WO2020015620A1

WO2020015620A1 - Self-balancing maritime vehicle

Info

Publication number: WO2020015620A1
Application number: PCT/CN2019/096091
Authority: WO
Inventors: 吴钦发
Original assignee: 吴钦发
Priority date: 2018-07-17
Filing date: 2019-07-16
Publication date: 2020-01-23
Also published as: CN209008825U; CN108891548B; CN108891548A

Abstract

A self-balancing maritime vehicle, comprising: at least one set of platform main bodies (1) capable of being modularly assembled; at least one set of power propulsion systems (2), mounted on the platform main bodies (1) and being able to control and drive the platform main bodies (1) to move in any direction and at any speed; and multiple sets of balancing floating body assemblies (3), which can swing in any direction along with a wave, are interconnected with the platform main bodies (1) and support the platform main bodies (1) to float balancedly on the sea surface.

Description

Self-balancing marine vehicle

Cross-reference to related applications

This disclosure claims the priority of a Chinese patent application filed on July 17, 2018 with the Chinese Patent Office under the application number 201810786728X and entitled "A Self-Balanced Marine Vehicle";

Priority of a Chinese patent application filed with the Chinese Patent Office on July 17, 2018 under the application number 2018211329251 and entitled "A self-balancing maritime vehicle";

And the priority of a Chinese patent application filed with the Chinese Patent Office on August 08, 2018 with the application number 2018108988934 and the name "a self-balancing maritime vehicle" is incorporated herein by reference in its entirety.

Technical field

The present disclosure relates to the field of marine vehicles, and in particular, to a self-balancing marine vehicle.

Background technique

Most of the existing marine vehicles are fixed as a whole structure. In the case of strong wind and waves, the equipment is damaged or the load is lost and lost to the sea, and the whole is broken, even if the aircraft carrier encounters typhoon weather. It is difficult to retreat from the whole body. How to minimize the sway of marine vehicles and increase the ability to resist wind and waves is a common problem facing the world.

Summary of the invention

The objectives of the present disclosure include, for example, providing a self-balancing marine vehicle, the purpose of which is to increase the stability of the marine vehicle against swaying and the safety against wind and waves. On the other hand, it can also reduce or directly change the According to the resistance of fossil energy, a plurality of balanced floating body components provided according to the present disclosure can be combined with each other. On the one hand, it can absorb and utilize the swinging energy of waves, and at the same time reduce the impact damage of the waves on the equipment. Stability and ability to resist wind and waves of the overall structure. A self-balancing maritime vehicle provided according to the present disclosure has a strong wind and wave resistance product and can be modularized to achieve multiple mutually combined splicing extensions.

The embodiments of the present disclosure are implemented as follows:

An embodiment of the present disclosure provides a self-balancing marine vehicle including: at least one set of modular splicable platform main bodies; at least one set of power propulsion systems, which are installed on the platform main body and can control and drive the platform main body in any direction And an arbitrary speed of movement; a balanced floating body assembly that can sway in any direction with the waves, is interconnected with the platform body, and supports the platform body components to float on the sea surface in a balanced manner.

Optionally, the balanced buoyant assembly includes a buoyant body that can swing in any direction with the waves and a gimbal rotating part connected to the buoyant body, the gimbal rotating part is connected to the platform body, and the buoyant body follows the waves It swings in any direction and supports the platform body to float on the sea surface in a balanced manner under the action of the universal joint rotating part.

Optionally, the universal joint rotating component is a power system having a unidirectional power conversion function, the power system includes a unidirectional motion conversion device, and the unidirectional motion conversion device is connected to the floating body, and when the When the floating body swings in any direction under the action of the ocean waves, the one-way motion conversion device converts the force generated by the floating body swing into usable unidirectional rotating power.

Optionally, the power system further includes a power generation system, and the one-way action conversion device is connected to the power generation system and configured to drive the discovery system to generate power.

Optionally, the power generation system further includes a stabilized energy storage system, which is connected to the power generation system and is configured to stabilize and stabilize the unstable power of the power generation system to output and store excess power. To ensure the power supply demand and stability of electrical equipment.

Optionally, the power system further includes a fluid energy storage power system, and the fluid energy storage power system is drivingly connected to the unidirectional power conversion device.

Optionally, several power systems included in the array of balanced floating body components are combined with each other in parallel or in series to form an integrated power mechanism.

Optionally, several power systems included in the array of balanced floating body components are connected in parallel and in series with each other to form an integrated power mechanism.

Optionally, the power system is electrically connected to the power propulsion system.

Optionally, the power propulsion system includes at least one of a fluid propulsion system, a fossil energy power system, or an electric motor propulsion system.

Optionally, the power propulsion system further includes a control system, and the fluid propulsion system, the fossil energy power system, and the motor propulsion system are all communicatively connected with the control system.

Optionally, the floating body is provided with a tumbler structure, and the floating body includes a tumbler center of gravity point and a center swing rotation support point interconnected with the universal joint rotating part; the tumbler center of gravity point and the center swing rotation support The points are set against each other.

Optionally, the platform main body component includes a water storage tank having an adjusted weight, and the water storage tank is connected to the platform main body.

Optionally, the platform body is integrally formed with the water storage tank.

Optionally, the platform main body includes a carrier body and a plurality of mounting bodies, and the plurality of mounting bodies are connected to the carrier body and arranged at intervals; at least one of the mounting bodies is provided with the balanced floating body component.

Optionally, a plurality of the mounting bodies and a plurality of the balanced floating body components are connected in a one-to-one correspondence.

Optionally, the power propulsion system is connected to the mounting body.

Optionally, the power propulsion system is connected to the carrier.

Optionally, the number of the power propulsion systems is two, and the two power propulsion systems are located on opposite sides of the carrier in the traveling direction, respectively.

Compared with the prior art, the beneficial effects of the embodiments of the present disclosure include, for example:

A self-balancing marine vehicle provided according to the present disclosure can bring at least the following beneficial effects:

1. Increase ride comfort. Since the self-balancing floating body component provided by the present disclosure can absorb the swinging energy of the wave in any direction, each group of floating body components can minimize the swinging degree of the vehicle like an independent suspension of a car, thereby increasing the riding comfort;

2. It can maximize the modular splicing combination, and at the same time avoid the unbalanced force of the entire main structure, thereby increasing the ability to resist wind and waves. The multiple sets of self-balancing floating body components provided according to the present disclosure can be installed in any format and arranged for any supporting point. Each group of floating body components can be uniformly stressed in any sea state, thereby avoiding the large size of the entire platform body. Evenly broken or damaged;

3. It can reduce or directly change the resistance to fossil energy, and directly use wave energy to drive marine vehicles. The self-balancing floating body assembly provided according to the present disclosure further includes a universal power conversion system that can absorb wave energy in any direction and directly convert the wave energy into usable unidirectional rotating power and drive the power propulsion system to work;

4. The draught of marine vehicles can be adjusted according to the size of the wind and waves, thereby improving the power absorption conversion efficiency. The platform body provided according to the present disclosure further includes a water storage tank, which can adjust the draught depth of the floating body according to the size of the wind and waves, thereby absorbing the wave energy to the maximum, and in the case of large wind and waves, the draught can be freely shuttled through the waves In this way, the equipment can be prevented from being damaged by heavy wind and waves, thereby increasing the stability of the platform body.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments are briefly introduced below. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore are not It should be regarded as a limitation on the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without paying creative work.

FIG. 1 is a structural schematic diagram of the main structure of the platform of the present disclosure floating on the sea surface;

2 is a schematic structural diagram of a platform main body with a semi-submersible function according to the present disclosure;

3 is a schematic structural diagram of a balanced floating body component according to the present disclosure;

FIG. 4 is a schematic structural diagram of a gimbal rotating part of the present disclosure.

Reference signs:

Platform body 1, carrier 11, mounting body 12, first mounting body 121, second mounting body 122, third mounting body 123, fourth mounting body 124, power propulsion system 2, balanced floating body assembly 3, universal joint rotation Component 4, power system 5, unidirectional power conversion device 5a, power generation system 5b, stabilized energy storage system 5c, fluid energy storage power system 5d, unstable power input terminal 5e, power system stable power output terminal 5f, floating body 6, Center swing support point 6a, tumbler center of gravity point 6b, water storage tank 7.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the following describes exemplary embodiments of the present disclosure in detail with reference to the accompanying drawings. Obviously, the described embodiments are a part of the embodiments of the present disclosure, but not all of the embodiments. . The components of embodiments of the present disclosure, which are generally described and illustrated in the drawings herein, may be arranged and designed in a variety of different configurations. These exemplary embodiments are provided to enable a person having ordinary skill in the art to clearly understand the present disclosure, and to implement the present disclosure based on the description herein. The drawings and specific embodiments are not intended to limit the disclosure, and the scope of the disclosure is defined by the appended claims. In the description of the present disclosure, the meanings of "several", "several", and "multiple groups" all refer to two or more than two unless specifically defined otherwise.

It should be noted that similar reference numerals and letters indicate similar items in the following drawings, so once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

In addition, in this disclosure, the terms "installation", "connection", "connection", "drive" and other terms should be understood in a broad sense unless explicitly stated and limited otherwise. For example, the terms may be fixed connection, or may be Disassembly and connection, or integration; it can be a mechanical connection drive, an electrical connection drive or a hydrodynamic connection drive; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements or the two elements. Interaction. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

It should be noted that, in the case of no conflict, the features in the embodiments of the present disclosure may be combined with each other.

FIG. 1 is a schematic structural diagram of a platform body 1 provided by the present disclosure floating on the sea surface. In FIG. 1, a plurality of sets of balanced floating body components 3 jointly support the platform body 1 so that the platform body 1 floats on the sea surface in a balanced manner; FIG. 2 is provided by the present disclosure. Schematic diagram of the structure of the platform body 1 with a semi-submersible function. In FIG. 2, a plurality of groups of balanced floating body components 3 jointly support the platform body 1 so that the platform body 1 is suspended on the sea surface; FIG. 3 is a structure of the balanced floating body component 3 provided by the present disclosure. Schematic diagram; FIG. 4 is a structural schematic diagram of the universal joint rotating component 4 (including the power system 5) provided by the present disclosure.

Please refer to FIG. 1, the present disclosure provides a multi-floating body combination splicable self-balancing marine vehicle. The self-balancing marine vehicle includes a platform body 1, a power propulsion system 2 and a plurality of groups of balanced floating body components 3, and a plurality of groups of balanced floating bodies. The components 3 are all connected to the platform body 1 and are configured to support the platform body 1 floating on the sea surface. The power propulsion system 2 is connected to the platform main body 1 and is configured to provide the power required for the platform main body 1 to travel.

Optionally, the balanced floating body assembly 3 includes a connected floating body 6 and a gimbal rotating part 4, and the gimbal rotating part 4 is connected to the platform body 1. The floating body 6 may be a tumbler structure. It should be noted that the present disclosure does not limit the structural shape of the floating body 6, and the floating body 6 may be set to a polygonal, streamlined, nodular duck, or eagle-type structure as required. The floating body 6 has a tumbler center of gravity point 6b and a center swing rotation support point 6a. The tumbler center of gravity point 6b is opposite to the center swing rotation support point 6a. One end of the gimbal rotating member 4 is connected to the center swing rotation support point 6a of the floating body 6 and the other end is connected. The platform body 1 and the floating body 6 can support the platform body 1 and make the platform body 1 float on the sea surface smoothly.

Optionally, the power propulsion system 2 includes a control system and a fluid propulsion system (not shown in the figure), a fossil energy power system (not shown in the figure), or a motor propulsion system (not shown in the figure) electrically connected to the control system. ), In other words, the power propulsion system 2 may be provided as a single power system, or the power propulsion system 2 includes several systems combined as a whole. The power propulsion system 2 is configured to control the moving direction and speed of the platform body 1.

In the present disclosure, when the floating body 6 swings in an irregular sea wave, the entire platform body 1 is kept relatively stable due to the action of the gimbal rotating member 4.

It should be noted that the platform main body 1 in the present disclosure may not only partially float on the sea surface but also all float on the sea surface (for example, as shown in FIG. 1), and may also be semi-suspended below the sea surface (for example, as shown in FIG. 2).

In addition, the platform main body 1 can be installed with a water storage tank 7 to adjust the waterline of the platform main body 1 or adjust the waterline of the floating body 6 as needed.

Referring to FIGS. 1-4, the present disclosure also provides a self-balancing marine vehicle with a wave energy power conversion device. The self-balancing marine vehicle includes a platform main body 1, a power propulsion system 2, and a plurality of sets of balanced floating body components 3. Each of the plurality of sets of balanced floating body components 3 is connected to the platform body 1 and is configured to support the platform body 1 floating on the sea surface. The power propulsion system 2 is connected to the platform main body 1 and is configured to provide the power required for the platform main body 1 to travel.

Optionally, the balanced floating body assembly 3 includes a connected floating body 6 and a gimbal rotating part 4, and the gimbal rotating part 4 is connected to the platform body 1. In the present disclosure, the gimbal rotating part 4 includes a power system 5 having a unidirectional power conversion function, and the power system 5 includes a unidirectional power conversion device 5a, a power generation system 5b, a regulated energy storage system 5c, or a fluid energy storage power system 5d. In the present disclosure, the power system 5 includes a unidirectional power conversion device 5a, a power generation system 5b, a regulated energy storage system 5c, and a fluid energy storage power system 5d. The power system 5 has an electrical connection with the unidirectional power conversion device 5a. The unstable power input terminal 5e and the stable power output terminal 5f of the power system electrically connected to the stabilized energy storage system 5c. The center swing support point 6a of the floating body 6 is connected to the unstable power input end 5e of the one-way power conversion device 5a. The floating body 6 can swing with the arbitrary direction of the wave and can be rotated in one direction under the action of the one-way power conversion device 5a. The power is generated by rotation to drive the power generation system 5b. The power generation system 5b is connected to the voltage stabilization energy storage system 5c. The voltage stabilization energy storage system 5c is connected to the power propulsion system 2 through the power system stable power output terminal 5f. The power generation system 5b is ensuring power consumption. It can drive the power propulsion system 2 to work under conditions of stable power supply requirements of the equipment.

The present disclosure has described a multi-floating body self-balancing marine vehicle having a wave energy power conversion device, but the structure of the self-balancing marine vehicle is not limited to this embodiment of the present disclosure. For example, a plurality of sets of power systems 5 may be constituted as a whole power system by adopting a series and / or parallel electrical connection manner, and at least one power propulsion system 2 is driven by the plurality of sets of power systems 5 to work at the same time. Alternatively, multiple sets of power system 5 and fluid energy storage power system 5d are combined with each other to form an integrated power mechanism and drive the power propulsion system 2 to work. On this basis, several modular self-balancing marine vehicles are combined into a whole self-balancing marine vehicle or floating platform.

In the present disclosure, please refer to FIG. 1, which is a schematic structural diagram of a self-balancing marine vehicle. The self-balancing marine vehicle includes a platform body 1, a power propulsion system 2, a balanced floating body assembly 3, and a water storage tank 7. The platform body 1 includes a carrier body 11 and a plurality of mounting bodies 12. The number of the plurality of mounting bodies 12 is set as required. For example, in this embodiment, the number of the mounting bodies 12 is four, and the four mounting bodies 12 are along the carrier body 11. The four mounting bodies 12 are arranged in the longitudinal direction at intervals. The four mounting bodies 12 are a first mounting body 121, a second mounting body 122, a third mounting body 123, and a fourth mounting body 124 in this order. The number of the balanced floating body assemblies 3 is three, and the three balanced floating body assemblies 3 are respectively mounted on the first mounting body 121, the second mounting body 122, and the third mounting body 123. Optionally, each balanced floating body assembly 3 includes a connected floating body 6 and a gimbal rotating part 4. The gimbal rotating part 4 includes a power system 5. The gimbal rotating part 4 is connected to the mounting body 12. The floating body 6 has a tumbler center of gravity point 6b and a center swing rotation support point 6a. The tumbler center of gravity point 6b is opposite to the center swing rotation support point 6a. One end of the gimbal rotation member 4 is connected to the center swing rotation support point 6a, and the other end is connected to the platform body. 1. The floating body 6 can support the platform body 1 and make the platform body 1 float on the sea surface smoothly. The power propulsion system 2 is connected to the fourth mounting body 124. The water storage tank 7 is disposed on the carrier 11.

In the present disclosure, please refer to FIG. 2, which is a schematic structural diagram of a deformed structure of a self-balancing marine vehicle. The self-balancing marine vehicle includes a platform body 1, a power propulsion system 2, a balanced floating body assembly 3, and a water storage tank 7. The platform body 1 includes a carrier body 11 and a plurality of mounting bodies 12. The number of the plurality of mounting bodies 12 is set as required. For example, in this embodiment, the number of the mounting bodies 12 is three, and the three mounting bodies 12 are along the carrier body 11. The three mounting bodies 12 are arranged at intervals in the longitudinal direction. The three mounting bodies 12 are a first mounting body 121, a second mounting body 122, and a third mounting body 123 in this order. The number of the balanced floating body assemblies 3 is two, and the two balanced floating body assemblies 3 are respectively mounted on the first mounting body 121 and the third mounting body 123. Optionally, each balanced floating body assembly 3 includes a connected floating body 6 and a gimbal rotating part 4, the gimbal rotating part 4 includes a power system 5, the power system 5 has an unstable power input end 5e, and the power system stabilizes power output. 5f. The gimbal rotating member 4 is connected to the mounting body 12. The floating body 6 is configured as a tumbler structure, that is, the floating body 6 has the characteristics of a tumbler structure. The floating body 6 has a center swing rotation support point 6a and a tumbler weight center point 6b. The tumbler weight center point 6b is opposite to the center swing rotation support point 6a. One end of the gimbal rotation member 4 is connected to the center swing rotation support point 6a and the other end is connected to the platform body 1. The floating body 6 can support the platform body 1 and make the platform body 1 float on the sea surface smoothly. The power propulsion system 2 is connected to the carrier 11, and the number of the power propulsion systems 2 is two, which are respectively located at two ends in the length direction of the carrier 11. The water storage tank 7 is disposed on the carrier 11.

In the present disclosure, please refer to FIG. 3, which is a schematic structural diagram of a balanced floating body assembly 3. The balanced floating body assembly 3 includes a gimbal rotating member 4 and a floating body 6. The universal joint rotating part 4 includes a power system 5 having an unstable power input terminal 5e and a power system stable power output terminal 5f. The floating body 6 is connected to the unstable power input terminal 5e.

In the present disclosure, please refer to FIG. 4, which is a schematic structural diagram of a gimbal rotating member 4. The universal joint rotating part 4 includes a power system 5 including a unidirectional power conversion device 5a, a power generation system 5b, a stabilized energy storage system 5c, and a fluid energy storage power system 5d. The unidirectional power conversion device 5a is provided with instability The power input terminal 5e and the regulated energy storage system 5c are provided with a power system stable power output terminal 5f. The one-way power conversion device 5a is drivingly connected to the power generation system 5b, the power generation system 5b is connected to the stabilized energy storage system 5c, and the fluid energy storage system 5d is configured to be connected to the power propulsion system 2.

The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modification, equivalent replacement, or improvement made within the spirit and principle of this disclosure shall be included in the protection scope of this disclosure.

Industrial applicability:

In summary, the present disclosure provides a self-balancing marine vehicle with strong wind and wave resistance.

Claims

A self-balancing marine vehicle includes: at least one set of modular splicable platform main bodies; at least one set of power propulsion systems, which are installed on the platform main body and can control and drive the platform main body in any direction and at any speed The array of balanced floating body components that can swing with the ocean waves in any direction is connected to the platform main body and supports the platform main body to float on the sea surface in a balanced manner.
The self-balancing marine vehicle according to claim 1, wherein the balanced floating body assembly comprises a floating body that can swing with any direction of the ocean waves and a gimbal rotating component connected to the floating body; A joint rotation component is connected to the platform body, and the floating body swings with the ocean waves in any direction and supports the platform body to float on the sea surface in a balanced manner under the action of the universal joint rotation component.
The self-balancing marine vehicle according to claim 2, wherein the universal joint rotating part is a power system having a one-way power conversion function, and the power system includes a one-way motion conversion device. The one-way motion conversion device is connected to the floating body, and when the floating body swings in any direction under the action of the waves, the one-way motion conversion device converts the force generated by the swing of the floating body into an available one-way rotational power .
The self-balancing marine vehicle according to claim 3, wherein the power system further comprises a power generation system, and the one-way action conversion device is connected to the power generation system and configured to drive the discovery system. Power generation.
The self-balancing marine vehicle according to claim 4, wherein the power generation system further comprises a voltage stabilization energy storage system, the voltage stabilization energy storage system is connected to the power generation system, and is configured to connect the power generation system After the unstable power of the power generation system is stabilized, the excess power is output and stored to ensure the power supply demand and stability of the electrical equipment.
The self-balancing marine vehicle according to any one of claims 3-5, wherein the power system further comprises a fluid energy storage power system, the fluid energy storage power system and the unidirectional Power conversion device transmission connection.
The self-balancing marine vehicle according to any one of claims 3 to 6, wherein a plurality of power systems included in the array of balanced floating body components are connected in parallel or in series to form an integrated power mechanism.
The self-balancing marine vehicle according to any one of claims 3-6, wherein a plurality of power systems included in the array of balanced floating body components are connected in parallel and in series to form an integrated power mechanism.
The self-balancing marine vehicle according to any one of claims 3 to 8, wherein the power system is electrically connected to the power propulsion system.
The self-balancing marine vehicle according to claims 3-9, wherein the power propulsion system comprises at least one of a fluid propulsion system, a fossil energy power system, or an electric motor propulsion system.
The self-balancing marine vehicle according to claim 10, wherein the power propulsion system further comprises a control system, the fluid propulsion system, the fossil energy power system, and the electric motor propulsion system are all related to all Said control system communication connection.
The self-balancing marine vehicle according to any one of claims 2-11, wherein the floating body is provided with a tumbler structure, and the floating body includes a point of gravity of the tumbler and a rotating part with the universal joint The interconnected center swing rotation support points are arranged opposite to each other.
The self-balancing marine vehicle according to any one of claims 1-12, wherein the platform body comprises a water storage tank having a weight adjusted by itself, the water storage tank and the platform body connection.
The self-balancing marine vehicle according to claim 13, wherein the platform body is integrally formed with the water storage tank.
The self-balancing marine vehicle according to any one of claims 1 to 14, wherein the platform main body includes a bearing body and a plurality of mounting bodies, and the plurality of mounting bodies are connected to the bearing body and Spaced arrangement; at least one of the mounting bodies is provided with the balanced floating body assembly.
The self-balancing marine vehicle according to claim 15, wherein a plurality of the mounting bodies and a plurality of the balanced floating body components are connected in a one-to-one correspondence.
The self-balancing marine vehicle according to claim 15, wherein the power propulsion system is connected to the mounting body.
The self-balancing marine vehicle according to claim 15, wherein the power propulsion system is connected to the carrier.
The self-balancing marine vehicle according to claim 18, wherein the number of the power propulsion systems is two, and the two power propulsion systems are respectively located on opposite sides of the direction of travel of the carrier. .