Wave-powered unmanned undersea vehicle
A waved-powered UUV. The wave-powered UUV may comprise a nose and body. The nose may comprise a nose buttress plate and guide shaft. The body may comprise a body buttress plate having first and second clearance openings; linear-to-rotary power converter (LRPC) having a splined shaft attached to the nose buttress plate and longitudinally disposed through the first clearance opening; AC generator operably coupled to the LRPC; AC-DC converter electrically coupled to the AC generator; battery module electrically coupled to the AC-DC converter; DC motor electrically coupled to the battery module; propeller operably coupled to the DC motor; and guide shaft tube attached to the second clearance opening for receiving the guide shaft. The nose and body may be in a sliding relationship, and the wave-powered UUV may recharge its battery module when subject to wave energy by moving the nose relative to the body in a reciprocal linear motion.
1 . A wave-powered unmanned undersea vehicle (UUV), comprising:
a nose, comprising:
a nose buttress plate; and
a guide shaft having a first end attached to said nose buttress plate; and
a body, comprising:
a body buttress plate having first and second clearance openings;
a linear-to-rotary power converter (LRPC) having a splined shaft longitudinally disposed through said first clearance opening and a drivetrain configured to rotate when said splined shaft moves in a reciprocal linear motion;
an alternating current (AC) generator having a drive shaft fixedly coupled to said drivetrain and configured to convert a rotational energy of said drivetrain into an AC voltage;
an AC-DC converter electrically coupled to said AC generator and configured to convert said AC voltage into a direct current (DC) voltage;
a battery module electrically coupled to said AC-DC converter and configured to receive and store said DC voltage from said AC-DC converter and provide said DC voltage to a battery module output;
a DC motor electrically coupled to said battery module output and configured to rotate a propeller shaft when receiving said DC voltage;
a propeller attached to said propeller shaft and configured to propel said wave-powered UUV within a body of water when said DC motor drives said propeller shaft; and
a guide shaft tube, longitudinally disposed within said body and fixedly attach to said second clearance opening;
wherein a second end of said guide shaft is slidably coupled into said guide shaft tube, such that said nose and said body are in a sliding relationship; and
wherein a first end of said splined shaft is attached to said nose buttress plate of said nose and is configured to move in said reciprocal linear motion having an upward stroke in a first linear direction and a downward stroke in a second linear direction opposite to said first linear direction.
2 . The wave-powered UUV, according to claim 1 , wherein said splined shaft includes first and second splined shaft helical grooves diametrically opposed to each other; and
wherein said LRPC further comprises:
a top clutch operably coupled to said splined shaft and configured to (1) rotate a first direction when said splined shaft performs said upward stroke and (2) rotate a second direction when said splined shaft performs said downward stroke, said top clutch having a top clutch inner race portion and a top clutch helical groove disposed therein;
a bottom clutch operably coupled to said splined shaft and configured to (1) rotate said second direction when said splined shaft performs said upward stroke and (2) rotate said first direction when said splined shaft performs said downward stroke, said bottom clutch having a bottom clutch inner race portion and a bottom clutch helical groove disposed therein;
top clutch helical roller bearings protruding helically inward into both said top clutch helical groove and said first splined shaft helical groove, such that said top clutch helical roller bearings are rotatably disposed between said top clutch and said splined shaft;
bottom clutch helical roller bearings protruding helically inward into both said bottom clutch helical groove and said second splined shaft helical groove, such that said bottom clutch helical roller bearings are rotatably disposed between said bottom clutch and said splined shaft; and
a flywheel having top and bottom clutch outer race portions on opposing sides, said top clutch outer race portion being operably coupled to said top clutch inner race portion via top clutch sprags and said bottom clutch outer race portion being operably coupled to said bottom clutch inner race portion via bottom clutch sprags, such that said flywheel is disposed adjacently between said top clutch and said bottom clutch;
wherein a first end of said drivetrain is fixedly attached to said flywheel and a second end is fixedly coupled to said drive shaft of said AC generator, such that when said flywheel rotates, said drive shaft rotates.
3 . The wave-powered UUV, according to claim 2 , wherein said drivetrain comprises:
a flywheel connector fixedly coupled to said flywheel; and
a generator coupler having a first end fixedly coupled to said flywheel connector and a second end fixedly coupled to said drive shaft of said AC generator.
4 . The wave powered UUV, according to claim 2 , wherein said bottom clutch helical groove is a right-hand helical groove and wherein said top clutch helical groove is a left-hand helical groove.
5 . The wave-powered UUV, according to claim 1 , further comprising a splined shaft baffle having a first end portion and a second end portion, said first end portion being sealaby coupled to said nose and said second end portion being sealably coupled to said body, wherein at least a portion of said splined shaft is disposed within said splined shaft baffle; and
a guide shaft baffle having a first end portion and a second end portion, said first end portion being sealably coupled to said nose and said second end portion being sealably coupled to said body, wherein at least a portion of said guide shaft is disposed within said guide shaft baffle.
6 . The wave-powered UUV, according to claim 1 , further comprising:
a journal bearing coupled to said guide shaft tube and slidably engaged with said guide shaft;
a first impact spring disposed within a first end portion of said guide shaft tube; and
a second impact spring disposed within the second end portion of said guide shaft tube;
wherein a second end of said guide shaft comprises an end stop disposed between said first impact spring and said second impact spring within said guide shaft tube, such that said end stop is configured to contact said first impact spring when said nose is substantially away from said body and contact said second impact spring when said nose is close or adjacent to said body.
7 . The wave-powered UUV, according to claim 1 , further comprising:
an attitude motor,
an attitude propeller operably coupled to said attitude motor; and
an attitude control system configured to actuate said attitude propeller and attitude motor in order to adjust an attitude of said wave-powered UUV when said wave-powered UUV is maneuvering in said body of water.
8 . A wave-powered UUV, comprising:
a nose, comprising:
a nose buttress plate;
first and second shaft tubes, each having a first end attached to said nose buttress plate and an open second end; and
a guide shaft having a first end attached to said nose buttress plate and disposed within said second shaft tube;
a body, comprising:
a hull, substantially elongate and having a fore end and an aft end;
a body buttress plate disposed near said fore end of said hull and having first and second clearance openings;
an LRPC having a splined shaft longitudinally disposed through said first clearance opening and a drivetrain configured to rotate when said splined shaft moves in a reciprocal linear motion;
an AC generator having a drive shaft operably coupled to said drive train and configured to convert a rotational energy of said drivetrain into an AC voltage;
an AC-DC converter electrically coupled to said AC generator and configured to convert said AC voltage into a DC voltage;
a battery module electrically coupled to said AC-DC converter and configured to receive and store said DC voltage from said AC-DC converter and provide said DC voltage to a battery module output;
a DC motor electrically coupled to said battery module output and configured to rotate a propeller shaft when receiving said DC voltage;
a propeller coupled to said propeller shaft and configured to propel said wave-powered UUV within a body of water when said DC motor drives said propeller shaft; and
a guide shaft tube, longitudinally disposed within said body and fixedly attach to said second clearance opening;
wherein a second end of said guide shaft is slidably coupled to guide shaft tube, such that said nose and said body are in a sliding relationship; and
wherein a first end of said splined shaft is attached to said nose buttress plate of said nose and disposed within said first shaft tube, said splined shaft being movable in a reciprocal linear motion having an upward stroke in a first linear direction and a downward stroke in a second linear direction opposite to said first linear direction.
9 . The wave-powered UUV, according to claim 8 , wherein said splined shaft includes first and second splined shaft helical grooves diametrically opposed to each other; and
wherein said LRPC further comprises:
a top clutch operably coupled to said splined shaft and configured to (1) rotate a first direction when said splined shaft performs said upward stroke and (2) rotate a second direction when said splined shaft performs said downward stroke, said top clutch having a top clutch inner race portion and a top clutch helical groove disposed therein;
a bottom clutch operably coupled to said splined shaft and configured to (1) rotate said second direction when said splined shaft performs said upward stroke and (2) rotate said first direction when said splined shaft performs said downward stroke, said bottom clutch having a bottom clutch inner race portion and a bottom clutch helical groove disposed therein;
top clutch helical roller bearings protruding helically inward into both said top clutch helical groove and said first splined shaft helical groove, such that said top clutch helical roller bearings are rotatably disposed between said top clutch and said splined shaft;
bottom clutch helical roller bearings protruding helically inward into both said bottom clutch helical groove and said second splined shaft helical groove, such that said bottom clutch helical roller bearings are rotatably disposed between said bottom clutch and said splined shaft; and
a flywheel having top and bottom clutch outer race portions on opposing sides, said top clutch outer race portion being operably coupled to said top clutch inner race portion via top clutch sprags and said bottom clutch outer race portion being operably coupled to said bottom clutch inner race portion via bottom clutch sprags, such that said flywheel is disposed adjacently between said top clutch and said bottom clutch;
wherein a first end of said drivetrain is fixedly attached to said flywheel and a second end is fixedly coupled to said drive shaft of said AC generator, such that when said flywheel rotates, said drive shaft rotates.
10 . The wave-powered UUV, according to claim 9 , wherein said drivetrain comprises:
a flywheel connector fixedly coupled to said flywheel; and
a generator coupler having a first end fixedly coupled to said flywheel connector and a second end fixedly coupled to said drive shaft of said AC generator.
11 . The wave powered UUV, according to claim 8 , wherein said bottom clutch helical groove is a right-hand helical groove and wherein said top clutch helical groove is a left-hand helical groove.
12 . The wave-powered UUV, according to claim 8 , further comprising a splined shaft baffle having a first end portion and a second end portion, said first end portion being sealaby coupled to said nose and disposed within said first shaft tube and said second end portion being sealably coupled to said body, wherein at least a portion of said splined shaft is disposed within said splined shaft baffle and
a guide shaft baffle having a first end portion and a second end portion, said first end portion being sealably coupled to said nose and disposed within said second shaft tube and said second end portion being sealably coupled to said body, wherein at least a portion of said guide shaft is disposed within said guide shaft baffle.
13 . The wave-powered UUV, according to claim 8 , further comprising:
a journal bearing coupled to said guide shaft tube and slidably engaged with said guide shaft;
a first impact spring disposed within a first end portion of said guide shaft tube; and
a second impact spring disposed within the second end portion of said guide shaft tube;
wherein a second end of said guide shaft comprises an end stop disposed between said first impact spring and said second impact spring within said guide shaft tube, such that said end stop is configured to contact said first impact spring when said nose is substantially away from said body and contact said second impact spring when said nose is close or adjacent to said body.
14 . The wave-powered UUV, according to claim 8 , further comprising:
an attitude motor,
an attitude propeller operably coupled to said attitude motor; and
an attitude control system configured to actuate said attitude propeller and attitude motor in order to adjust an attitude of said wave-powered UUV when said wave-powered UUV is maneuvering in said body of water.
15 . A wave-powered UUV, comprising:
a nose, comprising:
a nose buttress plate;
first and second shaft tubes, each having a first end attached to said nose buttress plate and an open second end; and
a guide shaft having a first end attached to said nose buttress plate and disposed within said second shaft tube; and
a body, comprising:
a hull, substantially elongate and having a fore end and an aft end, said hull, comprising an inner hull and an outer hull;
a ballast control system disposed between said inner hull and said outer hull;
a body buttress plate disposed near a fore end portion of said hull and having first and second clearance openings;
an LRPC having a splined shaft longitudinally disposed through said first clearance opening and a drivetrain configured to rotate when said splined shaft moves in a reciprocal linear motion, said LRPC being configured to convert reciprocating linear energy from said splined shaft to continuous rotational energy at said drivetrain;
an AC generator having a drive shaft operably coupled to said drivetrain and configured to convert said continuous rotational energy into an AC voltage;
an AC-DC converter electrically coupled to said AC generator and configured to convert said AC voltage into a DC voltage;
a battery module electrically coupled to said AC-DC converter and configured to receive and store said DC voltage from said AC-DC converter and provide said DC voltage to a battery module output;
a DC motor electrically coupled to said battery module output and configured to rotate a propeller shaft when receiving said DC voltage;
a propeller operably coupled to said propeller shaft and configured to propel said wave-powered UUV within a body of water when said DC motor drives said propeller shaft; and
a guide shaft tube, longitudinally disposed within said body and fixedly attach to said second clearance opening;
wherein a second end of said guide shaft is slidably coupled to guide shaft tube, such that said nose and said body are in a sliding relationship;
wherein a first end of said splined shaft is attached to said nose buttress plate of said nose and disposed within said first shaft tube, said splined shaft being movable in a reciprocal linear motion having an upward stroke in a first linear direction and a downward stroke in a second linear direction opposite to said first linear direction; and
wherein said nose is adapted to buoy said body to rise and fall with respect to said nose under an influence of said body of water.
16 . The wave-powered UUV, according to claim 15 , wherein said splined shaft includes first and second splined shaft helical grooves diametrically opposed to each other; and
wherein said LRPC further comprises:
a top clutch operably coupled to said splined shaft and configured to (1) rotate a first direction when said splined shaft performs said upward stroke and (2) rotate a second direction when said splined shaft performs said downward stroke, said top clutch having a top clutch inner race portion and a top clutch helical groove disposed therein;
a bottom clutch operably coupled to said splined shaft and configured to (1) rotate said second direction when said splined shaft performs said upward stroke and (2) rotate said first direction when said splined shaft performs said downward stroke, said bottom clutch having a bottom clutch inner race portion and a bottom clutch helical groove disposed therein;
top clutch helical roller bearings protruding helically inward into both said top clutch helical groove and said first splined shaft helical groove, such that said top clutch helical roller bearings are rotatably disposed between said top clutch and said splined shaft;
bottom clutch helical roller bearings protruding helically inward into both said bottom clutch helical groove and said second splined shaft helical groove, such that said bottom clutch helical roller bearings are rotatably disposed between said bottom clutch and said splined shaft; and
a flywheel having top and bottom clutch outer race portions on opposing sides, said top clutch outer race portion being operably coupled to said top clutch inner race portion via top clutch sprags and said bottom clutch outer race portion being operably coupled to said bottom clutch inner race portion via bottom clutch sprags, such that said flywheel is disposed adjacently between said top clutch and said bottom clutch;
wherein a first end of said drivetrain is fixedly attached to said flywheel and a second end is fixedly coupled to said drive shaft of said AC generator, such that when said flywheel rotates, said drive shaft rotates.
17 . The wave-powered UUV, according to claim 16 , wherein said drivetrain comprises:
a flywheel connector fixedly coupled to said flywheel; and
a generator coupler having a first end fixedly coupled to said flywheel connector and a second end fixedly coupled to said drive shaft of said AC generator.
18 . The wave powered UUV, according to claim 16 , wherein said bottom clutch helical groove is a right-hand helical groove and wherein said top clutch helical groove is a left-hand helical groove.
19 . The wave-powered UUV, according to claim 15 , further comprising:
a splined shaft baffle having a first end portion and a second end portion, said first end portion being sealaby coupled to said nose and disposed within said first shaft tube and said second end portion being sealably coupled to said body, wherein at least a portion of said splined shaft is disposed within said splined shaft baffle; and
a guide shaft baffle having a first end portion and a second end portion, said first end portion being sealably coupled to said nose and disposed within said second shaft tube and said second end portion being sealably coupled to said body, wherein at least a portion of said guide shaft is disposed within said guide shaft baffle.
20 . The wave-powered UUV, according to claim 15 , further comprising:
a journal bearing coupled to said guide shaft tube and slidably engaged with said guide shaft;
a first impact spring disposed within a first end portion of said guide shaft tube; and
a second impact spring disposed within the second end portion of said guide shaft tube;
wherein a second end of said guide shaft comprises an end stop disposed between said first impact spring and said second impact spring within said guide shaft tube, such that said end stop is configured to contact said first impact spring when said nose is substantially away from said body and contact said second impact spring when said nose is close or adjacent to said body.