A hybrid drive of underwater robot which can be folded propeller device

本发明属于水下机器人领域，具体地说是一种混合驱动水下机器人用可折叠螺旋桨装置，包括艉部导流罩、电机、联轴器、螺旋桨轴、桨毂及桨叶，电机安装在艉部导流罩内，输出端通过联轴器与螺旋桨轴的一端连接、驱动螺旋桨轴旋转，螺旋桨轴的另一端由艉部导流罩穿出、与桨毂相连；桨毂上安装有多根桨叶轴，每根桨叶轴上均转动连接有桨叶，每根桨叶轴上均套设有扭转弹簧，扭转弹簧的两端分别与桨毂及桨叶相连；各桨叶随桨毂由螺旋桨轴带动旋转，通过离心力展开产生推力，展开的、停止旋转的桨叶通过扭转弹簧复位。本发明具有可靠性高、机械结构紧凑、运动方式简单、重量轻、成本低、运输安全、便于装配及维护等优点

水下机器人用柔性可折叠翼装置

本实用新型涉及一种水下机器人用柔性可折叠翼装置，柔性可折叠翼折叠时由水溶性薄膜缠绕保持折叠状态，入水后水溶性薄膜自动溶解，由驱动扭簧驱动展开，棘轮、棘爪实现自锁，柔性蒙皮材料为疏水性材料，可有效降低水下机器人运动时的粘性阻力，刚性肋条和柔性肋条撑起柔性蒙皮，防止柔性蒙皮形变量过大影响水动力性能。本实用新型改变了传统固定翼水下机器人的应用模式，柔性可折叠翼所占空间小，机构简单、可靠，零功耗，可满足水下机器人管式发射需求，实现由载机、潜航器等多平台快速部署

一种AUV式拖曳观测平台

本实用新型属于新概念海洋机器人领域，具体地说是一种AUV式拖曳观测平台，观测平台包括AUV、拖缆及拖鱼，AUV前后两端的左右两侧分别对称安装有一对负升力舵翼，AUV的尾部安装有推进器，AUV的内部分别固定有绞车及排绳器；拖缆的一端穿过排绳器后缠绕在绞车上，拖缆的另一端由AUV的外壳穿出后与拖鱼相连，拖缆上集成有观测装置；负升力舵翼包括负升力翼及舵板，负升力翼的上表面为平面、下表面为弧面，负升力翼的后缘襟翼由可相对转动的舵板代替。本实用新型具有高海况适应性、移动响应快速、深层水体观测连续性、平台高安全性、敏感区域观测精细等优点

Study on the transit efficiency for hybrid-driven underwater gliders based on a foldable propeller

This paper presents a thorough approach characterizing the transit efficiency of a hybrid-driven underwater glider (HDUG) with a foldable propeller. A kind of HDUG with a folding propulsion mechanism has been designed in this paper. The HDUG features high efficiency penetrating in ocean like conventional underwater gliders and high maneuverability when the folding propulsion is in use. As part of the development transit efficiency need to be analyzed. The HDUG has glider buoyancydriven mode, AUV propeller-driven mode, as well as hybriddriven mode. In this paper, we deduce the formula of the transit efficiency of the designed HDUG in this three driven mode. And we also compare the transit efficiency in buoyancy-driven mode with the blades of the propeller folding and unfolding respectively

Wave energy conversion mechanism for marine surveying platform

本发明属于水下机器人工程领域，具体地说是一种用于海洋测量平台的波浪能转化机构，包括壳体、对称安装在壳体两侧的多个翼板及位于壳体内的翼板运动调节控制机构，其中壳体两侧相对称的翼板之间通过旋转轴转动安装在壳体上，所述旋转轴上安装有随旋转轴一起转动的挡块，在旋转轴上套设有使翼板复位的扭转弹簧；所述翼板运动调节控制机构为位于壳体内的挡板，该挡板通过安装在壳体上的调节螺栓支撑，所述挡板位于挡块的下方，随旋转轴转动的挡块通过与挡板接触对翼板的转动限位。本发明具有操作简单，故障率低，安全可靠，可调节，成本低等优点

Wave energy transformation mechanism for marine measuring platform

本实用新型属于水下机器人工程领域，具体地说是一种用于海洋测量平台的波浪能转化机构，包括壳体、对称安装在壳体两侧的多个翼板及位于壳体内的翼板运动调节控制机构，其中壳体两侧相对称的翼板之间通过旋转轴转动安装在壳体上，所述旋转轴上安装有随旋转轴一起转动的挡块，在旋转轴上套设有使翼板复位的扭转弹簧；所述翼板运动调节控制机构为位于壳体内的挡板，该挡板通过安装在壳体上的调节螺栓支撑，所述挡板位于挡块的下方，随旋转轴转动的挡块通过与挡板接触对翼板的转动限位。本实用新型具有操作简单，故障率低，安全可靠，可调节，成本低等优点

Design and analysis of folding propulsion mechanism for hybrid-driven underwater gliders

This paper presents a design of foldable propellers for a hybrid-driven underwater glider. The design ensures that the propellers are fully closed when the glider is working in buoyancy-driven gliding mode, and become fully open to provide propulsion when necessary. The hydrodynamical moments during the folding and unfolding processes is analyzed and computed using computational fluid dynamics (CFD) methods. Torsion springs are used as key components in the folding and unfolding mechanism. The stiffness of the torsion springs are designed to achieve balance between the mechanical and hydrodynamical moments acting on the propellers. It is shown that comparing to a conventional unfoldable design, the foldable propellers may achieve a significant reduction in drag force when the glider is operating in the gliding mode. Pool experiment results demonstrate the effectiveness of the folding mechanism when installed on an underwater glider

Dynamics Analysis of Wave-driven Unmanned Surface Vehicle in Longitudinal Profile

Wave-driven unmanned surface vehicle (WUSV) is a great success of application of solar and wave energy in the ocean robot. In this paper, the nonlinear dynamic model of WUSV in two dimension is established based on the analysis of its driving principle in the longitudinal profile. Then, we calculate the wave and driving force, and determine hydrodynamic coefficients according to the empirical data and experimental platform of WUSV. Finally, we simplify the nonlinear equations and present the simulation results of the model

Folding Propeller Design and Analysis for a Hybrid Driven Underwater Glider

This paper designed a folding propulsion module dedicated for a hybrid driven underwater glider (HDUG). The blades of the propulsion module can be folded and unfolded in time when a mission needed. In this paper, the design of the driven device and its hydrodynamic performance analysis are described respectively. we used the spline curves to fit the individual data points, base on which we created a three dimensional solid model of an unfolding propeller having smooth surfaces after drawing the profile shape line based on the coordinate transformation. CFD method was used to calculate the performance of the folding propeller in the viscous flow regions with various blade opening angles from 0 to 90 degrees. The thrust coefficient, torque coefficient and propulsive efficiency of the folding propeller have been simulated under different advance coefficients and different blade opening angles. For the purpose of evaluate the degree of drag decrease, we proposed a conception of drag decrease fraction. We obtained the drag decrease fraction of the whole vehicle reached to 45% compared the blades in folding and unfolding. Finally, we gave a result analysis and discussion and found out that the design of the propulsion module meet the requirements well when the motor speed is greater than 800 revolutions per minute

Design and experiments of a deep-sea five-function electric manipulator system

The realization and key technology of a medium-load underwater electric manipulator is researched for the demand of the small and medium deep-sea underwater vehicle. The manipulator consists of electric linear cylinder module and wrist-clamp module. The linear cylinder can offer large linear force and displacement feedback to realize positioning control, and the wrist-clamp module can output continuous rotation and clamp movements without using conductive slip ring. The manipulator has a larger load capacity than that directly driven by the joint and can be used in 6000m deep-sea. The design and control experiments of the manipulator are described in detail.&nbsp;<br type="_moz" /