CN105715446B - A kind of sea energy generation robot device combined with floating and its method of work of suspending - Google Patents
A kind of sea energy generation robot device combined with floating and its method of work of suspending Download PDFInfo
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- CN105715446B CN105715446B CN201610049621.8A CN201610049621A CN105715446B CN 105715446 B CN105715446 B CN 105715446B CN 201610049621 A CN201610049621 A CN 201610049621A CN 105715446 B CN105715446 B CN 105715446B
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- 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
- F03B13/22—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 flow of water resulting from wave movements to drive a motor or turbine
-
- 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
-
- 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
- F03B15/00—Controlling
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2220/00—Application
- F05B2220/70—Application in combination with
- F05B2220/706—Application in combination with an electrical generator
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
A kind of sea energy generation robot device combined with floating that suspends, including float float, the suspension float set in the floating float, be provided with sea energy generation robot mechanism, energy transform device and energy output device between the floating float and suspension float.The present invention includes floating floating body, suspension floating body and the sea energy generation robot mechanism being arranged between floating floating body and suspension floating body.The sea energy generation robot device that the suspension combines with floating has three degree of freedom, and respectively one, along the movement of coordinate direction and two rotations around coordinate direction, can collect the ocean energy in all directions simultaneously.
Description
Technical field
The present invention relates to a kind of suspend the sea energy generation robot device combined with floating and its method of work, belong to hair
The technical field of electric installation.
Background technology
The one kind of wave energy as regenerative resource is interaction by wind and seawater and is formed.Research shows, seawater
Wave energy density is 5 times of the wind energy resources density in the spatial domain in 20 meters above the sea level, even more the 20 of solar energy resources density times
As many as.The technical merit of wave-activated power generation research can reflect the development degree of a countries and regions with side.China is to wave energy
Research carry out it is then later, mainly start from the end of the seventies in last century, therefore technology is relatively immature.In wave power utilization shape
In formula, present international and national be mainly in the form of mainly oscillaton water column type wave power device, oscillating float type wave power device,
Swinging type wave energy device.Wherein, oscillaton water column type wave power device with offshore it is fixed based on, chief component be stretch into it is underwater
Cement concrete constructions or steel construction hydroecium, hydroecium are the air chamber of connection on face end opening of heading sea, hydroecium top, and air chamber goes out
Air turbine is installed at mouthful, under the wave action, the corrugated in hydroecium promotes the air movement on top, and then it is empty to produce driving
The air-flow that gas turbine rotates, complicated for equipment the shortcomings that the device, construction cost is high, and it is more to take coastline；Oscillating float type
Wave power device is arranged on deep-sea more, and is that floatation type structure, float and seabed or seabed fixture are connected, float with
The relative movement drives hydraulic pressure or pneumatic means of wave collects wave energy, compares oscillaton water column type for structure the shortcomings that the device
Complexity, and be not fixed easily with seabed at deep-sea；Swinging type wave energy conversion equipment is to absorb wave energy by be hinged wobble plate, wherein
The articulated manner of wobble plate has bottom is be hinged to make to distinguish with top radial type, can be referred to as buoyancy pendulum and gravity bob again.Wobble plate one
End is converted into pressure energy generally by hydraulic means, and then drives hydraulic motor, and the pattern of hydraulic motor-driving generator is entered
It is capable, it is the less efficient of equipment the shortcomings that the device, it is difficult to effectively collect wave energy.
Found by the retrieval to prior art：Wave energy is converted into the novel multi-vitamin parallel swing seawave power generation of electric energy
Device, Chinese patent CN102444537 propose a kind of new multidimensional parallel swing Wave power generation device, and the device passes through floating
Relative motion between cylinder and heavy ball drives middle parallel institution to produce high-voltage oil liquid, so as to absorb sea wave energy.It is special with contrasting
Profit is distinguished as, and generating project people's device that patent of the present invention provides has three degree of freedom, can absorb rushing for wave simultaneously
Hit energy and the potential energy to fluctuate.
Investigate existing electric generator using sea wave energy, sea wave, Chinese patent CN102889165
A kind of Wave power generation device to fluctuate is proposed, the absorption of ocean energy is realized by the cooperation of float and hydraulic cylinder.With it is right
Than being distinguished as patent, generating project people's device that patent of the present invention provides has three degree of freedom, can absorb wave simultaneously
Impact energy and the potential energy to fluctuate.
Existing electric generator using sea wave energy is investigated, Novel parallel multidimensional swings Wave power generation device, Chinese patent
CN104005902 proposes a kind of new freedom degree parallel connection formula Wave power generation device, and the device passes through fixed fixed platform
Relative motion between the floating body of activity drives middle parallel institution to produce high-voltage oil liquid, so as to absorb ocean energy.With it is right
Than being distinguished as patent, the generating project people device that patent of the present invention provides can work without mooring, and cost input is smaller.
Existing ocean power generating device, sextuple Wave power generation device are investigated, Chinese patent CN102966485 proposes one
The sextuple Wave power generation device of kind, pass through six hydraulic cylinder side chains and absorb ocean energies.With being distinguished as contrast patent, patent of the present invention
The working method that the generating project people device of offer is combined using suspending with floating, without fixed platform.
Existing ocean power generating device is investigated, Novel six-dimensional sea wave power generation, Chinese patent CN103032255, is carried
A kind of Novel six-dimensional sea wave power generation is gone out, the device absorbs ocean energy by six hydraulic cylinder side chains.With contrast patent
It is distinguished as, the working method that the generating project people device that patent of the present invention provides is combined using suspending with floating, without fixation
Platform.
Existing ocean power generating device, wave energy generating set are investigated, Chinese patent CN103410654 proposes one kind
Wave energy generating set, including connection unit, at least two groups of hollow floating bodies and at least one set of wave energy extraction unit.With contrast
Patent is distinguished as, the working method that the generating project people device that patent of the present invention provides is combined for suspension with floating, and
The free degree with three directions.
Existing ocean power generating device, Novel three-dimensional sea wave power generation are investigated, Chinese patent CN103306880 is proposed
A kind of Novel three-dimensional sea wave power generation, is combined by float with parallel institution, absorbs ocean energy.Difference with contrasting patent
For, the working method that the generating project people device that patent of the present invention provides is combined using suspending with floating, and need not
Fixed platform.
Existing ocean power generating device is investigated, Chinese patent CN103306881, CN103306882 are proposed newly respectively
It is by fixed platform and drift that type parallel connection multidimensional, which swings Wave power generation device and multidimensional parallel swing Wave power generation device, its principle,
The relative motion between floating drum is floated to absorb ocean energy.The generating project provided with being distinguished as contrast patent, patent of the present invention
People's device can also be worked using suspending with floating the working method being combined without fixed platform and mooring.
The content of the invention
Difference and deficiency for prior art, the invention provides a kind of sea energy generation machine for suspending and being combined with floating
Device people's device.
The present invention also provides the method for work of said apparatus.
The present invention includes floating floating body, suspension floating body and the sea wave energy hair being arranged between floating floating body and suspension floating body
Electric machine robot mechanism.The sea energy generation robot device that the suspension combines with floating has three degree of freedom, respectively one
Along the movement of coordinate direction and two rotations around coordinate direction, the ocean energy in all directions can be collected simultaneously.
Technical scheme is as follows：
A kind of sea energy generation robot device combined with floating that suspends, including float float, in the floating float
The suspension float of interior setting, it is provided with sea energy generation robot mechanism, energy between the floating float and suspension float
Transmitting device and energy output device；
The liquid to be suspended for suspension float is provided with the floating float；
The sea energy generation robot mechanism includes motion platform, the constrained branched chain being connected with the floating float inwall
With a plurality of two-pass hydraulic cylinder side chain；The motion platform is hanged by constrained branched chain, a plurality of two-pass hydraulic cylinder side chain with described
Float is connected；
The Three Degree Of Freedom side chain that the constrained branched chain is combined for a Hooke hinge-prismatic pair, including constrained branched chain cylinder body,
Constrained branched chain bar and the second Hooke hinge；The constrained branched chain is arranged on suspension float by the second Hooke hinge；
Each two-pass hydraulic cylinder side chain includes two-pass cylinder hydraulic bar and two-pass hydraulic cylinder body, described
Two-pass cylinder hydraulic bar is connected by ball pair with motion platform, and two-pass hydraulic cylinder body is cut with scissors and suspended by the first Hooke
Float connects；
The suspension float includes sealing shell, is internally provided with counterweight balance portion in the sealing shell.
According to currently preferred, bottom is provided with lower partition in described floating float, and the lower partition will
The floating float lower seal is separated out the second annular seal space, and energy transform device and energy are provided with second annular seal space
Output device.
According to currently preferred, the energy transform device include the accumulator being connected with the two-pass hydraulic cylinder and
Hydraulic motor；The energy output device is generator, and the hydraulic motor is connected with generator.
According to currently preferred, a plurality of two-pass hydraulic cylinder side chain is uniformly arranged in 90 ° each other, and fuel tank divides
Not to the oil inlet oiling of each two-pass hydraulic cylinder, the oil-out of each two-pass hydraulic cylinder is fuel-displaced to converge into accumulator
And hydraulic motor, after fluid drives hydraulic motor acting, finally converge into the fuel tank；Generating described in the fluid motor-driven
Machine generates electricity.
According to currently preferred, four oilholes, respectively oil outlet A, oil outlet are provided with the two-pass hydraulic cylinder
B, fuel feed hole A, fuel feed hole B；Oil inlet A, oil inlet B, oil-out A, oil-out B be respectively the first check valve, it is second unidirectional
Valve, the 3rd check valve and the 4th check valve；Make fluid along fuel feed hole A, fuel feed hole B to oil outlet A, oil outlet B one-way flows.
According to currently preferred, the two-pass hydraulic cylinder side chain is four, each other in 90 ° uniformly at intervals.
According to currently preferred, the counterweight balance portion that the inside of the sealing shell is set is by motor-driven gyro
Rotor.In the sealing, gyrorotor rotates at a high speed in the presence of motor, according to gyroscope operation principle, when rotating speed height
Or rotary inertia it is big when, gyrorotor will have a gyroscopic inertia, i.e., gyrorotor can produce the power that resistance changes its pivot
Square, pass through this torque so that suspension float can still keep original posture when receiving external force effect.
According to currently preferred, the TRT also sensor, controlled motor including detecting gyrorotor rotating speed
Controller, gyrorotor tach signal passes to controller, gyrorotor preset in the controller by the sensor
Rotary speed threshold value, the controller compare the tach signal received with rotary speed threshold value, adjusted in real time by controlled motor described in
The rotating speed of gyrorotor.
According to currently preferred, sensing of the TRT also including detection gyrorotor rotating speed and suspension posture
Gyrorotor tach signal, suspension attitude signal are passed to controller by the controller of device, controlled motor, the sensor, institute
State and gyrorotor is preset in controller in rotary speed threshold value, the tach signal that the controller will receive corresponding to different suspension postures
Compared with rotary speed threshold value, the rotating speed for adjusting the gyrorotor by controlled motor in real time envisions suspension posture to reach.
According to currently preferred, the counterweight balance portion that the inside of the sealing shell is set is counterweight weight.Set herein
The advantages of meter, is, in the presence of counterweight weight, liquid, can be compared with as tumbler in float is floated for suspension float
Good maintains the original state, and less motion occurs.
According to currently preferred, the energy transform device include the accumulator being connected with the two-pass hydraulic cylinder and
Hydraulic motor.
According to currently preferred, the energy output device is generator, and the hydraulic motor is connected with generator.
According to currently preferred, described floating float internal upper part is provided with upper baffle plate, the upper baffle plate will
The floating buoy upper sealing is separated out first annular seal space, and liquid is loaded with the first annular seal space.In first annular seal space
Appropriate liquid, such as water are filled, in the presence of wave, liquid can flow to the side of hydroecium, so as to increase floating float
Inertia, make floating float that there is bigger swing angle so that floating float and suspension float relative motion it is bigger, make
Two-pass hydraulic cylinder obtains bigger impulse stroke and Geng Gao operating efficiency.
A kind of method of work of said apparatus, including step are as follows：
1) in the presence of wave, float float and suspension float moves simultaneously, due to the difference of stress so that drift
It is floating relative motion to be present between float and suspension float；
2) relatively moved between the floating float and suspension float by two-pass hydraulic cylinder side chain, two-pass liquid
Cylinder pressure pumps out fluid, and fluid enters in accumulator through oil pipe, and the fluid in accumulator enters hydraulic motor, makes hydraulic motor rotary
Dynamic, hydraulic motor drives generator to rotate, and is generated electricity so as to realize；Caused electrical power storage is in battery, or produces electric energy and lead to
Connection External cable is crossed, electric energy is exported, the fluid after work is returned in fuel tank through oil pipe.
Advantages of the present invention：
For existing power generation with marine energy mechanism, the sea energy generation machine of suspension of the present invention and floating combination
People's device has the following advantages that：
(1) the sea energy generation robot device that the suspension combines with floating does not need fixed platform, without mooring
Work.In exploitation of marine energy, it is an extremely complex technical problem, it is necessary to high warp that fixed platform is built in ocean
Cost of helping and technical support, the sea energy generation robot device that the suspension combines with floating is using suspension float and floating
Relative motion between float absorbs ocean energy, therefore without fixed platform, can be worked without mooring, cost is low and realizes
Easily.
(2) the sea energy generation robot device that the suspension combines with floating has self-return function, can continuous work
Make.Due to the hydraulic system and generating, apparatus for storing electrical energy of the suspension and the sea energy generation robot device for floating combination all
The least significant end in device is designed, therefore the overall barycenter of the sea energy generation robot device of the suspension and floating combination is all concentrated
In the least significant end of device, after the larger energy of sea beat ripple, device can be with self-aligning, therefore can continuously work.
(3) the sea energy generation robot device that the suspension combines with floating has higher energy absorption efficiency.From knot
Top is provided with structure, in the floating float for the sea energy generation robot device that the suspension combines with floating and contains hydroecium, is passed through
The liquid flowing increase inertia of top hydroecium, makes floating float have bigger athletic posture, and the suspension as fixed platform is floated
The sub internal gyrorotor or counterweight weight for being then provided with automatic stabilisation suspension float state, passes through the gyroscopic inertia of gyrorotor
Or the inertia of counterweight weight maintains the stabilization of suspension float, so that suspension float has the athletic posture of very little.So
Relative motion between floating float and suspension float will increase, so as to there is higher energy absorption efficiency.
(4) from sea energy generation robot mechanism, the sea energy generation robot between float and suspension float is floated
Mechanism is made up of two parts, respectively constrained branched chain and 4 identical two-pass hydraulic cylinder side chains, and constrained branched chain make it that floating is floating
There is the rotation three degree of freedom in the movement and two coordinate directions on a coordinate direction between son and suspension float, so as to
The potential energy that the impact energy of wave can be effectively absorbed and fluctuated up and down, the efficiency for absorbing energy are very high.
(5) device uses cylindrical shape sealing structure, swims in wave, can absorb the energy of wave all directions.
(6) stability of the present apparatus is higher, in the suspension float of the present apparatus, is provided with the gyrorotor of feedback device
System, it can make suspension float that there is higher stability, simultaneously because suspension float is suspended in the liquid inside floating float
In, even if mutually motion be present in both, it is possibility to have vibration caused by the reduction campaign of effect and impact, it is integrally steady to enhance device
It is qualitative.
(7) present apparatus feature of environmental protection is good, service life length, because the present apparatus is using sealing tubular construction, internal gathering energy
Hydraulic fluid can use seawater, other liquid can also be used because device be sealing, even if fluid pressure line is let out
Leakage, will not also cause marine environmental pollution.Meanwhile the tubular construction of sealing by internal important part such as Hydraulic Elements, generate electricity
Element, gyrorotor, which are equal to, has the isolation of corrosive seawater, can effectively avoid the corrosion of seawater, therefore with longer
Service life.
Brief description of the drawings
Fig. 1 is the overall structure diagram of TRT of the present invention；
Fig. 2 is the sectional view of TRT of the present invention；
Sea energy generation robot mechanism schematic diagram in Fig. 3 present invention；
Suspension floating body sectional view in Fig. 4 present invention；
The energy transform device and the hydraulic circuit arrangement of energy output device that Fig. 5 the second annular seal spaces of the present invention are set
Figure；
The structure chart of Fig. 6 two-pass hydraulic cylinders of the present invention；
Fig. 7 is the asphalt principle figure of four two-pass hydraulic cylinder side chains；
Fig. 8 is structural representation when counterweight balance portion of the present invention is counterweight weight；
Fig. 9 is overall structure diagram when counterweight balance portion of the present invention is counterweight weight；
In Fig. 1-9,1 is floating float, and 2 be upper baffle plate, and 3 be constrained branched chain, and 4 be suspension float, and 5 be the second sealing
The energy transform device and energy output device that chamber is set, 6 be two-pass hydraulic cylinder side chain, and 7 be lower partition, and 8 is flat for motion
Platform, 9 be ball pair, and 10 be two-pass cylinder hydraulic bar, and 11 be two-pass hydraulic cylinder body, and 12 be that the first Hooke is cut with scissors, and 13 be number
According to transmission line, 14 be controller, and 15 be motor, and 16 be sensor, and 17 be gyrorotor, and 18 be oil pipe, and 19 be accumulator, and 20 are
Hydraulic motor, 21 be battery, and 22 be generator, and 23 be fuel tank, and 24 be constrained branched chain cylinder body, and 25 be constrained branched chain bar, and 26 are
Second Hooke is cut with scissors, and 27 be counterweight weight, and 28 be oil inlet A, and 29 be oil inlet B, and 30 be oil-out A, and 31 be oil-out B, and 32 the
One check valve, 33 second check valves, 34 the 3rd check valves, 35 the 4th check valves.
Embodiment
The present invention is described in detail with reference to embodiment and Figure of description, but not limited to this.
In Fig. 1-9.
Embodiment 1,
A kind of sea energy generation robot device combined with floating that suspends, including float float 1, in the floating float
The suspension float 4 that sets in 1, be provided between the floating float 1 and suspension float 4 sea energy generation robot mechanism,
Energy transform device and energy output device 5；
The liquid to be suspended for suspension float 4 is provided with the floating float 1；
The sea energy generation robot mechanism includes motion platform 8, the about bundle branch being connected with the floating inwall of float 1
Chain 3 and a plurality of two-pass hydraulic cylinder side chain 6；The motion platform 8 by constrained branched chain 3, a plurality of two-pass hydraulic cylinder side chain 6 with
The suspension float 4 is connected；
The Three Degree Of Freedom side chain that the constrained branched chain 3 is combined for a Hooke hinge-prismatic pair, including constrained branched chain cylinder body
24th, the Hooke of constrained branched chain bar 25 and second hinge 26；The constrained branched chain 3 is arranged on suspension float 4 by the second Hooke hinge 25；
Each two-pass hydraulic cylinder side chain 6 includes two-pass cylinder hydraulic bar 10 and two-pass hydraulic cylinder body
11, the two-pass cylinder hydraulic bar 10 9 is connected by ball pair with motion platform 8, and two-pass hydraulic cylinder body 11 passes through the
One Hooke hinge 12 is connected with suspension float 4；
The suspension float 4 includes sealing shell, is internally provided with counterweight balance portion in the sealing shell.
The energy transform device includes the accumulator 19 and hydraulic motor 20 being connected with the two-pass hydraulic cylinder.
The energy output device is generator 22, and the hydraulic motor 20 is connected with generator 22.
Embodiment 2,
A kind of sea energy generation robot device combined with floating that suspends, its difference are as described in Example 1,
Bottom is provided with lower partition 7 in described floating float 1, and the floating lower seal of float 1 is separated out by the lower partition 7
Second annular seal space, energy transform device and energy output device 5 are provided with second annular seal space.
The energy transform device includes the accumulator 19 and hydraulic motor 20 being connected with the two-pass hydraulic cylinder；It is described
Energy output device is generator 22, and the hydraulic motor 20 is connected with generator 22.
The a plurality of two-pass hydraulic cylinder side chain 6 is uniformly arranged in 90 ° each other, and fuel tank 23 is respectively to each two-pass
The oil inlet oiling of hydraulic cylinder, the oil-out of each two-pass hydraulic cylinder is fuel-displaced to converge into accumulator 19 and hydraulic motor
20, after fluid drives hydraulic motor 20 to do work, finally converge into the fuel tank 23；The hydraulic motor 20 drives the generator
22 generate electricity.
Four oilholes, respectively oil outlet A 30, oil outlet B 31, fuel feed hole A are provided with the two-pass hydraulic cylinder
28th, fuel feed hole B 29；It is respectively the first check valve in oil inlet A 28, oil inlet B 29, oil-out A 30, oil-out B 31
32nd, the second check valve 33, the 3rd unidirectional 34 valve and the 4th check valve 35；Make fluid along fuel feed hole A 28, fuel feed hole B 29 to going out
Oilhole A 30, the one-way flows of oil outlet B 31.
The two-pass hydraulic cylinder side chain 6 is four, each other in 90 ° uniformly at intervals.
Embodiment 3,
The sea energy generation robot device that a kind of suspension as described in embodiment 1,2 combines with floating, its difference be,
The counterweight balance portion that the inside of the sealing shell is set is the gyrorotor 17 driven by motor 15.
Embodiment 4,
A kind of sea energy generation robot device combined with floating that suspends, its difference are as described in Example 3, institute
Stating TRT also includes sensor 16, the controller 14 of controlled motor of detection gyrorotor rotating speed, and the sensor 16 will
The tach signal of gyrorotor 17 passes to controller 14, and the rotary speed threshold value of gyrorotor 17 is preset in the controller 14, described
Controller 14 compares the tach signal received with rotary speed threshold value, adjusts the gyrorotor 17 by controlled motor 15 in real time
Rotating speed.
Embodiment 5,
A kind of sea energy generation robot device combined with floating that suspends, its difference are as described in Example 4, institute
Stating TRT also includes detection gyrorotor rotating speed and sensor 16, the controller 14 of controlled motor of suspension posture, described
The tach signal of gyrorotor 17, suspension attitude signal are passed to controller 14 by sensor 14, and top is preset in the controller 14
Spiral shell rotor 17 is in rotary speed threshold value corresponding to different suspension postures, and the controller 14 is by the tach signal received and rotary speed threshold value phase
Compare, the rotating speed for adjusting the gyrorotor 17 by controlled motor 15 in real time envisions suspension posture to reach.
Embodiment 6,
A kind of sea energy generation robot device combined with floating that suspends, its difference are as described in Example 1, institute
The counterweight balance portion for stating the inside setting of sealing shell is counterweight weight 27.
Embodiment 7,
The sea energy generation robot device that a kind of suspension as described in embodiment 1-6 combines with floating, its difference be,
Described floating float internal upper part is provided with upper baffle plate 2, the upper baffle plate 2 by the floating top seal of float 1 every
Go out first annular seal space, liquid is loaded with the first annular seal space.
Embodiment 8,
A kind of method of work of such as embodiment 1-7 described devices, including step are as follows：
1) in the presence of wave, float float 1 and suspension float 4 move simultaneously, due to the difference of stress so that
Relative motion be present between floating float 1 and suspension float 4；
2) relatively moved between the floating float 1 and suspension float 4 by two-pass hydraulic cylinder side chain 6, duplicate rows
Journey hydraulic cylinder pumps out fluid, and fluid enters in accumulator 19 through oil pipe, and the fluid in accumulator 19 enters hydraulic motor 20, makes liquid
Pressure motor 20 rotates, and hydraulic motor 20 drives generator 22 to rotate, and is generated electricity so as to realize；Caused electrical power storage is in battery 21
In, or electric energy is produced by connecting External cable, electric energy is exported, the fluid after work is returned in fuel tank 23 through oil pipe.
The two-pass hydraulic cylinder works principle：
Four hydraulic fluid ports, respectively oil inlet A 28, oil inlet B 29, oil-out are there are on two-pass hydraulic cylinder body
A 30, oil-out B 31, each oil port are respectively mounted a check valve, respectively the first check valve 32, the second check valve 33, and
Three check valves 34 and the 4th check valve 35, oil inlet A 28 and oil inlet B 29 are connected by oil pipe 18 with fuel tank 23, oil-out A
30th, oil-out B 31 is connected by oil pipe 18 with accumulator 19.When two-pass hydraulic cylinder compresses, the first check valve 32 and the 4th
Check valve 35 is closed, and the second check valve 33 and the 3rd check valve 34 are opened, and left side cylinder body inner fluid is from oil-out A 30 through the 3rd
Check valve 34 is flowed into oil pipe 18 and accumulator 19, while the fluid in fuel tank 23 enters through the second check valve 33 and oil inlet B 29
Enter the right side cylinder body of two-pass hydraulic cylinder, complete the fuel-displaced right side oil suction in left side；When two-pass hydraulic cylinder stretches, the first check valve
32 and the 4th check valve 35 open, the second check valve 33 and the 3rd check valve 34 are closed, and right side cylinder body inner fluid is from oil-out B
31 flow into oil pipe 18 and accumulator 19 through the 4th check valve 35, while the fluid in fuel tank 23 is through the first check valve 32 and oil-feed
Mouth A 29 enters the left side cylinder body of two-pass hydraulic cylinder, completes fuel-displaced on the right side of the oil suction of left side.So as to realize hydraulic cylinder two-way operation
High-voltage oil liquid can be pumped out.
Claims (8)
1. it is a kind of suspend with floating combine sea energy generation robot device, it is characterised in that the device include floating float,
It is described floating float in set suspension float, it is described floating float and suspension float between be provided with sea energy generation machine
Device robot mechanism, energy transform device and energy output device；
Liquid is provided with the floating float；Described floating float internal upper part is provided with upper baffle plate, the top
The floating buoy upper sealing is separated out first annular seal space by dividing plate, and liquid is loaded with the first annular seal space；
The sea energy generation robot mechanism includes motion platform, the constrained branched chain and more being connected with the floating float inwall
Bar two-pass hydraulic cylinder side chain；The motion platform is floated by constrained branched chain, a plurality of two-pass hydraulic cylinder side chain and described suspend
Son is connected；
The Three Degree Of Freedom side chain that the constrained branched chain is combined for a Hooke hinge-prismatic pair, including constrained branched chain cylinder body, constraint
Branch chain bar and the second Hooke hinge；The constrained branched chain is arranged on suspension float by the second Hooke hinge；
Each two-pass hydraulic cylinder side chain includes two-pass cylinder hydraulic bar and two-pass hydraulic cylinder body, the duplicate rows
Journey cylinder hydraulic bar is connected by ball pair with motion platform, and two-pass hydraulic cylinder body passes through the first Hooke hinge and suspension float
Connection；
The suspension float includes sealing shell, is internally provided with counterweight balance portion in the sealing shell；
The counterweight balance portion that the inside of the sealing shell is set is by motor-driven gyrorotor；
The generating project people device also includes the control of detection gyrorotor rotating speed and the sensor, controlled motor of suspension posture
Gyrorotor tach signal, suspension attitude signal are passed to controller, gyro are preset in the controller by device, the sensor
Rotor compares the tach signal received with rotary speed threshold value in rotary speed threshold value, the controller corresponding to different suspension postures,
The rotating speed for adjusting the gyrorotor by controlled motor in real time envisions suspension posture to reach.
A kind of 2. sea energy generation robot device combined with floating that suspends according to claim 1, it is characterised in that
Bottom is provided with lower partition in described floating float, and the floating float lower seal is separated out the by the lower partition
Two annular seal spaces, energy transform device and energy output device are provided with second annular seal space.
A kind of 3. sea energy generation robot device combined with floating that suspends according to claim 1, it is characterised in that
The energy transform device includes the accumulator and hydraulic motor being connected with the two-pass hydraulic cylinder side chain；The energy output
Device is generator, and the hydraulic motor is connected with generator.
A kind of 4. sea energy generation robot device combined with floating that suspends according to claim 3, it is characterised in that
The a plurality of two-pass hydraulic cylinder side chain is uniformly arranged in 90 ° each other, and fuel tank is respectively to each two-pass hydraulic cylinder side chain
Oil inlet oiling, the oil-out of each two-pass hydraulic cylinder side chain is fuel-displaced to converge into accumulator and hydraulic motor, fluid
After driving hydraulic motor acting, the fuel tank is finally converged into；Electrical power generators described in the fluid motor-driven.
A kind of 5. sea energy generation robot device combined with floating that suspends according to claim 1, it is characterised in that
Four oilholes, respectively oil outlet A, oil outlet B, fuel feed hole A, fuel feed hole B are provided with the two-pass hydraulic cylinder side chain；Entering
Hydraulic fluid port A, oil inlet B, oil-out A, oil-out B are respectively that the first check valve, the second check valve, the 3rd check valve and the 4th are unidirectional
Valve；Make fluid along fuel feed hole A, fuel feed hole B to oil outlet A, oil outlet B one-way flows.
A kind of 6. sea energy generation robot device combined with floating that suspends according to claim 1, it is characterised in that
The two-pass hydraulic cylinder side chain is four, each other in 90 ° uniformly at intervals.
A kind of 7. sea energy generation robot device combined with floating that suspends according to claim 1, it is characterised in that
The energy transform device includes the accumulator and hydraulic motor being connected with the two-pass hydraulic cylinder side chain；The energy output
Device is generator, and the hydraulic motor is connected with generator.
A kind of 8. method of work using such as claim 1-7 any one described devices, it is characterised in that the method for work bag
It is as follows to include step：
1）In the presence of wave, float float and suspension float moves simultaneously, due to the difference of stress so that floating is floating
Relative motion be present between son and suspension float；
2）Relatively moved between the floating float and suspension float by two-pass hydraulic cylinder side chain, two-pass hydraulic cylinder
Side chain pumps out fluid, and fluid enters in accumulator through oil pipe, and the fluid in accumulator enters hydraulic motor, makes hydraulic motor rotary
Dynamic, hydraulic motor drives generator to rotate, and is generated electricity so as to realize；Caused electrical power storage is in battery, or produces electric energy and lead to
Connection External cable is crossed, electric energy is exported, the fluid after work is returned in fuel tank through oil pipe.
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| CN114645817B (en) * | 2022-05-20 | 2022-07-29 | 中国海洋大学 | Multi-degree-of-freedom wave energy floater and semi-submersible floating type fan coupling power generation system and method |
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