With the development of marine exploitation, ocean robots pose a great challenge to traditional battery power supply, scavenging green and sustainable energy from the ocean environment to improve duration time and operation range has become a feasible solution. Herein, a self-powered underwater glider using a bidirectional swing-rotation triboelectric-electromagnetic hybrid nanogenerator (BSR-HNG) has been fabricated to harvest energy from water waves. A mechanical rectification method using a novel gear escapement mechanism is introduced to rectify irregular low-frequency wave excitation into the stable high-frequency rotation, enabling the BSR-HNG to operate stably even at an excitation frequency of 0.1 Hz. Compared to traditional swing-rotation nanogenerators using one-way bearing, the BSR-HNG utilizes symmetrically arranged gear escapement mechanisms to convert bidirectional swing into unidirectional rotation. With the optimized design, the average output power generated in one cycle increases by 48%, and the peak power of the triboelectric nanogenerator (TENG) and electromagnetic nanogenerator (EMG) at 0.8 Hz reaches about 0.4 mW and 0.12 W, respectively. Furthermore, a commercial thermometer and a calculator are utilized to demonstrate the high performance of the BSR-HNG in a simulated wave environment. The BSR-HNG is also integrated into the underwater glider as a power source, and a depth-sensor in the underwater glider is successfully powered by BSR-HNG, which provides a new solution to improve the endurance of marine robots.

中文翻译：

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采用双向摆动旋转混合纳米发电机的自供电水下滑翔机

随着海洋开发的发展，海洋机器人对传统的电池供电提出了巨大的挑战，从海洋环境中获取绿色可持续能源来提高持续时间和作业范围已成为可行的解决方案。在此，制造了一种使用双向摆动旋转摩擦电磁混合纳米发电机（BSR-HNG）的自供电水下滑翔机，用于从水波中收集能量。引入采用新型齿轮擒纵机构的机械整流方法，将不规则的低频波励磁整流为稳定的高频旋转，使BSR-HNG即使在0.1 Hz的励磁频率下也能稳定运行。与使用单向轴承的传统摆动-旋转纳米发电机相比，BSR-HNG利用对称布置的齿轮擒纵机构将双向摆动转换为单向旋转。通过优化设计，一个周期产生的平均输出功率提高了48%，摩擦纳米发电机（TENG）和电磁纳米发电机（EMG）在0.8 Hz时的峰值功率分别达到约0.4 mW和0.12 W。此外，还利用商用温度计和计算器来演示 BSR-HNG 在模拟波浪环境中的高性能。 BSR-HNG还集成到水下滑翔机中作为动力源，水下滑翔机中的深度传感器成功由BSR-HNG供电，为提高海洋机器人的续航能力提供了新的解决方案。