EP3532725A1

EP3532725A1 - Airborne device

Info

Publication number: EP3532725A1
Application number: EP17804227.1A
Authority: EP
Inventors: Rogelio LOZANO
Original assignee: Institut Polytechnique de Grenoble
Current assignee: Institut Polytechnique de Grenoble
Priority date: 2016-10-31
Filing date: 2017-10-24
Publication date: 2019-09-04
Also published as: FR3058188A1; US20200056583A1; JP2019534418A; FR3058188B1; WO2018078283A1; CN109996954A

Abstract

The invention relates to an airborne device (10) comprising at least three airfoils (12) and a linking device (18), the airfoils being connected together by first cables (14, 16), each airfoil further being connected to the linking device (18) by a second cable (20), the linking device being connected to a third cable (22) intended for being connected to a base (46, 48), the first, second and third cables being tensioned when the airborne device is placed in the wind, the device further comprising, for each airfoil, at least one first rigid lever element (42) connected to at least one of the first cables and connected to the airfoil by a first electromechanical linking system (53) having at least one degree of rotational freedom and designed for modifying the orientation of the first lever element relative to the airfoil.

Description

AIRBORNE DEVICE

The present patent application claims the priority of the French patent application FR16 / 60569 which will be considered as an integral part of the present description.

Field

The present application relates to an airborne device for converting the kinetic energy of the wind into mechanical energy.

Presentation of the prior art

Airborne devices used to convert kinetic wind energy into mechanical energy typically include a kite or aerostat. One advantage is that such airborne devices can be used at high altitudes where the winds are generally stronger and / or more regular than at lower altitudes.

The airborne device can be used for traction of a vehicle, for example a boat. The airborne device can be used to drive an electric generator. The electric generator can be carried by the airborne device or be located on the ground. The airborne device then forms an airborne wind turbine that allows the conversion of the kinetic energy of the wind into electrical energy. The patent application WO2016 / 012695 describes an airborne device comprising at least three load-bearing wings and a connecting device. The wings are interconnected by first flexible cables. Each wing is further connected to the connecting device by a second flexible cable. The connecting device is connected to a base on the ground by a third cable. The first, second and third cables are stretched when the airborne device is put to the wind.

An advantage of such an airborne device is that the device can have a reduced weight and reduced dimensions when the wings are not deployed, which facilitates transport while, in operation, the wings can be brought to a great distance. each other to describe an outer circle of large diameter, equal to or greater than the outer circle described by the blades of a conventional wind turbine.

A disadvantage of such an airborne device is that it can be difficult to precisely control the orientation of the wings in operation.

summary

An object of an embodiment is to overcome all or part of the disadvantages of airborne devices described above used for converting the kinetic energy of wind into mechanical energy.

Another object of an embodiment is that the airborne device has a simple structure.

Another object of an embodiment is that the operating orientation of each wing of the airborne device can be controlled in a simple manner.

Thus, an embodiment provides an airborne device comprising at least three load-bearing wings and a connecting device, the wings being interconnected by first cables intended to work only in tension, each wing being, in addition, connected to the connection by a second cable intended to work only in tension, the connecting device being connected to a third cable intended to be connected to a base, the first, second and third cables being tensioned when the airborne device is put to the wind, the device comprising, in addition, for each wing at least a first element rigid lever connected to at least one of the first cables and connected to the wing by a first electromechanical connection system having at least one degree of freedom in rotation and adapted to change the orientation of the first lever element relative to the wing.

According to one embodiment, the first electromechanical link system has at least two degrees of freedom in rotation.

According to one embodiment, the first electromechanical link system has at least two degrees of freedom in rotation along axes perpendicular to 10 ~ 6 pres.

According to one embodiment, the first lever element comprises at least a first tubular portion comprising first and second opposite ends, one of the first cables being connected to the first end.

According to one embodiment, the first lever element comprises at least a second tubular portion having third and fourth ends, another of the first cables being connected to the third end, the first and second tubular portions being joined to the second and fourth ends , inclined relative to each other and connected to the first electromechanical link system at the second and fourth ends.

According to one embodiment, the first tubular portion is rectilinear, another of the first cables being connected to the second end, the first tubular portion being connected in central part to the first electromechanical connection system.

According to one embodiment, the airborne device further comprises, for each wing, at least one second rigid lever element connected to one of the second cables and connected to the wing by a second electromechanical connection system having at least one degree of freedom in rotation and adapted to change the orientation of the second lever element relative to the wing.

According to one embodiment, the second electromechanical link system has at least two degrees of freedom in rotation.

According to one embodiment, the second electromechanical link system has at least two degrees of freedom in rotation along axes perpendicular to 10 ~ 6 pres.

According to one embodiment, the airborne device does not comprise rigid reinforcement connecting the flanges together and intended to be subjected, in addition, to efforts other than tensile forces.

According to one embodiment, each wing is connected to at least two other wings by at least two first cables.

According to one embodiment, the airborne device comprises at least two pairs of wings, the two wings of each pair being interconnected by one of the first cables, each wing of each pair being connected to at least one of wings of the other pair by another of the first cables.

According to one embodiment, the wingspan of each wing is between 5 m and 50 m.

According to one embodiment, at least one of the wings comprises an extrados connected to a lower surface by a leading edge, a trailing edge and first and second lateral edges and the first lever element is connected to the lateral edge of the innermost wing of the airborne device when the airborne device is put to the wind.

According to one embodiment, the second lever element is connected to the underside of the wing.

According to one embodiment, the first, second and third cables are flexible cables.

Brief description of the drawings

These and other features and advantages will be discussed in detail in the following description of modes of particular embodiment made in a non-limiting manner in relation to the attached figures among which:

Figure 1 is a perspective view, partial and schematic, of an embodiment of an airborne device;

Figure 2 is a top view, partial and schematic, of an embodiment of a wing of the airborne device shown in Figure 1;

Figures 3 and 4 are respectively a perspective view and a sectional view, partial and schematic, of a portion of the airborne device of Figure 1 illustrating an embodiment of a lever element;

Figure 5 is a perspective view, partial and schematic, of a portion of the airborne device of Figure 1 illustrating another embodiment of a lever element;

Figs. 6A, 6B and 6C are side views, partial and schematic, of embodiments of the cable arrangement between two lever members as shown in Fig. 5;

Figure 7 is a partial schematic perspective view of a portion of the airborne device of Figure 1 illustrating an embodiment of another lever element;

Figure 8 is a side view, partial and schematic, of two wings of the airborne device of Figure 1 illustrating the control of the orientation of the wings;

Figure 9 is a perspective view in partial section of a wing illustrating an embodiment of a control system of the inclination of the lever element shown in Figure 3;

Figures 10A and 10B are more detailed perspective views, in two opposite directions, of an embodiment of the control system shown in Figure 9;

Fig. 11 is a partially sectioned perspective view of a wing illustrating an embodiment of a tilt control system of the lever member shown in Fig. 7; Figures 12 and 13 are respectively a perspective view and a front view, partial and schematic, of another embodiment of a wing of the airborne device shown in Figure 1;

Figure 14 is a top view, partial and schematic, of another embodiment of a wing of the airborne device shown in Figure 1;

Figures 15 and 16 are sectional, partial and schematic views of embodiments of a cable of the airborne device shown in Figure 1;

FIG. 17 is a partial schematic perspective view of an electricity generation system comprising the airborne device shown in FIG. 1; and

FIG. 18 is a partial schematic perspective view of a transport system comprising the airborne device shown in FIG.

detailed description

The same elements have been designated by the same references in the various figures. For the sake of clarity, only the elements useful for understanding the described embodiments have been shown and are detailed. Unless otherwise specified, the terms "approximately", "substantially", and "of the order of" mean within 10%, preferably within 5%.

In the remainder of the description, the average diameter of the cable is the diameter of the circle inscribed in the cross-section of the cable. When the straight section of the cable is circular, the average diameter of the cable corresponds to the diameter of the cross section of the cable. When the cross section of the cable is profiled, the average diameter of the cable corresponds to the diameter of the circle inscribed in the profile, and is substantially equal to the thickness of the profile.

FIG. 1 represents an embodiment of an airborne device 10. The airborne device 10 comprises at least three wings, for example from three to eight wings. Preferably, the airborne device comprises at least four wings 12. Advantageously, the airborne device 10 comprises an even number of wings 12. The wings 12 are interconnected by cables or beams 14, 16 intended to work only in traction Operating. According to one embodiment, the cables 14, 16 are flexible cables. A flexible cable is a cable that, under the action of an external force, can deform, including bending, without breaking or tearing. The minimum bend radius that can be applied to the cable without causing irreversible deformation can depend on the diameter of the cable. In general, a radius of curvature greater than or equal to 3 m can be applied to the cable without causing irreversible deformation. For a cable having an average diameter greater than or equal to 1.5 cm, a radius of curvature greater than or equal to 1 m can be applied to the cable without causing irreversible deformation. For a cable having an average diameter greater than or equal to 3 mm, a radius of curvature greater than or equal to 30 cm may be applied to the cable without causing irreversible deformation. There is no binding frame subjected to efforts other than tensile forces connecting the wings 12 between them. For example, in the case where the airborne device 10 comprises four wings 12, each wing 12 is connected to each adjacent wing by a flexible cable 14 and is connected to the opposite wing by a flexible cable 16. In addition, each wing 12 is connected to a connecting device 18 by a flexible cable 20. The connecting device 18 is connected to an anchoring system, not shown, by a flexible cable 22. According to the intended application, the system of Anchorage may be on the ground, on a buoy, or on a ship. According to one embodiment, the connecting device 18 comprises a first part 24 to which the cables 20 are fixed and connected to a second part

26 to which is fixed the cable 22. The first portion 24 is adapted to pivot relative to the second portion 26 about the axis of the cable 22. The connecting device 18 may correspond to a swivel. Each wing 12 corresponds to a supporting wing comprising a lower surface 30 connected to an upper surface 32 by a leading edge 34, a trailing edge 36, an outer lateral edge 38 facing outwardly of the device 10, and a lateral edge 40 inside, oriented towards the inside of the device 10. Each wing 12 may correspond to a profiled wing, for example according to a NACA profile.

According to one embodiment, the device 10 comprises, for each wing 12 and for each cable 14, a lever element 42 connecting the wing 12 to the cable 14. The device 10 further comprises, for each wing 12, an element lever 44 connecting the wing 12 to the cable 16 when the cable 16 is present. The device 10 further comprises, for each wing 12, a lever element 46 connecting the wing 12 to the cable 20. According to one embodiment, for each wing 12, the lever elements 42 which connect the wing 20 to the 14 cables are confused and form a lever element 42 monobloc. Each wing 12 further comprises means, not visible in FIG. 1, for modifying the inclination of each lever element 42, 44 and 46 with respect to the wing 12.

Each lever element 42, 44 and 46 is mounted on the wing 12 by an electromechanical connection system not visible in Figure 1. According to one embodiment, each lever element 42, 44 and 46 is mounted on the wing 12 by an electromechanical connection system with at least one degree of freedom in rotation, preferably by an electromechanical connection system with at least two degrees of freedom in rotation. The electromechanical connection system may not have a degree of freedom in translation or may also have at least one degree of freedom in translation.

Each lever element 42, 44 and 46 may have the general shape of an optionally straight tube, one end of the tube being connected to the flange 12 and the associated cable extending from the opposite end of the tube.

According to one embodiment, each cable 14, 16 or 20 is attached at one end to the lever element 42, 44 and 46 corresponding. Alternatively, for at least one of the cables 14, 16 or 20, the corresponding lever element 42, 44 and 46 is traversed by a cylindrical opening in which the associated cable extends, the end of the cable can then be attached to a piece contained in the wing 12.

For each wing 12, the lever elements 42 and 44 are preferably connected substantially at the same point of the inner lateral edge 40 of the wing 12. In addition, for each wing 12, the lever element 46 is preferably connected at the wing 12 at a point on the underside 30 away from the leading edge 34, the trailing edge, the outer side edge 38 and the inner side edge 40. Alternatively, the lever element 46 can be connected to the inner side edge 40.

The operation of the airborne device 10 is as follows. Under the action of the wind, shown schematically by the arrow 47, the wings 12 move under the effect of lift forces. The centrifugal forces tend to spread the wings 12 radially, so that the cables 14 and 16 are stretched continuously. A rotation movement of the wings 12 is then obtained, which is represented in FIG. 1 by the arrow 48. The lift forces exerted on each wing 12 result in a pull of the cables 20, and therefore by a traction on the cable 22 This results in a conversion of the kinetic energy of the wind 47 into mechanical traction energy of the cable 22. The wings 12 of the airborne device 10 rotate in the manner of the blades of a wind turbine on the ground. The present embodiment is based on the fact that, for a conventional wind turbine on the ground, the parts of the blades, which in operation are the most effective for capturing the kinetic energy of the wind, are located near the free ends of the blades, there where the driving torque due to the wind is the highest. The wings 12 are therefore located in the useful areas where the wind-driven driving torque 47 is greatest and the cables 14, 16, 20 are located in the areas where the wind-driven driving torque 47 is reduced. As a result, the surface described by the wings 12 during their movement can be important while the airborne device has a simple structure and a reduced mass.

Preferably, the maximum operating diameter of the airborne device 10 is between 20 m and 200 m, preferably between 100 m and 150 m. The weight of the airborne device 10, not counting the cable 22, can be between 20 kg and 20 tons. The rotational speed in operation of the wings can be between 1.5 and 200 revolutions per minute.

During the rotation of the wings 12, the inclinations of the lever members 42, 44 and / or 46 may be modified. This results in a modification of the forces exerted on the cables 14, 16 and / or 20, resulting in a modification of the positions and relative orientations of the wings 12 relative to each other.

The use of the lever elements 42 and 44 advantageously allows, for each wing 12, the cables 14, 16 apply on the wing 12 a global traction force along an axis which substantially cuts the center of gravity of the wing 12. This improves the aerodynamic performance of the wing 12 relative to a wing for which a change in the orientation of the wing is obtained only by fins provided on the wing. Indeed, in the latter case, it may result from the actuation of the fins that the cables 14, 16 apply on the wing 12 a global traction force along an axis that does not cut the center of gravity of the wing 12 , which generates a torque tending to align the wing 12 with the axis of the overall tensile strength of the cables. As a result, the fins must be actuated continuously to maintain a modified orientation of the wing, which is less efficient from an aerodynamic point of view.

FIG. 2 is a schematic view of an embodiment of one of the wings 12 of the airborne device 10 shown in FIG. 1. Each wing 12 of the airborne device 10 may have substantially the structure shown in FIG. 4. The wing 12 forms a partially hollow enclosure and we have schematically shown in Figure 4 several elements arranged in the internal volume of the wing 12. The wing 12 is, for example, made of composite materials. The cables 14, 16, 20 may be made of synthetic fibers, in particular the product marketed under the name Kevlar. Each cable 14, 16, 20 has a mean diameter of between 3 mm and 15 cm. The lever elements 42, 44, 46 may be made of synthetic fibers, for example carbon fibers or Kevlar.

In the remainder of the description, the longitudinal axis D of the wing is called an axis perpendicular to the two most distant parallel planes, one of which is tangential to the outer lateral edge 38 and the other tangential to the inner lateral edge 40. The wingspan E of the wing 12 is the distance between these planes. The span E is between 5 m and 50 m, preferably between 25 m and 35 m. In addition, a transverse axis T of the wing is called an axis in a plane perpendicular to the longitudinal axis D and which extends between the leading edge and the rear leading edge of the wing. The wing cord 12, measured in a plane perpendicular to the longitudinal axis D, may not be constant along the axis D. According to one embodiment, the rope increases from the inner side edge 40 to the longitudinal axis D. at a maximum rope and then decreases to the outer side edge 38. The maximum rope is between 0.25 m and 5 m, preferably between 1.25 m and 3.5 m. The maximum cord is located substantially between 10% and 45%, preferably between 15% and 30%, of the span from the inner side edge 40. At 50% of the span from the inner side edge 40, the ratio between the rope and the maximum rope is between 60% and 100%, preferably between 70% and 90%. The maximum thickness between the upper surface and the lower surface is between 7% and 25% of the value of the rope at this location, preferably between 8% and 15% of the value of the rope at this location. The wing 12 may comprise a twisting, that is to say that the angle between the rope and a reference plane, or wedging angle, may vary along the axis D.

Wing 12 includes: a control module 50, comprising for example a processor;

sensors 52, connected to the control module 50, for example a speed sensor, a position sensor of the wing, for example a GPS location system (acronym for Global Positioning System), gyroscopes, accelerometers, a Pitot tube, magnetometers and a barometer;

electromechanical link systems 53, 54, 55, 56, each system 53, 54, 55, 56 being controlled by the control module 50 and being connected to one of the lever members 42, 44, 46;

at least one movable trailing edge flap, two movable flaps 57, 58 being shown in Figure 4;

a remote communication module 59 connected to the control module 50; and

an accumulator battery 60 for supplying the control module 50, drive systems 53, 54, 55, 56 and actuating motors of the fins 57, 58.

Alternatively, the battery 60 may be replaced by an electric generator. As a variant, the electrical energy for supplying the control module 50, the motors 53, 54, 55, 56 for actuating the lever elements 42, 44, 46 and the actuating motors of the fins 57, 58 can be brought to each wing via the cables 20 and 22.

Each drive system 53, 54, 55, 56 is adapted to change the inclination of the corresponding lever element 42, 44, 46 relative to the wing 12.

According to one embodiment, the control module 50 of each wing 12 is adapted to exchange signals remotely, via the communication module 59, with the control modules 50 of the other wings 12, for example by a method remote transmission of data of the high frequency type. The control module 50 of each wing 12 may, in addition, be adapted to exchange signals remotely, by via the communication module 59, with a station on the ground.

The control of the incidence and / or the rolling of each wing 12 is carried out by the control module 50 by modifying the inclination of the fins 57, 58 and by modifying the inclination of the lever elements 42, 44, 46, the cables 14, 16, 20 remaining tensioned in operation between the flanges 12 or between the flanges 12 and the connecting device 18. According to one embodiment, the incidence of each flange 12 may be cyclically modified during a flight. wing revolution 12. According to another embodiment, in the case where the airborne device 10 is connected to an electric generator 46, the operation of the electric generator 46 may comprise an alternation of first and second phases. In each first phase, the impacts of the wings 12 are controlled to increase the tensile forces exerted by the airborne device 10, the airborne device 10 away from the electric generator 46. In each second phase, the impacts of the wings 12 are controlled for reduce the tensile forces exerted by the airborne device 10 on the cable 22 so as to bring the airborne device 10 of the generator 46 by spending a minimum of energy.

According to one embodiment, the fins 57, 58 may not be present. The control of the incidence and / or roll of each wing 12 is then performed by the control module 50 by modifying only the inclination of the lever elements 42, 44, 46. The presence of the fins 57, 58 can nevertheless be advantageous. Indeed, they can make it possible to obtain a rapid change in the incidence and / or the rolling of the wings 12.

Figures 3 and 4 are respectively a perspective view and a sectional view, partial and schematic, of a portion of the airborne device 10 shown in Figures 1 and 2 and illustrating an embodiment of the lever element 42

In the present embodiment, the lever element 42 has a general shape of "V" comprising two branches 61 and 62, for example of tubular and rectilinear shape, joined to a end 64 connected to the inner lateral edge 40 of the wing 12 by the electromechanical connection system 53. According to one embodiment, the angle between the two branches 61 and 62 is between 66 ° and 150 °, and depends in particular on number of wings 12. The length of each branch 61, 62 may be between 50 cm and 5 m.

The electromechanical linkage system 53 comprises at least two degrees of freedom in rotation along axes AR1 and AR2. One of the cables 14 is connected to the end of the branch 61 opposite to the electromechanical connection system 53 and the other cable 14 is connected to the end of the branch 62 opposite to the electromechanical connection system 53. shown in FIG. 4, in the present embodiment, one of the cables 14 is fixed in the branch 62 at the end of the branch 62 opposite to an electromechanical connection system 53 and the other cable 14 can slide in the branch 61, the end of the cable 14 being connected to an actuator 67 contained in the wing 12. The actuator 67 is adapted to change the length of the stretched portion of the cable 14 to the outside of the wing 12. According to FIG. another embodiment, each cable 14 is attached to the end of the branch 61, 62 corresponding. The stretched portion of the cable 14 outside the wing 12 is then constant.

According to one embodiment, the axes of rotation AR1 and AR2 are substantially perpendicular. The axis AR1 may be parallel to the transverse axis T of the wing 12. The axis of rotation

AR2 may be parallel to the longitudinal axis D of the wing 12. The wing 12 contains drive systems, not visible in Figures 3 and 4, adapted to independently rotate the lever element 42 around the AR1 axis and around the AR2 axis.

FIG. 5 is a partial schematic perspective view of a portion of the airborne device 10 shown in FIGS. 1 and 2 and illustrating another embodiment of the lever element 42.

In the present embodiment, the lever element 42 has the general shape of a connected straight tube, substantially in central part, at the inner lateral edge 40 of the wing 12 by an electromechanical connection system 56. According to one embodiment, the length of the tube is between 50 cm and 3 m. The electromechanical link system 56 comprises at least two degrees of freedom in rotation along the axes AR1 and AR2 described above. In the present embodiment, the connection between the wing 12 and an adjacent wing 12 is made by first and second cables 14, a first cable 14 connected to a first end of the tube 42 and a second cable 14 connected to the second end of the tube 42. At each end of the tube are thus connected at least two cables 14 which extend towards two different wings 12.

In the embodiments described previously with reference to FIGS. 3 and 5, a pivoting of the lever element 42 around the axis AR1 causes the reaction to modify the forces exerted by the cables 14 on the lever element 42. and therefore the torque exerted by the lever member 42 on the flange 12 about the axis AR1. This causes a modification of the angle of inclination of the longitudinal axis D of the wing 12 relative to a reference plane, for example a plane passing through the center of mass of all the wings, and called thereafter In addition, a pivoting of the lever element 42 about the axis AR2 causes reaction to modify the forces exerted by the cables 14 on the lever element 42 and thus the torque exerted by the lever member 42 on the flange 12 about the axis AR2. This results in a modification of the angle of inclination of the transverse axis T of the wing 12 with respect to the reference plane, hereinafter referred to as the pitch angle of the wing 12.

FIGS. 6A, 6B and 6C show, partially and schematically, embodiments of the arrangement of the cables 14 between first and second lever elements 12 of the type shown in FIG. 5. In FIG. 6A, the cables 14 are substantially parallel. In FIG. 6B, for each lever element 42, the two cables 14 connected to the two ends of the lever element 42 join to form a single cable 14 '. The arrangement of Figure 6B reduces the torque induced by the inclination of the first lever member 42 on the second lever member 42, and vice versa, with respect to the arrangement shown in Figure 6A. In FIG. 6C, the two cables 14 connected to the two ends of the first lever element 42 are fixed in the central part of the second lever element 42 and the two cables 14 connected to the two ends of the second lever element 42 are fixed in the central part of the first lever element 42. The arrangement of FIG. 6C advantageously substantially eliminates the torque induced by the inclination of the first lever element 42 on the second lever element 42 and vice versa.

FIG. 7 is a partial schematic perspective view of a portion of the airborne device 10 shown in FIGS. 1 and 2 and illustrating an embodiment of the lever element 46.

In the present embodiment, the lever element 46 has the general shape of a rectilinear tube connected at one end to the intrados 30 of the wing 12 by a link 70. The link 70 comprises at least two degrees of freedom in rotation along axes AR3 and AR4. The cable 20 is connected to the end of the lever element 46 opposite to the link 70. According to one embodiment, the cable 20 is fixed to the end of the lever element 46. Alternatively, the cable 20 can slide in the lever element 46.

According to one embodiment, the axes of rotation AR3 and AR4 are substantially perpendicular. The axis AR3 may be parallel to the transverse axis T of the wing 12. The axis of rotation AR4 may be parallel to the longitudinal axis D of the wing 12.

The wing 12 contains drive systems, not visible in Figure 3, adapted to independently rotate the lever element 46 about the axis AR3 and around the axis AR4. According to one embodiment, the length of the lever element 46 is between 50 cm and 5 m. Pivoting of the lever element 46 about the axis AR3 causes reaction to change the forces exerted by the cable 20 on the lever element 46 and thus the torque exerted by the lever element 46 on the wing 12 around the AR3 axis. This causes a modification of the roll angle of the wing 12. In addition, a pivoting of the lever element 46 around the axis AR4 causes by reaction a modification of the forces exerted by the cable 20 on the element lever 46 and therefore the torque exerted by the lever member 46 on the flange 12 about the axis AR4. This causes a modification of the pitch angle of the wing 12.

Figure 8 is a side view, partial and schematic, of two wings 12 of the airborne device 10 illustrating an embodiment of the control of the roll angle of the wings 12 in operation. The roll angle of each wing 12 with respect to the reference plane Pref is controlled by fixing the rotation angles RI of each lever element 42 around the axis AR1 and the rotation angles R3 of each lever element 46 around of the AR3 axis.

FIG. 9 is a partial sectional perspective view of a wing 12 in which a kinematic diagram shows an embodiment of the electromechanical linkage system 53 driving the lever element 42. In the present embodiment, FIG. electromechanical connection system 53 comprises a first motor Ml whose housing

74 is fixed to the armature of the wing 12 and adapted to drive a shaft 76 rotated about the axis AR2. The electromechanical linkage system 53 further comprises a second motor M2 whose housing 78 is fixed to the rotation shaft 76 by a rigid deflection device 80 and adapted to drive a shaft 82 in rotation about the axis AR1 . The lever member 42 is attached to the shaft 82 substantially at the intersection of the shaft 82 with the axis AR2.

FIGS. 10A and 10B are more detailed perspective views, in two opposite directions, of an embodiment of the electromechanical connection system 53 shown in FIG. in Figure 9. The motor Ml is fixed by a first frame member 84 to the wing 12 (the wing 12 is not shown in Figure 10B). The rigid deflection device 80 comprises a U-shaped part 86 whose branch is fixed to the shaft 76 of the first motor M1. The other branch of the part 86 is pivotally mounted, via a bearing 88, on a shaft 90 secured to a second frame member 92 fixed to the wing 12. The second motor M2 is attached to the piece 86, for example by screws 94, so that the rotation shaft 82 intersects the axis AR2. The connection of the second motor M2 with the control module 50 can be achieved by a flexible sheet 96.

FIG. 11 is a partially sectioned perspective view of a wing 12 in which a kinematic diagram shows an embodiment of the electromechanical linkage system 56 of the lever element 46. In the present embodiment, the electromechanical connection system 56 comprises a first motor M3 whose housing 98 is fixed to the armature of the wing 12 and adapted to drive a shaft 99 rotated about the axis AR3. The electromechanical connection system 56 further comprises a second motor M4 whose housing 100 is connected to the rotation shaft 99 by a pivoting connection 101 about an axis parallel to the axis AR4. The motor M4 is adapted to drive a shaft 102 in rotation. The shaft 102 rotates a worm screw of a helical link 103. The movable element in translation of the helical link 103 is connected, via a pivot connection 104, with an axis parallel to the AR4 axis at one end of the lever element 46. The lever element 46 is further connected by a pivoting connection 106 axis AR4 to the shaft 76 of the first motor Ml. The pivoting connection 106 is located substantially on axis AR3.

Alternatively, the actuating system 53 of the lever element 42 may also have the structure of the actuating system 56 shown in FIG. 11. In addition, the actuating system 54 of the lever element 44 can have the structure of the actuating system 53 or the actuating system 56 described above.

Figures 12 and 13 show another embodiment of the wing 12 in which the wing 12 further comprises two fins 110 which may each comprise a movable flap 112. The first fin 110 projects projecting from the extrados 32 and the second fin 110 is projected from the underside 30. The actuation of the movable flap 112 of each fin 110 is controlled by the control module 50. The actuation of the movable flap 112 allows in particular to control the lateral position of the airborne device 10 with respect to the wind 47.

Each wing 12 may be provided with a propulsion system. Before launching the airborne device 10, the wings 12 may be arranged on a support. The propulsion system of each wing 12 can be actuated. This causes the tensioning of the cables 14, 16 and the rotation of the wings 12. Under the action of the lift forces, the airborne device 10 rises in the air. As soon as the airborne device 10 is exposed to a wind sufficient to maintain the altitude and rotation of the airborne device 10, the propulsion systems of the wings 12 can be deactivated. The propulsion systems can, in addition, be operated in flight, while the airborne device 10 is at its operating altitude, when the power of the wind 47 is not sufficient to maintain the airborne device 10 at this altitude.

In the case where the stretched portion of the cables 14 and 16 between the wings 12 can be modified, when the airborne device 10 is raised from the ground to an operating altitude, the tensioned parts of the cables 14, 16, 20 between the wings 12 or between the wings 12 and the connecting device 18 may initially be reduced to reduce the size of the airborne device 10.

FIG. 14 shows an embodiment of the wing 12 in which the propulsion system of the wing comprises a motorized propeller 120 which projects from the leading edge 34 of the wing towards the front of the wing according to the direction of rotation of the wing 12 in operation. The motorized propeller 120 can be controlled by the control module 50 or can be remotely controlled from a ground station. An advantage of the use of a motorized propeller is that it allows, in addition, to move the center of gravity of the wing 12 forward in the direction of rotation of the wing 12 in operation. This may be advantageous for improving the stability of the wing. According to one embodiment, the propeller 120 can be removable and folded, at least in part, in the wing 12 when it is not used. Alternatively, the propulsion system may comprise a jet engine, including a rocket engine or a propulsion system with compressed air.

Each wing 12 may further comprise a landing gear, not shown, which allows the movement of the wing 12 to the ground. The landing gear can be removable so as to be folded, at least in part, into the wing 12 when not in use.

Fig. 15 shows an embodiment in which each cable 14, 16, 20 or 22 or at least one of the cables 14, 16, 20 or 22 has a profiled section including a leading edge 122 and a trailing edge 124 thinned. This allows in particular to reduce the drag of the cable. Similarly, each lever member 42, 44, 46 may have a profiled section including a leading edge and a thinned trailing edge. This allows in particular to reduce the drag of the lever element.

FIG. 16 shows an embodiment in which each cable 14, 16, 20 or 22 or at least one of the cables 14, 16 or 30 further comprises a core 126 contained in a profiled envelope 128. The core 126 may be in a first material and the envelope 128 may be in a second material, the density of the first material being greater than the density of the second material. This allows to bring the center of gravity of the cable towards the leading edge and thus improve the aerodynamic stability of the cable. FIG. 17 represents an embodiment of a power generation system 130 in which the cable 22 of the airborne device 10 is connected to an electric generator 132. Alternatively, each wing 12 may comprise an electric generator comprising a turbine driven during the movement of the wing 12. The electrical energy produced can then be transmitted to the ground by the cables 20 and 22.

Fig. 18 shows an embodiment of a transport system 140 in which the cable 22 of the airborne device 10 is connected to a vehicle 132, in this example a ship. The airborne device 10 is then used as traction means of the vehicle 142.

Various embodiments with various variants have been described above. It is noted that one skilled in the art can combine various elements of these various embodiments and variants without being creative. In particular, the airborne device 10 can both comprise a propulsion system, such as the propeller 120 shown in FIG. 14, cables 14, 16, 20 profiled as shown in FIGS. 15 and 16, and a train of FIG. landing.

Claims

1. Airborne device (10) comprising at least three supporting wings (12) and a connecting device (18), the wings being interconnected by first cables (14, 16) intended to work only in traction, each wing being , furthermore, connected to the connecting device (18) by a second cable (20) intended to work only in tension, the connecting device being connected to a third cable (22) intended to be connected to a base (46, 48 ), the first, second and third cables being tensioned when the airborne device is put to the wind, the device further comprising, for each wing at least one first rigid lever element (42) connected to at least one of the first cables and connected to the wing by a first electromechanical link system (53) having at least one degree of freedom in rotation and adapted to change the orientation of the first lever element relative to the wing.

2. Airborne device according to claim 1, wherein the first electromechanical link system (53) has at least two degrees of freedom in rotation.

3. airborne device according to claim 2, wherein the first electromechanical connection system (53) has at least two degrees of freedom in rotation along axes (AR1, AR2) perpendicular to 10 ~ 6 pres.

An airborne device according to any one of claims 1 to 3, wherein the first lever element (42) comprises at least a first tubular portion (61) having first and second opposite ends, one of the first cables ( 14) being connected to the first end.

An airborne device according to claim 4, wherein the first lever member (42) comprises at least a second tubular portion (62) having third and fourth ends, another of the first cables (14) being connected to the third end , the first and second tubular portions being contiguous to the second and fourth ends, inclined with respect to each other and connected to the first system of electromechanical link (53) at the second and fourth ends.

6. airborne device according to claim 4, wherein the first tubular portion is rectilinear, another of the first cables (14) being connected to the second end, the first tubular portion being connected in central part to the first electromechanical connection system (53). ).

7. An airborne device according to any one of claims 1 to 6, further comprising, for each wing (12), at least one second rigid lever element (46) connected to one of the second cables (20) and connected to the wing by a second electromechanical connection system (56) having at least one degree of freedom in rotation and adapted to change the orientation of the second lever element relative to the wing.

8. The airborne device of claim 7, wherein the second electromechanical link system (56) has at least two degrees of freedom in rotation.

9. Airborne device according to claim 8, wherein the second electromechanical connection system (56) has at least two degrees of freedom in rotation along axes (AR3, AR4) perpendicular to 10 ~ 6 pres.

10. An airborne device according to any one of claims 1 to 9, comprising no rigid armature connecting the wings (12) to each other and intended to be subjected, in addition, to efforts other than tensile stresses.

11. An airborne device according to any one of claims 1 to 10, wherein each wing (12) is connected to at least two other wings by at least two first cables (14, 16).

12. Airborne device according to any one of claims 1 to 11, comprising at least two pairs of wings (12), the two wings of each pair being interconnected by one of the first cables (16), each wing each pair being connected to at least one of the wings of the other pair by another of the first cables (14).

13. Airborne device according to any one of claims 1 to 12, wherein the wingspan of each wing (12) is between 5 m and 50 m.

14. Airborne device according to any one of claims 1 to 13, wherein at least one of the wings (12) comprises an upper surface (32) connected to a lower surface (30) by a leading edge (34), a trailing edge (36) and first and second side edges (38, 40) and wherein the first lever member (42; 44) is connected to the side edge (40) of the most inside the airborne device when the airborne device is put in the wind.

15. An airborne device according to claim 14 in its connection to claim 7, wherein the second lever element (46) is connected to the intrados (30) of the wing.

An airborne device according to any one of claims 1 to 15, wherein the first, second and third cables (14, 16, 20, 22) are flexible cables.