CN-120964014-B - Underwater driving device based on swinging motion

CN120964014BCN 120964014 BCN120964014 BCN 120964014BCN-120964014-B

Abstract

The invention discloses an underwater driving device based on swinging motion, which relates to the technical field of unmanned ship propulsion, and comprises a fixed support plate, two independent wave plates, a housing, a bearing seat, a hinge shaft, a limiting assembly and a tail rudder, wherein the two independent wave plates are respectively matched with pitching and rolling motions of a ship body, synchronously swing when the ship body moves in a pitching mode, reversely swing when the ship body moves in a rolling mode, so that the efficient capturing and conversion of wave energy are realized, the problem that the existing wave driving device can only utilize a single motion mode and has low energy conversion efficiency is solved, and the underwater driving device has the advantages of high energy utilization rate, suitability for complex ocean environments, stable structure and simplicity and convenience in maintenance, and can remarkably improve the cruising ability and the operation reliability of an unmanned ship.

Inventors

WANG PENG
JIANG XIUKUN
TIAN XINLIANG
WEN BINRONG
LI XIN
ZHAO QIWEI
WANG YULIN

Assignees

上海交通大学三亚崖州湾深海科技研究院

Dates

Publication Date: 20260505
Application Date: 20250922

Claims (3)

1. The underwater driving device based on the swinging motion is characterized by comprising a fixed support plate (4), two symmetrically arranged wave plates (1), a housing (5), a bearing seat (7), a hinge shaft (9), a limiting assembly and a tail rudder (3), wherein the fixed support plate (4) is of a central structure of the underwater driving device, housing clamping blocks (19) are arranged in the middle of the lower part of the fixed support plate, the two housings (5) are arranged on two sides of the fixed support plate (4), the two housings (5) are matched with the housing clamping blocks (19) and the clamping plates (2) to form a closed structure, the bearing seat (7) is connected with the fixed support plate (4) through screws, one end of the hinge shaft (9) penetrates through shaft holes (12) of the bearing seat (7) and the clamping plates (2), and the other end of the hinge shaft (9) is fixedly connected with the wave plates (1) in a screwed connection mode; The limiting assembly comprises a limiting pin (8) and a limiting groove (14), wherein the limiting groove (14) is formed in the rear side of the bearing seat (7), one end of the limiting pin (8) is fixed with the wave plate (1), and the other end of the limiting pin slides along the limiting groove (14); when the ship body rolls, the motion directions of the wave plates (1) are opposite, and forces acting on the wing plates on the two sides are symmetrical and opposite, opposite swing is generated according to different motion trends, wave energy is converted, forward propulsion is realized, wave energy of the ship body motion can be captured and utilized simultaneously, and the conversion efficiency and the propulsion effect of the wave energy are improved; The left side, the right side and the bottom edge of the housing (5) are provided with first mounting holes (15) which are fixedly connected with second mounting holes (16) on the fixed support plate (4) through screw and nut assemblies, and the tail part of the housing (5) is provided with a through hole for the tail end of a housing clamping block (19) to pass through and be locked through a fixing hole (20); screw holes are formed in the upper portion and the lower portion of the head of the clamping plate (2), the clamping plate is fixed with the bearing seat (7) through screws, and the tail of the clamping plate is connected with the fixing holes (20) to form a supporting structure for the movement of the wave plate (1); the hinge shaft (9) is fixedly connected with the waved plate (1) through a screw in a fastening screw hole (11), and the hinge shaft (9) is fixedly connected with the housing (5) through a first connecting screw hole (17) in a screwed manner; The limiting pin (8) is inserted into the shaft hole (13) and is fixed with the wave plate (1) through the fastening screw hole (10), and the sliding travel of the limiting pin (8) in the limiting groove (14) corresponds to the maximum design swing angle of the wave plate (1).
2. The underwater driving device based on swinging motion according to claim 1, characterized in that the tail rudder (3) is equipped with an electrically controlled steering engine, which enables active yaw adjustment for auxiliary control of the direction of motion.
3. The underwater driving device based on swinging motion as claimed in claim 1, wherein a bearing assembly is provided inside the bearing housing (7) for supporting the rotation of the hinge shaft (9), and the bearing housing (7) and the hinge shaft (9) are connected by using a detachable fastener.

Description

Underwater driving device based on swinging motion Technical Field The invention belongs to the technical field of marine unmanned equipment propulsion, and particularly relates to an underwater driving device based on swinging motion. Background With the rapid development of unmanned ship technology, more and more unmanned ships are applied to the fields of ocean monitoring, data acquisition, environmental protection, military reconnaissance and the like. Conventional unmanned ship propulsion systems rely primarily on mechanized propulsion devices, such as engines, electric propellers, or specific mechanical structures. These systems are powered by motors, motors or wave drives to drive the hull over the water. However, these conventional propulsion methods have some drawbacks such as low energy utilization, dependence on fossil energy, high noise, high risk of mechanical failure, and need for regular maintenance. In order to improve energy utilization efficiency and reduce environmental impact, innovative propulsion technologies based on natural energy (such as wind energy, solar energy, wave energy, etc.) have recently attracted considerable attention. Particularly in the field of wave energy, by studying the characteristics of ocean waves, it is proposed to attach a unique mechanical structure to a hull and to drive the hull with waves. The technology is expected to reduce the dependence on the traditional power system and improve the cruising ability of the unmanned ship. The existing wave driving device depends on pitching or floating movement of the ship body, and only can utilize the energy of a single movement mode. In an actual marine environment, the ship body simultaneously has multidimensional movements such as vertical fluctuation, pitching, rolling and the like, the rolling movement energy cannot be effectively utilized in the prior art, so that the wave energy potential is not fully excavated, and the propulsion efficiency is limited. Therefore, the current wave propulsion technology still has a large lifting space in terms of multi-dimensional power capture, adaptation to different marine environments and improvement of propulsion efficiency. How to use the wave energy and improve the propulsion efficiency by designing a device capable of simultaneously utilizing the pitching motion and the rolling motion of the ship body is still a challenge in the research and development of the marine propulsion technology. Disclosure of Invention The invention provides an underwater driving device based on swinging motion, which can solve the problems that the existing wave driving device can only utilize the energy of a single motion mode such as pitching or floating and sinking of a ship body, cannot capture the rolling motion energy, has low wave energy conversion efficiency and is difficult to adapt to a complex marine environment In order to solve the problems, the specific technical scheme is as follows: The embodiment of the invention provides an underwater driving device based on swinging motion, which comprises a fixed support plate (4), two symmetrically arranged wave plates (1), a housing (5), a bearing seat (7), a hinge shaft (9), a limiting assembly and a tail rudder (3), wherein the fixed support plate (4) is of a central structure of the underwater driving device, housing clamping blocks (19) are arranged in the middle of the lower part of the fixed support plate, the two housings (5) are arranged on two sides of the fixed support plate (4), the two housings (5) are matched with the housing clamping blocks (19) and a clamping plate (2) to form a closed structure, the bearing seat (7) is connected with the fixed support plate (4) through screws, one end of the hinge shaft (9) penetrates through shaft holes (12) of the bearing seat (7) and the clamping plate (2), and the other end of the hinge shaft (9) is fixedly connected with the wave plates (1) in a screwed connection manner; The limiting assembly comprises a limiting pin (8) and a limiting groove (14), wherein the limiting groove (14) is formed in the rear side of the bearing seat (7), one end of the limiting pin (8) is fixed with the wave plate (1), and the other end of the limiting pin slides along the limiting groove (14); The wave plates (1) are of wing section structures, the reciprocating swing around a horizontal axis is realized through a hinge shaft (9), the two wave plates (1) independently move, when the ship body is pitching, the swing directions of the two wave plates (1) are consistent, forward power is provided by the up-and-down swing, when the ship body is rolling, the movement directions of the wave plates (1) are opposite, forces acting on the wing plates on the two sides are symmetrical and opposite, opposite swing can be generated according to different movement trends, wave energy can still be converted, forward propulsion is realized, the wave energy of the ship body movement can be captured and utilized simultan