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WO2018147716A1 - Centrale houlomotrice à base de manipulateur parallèle (et variantes) - Google Patents

Centrale houlomotrice à base de manipulateur parallèle (et variantes) Download PDF

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Publication number
WO2018147716A1
WO2018147716A1 PCT/KZ2017/000001 KZ2017000001W WO2018147716A1 WO 2018147716 A1 WO2018147716 A1 WO 2018147716A1 KZ 2017000001 W KZ2017000001 W KZ 2017000001W WO 2018147716 A1 WO2018147716 A1 WO 2018147716A1
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WO
WIPO (PCT)
Prior art keywords
energy
wind
air
platform
torus
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KZ2017/000001
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English (en)
Russian (ru)
Inventor
Корганбай Сагнаевич ШОЛАНОВ
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Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to PCT/KZ2017/000001 priority Critical patent/WO2018147716A1/fr
Publication of WO2018147716A1 publication Critical patent/WO2018147716A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
    • F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
    • F03B13/16—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem"
    • F03B13/18—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B17/00—Other machines or engines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D5/00—Other wind motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy

Definitions

  • the invention relates to the field of application of robotics for generating electrical energy from renewable energy sources in wind and wave energy. And can be used as an alternative energy source.
  • a known converter of wind energy into electrical energy (patent US 20120068465 A1, Vertical axis wind turbine generator with sails // Freddy Dawoud, Annetta Yacoub, 03.22, 20 ⁇ 2).
  • the wind power converter has a bottom ; a fixed ring and an upper movable ring moving together with wind-sensitive sails. In this case, the movable ring can move along the vertical axis and rotate around this axis.
  • This converter requires constant adjustment of the sail system, " in addition, when converting wind energy, only part of the wind energy is used, which through the sail system is converted into one rotational mechanical movement.
  • the prototype of the invention was selected Wave power plant based on a parallel manipulator (WO / 2017/003273. Wave power plant based on a parallel manipulator // Sholanov. P. 22.06.2016), in which the structure of the parallel manipulator Sholkor is used as a manipulator transformer of wave energy into mechanical energy (WO / 2015/016692. Platform robot manipulator // K. Sholanov 02/01/2015).
  • the disadvantage of this manipulator transducer is the presence of multi-link spherical joints, the resource of which can be limited when used in aggressive aqueous environments.
  • the use of a hydraulic manipulator transducer limits all possible options for converting wave energy into electrical energy by the obligatory use of a system for the intermediate conversion of mechanical energy into hydraulic fluid energy.
  • An object of the present invention is to provide a primary transducer of the spatial movement of air and water mass into the energy of translationally moving bodies, as well as the creation of power plants using this transducer to generate electrical energy.
  • the energy of the waves (wind) after the primary converter is converted into electrical energy by known methods.
  • This group of inventions proposes a six-moving parallel manipulator primary transducer ( ⁇ ) of the spatial movement of water and air masses incorporating well-known features: a lower fixed platform and an upper movable platform associated with a sensitive body that perceives the movement of water masses and air flows.
  • Other inventions - power plants, are connected by a single concept, i.e. application of this manipulator primary converter.
  • each pair of links of one RCC forms a rotational connection " with a chain or rope connection on only one side, and on the other hand forms a fixed connection with a rope or ring.
  • Further conversion of translational energy into electrical energy is carried out by using linear electric generators or by using known converters of translational motion of SKZ drives into rotational motion of the rotor shaft of one or more electric generators.
  • analogue proposed wind power plant comprising a wind energy converter having a lower fixed body "and the upper movable.
  • Body moving together with sensitive to the wind body I in which, in order to increase the efficiency of using the energy of the spatial motion of the air flow, uses ⁇ ⁇ 1.
  • a body sensitive to wind a body (air torus) is used - a gas-filled elastic shell in the form of a torus with an aerodynamic profile, i.e. the cross section of the torus 1 represents a figure similar to, for example, the cross-section of an airplane wing.
  • the aerodynamic profile creates a lifting force in the vertical direction with a horizontally acting air flow.
  • the air torus has a system for automatically controlling the lifting force by Changes of volume of gas.
  • the control system includes, for example, a controller, an interface, displacement sensors of a manipulator transducer, a pressure sensor for compressed air, a gas exhaust valve installed in an air torus, a compressor for pumping gas, a gas tank, a power source, etc. . J, L—>
  • the hollow body of the float; with a hydrodynamic profile consists of two cavities separated by a flexible diaphragm, one of the cavities (upper) represents a sealed container filled with air (gas), and the other (lower) is filled with water as needed and automatically controlled water intake and discharge valves are placed in it.
  • a wind-wave power plant uses the energy of surface waves and wind at the same time.
  • the power converter surface voly and wind energy is used shestipodvizhny parallel manipulator transducer to (the upper platform is fixed floor recessed float.
  • the upper platform is fixed floor recessed float.
  • the body of the float at the desired height by means of a rod or other structure rigidly fixed air torus having Aerohydrodynamic profile.
  • aerodynamic the profile of the air torus creates force in the vertical direction down from the horizontally acting air flow.
  • FIG. 1 shows a 'Sholkor parallel manipulator design consisting of an upper platform 1 and a lower platform 2 connected by six connecting kinematic chains 3 of two links forming translational kinematic pairs to provide a change in the length of the RCC.
  • SKZ a 'Sholkor parallel manipulator design consisting of an upper platform 1 and a lower platform 2 connected by six connecting kinematic chains 3 of two links forming translational kinematic pairs to provide a change in the length of the RCC.
  • the figure 3 shows a diagram of the ⁇ with a chain connection.
  • a movable hoop-like platform 1 and a fixed platform 2 connected so that each of the six connecting kinematic chains consists of two links: a slider 20 and a guide 21, forming a translational driving kinematic pair.
  • each connecting kinematic chain has displacement sensors with an engine 22 moving together with the * slide 20 relative to the panel 23 fixed to the guide 21.
  • the figure 4 shows a diagram of a wind farm, which consists of a six-moving manipulator primary transducer with an upper platform 1 in the form of a hoop, a lower platform 2 and six SKTs-3.
  • An air torus 24 is attached to the upper platform 1, representing an elastic shell in the shape of a torus filled with a substance lighter than air.
  • Cable 25 transfers electric current from the electric generators to the power electronic unit 26, from which current is transmitted to the distribution network via cable 27.
  • the figure 5 shows the air torus 24, as well as its cross section 28 in the form of an aerodynamic profile. From the bottom, the air torus is attached to the hoop 1 - the upper platform of the manipulator primary transducer. ' ⁇
  • the figure 6 presents PVLES based on the primary manipulator transducer consisting of a lower platform 2, six SKZ with translational pairs -3 with a variable length, the upper platform 1 with a float 29 completely immersed in water.
  • the figure 6 shows that the power cable 30 transfers electric current from the generators to the power electronic unit 31, from which electric energy is transmitted to the distribution network via cable 32.
  • Figure 7 presents a VVlES with a primary manipulative converter of the energy of water and air mass into mechanical energy.
  • Manipulative converter 2 consisting of a stationary and a movable platform 1, connected by six pairs of RCCs with translational 3.
  • To the upper platform is fixed semi submerged float 29, which at a certain height by means of the rod construction 33 is mounted an air torus 24.
  • L shows the cable 30, the block power electronics 31, electric cable 32.
  • the principle of operation of the primary manipulator transducer is based on the fact that under the action of spatial movements of air masses or waves, the upper platform 1 moves relative to the lower fixed platform 2 with six degrees of freedom, while changing the length of the RCC using translational drive kinematic pairs 3.
  • the energy of motion air or water masses is converted into mechanical energy of translational motion, which can then be converted into electrical energy by known methods .
  • the complex multilink spherical joints of the Sholkor manipulator (4,5,6 - figure 1) are replaced by chain (figure 2, a, b, c) or flexible (figure 2, d, e,) connections.
  • these joints provide the same mobility and the corresponding multilink spherical joints, but are simple in design and reliable in operation, especially in aggressive aqueous environments.
  • the RCCs in the primary manipulator (figure 3) have only one rotary connection at the lower or upper end.
  • displacement sensors (22.23) are installed, the information from which is used to control the lifting force of the sensing element (float or air torus) connected to the upper platform. ' ⁇
  • the principle of operation of the wind farm (figure 4) is as follows: an air torus 24, representing an elastic shell in the form of a torus with an aerodynamic profile 28 (figure 5), is filled with matter lighter than air and, under the influence of air flow, moves, making the upper platform of the primary manipulator transducer move in the wind and up.
  • the lengths of the SKTs -3 are changed, i.e. wind energy is converted into the energy of six translational movements, which by known methods, are converted into electrical energy.
  • the electric current from the generators is transmitted via cable 25 to a hub (power electronics unit) 26 and then through cable 27 to a transformer or to an electrical distribution network.
  • the air torus lift control system consists of well-known elements: a controller, an interface, displacement and pressure sensors of a manipulator transducer, a gas exhaust valve installed in the air torus, a gas pump, a gas tank, a power source, etc.
  • the valve automatically releases gas from the air torus until the state of the wind farm is reached, when the performance of the displacement sensors reaches the maximum values.
  • sensitivity should be increased, i.e. the lifting force of the air torus until the stroke of the RCC increases, in this case gas is pumped into the air torus using a flexible hose Compressor
  • the automatic control system also prevents resonance phenomena.
  • the principle of operation of the PVlES ( Figure 6) is based on the fact that water particles at depth, depending on the movement of waves on the surface of the reservoir (ocean, sea), perform spatial cyclic movements with high energy.
  • the primary manipulator transducer allows you to convert this wave energy into mechanical energy of translational movements.
  • waves On the surface of the sea, ocean, waves have a large destructive energy leading to the destruction of technical systems; therefore, the PVES is installed at the calculated depth at the bottom of the reservoir.
  • the principle of operation of PVlES is based on the fact that a moving mass of water acts on a float 29 immersed in water with an aero-hydrodynamic profile, connected with the platform 1 1 of the manipulator creates forces directed upstream and upward, causing a change in the lengths of SKZ -3. those. reciprocating motion relative to a fixed base — the lower platform fixed to the bottom of the reservoir 2.
  • the reciprocating motion of the six SCZ drives is converted into electrical energy by known methods.
  • the current generated by the electric generators is transmitted via cable -30 to the power electronic unit 31 and then via the power cable 32 to a transformer located on the coast.
  • the mechanical energy of the reciprocating movements can also be converted into electrical energy by known methods: directly, through a linear generator; through the working fluid, the electric generator drive shaft; through various mechanical converters of translational motion into rotational motion of the shaft of one or more electric generators.
  • the automatic control system of the lifting force of the PVlES float is designed to increase the efficiency of PVlES operation at various wave dynamics.
  • the float is divided into two cavities: the lower, filled with water and the upper - hermetic, filled with a gaseous substance. Between these cavities is a flexible diaphragm.
  • the lifting force of the float is changed by changing the volume of water in the lower cavity of the float.
  • the volume of the float and the volumes of the cavities with water and gas will correspond to the calculated, i.e. such that the readings of the RCC displacement sensors will deviate from zero in one direction or another within the acceptable range.
  • the upper platform with a float performs a complete movement from the lower position to the upper Gomi on the contrary for a cycle of work. If. it turns out that according to the readings of the sensors, the length of the RCC often increases by the full length and does not reach the minimum value. This is observed with weak waves. In this case, the automatic control system must reduce the lifting force of the float by pumping water into the cavity of the float while opening the water intake valve until normal operation is established. With strong waves, on the contrary, the RCC will not reach the maximum allowable lengths. In this case, it is necessary to increase the lifting force of the float. For this, water is discharged from the cavity of the float by pumping it out with a hydraulic pump or by discharging using controlled valves. Turn on the hydraulic pump)> and open the relief valves automatically until
  • the principle of operation of the lake version of the power plant - the wind-wave power plant is as follows: the upper platform of the primary manipulator transducer connected to the flooded float 29 (figure 7) and the air torus 24 move under the influence of surface waves and wind.
  • the air torus is set so that the aerodynamic force F directed downwards arises from the action of the horizontal air flow v ( Figure 7).
  • the air torus in VVLES takes the opposite position to that in the wind farm.
  • the interaction of the air torus and the float occurs as follows: in the initial position, the RCC drives occupy a middle position. Under the influence of wind, an air torus, for example, goes down, dragging a float along with it, while the length of the RCC decreases.
  • the automatic control system of VVlES controls the lifting force of the air torus and the float at the same time according to the above method.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

L'invention concerne une « centrale houlomotrice à base de manipulateur parallèle (et variantes) »; elle concerne le domaine d'utilisation de la robotique pour générer l'énergie électrique avec des sources d'énergie renouvelable. On propose un groupe d'invention : un convertisseur primaire parallèle à manipulateurs à six degrés de liberté (CPPMSL), une centrale éolienne (CE), une centrale houlomotrice sous-marine (CHSM), une centrale éolienne houlomotrice (CEH) réunies par l'utilisation de CPPMSL pour convertir l'énergie des masses d'air et d'eau en énergie mécanique des mouvements en va-et-vient. Dans la CE, on utilise en tant qu'élément recevant le mouvement du flux d'air un tore aérien à force de sustentation commandée. On utilise dans la CHSM en tant que dispositif sensible un flotteur immergé à deux cavités avec force de sustentation commandée. Dans la CEH on reçoit l'énergie éolienne au moyen d'un un tore aérien commandé et l'énergie des vagues au moyen d'un flotteur semi-immergé commandé.
PCT/KZ2017/000001 2017-02-13 2017-02-13 Centrale houlomotrice à base de manipulateur parallèle (et variantes) Ceased WO2018147716A1 (fr)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020209705A1 (fr) * 2019-04-08 2020-10-15 Корганбай Сагнаевич ШОЛАНОВ Station éolienne électrique comportant un voilure améliorée
WO2022225382A1 (fr) * 2021-04-21 2022-10-27 Корганбай Сагнаевич ШОЛАНОВ Centrale électrique houlomotrice sous-marine commandée
WO2024019618A1 (fr) * 2022-07-19 2024-01-25 Aewh B.V. Convertisseur d'énergie robotique et navire le comprenant

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4453894A (en) * 1977-10-14 1984-06-12 Gabriel Ferone Installation for converting the energy of the oceans
RU140270U1 (ru) * 2012-01-19 2014-05-10 Евгений Игоревич Есаулов Передвижная электростанция - амфибия
RU141126U1 (ru) * 2013-05-13 2014-05-27 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Мурманский государственный технический университет" (ФГБОУВПО "МГТУ") Волновая балластно-маятниковая электростанция
WO2017003273A1 (fr) * 2015-07-01 2017-01-05 Некоммерческое Акционерное Общество "Казахский Национальный Исследовательский Технический Университет Имени К.И. Сатпаева" Министерства Образования И Науки Республики Казахстан Centrale houlomotrice à base de manipulateur parallèle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4453894A (en) * 1977-10-14 1984-06-12 Gabriel Ferone Installation for converting the energy of the oceans
RU140270U1 (ru) * 2012-01-19 2014-05-10 Евгений Игоревич Есаулов Передвижная электростанция - амфибия
RU141126U1 (ru) * 2013-05-13 2014-05-27 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Мурманский государственный технический университет" (ФГБОУВПО "МГТУ") Волновая балластно-маятниковая электростанция
WO2017003273A1 (fr) * 2015-07-01 2017-01-05 Некоммерческое Акционерное Общество "Казахский Национальный Исследовательский Технический Университет Имени К.И. Сатпаева" Министерства Образования И Науки Республики Казахстан Centrale houlomotrice à base de manipulateur parallèle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020209705A1 (fr) * 2019-04-08 2020-10-15 Корганбай Сагнаевич ШОЛАНОВ Station éolienne électrique comportant un voilure améliorée
WO2022225382A1 (fr) * 2021-04-21 2022-10-27 Корганбай Сагнаевич ШОЛАНОВ Centrale électrique houlomotrice sous-marine commandée
WO2024019618A1 (fr) * 2022-07-19 2024-01-25 Aewh B.V. Convertisseur d'énergie robotique et navire le comprenant

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