CN116123014A - Multi-degree-of-freedom wave energy recovery device and modeling method thereof - Google Patents

Multi-degree-of-freedom wave energy recovery device and modeling method thereof Download PDF

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CN116123014A
CN116123014A CN202211560106.8A CN202211560106A CN116123014A CN 116123014 A CN116123014 A CN 116123014A CN 202211560106 A CN202211560106 A CN 202211560106A CN 116123014 A CN116123014 A CN 116123014A
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gear
energy recovery
shaft
bearing
wave
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赵震
李永鑫
王昌泓
延章威
王庆成
王永红
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Liaocheng University
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Liaocheng University
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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
    • F03B13/16—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"
    • F03B13/20—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" wherein both members, i.e. wom and rem are movable relative 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
    • F03B11/00—Parts or details not provided for in, or of interest apart from, the preceding groups, e.g. wear-protection couplings, between turbine and generator
    • F03B11/008—Measuring or testing arrangements
    • 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
    • F03B11/00—Parts or details not provided for in, or of interest apart from, the preceding groups, e.g. wear-protection couplings, between turbine and generator
    • F03B11/02—Casings
    • 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
    • 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
    • F03B13/141—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 with a static energy collector
    • 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

The invention discloses a multi-degree-of-freedom wave energy recovery device and a modeling method thereof, and belongs to the field of ocean energy recovery. According to the characteristics of wave motion, the invention designs the multi-degree-of-freedom wave energy recovery device for recovering heave, heave and sway directions. The wave energy recovery device is fixed near the coast, wave energy is absorbed by the floater, and the wave energy is converted into mechanical energy of the floater; the mechanical energy of the float is converted to electrical energy by an energy recovery mechanism. On the basis of the sea water motion model and the equivalent damping analysis of the wave energy recovery device, a modeling method of the wave energy recovery device with multiple degrees of freedom is provided, a mathematical model of the wave energy recovery device is established, the conversion efficiency of the wave energy recovery device is calculated, and the feasibility of the model is verified. Compared with the prior art, the invention has the advantages of multiple degrees of freedom, high energy conversion efficiency, convenient installation, compact structure, strong applicability and the like.

Description

Multi-degree-of-freedom wave energy recovery device and modeling method thereof
Technical Field
The invention belongs to the field of ocean energy recovery, and particularly relates to a multi-degree-of-freedom wave energy recovery device and a modeling method thereof.
Background
With the impact on fossil fuel exploitation and global warming, people have seen their eyes on renewable energy sources. Among the numerous renewable energy sources, wave energy has led to extensive research due to its high energy density and availability throughout the day. It is estimated that the energy density of wave energy is 15 to 20 times that of solar energy and 5 times that of wind energy. In recent years, a great deal of research has been conducted by scholars about how to efficiently recycle wave energy, but wave energy recycling devices have not been commercialized, mainly focusing on the following three problems: 1) The device is not easy to install and has high installation and maintenance cost; 2) The device has low degree of freedom and has larger limitation in recovering the wave direction; 3) The whole energy recovery efficiency of the device is low.
Currently, most wave energy recovery devices are mainly: oscillating water column, ram, triboelectric, and oscillating float. The oscillating water column type mainly converts sea water potential energy into electric energy by an air turbine, but the air turbine has low conversion efficiency of only 10-30%. The roof type water-proof device must be installed on a coastal protection structure or a harbor breakwater, and the installation position is very limited. The triboelectric type wave generator is suitable for being used when the water wave is a low-frequency wave, but the wave is synthesized by waves with various frequencies, the use is very limited, and the use is also considered how the triboelectric type wave generator is fixed in the ocean to ensure that the environment is not polluted. The oscillating float type structure is simple, is easy to install and fix, accounts for about 40% of the whole wave energy recovery device, and is considered to be the most likely structure to realize commercialization. However, the oscillating buoy type structure currently studied only considers the energy of the wave heave direction, and the wave has larger energy in the horizontal direction under the influence of other factors such as the monsoon, the earth rotation and the like.
Disclosure of Invention
Based on the background technology, the invention provides a multi-degree-of-freedom wave energy recovery device and a modeling method thereof. According to the characteristics of wave motion, a multi-degree-of-freedom wave energy recovery device for recovering heave, heave and heave directions is designed. The wave energy recovery device is fixed near the coast, wave energy is absorbed by the floater, the wave energy is converted into mechanical energy of the floater, and the mechanical energy of the floater is converted into electric energy by the energy conversion device. Meanwhile, on the basis of the sea water motion model and equivalent damping analysis of the wave energy recovery device, a modeling method of the wave energy recovery device with multiple degrees of freedom is provided, a mathematical model of the wave energy recovery device is built, and the conversion efficiency of the wave energy recovery device is calculated.
The invention is realized by adopting the following technical scheme: a multi-degree-of-freedom wave energy recovery device comprises a fixing mechanism, a vertical vibration energy recovery mechanism, a horizontal movement energy recovery mechanism and an energy capturing mechanism, wherein the fixing mechanism is fixed on the sea through an external fixing frame, the vertical vibration energy recovery mechanism is fixedly connected with the fixing mechanism through bolts, the horizontal movement energy recovery mechanism and the energy capturing mechanism float on the sea, and the energy capturing mechanism converts wave energy of wave motion into mechanical energy; the vertical vibration energy recovery mechanism and the horizontal movement energy recovery mechanism convert mechanical energy captured by the energy capturing mechanism into electric energy;
the fixing mechanism comprises an upper cover; the vertical vibration energy recovery mechanism comprises a linear bearing I, a screw nut, a sleeve, a gear ring, a ball screw, a gear frame, a reversing gear set I, a middle gear, a large gear, a small gear, a cylindrical roller bearing, a T-shaped cylinder, a lower cover, an upper cover plate I, an angular contact ball bearing I, a cylinder body, a generator I and a lower cover plate; the upper cover plate I, the cylinder body and the lower cover plate are fixedly connected to form a shell, the upper cover is fixed above the upper cover plate I, the lower cover is fixed below the lower cover plate, linear bearings I are fixed in the upper cover and the lower cover, an angular contact ball bearing I is arranged between the upper end of the sleeve and the upper cover plate I, an angular contact ball bearing I is arranged between the lower end of the sleeve and the lower cover plate I, the upper end of a ball screw in the sleeve passes through the upper cover plate I and then is assembled with the linear bearings I in the upper cover plate, a screw nut is fixedly arranged in the sleeve, the ball screw is in matched connection with a screw nut, a gear ring is fixed on the sleeve, the gear ring is meshed with an input gear of a reversing gear set I, the reversing gear set I is arranged on a gear frame, the gear frame is fixed on the end face of a T-shaped cylinder, the T-shaped cylinder is sleeved in the sleeve at the same time, an output gear in the reversing gear set I is meshed with a middle gear, the middle gear is arranged on the outer circular cylinder face of the sleeve through the cylindrical roller bearing, the lower gear is fixedly arranged on the outer circular gear of the generator, the lower gear is fixedly arranged on the small gear is meshed with the small gear housing of the generator through the small gear, the small gear is fixedly arranged on the small generator housing, the small generator is fixedly arranged on the small generator is meshed with the small generator is fixedly arranged on the small generator housing,
the horizontal movement energy recovery mechanism comprises a double-row angular contact ball bearing, a fixed shaft, a second upper cover plate, a second angular contact ball bearing, a gear groove, a rack, a guide rod, a first bracket, a second linear bearing, a second bracket, a second generator, a gear set frame and a second reversing gear set; the energy capturing mechanism comprises a floater; the second upper cover plate is connected with the gear set frame through bolts, and the gear set frame is fixedly connected with the floats, so that the gear set frame can move along with the floats; the fixed shaft is fixed with the ball screw, install biserial angular contact ball bearing on being located the axis body of gear train frame on the fixed shaft, the guide bar is equipped with to inside the linear bearing, guide bar both ends are installed on support one and support two, support one and support two are fixed on the rack, the one end and the biserial angular contact ball bearing of rack are connected, the gear seat is fixed at the linear bearing terminal surface, reversing gear train two and rack are equipped with to the gear seat inside, reversing gear train two input gear passes through bearing two and installs on the gear seat, guarantee to move the in-process along with the wave, the rack meshes with reversing gear train two input gear all the time, reversing gear train two output gear and generator two fixed connection, turn into the electric energy with mechanical energy.
The multi-degree-of-freedom wave energy recovery device comprises a reversing gear set I, a gear I, a washer I, a screw I, a one-way bearing I, a gear II, a one-way bearing II, a screw II, a washer II and a gear III, wherein the gear I or the gear II is an input gear, and the gear III is an output gear; the first gear shaft is meshed with the second gear shaft, the first gear shaft is connected with the first gear through a one-way bearing, the second gear shaft is connected with the second gear through a one-way bearing, a gasket and a screw I are arranged at the tail end of the first gear shaft, a gasket II and a screw II are arranged at the tail end of the second gear shaft, the first gear and the second gear are respectively meshed with the third gear, and the third gear is meshed with the middle gear to realize one-way rotation output;
the reversing gear set II comprises a stepped shaft, a key, a gear IV, a gear V, a one-way bearing III, a gear VI, a gear shaft III, a gear seven and a bearing fixing nut, the gear IV is an input gear, the gear VI is an output gear, the stepped shaft is arranged on a gear seat through the bearing II, the gear IV is arranged on the stepped shaft through the key, the stepped shaft is arranged on a partition plate of a gear set frame through the bearing, and the gear V is arranged on the stepped shaft through the one-way bearing III; the gear six is meshed with the gear five and is connected with the generator two; the third gear shaft is meshed with the fourth gear and is arranged on a partition plate of the gear set frame through a bearing, washers and bearing fixing nuts are arranged on the third gear shaft and the stepped shaft, the third gear shaft and the stepped shaft are guaranteed to be stably arranged on the partition plate of the gear set frame, the third gear shaft is connected with the seventh gear through a one-way bearing, and the seventh gear is meshed with the sixth gear.
In the multi-degree-of-freedom wave energy recovery device, a vertical vibration energy recovery mechanism is used for absorbing wave vertical energy, the vertical vibration energy is transmitted to a ball screw through a fixed shaft, when the ball screw moves upwards in the vertical direction, a screw nut rotates anticlockwise according to the view from top to bottom, a gear ring rotates anticlockwise, an input gear of a reversing gear set rotates anticlockwise, an output gear of the reversing gear set rotates anticlockwise, a middle gear rotates clockwise, a large gear rotates clockwise, a pinion rotates anticlockwise, and one end of a generator rotates anticlockwise; when the ball screw moves downwards along the vertical direction, the screw nut rotates clockwise from top to bottom, the gear ring rotates clockwise, the first input gear of the reversing gear set rotates clockwise, the first output gear of the reversing gear set rotates anticlockwise, the middle gear rotates clockwise, the large gear rotates clockwise, the small gear rotates anticlockwise, and one end of the generator rotates anticlockwise. The design of the vertical vibration energy recovery mechanism II not only can realize the input of a gear ring (gear ring) and the output of a sun gear (large gear), but also can realize the vertical up-and-down movement of a ball screw, and one end of a generator always rotates anticlockwise, so that the inertia loss is reduced.
In the multi-degree-of-freedom wave energy recovery device, the horizontal movement energy recovery mechanism is used for absorbing wave horizontal energy, the horizontal movement energy enables the reversing gear set II to move along the rack through the gear set frame, when the reversing gear set II approaches the fixed shaft, the gear IV in the reversing gear set II rotates anticlockwise according to the view from top to bottom, the gear VI in the reversing gear set II rotates anticlockwise, and the two ends of the generator rotate anticlockwise; when the second reversing gear set is far away from the fixed shaft, the fourth gear in the second reversing gear set rotates clockwise when seen from top to bottom, the sixth gear in the second reversing gear set rotates anticlockwise, and the two ends of the generator rotate anticlockwise. The design of the horizontal movement energy recovery mechanism can realize that the two ends of the generator always have higher unidirectional rotating speed no matter what direction the floater moves.
According to the multi-degree-of-freedom wave energy recovery device, the upper cover is fixedly connected with the external fixing device through the external fixing frame, so that the energy recovery device designed by the invention can be effectively fixed near a coast, a ship or an island, and the feasibility of an application scene of the wave energy recovery device is ensured.
According to the multi-degree-of-freedom wave energy recovery device, the floats are cylindrical floats, float on the sea surface and move along with waves, and are fixedly connected with the horizontal movement energy recovery mechanism through the bolts.
According to the multi-degree-of-freedom wave energy recovery device, the number of the reversing gear sets I is four, and the three double-row angular contact ball bearings are arranged on the fixed shaft, so that the number of the reversing gear sets II is also three.
According to the multi-degree-of-freedom wave energy recovery device, the end covers are arranged outside each double-row angular contact ball bearing, three nuts are further arranged below each double-row angular contact ball bearing on the fixed shaft, and the double-row angular contact ball bearings are prevented from moving in the vertical direction.
The modeling method of the multi-degree-of-freedom wave energy recovery device comprises the following steps of: the vertical displacement of the ball screw is expressed as:
Figure SMS_1
wherein F is 0 Is the amplitude of wave exciting force, ρ is sea water density, g is gravitational acceleration, A is the cross-sectional area of the float, ω is wave frequency, γ is the phase angle of wave force component, σ z Is the phase angle of the free surface displacement and the relief surface displacement, omega z Is the wave fluctuation circle frequency, delta z Is the dimensionless heave damping coefficient,
the ball screw receives wave excitation force expressed as
Figure SMS_2
Wherein C is the upper diffraction coefficient, H is the wave height, R is the float radius, J 1 (kR) is a first order Bessel function, k is wave number, h is sea water depth, and d (t) is submerged float depth;
the ball screw moves up and down under the action of the floater, and the angular speed of the screw nut is expressed as:
Figure SMS_3
wherein l is the lead of the ball screw;
the angular velocity at one end of the generator is denoted as omega t1 ＝k 1 ω n Wherein k is 1 Is the total gear ratio from the ring gear to the first generator;
the output power of the vertical vibration energy recovery mechanism is expressed as:
Figure SMS_4
wherein C is e1 Is electromagnetic damping of the generator I, R e1 Is the resistance of an external load, R i1 Is the internal resistance of the generator I;
the input power of the vertical vibration energy recovery mechanism is expressed as:
Figure SMS_5
/>
Figure SMS_6
Figure SMS_7
Figure SMS_8
Figure SMS_9
wherein omega 1 Is the angular velocity, eta of the input gear (gear shaft one or gear shaft two) of the reversing gear set one s Is the transmission efficiency of the ball screw, J z1 Is the total rotational inertia of the vertical vibration energy recovery module, C z1 Is the total damping of the vertical vibration energy recovery module, Z 0 Is the amplitude of the vertical displacement of the ball screw;
according to the input power and the output power of the vertical vibration energy recovery module, the energy conversion efficiency of the vertical vibration energy recovery module can be obtained, namely:
Figure SMS_10
the modeling method of the multi-degree-of-freedom wave energy recovery device comprises the following steps of:
the movement of the float is expressed as:
Figure SMS_11
the displacement of the meshing points of the three groups of racks and the gears is
Figure SMS_12
Wherein r is the radius of the two input gears of the reversing gear set, L is the meshing point O when the floats are at the balance position 1 、O 2 、O 3 The distance from the fixed shaft, θ is the angle between the float motion direction and the y-axis, (x) 1 ,y 1 ) Is O in an x-y coordinate system 1 Coordinates of (x) 2 ,y 2 ) Is O in an x-y coordinate system 2 Coordinates of (x) 2 ,y 2 ) Is O in an x-y coordinate system 3 Coordinates of O 1 、O 2 、O 3 The angular speed of the two ends of the generator is expressed as: omega t2_1 ＝k 2 ·|L 1 |′/r、ω t2_2 ＝k 2 ·|L 2 |′/r、ω t2_3 ＝k 2 ·|L 3 |'/r, where k 2 Is the transmission ratio of the reversing gear set II;
the output power of the horizontal movement energy recovery mechanism is expressed as:
Figure SMS_13
wherein C is e2 Is electromagnetic damping of a second generator, R e2 Is the resistance of an external load, R i2 The internal resistance of the second generator;
the input power of the horizontal movement energy recovery mechanism is expressed as:
Figure SMS_14
Figure SMS_15
Figure SMS_16
wherein J is z2 Is the total rotational inertia of the horizontal movement energy recovery mechanism, C z2 The total damping of the horizontal movement energy recovery mechanism is that F is the wave force in the horizontal direction;
according to the input power and the output power of the horizontal movement energy recovery mechanism, the energy conversion efficiency of the horizontal movement energy recovery mechanism can be obtained, namely:
Figure SMS_17
according to the modeling method of the multi-degree-of-freedom wave energy recovery device, the overall energy conversion efficiency of the multi-degree-of-freedom wave energy recovery device is expressed as follows:
Figure SMS_18
the invention has the beneficial effects that:
1. according to the multi-degree-of-freedom wave energy recovery device and the modeling method thereof, the multi-degree-of-freedom wave energy recovery device is fixed near an offshore, a steamship or an island through the external fixing frame, so that the device is simple to install and convenient to overhaul.
2. In the multi-degree-of-freedom wave energy recovery device, a vertical vibration energy recovery mechanism is used for absorbing wave vertical energy and mainly comprises a planetary gear structure and a ball screw. After the screw rod moves vertically, the gear ring can be used as input, the sun gear can be used as output, the speed increasing effect is achieved, the screw rod is ensured to move less in the vertical direction, and one end of the generator can generate larger electric energy.
3. In the multi-degree-of-freedom wave energy recovery device, the horizontal movement energy recovery mechanism is used for absorbing wave horizontal energy and mainly comprises three racks and three groups of reversing gear sets II. The floats move along with the second three groups of steering gear sets, the second three groups of steering gear sets and the third racks are uniformly distributed at intervals, the floats are ensured to move towards any direction, and the second position of the generator can have larger power generation capacity.
4. On the basis of the sea water motion model and the equivalent damping analysis of the wave energy recovery device, a modeling method of the wave energy recovery device with multiple degrees of freedom is provided, a mathematical model of the wave energy recovery device is established, the conversion efficiency of the wave energy recovery device is calculated, and an important reference is provided for modeling similar wave energy recovery devices.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application.
Fig. 1 is a schematic diagram of the overall structure of a multi-degree-of-freedom wave energy recovery device.
Fig. 2 is an exploded view of the vertical vibration energy recovery mechanism.
Fig. 3 is a schematic structural view of the vertical vibration energy recovery mechanism.
Fig. 4 is a schematic diagram of a first reversing gear set.
Fig. 5 is a schematic diagram of a reversing gear set one.
Fig. 6 is a schematic structural view of the horizontal movement energy recovery mechanism.
Fig. 7 is a schematic diagram of the installation of a second reversing gear set.
Fig. 8 is a schematic diagram of the movement of the horizontal movement energy recovery mechanism.
Fig. 9 is a schematic diagram of the motion of the horizontal movement energy recovery mechanism.
Fig. 10 is a graph of power and conversion efficiency of the vertical vibration energy recovery mechanism.
Fig. 11 is a graph of power and conversion efficiency for a horizontal movement energy recovery mechanism.
Table 1 shows the meaning of the parameters of the vertical vibration energy recovery mechanism.
Table 2 shows the meanings of the parameters of the horizontal movement energy recovery mechanism.
The figure indicates:
1-upper cover, 2-linear bearing I, 3-screw nut, 4-sleeve, 5-gear ring, 6-ball screw, 7-gear carrier, 8-reversing gear set I, 9-middle gear, 10-large gear, 11-small gear, 12-cylindrical roller bearing, 13-T-shaped cylinder, 14-lower cover, 15-upper cover plate I, 16-angular ball bearing I, 17-cylinder, 18-generator I, 19-lower cover plate, 20-nut, 21-double row angular ball bearing, 22-end cover, 23-fixed shaft, 24-upper cover plate II, 25-angular ball bearing II, 26-gear groove, 27-rack, 28-guide bar, 29-bracket I, and 30-linear bearing two, 31-fastening screw, 32-bracket two, 33-generator two, 34-gear set rack, 35-float, 36-reversing gear set two, 37-baffle, 801-gear shaft one, 802-gear one, 803-washer one, 804-screw one, 805-one-way bearing one, 806-gear shaft two, 807-gear two, 808-one-way bearing two, 809-screw two, 810-washer two, 811-gear three, 361-stepped shaft, 362-key, 363-gear four, 364-gear five, 365-one-way bearing three, 366-gear six, 367-gear shaft three, 368-gear seven, 369-bearing fixing nut.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Specific embodiments of the present invention are described in detail below with reference to the attached drawing figures:
the invention relates to a multi-degree-of-freedom wave energy recovery device and a modeling method thereof, which are introduced by combining with the overall structure schematic diagram of the multi-degree-of-freedom wave energy recovery device in fig. 1, wherein the multi-degree-of-freedom wave energy recovery device mainly comprises: the device comprises a fixing mechanism I, a vertical vibration energy recovery mechanism II, a horizontal movement energy recovery mechanism III and an energy capturing mechanism IV. The fixing mechanism I and the vertical vibration energy recovery mechanism II are fixedly connected through bolts and are fixed near offshore, steamships or islands. The horizontal movement energy recovery mechanism III and the energy capturing mechanism IV are fixedly connected through bolts, float on the sea surface and move along with waves.
As shown in fig. 2, the fixing mechanism i includes an upper cover 1. The upper cover 1 is fixedly connected with an external fixing device and is fixed near an offshore ship or island, so that the upper cover 1 is ensured to be relatively stationary.
As shown in fig. 2 and 3, the vertical vibration energy recovery mechanism II includes: the device comprises a first linear bearing 2, a screw nut 3, a sleeve 4, a gear ring 5, a ball screw 6, a gear rack 7, a first reversing gear set 8, a middle gear 9, a large gear 10, a small gear 11, a cylindrical roller bearing 12, a T-shaped cylinder 13, a lower cover 14, an upper cover plate 15, an angular contact ball bearing 16, a cylinder 17, a first generator 18 and a lower cover plate 19. The upper cover plate I15, the cylinder 17 and the lower cover plate 19 are fixedly connected to form a shell, the upper cover 1 is fixed above the upper cover plate I15 through bolts, the lower cover 14 is fixed below the lower cover plate 19 through bolts, the linear bearings I2 are fixed in the upper cover 1 and the lower cover 14, an angular ball bearing I16 is arranged between the upper end of the sleeve 4 and the upper cover plate I15, an angular ball bearing I16 is arranged between the lower end of the sleeve 4 and the lower cover plate 19, the upper end of the ball screw 6 in the sleeve 4 passes through the upper cover plate I15 and then is assembled with the linear bearings I2 in the upper cover 1, the lower end of the ball screw 6 passes through the lower cover plate 19 and then is assembled with the linear bearings I2 in the lower cover 14, and the upper end of the ball screw 6 is provided with the linear bearings I2 and is matched and connected with the screw nut 3. The screw nut 3 is fixedly arranged inside the sleeve 4 through bolts, and the gear ring 5 is fixedly arranged in the middle of the sleeve 4 through bolts. The gear ring 5 is meshed with an input gear of a reversing gear set I8, the reversing gear set I8 is arranged on a gear frame 7, the gear frame 7 is fixed on the end face of a T-shaped cylinder 13 through bolts, and the T-shaped cylinder 13 is fixed on a lower cover plate 19 through bolts, so that the position of the gear frame 7 is fixed. The output gear in the first reversing gear set 8 is meshed with the middle gear 9, and the middle gear 9 is arranged on the outer circular surface of the T-shaped cylinder 13 through a cylindrical roller bearing 12. The large gear 10 is fixedly arranged on the lower end face of the middle gear 9 through bolts, meanwhile, the large gear 10 is meshed with the small gear 11, the small gear 11 is connected with the first generator 18, and the first generator 18 is fixed on the lower cover plate 19 through a generator bracket.
As shown in fig. 4, the reversing gear set one 8 includes: gear shaft one 801, gear one 802, washer one 803, screw one 804, one-way bearing one 805, gear shaft two 806, gear two 807, one-way bearing two 808, screw two 809, washer two 810, and gear three 811. The first gear shaft 801 is meshed with the second gear shaft 806, the first gear shaft 801 is connected with the first gear 802 through a first unidirectional bearing 805, the second gear shaft 806 is connected with the second gear 807 through a second unidirectional bearing 808, a gasket 803 and a first screw 804 are arranged at the tail end of the first gear shaft 801, and a second gasket 810 and a second screw 809 are arranged at the tail end of the second gear shaft 806. The first gear 802 and the second gear 807 are respectively meshed with the third gear 811, and the third gear 811 is meshed with the large gear 10, so that unidirectional rotation output is realized.
As shown in fig. 5, when the external counter-clockwise drive gear shaft one 801, the gear shaft one 801 rotates counter-clockwise, and the gear shaft two 806 rotates clockwise. Because the first 805 and second 806 unidirectional bearings can only transmit counterclockwise rotation, the first 802 gear rotates counterclockwise, the third 811 gear rotates clockwise, and the second 807 gear rotates counterclockwise; when the first gear shaft 801 is externally driven clockwise, the first gear shaft 801 rotates clockwise, and the second gear shaft 806 rotates counterclockwise. Since the first 805 and second 806 bearings can only transmit counterclockwise rotation, the second 807 gear rotates counterclockwise, the third 811 gear rotates clockwise, and the first 802 gear rotates counterclockwise. The design of reversing gear set one 8 enables the gear three 811 to always rotate clockwise regardless of whether the external drive is clockwise or counter-clockwise.
As shown in fig. 2, 3, 4 and 5, when the ball screw 6 moves upwards in the vertical direction, the screw nut 3 rotates anticlockwise, the gear ring 5 rotates anticlockwise, the reversing gear set 8 rotates anticlockwise, the middle gear 9 rotates clockwise, the large gear 10 rotates clockwise, the pinion 11 rotates anticlockwise, and the generator 18 rotates anticlockwise; when the ball screw 6 moves downwards in the vertical direction, the screw nut 3 rotates clockwise, the gear ring 5 rotates clockwise when seen from top to bottom, the input gear of the reversing gear set I8 rotates clockwise, the output gear of the reversing gear set I8 rotates anticlockwise, the middle gear 9 rotates clockwise, the large gear 10 rotates clockwise, the small gear 11 rotates anticlockwise, and the first end 18 of the generator rotates anticlockwise. The design of the vertical vibration energy recovery mechanism II not only can realize the input of a gear ring (gear ring 5) and the output of a sun gear (large gear 10), but also can realize the vertical up-and-down movement of a ball screw 6, and one end of a generator always rotates anticlockwise, so that the inertia loss is reduced.
As shown in fig. 6 and 7, the horizontal movement energy recovery mechanism iii includes: nut 20, double row angular contact ball bearing 21, end cover 22, fixed axle 23, upper cover plate two 24, angular contact ball bearing two 25, gear groove 26, rack 27, guide bar 28, support one 29, linear bearing two 30, fastening screw 31, support two 32, generator two 33, gear train frame 34, reversing gear train two 36. The second upper cover plate 24 is connected with the gear set frame 34 through bolts, and the gear set frame 34 is fixedly connected with the floats 35, so that the gear set frame 34 can move along with the floats 35. The fixed shaft 23 and the ball screw 6 are fixed together, and the rack 27 and the fixed shaft 23 are mounted by the double row angular contact ball bearing 21 through the end cap 22 and the nut 20.
The linear bearing 30 is internally provided with a guide rod 28, two ends of the guide rod 28 are arranged on a first bracket 29 and a second bracket 32 through fastening screws 31, and the first bracket 29 and the second bracket 32 are fixed on the rack 27 through bolts. The gear seat 26 is fixed on the end face of the linear bearing 30 through bolts, and a reversing gear set II 36, an input gear and a rack 27 are arranged in the gear seat 26. The input gear of the reversing gear set II 36 is arranged on the gear seat 26 through the bearing II 25, so that the rack 27 is always meshed with the reversing gear set II 36 in the process of moving along with waves. The output gear of the second reversing gear set 36 is fixedly connected with the second generator 33, and converts the mechanical energy into electric energy.
The energy capturing mechanism IV consists of a floater 35, and the floater 35 is fixedly connected with the horizontal movement energy recovery mechanism III through bolts, floats on the sea surface and moves along with waves.
As shown in fig. 8, the reversing gear set two 36 includes: step shaft 361, key 362, gear four 363, gear five 364, one-way bearing three 365, gear six 366, gear shaft three 367, gear seven 368, bearing fixing nut 369. The stepped shaft 361 is mounted on the gear seat 26 through the bearing two 25, and the gear four 363 is mounted on the stepped shaft 361 through the key 362. The stepped shaft 361 is mounted on the partition plate 37 through a bearing, and the gear five 364 is mounted on the stepped shaft 361 through a one-way bearing three 365; gear six 366 meshes with gear five 364 and is connected to generator two 33.
The third gear shaft 367 is meshed with the fourth gear 363 and is arranged on the partition plate 37 through a bearing, washers and bearing fixing nuts 369 are arranged on the third gear shaft 367 and the stepped shaft 361, and the third gear shaft 367 and the stepped shaft 361 are guaranteed to be stably arranged on the partition plate 37. The third gear shaft 367 is connected with the seventh gear 368 through a one-way bearing, and the seventh gear 368 is meshed with the sixth gear 366. Since the reversing principle of the reversing gear set two 36 and the reversing gear set one 8 is the same and only the installation mode is different, the reversing gear set two 36 is not described here again.
As shown in fig. 6, 7, 8 and 9, when the fixed shaft 23 approaches the second reversing gear set 36, the fourth gear 363 in the second reversing gear set 36 rotates counterclockwise when viewed from top to bottom, the sixth gear 366 in the second reversing gear set 36 rotates counterclockwise, and the second end 33 of the generator rotates counterclockwise; when the fixed shaft 23 is far away from the second reversing gear set 36, the fourth gear 363 in the second reversing gear set 36 rotates clockwise when seen from top to bottom, the sixth gear 366 in the second reversing gear set 36 rotates anticlockwise, and the second end 33 of the generator rotates anticlockwise. The design of the horizontal movement energy recovery mechanism III can realize that the two ends 33 of the generator always have higher unidirectional rotating speed no matter what direction the floater moves.
Table 1 shows the meanings of the parameters of the vertical vibration energy recovery mechanism II
TABLE 1
Figure SMS_19
/>
Figure SMS_20
Table 2 shows the meanings of the parameters of the horizontal movement energy recovery mechanism III
Figure SMS_21
The wave models with different periods are selected as the input of a vertical vibration energy recovery mechanism II and a horizontal movement energy recovery mechanism III;
according to the number of teeth and the rotational inertia of each gear, the meshing damping between the meshing gears, the rotational inertia of each generator rotor and the electromagnetic damping, the total rotational inertia and the total damping of the vertical vibration energy recovery mechanism II and the horizontal movement energy recovery mechanism III are obtained; the input power of the vertical vibration energy recovery mechanism II and the horizontal movement energy recovery mechanism III is obtained according to the total rotational inertia and the total damping of the vertical vibration energy recovery mechanism II and the horizontal movement energy recovery mechanism III which are transmitted among the gears
According to the input of the vertical vibration energy recovery mechanism II and the horizontal movement energy recovery mechanism III and the total transmission ratio of the mechanisms, the output power of the first 18 end of the generator and the output power of the second 33 end of the generator are obtained;
and the energy conversion efficiency of the vertical vibration energy recovery mechanism II and the horizontal movement energy recovery mechanism III can be obtained according to the input power and the output power of the vertical vibration energy recovery mechanism II and the horizontal movement energy recovery mechanism III.
As shown in fig. 10, the graph of input power, output power and conversion efficiency of the vertical vibration energy recovery mechanism under different frequency wave excitation verifies the feasibility of modeling of the vertical vibration energy recovery mechanism II.
As shown in fig. 11, the input power, output power and conversion efficiency graphs of the horizontal movement energy recovery mechanism under the wave excitation of the same frequency and different included angles verify the modeling feasibility of the horizontal movement energy recovery mechanism iii.

Claims (9)

1. The utility model provides a multi freedom wave energy recovery unit which characterized in that: the device comprises a fixing mechanism (I), a vertical vibration energy recovery mechanism (II), a horizontal movement energy recovery mechanism (III) and an energy capturing mechanism (IV), wherein the fixing mechanism (I) is fixed on the sea through an external fixing frame, the vertical vibration energy recovery mechanism (II) is fixedly connected with the fixing mechanism (I) through bolts, the horizontal movement energy recovery mechanism (III) and the energy capturing mechanism (IV) float on the sea, and the energy capturing mechanism (IV) converts wave energy of wave motion into mechanical energy; the vertical vibration energy recovery mechanism (II) and the horizontal movement energy recovery mechanism (III) convert mechanical energy captured by the energy capturing mechanism (IV) into electric energy;
the fixing mechanism (I) comprises an upper cover (1); the vertical vibration energy recovery mechanism (II) comprises a first linear bearing (2), a screw nut (3), a sleeve (4), a gear ring (5), a ball screw (6), a gear rack (7), a first reversing gear set (8), a middle gear (9), a large gear (10), a small gear (11), a cylindrical roller bearing (12), a T-shaped cylinder (13), a lower cover (14), an upper cover plate (15), an angular contact ball bearing (16), a cylinder (17), a first generator (18) and a lower cover plate (19); the upper cover plate I (15), the cylinder body (17) and the lower cover plate (19) are fixedly connected to form a shell, the upper cover (1) is fixed above the upper cover plate I (15), the lower cover (14) is fixed below the lower cover plate (19), the linear bearings I (2) are fixed in the upper cover (1) and the lower cover (14), an angular contact ball bearing I (16) is arranged between the upper end of the sleeve (4) and the upper cover plate I (15), an angular contact ball bearing I (16) is arranged between the lower end of the sleeve (4) and the lower cover plate (19), the upper end of a ball screw (6) in the sleeve (4) passes through the upper cover plate I (15) and then is assembled with the linear bearing I (2) in the upper cover (1), the lower end of the ball screw (6) passes through the lower cover plate (19) and then is assembled with the linear bearing I (2) in the lower cover (14), the screw nut (3) is fixedly arranged in the sleeve (4), the ball screw nut (6) is matched and connected with the upper cover plate I (15), the gear ring (5) is fixed on the sleeve (4), the upper end of the ball screw (5) and the upper cover (8) are meshed with a reversing gear carrier (7) on the reversing cylinder (13) and the reversing cylinder (7) is fixed on the upper end face of the reversing cylinder (13), realizing the fixation of the position of a gear frame (7), the T-shaped cylinder (13) simultaneously covers the lower part of the sleeve (4) in the T-shaped cylinder, an output gear in the reversing gear set I (8) is meshed with the middle gear (9), the middle gear (9) is arranged on the outer circular surface of the T-shaped cylinder (13) through a cylindrical roller bearing (12), a large gear (10) is fixedly arranged on the lower end surface of the middle gear (9), meanwhile, the large gear (10) is meshed with a small gear (11), the small gear (11) is connected with a generator I (18) outside the shell, the generator I (18) is fixed on a lower cover plate (19) through a generator bracket,
the horizontal movement energy recovery mechanism (III) comprises a double-row angular contact ball bearing (21), a fixed shaft (23), an upper cover plate II (24), an angular contact ball bearing II (25), a gear groove (26), a rack (27), a guide rod (28), a support I (29), a linear bearing II (30), a support II (32), a generator II (33), a gear set frame (34) and a reversing gear set II (36); the energy capturing mechanism (IV) comprises a floater (35); the second upper cover plate (24) is connected with the gear set frame (34) through bolts, the gear set frame (34) is fixedly connected with the floats (35), and the gear set frame (34) can move along with the floats (35); the fixed shaft (23) is fixed with the ball screw (6), the double-row angular contact ball bearing (21) is arranged on the shaft body, which is positioned in the gear set frame (34), on the fixed shaft (23), the guide rod (28) is arranged in the linear bearing (30), two ends of the guide rod (28) are arranged on the first bracket (29) and the second bracket (32), the first bracket (29) and the second bracket (32) are fixed on the rack (27), one end of the rack (27) is connected with the double-row angular contact ball bearing (21), the gear seat (26) is fixed on the end face of the linear bearing (30), the reversing gear set (36) and the rack (27) are arranged in the gear seat (26), the input gear of the reversing gear set (36) is arranged on the gear seat (26) through the second bearing (25), the rack (27) is always meshed with the input gear of the reversing gear set (36), and the output gear of the reversing gear set (36) is fixedly connected with the generator (33), so that mechanical energy is converted into electric energy.
2. The multi-degree of freedom wave energy recovery device of claim 1 wherein: the reversing gear set I (8) comprises a gear shaft I (801), a gear I (802), a gasket I (803), a screw I (804), a one-way bearing I (805), a gear shaft II (806), a gear II (807), a one-way bearing II (808), a screw II (809), a gasket II (810) and a gear III (811), wherein the gear shaft I (801) or the gear shaft II (806) is an input gear, and the gear III (811) is an output gear; the gear shaft I (801) is meshed with the gear shaft II (806), the gear shaft I (801) is connected with the gear I (802) through a one-way bearing I (805), the gear shaft II (806) is connected with the gear II (807) through a one-way bearing II (808), a gasket (803) and a screw I (804) are arranged at the tail end of the gear shaft I (801), a gasket II (810) and a screw II (809) are arranged at the tail end of the gear shaft II (806), the gear I (802) and the gear II (807) are respectively meshed with the gear III (811), and the gear III (811) is meshed with the middle gear (9) to realize one-way rotation output;
the reversing gear set II (36) comprises a stepped shaft (361), a key (362), a gear IV (363), a gear V (364), a one-way bearing III (365), a gear VI (366), a gear V (367), a gear V (368) and a bearing fixing nut (369), wherein the gear IV (363) is an input gear, the gear VI (366) is an output gear, the stepped shaft (361) is mounted on a gear seat (26) through a bearing II (25), the gear IV (363) is mounted on the stepped shaft (361) through a key (362), the stepped shaft (361) is mounted on a partition plate (37) of the gear set frame (34) through a bearing, and the gear V (364) is mounted on the stepped shaft (361) through the one-way bearing III (365); gear six (366) meshes with gear five (364) and is connected with generator two (33); the gear shaft III (367) is meshed with the gear IV (363) and is arranged on a partition plate (37) of the gear set frame (34) through a bearing, washers and bearing fixing nuts (369) are arranged on the gear shaft III (367) and the stepped shaft (361), the gear shaft III (367) and the stepped shaft (361) are guaranteed to be stably arranged on the partition plate (37) of the gear set frame (34), the gear shaft III (367) is connected with the gear seven (368) through a one-way bearing, and the gear seven (368) is meshed with the gear six (366).
3. The multi-degree of freedom wave energy recovery device of claim 1 or 2, wherein: the upper cover (1) is fixedly connected with the external fixing device through the external fixing frame, so that the energy recovery device designed by the invention can be effectively fixed near a coast, a ship or an island, and the feasibility of the application scene of the wave energy recovery device is ensured.
4. The multi-degree of freedom wave energy recovery device of claim 1 or 2, wherein: the float (35) is a cylindrical float, floats on the sea surface, moves along with the wave, and is fixedly connected with the horizontal movement energy recovery mechanism (III) through bolts.
5. The multi-degree of freedom wave energy recovery device of claim 1 wherein: the number of the reversing gear sets I (8) is four, and three double-row angular contact ball bearings (21) are arranged on the fixed shaft (23), so that the number of the reversing gear sets II (36) is also three, and the interval angle between every two reversing gear sets II (36) is 120 degrees.
6. The multi-degree of freedom wave energy recovery device of claim 5 wherein: an end cover (22) is arranged outside each double-row angular contact ball bearing (21), and three nuts (20) are further arranged below each double-row angular contact ball bearing (21) on the fixed shaft (23) to prevent the double-row angular contact ball bearings (21) from moving in the vertical direction.
7. The modeling method of the multi-degree-of-freedom wave energy recovery device based on the claim 5 is characterized by comprising the following steps: the energy conversion efficiency calculation process of the vertical vibration energy recovery mechanism (II) comprises the following steps: the vertical displacement of the ball screw (6) is expressed as:
Figure FDA0003984315370000031
wherein,,F 0 is the amplitude of wave exciting force, ρ is sea water density, g is gravitational acceleration, A is the cross-sectional area of the float, ω is wave frequency, γ is the phase angle of wave force component, σ z Is the phase angle of the free surface displacement and the relief surface displacement, omega z Is the wave fluctuation circle frequency, delta z Is the dimensionless heave damping coefficient,
the wave excitation force received by the ball screw (6) is expressed as:
Figure FDA0003984315370000041
wherein C is the upper diffraction coefficient, H is the wave height, R is the float radius, J 1 (kR) is a first order Bessel function, k is wave number, h is sea water depth, and d (t) is submerged float depth;
the ball screw (6) moves up and down under the action of the floater (35), and the angular speed of the screw nut is expressed as:
Figure FDA0003984315370000042
wherein l is the lead of the ball screw (6); />
The angular velocity of the generator one (18) end is denoted omega t1 ＝k 1 ω n Wherein k is 1 Is the total gear ratio from the gear ring (5) to the first generator (18);
the output power of the vertical vibration energy recovery mechanism (II) is expressed as:
Figure FDA0003984315370000043
wherein C is e1 Is the electromagnetic damping of the generator I (18), R e1 Is the resistance of an external load, R i1 Is the internal resistance of the generator one (18);
the input power of the vertical vibration energy recovery mechanism (II) is expressed as:
Figure FDA0003984315370000044
Figure FDA0003984315370000045
Figure FDA0003984315370000046
Figure FDA0003984315370000047
Figure FDA0003984315370000048
wherein omega 1 Is the angular velocity, eta of the input gear (gear shaft one (801) or gear shaft two (806)) of the reversing gear set one (8) s Is the transmission efficiency of the ball screw (6), J z1 Is the total moment of inertia of the vertical vibration energy recovery module (II), C z1 Is the total damping of the vertical vibration energy recovery module (II), Z 0 Is the amplitude of the vertical displacement of the ball screw (6);
according to the input power and the output power of the vertical vibration energy recovery module (II), the energy conversion efficiency of the vertical vibration energy recovery module (II) can be obtained, namely:
Figure FDA0003984315370000051
8. the modeling method of the multi-degree-of-freedom wave energy recovery device according to claim 7, wherein: the horizontal movement energy recovery mechanism (III) energy conversion efficiency calculation process is as follows:
the movement of the float (35) is expressed as:
Figure FDA0003984315370000052
the displacement of the meshing points of the three groups of racks and the gears is
Figure FDA0003984315370000053
Wherein r is the radius of the input gear of the reversing gear set II (36), L is the engagement point O when the float (35) is in the equilibrium position 1 、O 2 、O 3 The distance from the fixed shaft (23), theta is the included angle between the motion direction of the floater (35) and the y axis, (x) 1 ,y 1 ) Is O in an x-y coordinate system 1 Coordinates of (x) 2 ,y 2 ) Is O in an x-y coordinate system 2 Coordinates of (x) 2 ,y 2 ) Is O in an x-y coordinate system 3 Coordinates of O 1 、O 2 、O 3 The end angular velocity of the second generator (33) is expressed as: omega t2_1 ＝k 2 ·|L 1 |′/r、ω t2_2 ＝k 2 ·|L 2 |′/r、ω t2_3 ＝k 2 ·|L 3 |'/r, where k 2 Is the transmission ratio of the reversing gear set II (36);
the output power of the horizontal movement energy recovery mechanism (III) is expressed as:
Figure FDA0003984315370000054
wherein C is e2 Is electromagnetic damping of the second generator (33), R e2 Is the resistance of an external load, R i2 Is the internal resistance of the generator two (33);
the input power of the horizontal movement energy recovery mechanism (III) is expressed as:
Figure FDA0003984315370000055
Figure FDA0003984315370000061
Figure FDA0003984315370000062
wherein J is z2 Is the total moment of inertia, C, of the horizontal movement energy recovery mechanism (III) z2 Is the total damping of the horizontal movement energy recovery mechanism (III), and F is the wave force in the horizontal direction;
according to the input power and the output power of the horizontal movement energy recovery mechanism (III), the energy conversion efficiency of the horizontal movement energy recovery mechanism (III) can be obtained, namely:
Figure FDA0003984315370000063
9. the modeling method of the multi-degree-of-freedom wave energy recovery device according to claim 8, wherein the modeling method comprises the following steps: the overall energy conversion efficiency of the multi-degree-of-freedom wave energy recovery device is expressed as:
Figure FDA0003984315370000064
/>
CN202211560106.8A 2022-12-07 2022-12-07 Multi-degree-of-freedom wave energy recovery device and modeling method thereof Pending CN116123014A (en)

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