leather bag 64 internal layers of opposite side is discharged, make both sides form weight difference, weight difference is big more, and barycentre offset is just big more, and steering angle is big more.When propelling unit is in the glide advanced state, can disconnect the electric power of drive part after buoyancy and center of gravity are adjusted to the right place, only utilize the mutual action of propelling unit and water just can realize advancing, consumption of current is low.

As shown in Figure 2, in the present embodiment, two groups of tilt rotor vector propulsion devices 3 include comprise hang gliding 31, propulsive mechanism 32, drive motor 33 and tilter 34 vert, hang gliding 31 1 ends are fixed on the fuselage ring 1, tilter 34 is supported on hang gliding 31 other ends by bearing, and the mouth of the drive motor 33 that verts is connected with tilter 34 by gear pair.This propulsive mechanism 32 comprises flank screw propeller 321, flank screw propeller transmission device 322 and flank screw propeller drive motor 323, flank screw propeller 321 is supported on the tilter 34 by bearing, and the mouth of flank screw propeller drive motor 323 links to each other with the rotating shaft of flank screw propeller 321 by flank screw propeller transmission device 322.Tilter 34 can drive propulsive mechanism 32 and produce rotation under the driving of the drive motor 33 that verts, and S. A. is arranged perpendicular to fuselage ring 1.Wherein vert drive motor 33 and flank screw propeller drive motor 323 all is installed on the fuselage ring 1; and all be positioned at fuselage interior; all can be subjected to the protection of fuselage ring 1; the output shaft of flank screw propeller drive motor 323 and the S. A. of tilter 34 are arranged on the same axis; the output shaft of the rotating shaft of flank screw propeller 321 and flank screw propeller drive motor 323 is arranged vertically; flank screw propeller transmission device 322 is the bevel drive pair; when tilter 34 rotates; flank screw propeller drive motor 323 still can rotate by the secondary driven flank of this bevel drive screw propeller 321, makes the rotation of tilter 34 and the rotation mutually noninterfere of flank screw propeller 321.Drive tilter 34 by the drive motor 33 that verts and drive propulsive mechanism 32 rotations, thereby change the propulsive force direction that propulsive mechanism 32 produces, under the cooperation of two groups of tilt rotor vector propulsion devices 3, propelling unit not only can be realized advancing, retreats, vertical uplift, vertically descend the degradation simple motion, and can realize quick steering and compound movement such as laterally roll.For example, propulsive mechanism 32 is adjusted to suitable direction, the propulsive force assisted diversion that can utilize propulsive mechanism 32 to produce makes to turn to more flexibly, and radius of turn is littler, and turning velocity is faster; The propulsive force direction that produces when the propulsive mechanism in two groups of tilt rotor vector propulsion devices 3 32 is during on the contrary and all perpendicular to plane, hang gliding 31 place, can make propelling unit produce horizontal tumbling motion around the rotation of fuselage datum line.In the present embodiment, empennage vector propulsion device 4 comprises empennage screw propeller 41, empennage screw propeller transmission device 42, empennage screw propeller drive motor 43, turning rack 44 and turn drive motor 45, turning rack 44 is supported on the tail end of fuselage ring 1 by bearing, the mouth of turn drive motor 45 is connected with turning rack 44 with bevel-gear pair by spur gear pair, empennage screw propeller 41 is supported on the turning rack 44 by bearing, empennage screw propeller drive motor 43 links to each other with empennage screw propeller 41 by empennage screw propeller transmission device 42, this empennage screw propeller transmission device 42 is the bevel drive mechanism that is made up of three finishing bevel gear cuters, Intermediate bevel gears wherein is supported in the rotating shaft of turning rack 44 by bearing, therefore, when turning rack 44 rotates, empennage screw propeller drive motor 43 still can rotate by this bevel drive mechanism driven empennage screw propeller 41, makes the rotation of turning rack 44 and the rotation mutually noninterfere of empennage screw propeller 41.Turning rack 44 can drive 41 swings of empennage screw propeller under turn drive motor 45 drives, make the empennage screw propeller 41 not only can be for propelling unit provides bigger power, and can improve angle of rake steering capability.

In the gliding propeller based on wave energy of the present utility model; tilt rotor vector propulsion device 3 not only can be set to two groups; can also be made as three groups or more groups as required; this type of simple replacement all should be considered as the replacement that is equal to of the present utility model, all should drop within the protection domain of the present utility model.

Claims

1, a kind of gliding propeller based on wave energy, comprise fuselage ring (1), it is characterized in that: be equiped with Wave energy converter (2) on the described fuselage ring (1), the storage battery (5) and the propelling control setup (6) that glides, described Wave energy converter (2) comprises the wave sensing part, the Motion Transmission part, one-way movement conversion portion and spiral spring reverse power generation part, described wave sensing part comprises inner frame (201), transverse axis (202), first longitudinal axis (203), second longitudinal axis (204) and weight (207), described first longitudinal axis (203) and second longitudinal axis (204) are supported on the fuselage ring (1), described inner frame (201) one end bearings are on first longitudinal axis (203), the other end is captiveed joint with second longitudinal axis (204), described transverse axis (202) is arranged vertically with first longitudinal axis (203), and being supported at both ends on the inner frame (201) of transverse axis (202), be equiped with middle tap gear (206) and weight (207) on the described transverse axis (202), be equiped with on described first longitudinal axis (203) and middle tap gear (206) ingear first finishing bevel gear cuter (205), first longitudinal axis (203) partly links to each other with Motion Transmission respectively with second longitudinal axis (204), described Motion Transmission part is reversed power generation part by one-way movement conversion portion and spiral spring and is linked to each other, spiral spring reverses power generation part and links to each other with storage battery (5), described glide advances control setup (6) to comprise locating support (60), gear type pump (61), fuel tank (62), by pass valve (63), two double-deck leather bags (64) and two three position four-way directional control valves (65), described gear type pump (61), fuel tank (62), by pass valve (63), two double-deck leather bags (64) and two three position four-way directional control valves (65) all are installed on the locating support (60), be equiped with on the described gear type pump (61) and storage battery (5) bonded assembly gear pump motor (66), the skin of each double-deck leather bag (64) is communicated with extraneous water, the internal layer of each double-deck leather bag (64) is by three position four-way directional control valve (65), gear type pump (61) is communicated with fuel tank (62), by pass valve (63) one ends are communicated with the mouth of gear type pump (61), the other end is communicated with the input end of gear type pump (61), the end of described transverse axis (202) is equiped with the first angle control motor (222), and the end of described second longitudinal axis (204) is equiped with the second angle control motor (223).

2, the gliding propeller based on wave energy according to claim 1, it is characterized in that: the internal layer of described each double-deck leather bag (64) is communicated with the A hydraulic fluid port of a three position four-way directional control valve (65) respectively, fuel tank (62) is communicated with the B hydraulic fluid port of each three position four-way directional control valve (65), the mouth of gear type pump (61) is communicated with the P hydraulic fluid port of each three position four-way directional control valve (65), and the input end of gear type pump (61) is communicated with the O hydraulic fluid port of each three position four-way directional control valve (65).

3, gliding propeller based on wave energy according to claim 2, it is characterized in that: also be equiped with at least two group tilt rotor vector propulsion devices (3) on the described fuselage ring (1), each tilt rotor vector propulsion device (3) is connected with storage battery (5) respectively, described tilt rotor vector propulsion device (3) comprises hang gliding (31), propulsive mechanism (32), drive motor (33) and tilter (34) vert, described hang gliding (31) one ends are fixed on the fuselage ring (1), described tilter (34) is supported on hang gliding (31) other end, the mouth of the described drive motor that verts (33) is connected with tilter (34), and propulsive mechanism (32) is installed on the tilter (34).

4, the gliding propeller based on wave energy according to claim 3, it is characterized in that: described propulsive mechanism (32) comprises flank screw propeller (321), flank screw propeller transmission device (322) and flank screw propeller drive motor (323), described flank screw propeller (321) is supported on the tilter (34), and described flank screw propeller drive motor (323) links to each other with flank screw propeller (321) by flank screw propeller transmission device (322).

5, according to each described gliding propeller in the claim 1 to 4 based on wave energy, it is characterized in that: be equiped with on the described fuselage ring (1) and storage battery (5) bonded assembly empennage vector propulsion device (4), described empennage vector propulsion device (4) comprises empennage screw propeller (41), empennage screw propeller transmission device (42), empennage screw propeller drive motor (43), turning rack (44) and turn drive motor (45), described turning rack (44) is supported on the tail end of fuselage ring (1), the mouth of turn drive motor (45) is connected with turning rack (44), empennage screw propeller (41) is supported on the turning rack (44), and empennage screw propeller drive motor (43) links to each other with empennage screw propeller (41) by empennage screw propeller transmission device (42).

6, according to each described gliding propeller in the claim 1 to 4 based on wave energy, it is characterized in that: described Motion Transmission partly comprises two groups of belt gears, described one-way movement conversion portion comprises first reversing arrangement (21) and second reversing arrangement (22), the mouth of the mouth of described first reversing arrangement (21) and second reversing arrangement (22) is connected to the two ends that spiral spring reverses power generation part, the input end of first reversing arrangement (21) is connected with first longitudinal axis (203) by one group of belt gear, and the input end of second reversing arrangement (22) is connected with second longitudinal axis (204) by another group belt gear.

7, gliding propeller based on wave energy according to claim 5, it is characterized in that: described Motion Transmission partly comprises two groups of belt gears, described one-way movement conversion portion comprises first reversing arrangement (21) and second reversing arrangement (22), the mouth of the mouth of described first reversing arrangement (21) and second reversing arrangement (22) is connected to the two ends that spiral spring reverses power generation part, the input end of first reversing arrangement (21) is connected with first longitudinal axis (203) by one group of belt gear, and the input end of second reversing arrangement (22) is connected with second longitudinal axis (204) by another group belt gear.

8, gliding propeller based on wave energy according to claim 7, it is characterized in that: described first reversing arrangement (21) and second reversing arrangement (22) include two-way input shaft (215), unidirectional output shaft (216), one-way clutch gear (217), free-wheel clutch (218), inner gear shaft (219) and satellite gear (220), the inner ring of described one-way clutch gear (217) and free-wheel clutch (218) is all affixed with two-way input shaft (215), and the clutch rotation direction of one-way clutch gear (217) and free-wheel clutch (218) is opposite, the inner gear portion of inner gear shaft (219) one ends is by the gear part engagement of satellite gear (220) with one-way clutch gear (217) outer ring, the outer ring of inner gear shaft (219) other end and free-wheel clutch (218) joins, and described unidirectional output shaft (216) is captiveed joint with the outer ring of free-wheel clutch (218).

9, gliding propeller based on wave energy according to claim 8, it is characterized in that: described spiral spring reverses power generation part and comprises accumulation of energy spiral spring (208), first magnetic clutch (209), friction wheel (210), second magnetic clutch (211), counter controller (213), electrical generator (212) and two displacement pickups (214), the mouth of described first reversing arrangement (21) is connected with the inner ring (2081) of accumulation of energy spiral spring (208), the mouth of second reversing arrangement (22) is connected with the outer ring flywheel (2082) of accumulation of energy spiral spring (208) through first magnetic clutch (209), described friction wheel (210) fits tightly with outer ring flywheel (2082), friction wheel (210) mouth is connected with electrical generator (212) input end through second magnetic clutch (211), two displacement pickups (214) are located at the mouth of first reversing arrangement (21) and second reversing arrangement (22) respectively, the data acquisition end of counter controller (213) links to each other with two displacement pickups (214), the control end of counter controller (213) links to each other with second magnetic clutch (211) with first magnetic clutch (209), and electrical generator (212) is connected with storage battery (5).