JP2019026093A - Submerged floating type device - Google Patents

Abstract

To provide a submerged floating type device capable of adjusting attitude of a device body while suppressing enlargement of the device body and complication of inside structure of the device body.SOLUTION: A submerged floating type device M includes: a submerged floating type power generator 1; a ballast tank 30 provided outside the submerged type power generator 1; a plurality of linear wires 31 for connecting the submerged type power generator 1 and the ballast tank 30; and a taking-up device 35 composed to be capable of taking in and letting out the wires 31 for adjusting the length of each wire 31 between the submerged type power generator 1 and the ballast tank 30.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an underwater floating apparatus.

  As described in Patent Document 1, a diving device including an underwater posture stabilization device is known. The apparatus includes a frame attached to the apparatus main body, a pair of slide portions disposed on both sides of the frame so as to be movable back and forth, and a vertically movable support member having a lower end portion fixed to each slide portion. , And a floating body disposed at the tip of each support member. In this apparatus, the position of the floating body in the front-rear direction and the vertical direction is adjusted by moving the slide part back and forth or moving the support member up and down according to the position of the center of gravity of the apparatus main body. The basic posture of the device body is set before throwing it into the water. Moreover, this apparatus is equipped with a ballast, and obtains neutral buoyancy by dropping the loaded ballast little by little when the water is lowered to a predetermined depth. A buoyancy adjusting device is further mounted on the apparatus main body.

International Publication No. 2009/154006

  Conventionally, a ballast tank for adjusting buoyancy is provided in an apparatus main body (hull), but the apparatus main body tends to be enlarged in order to ensure total buoyancy. Further, in order to control the posture, the weight may be moved in the apparatus main body, and the internal structure of the apparatus main body tends to be complicated.

  An object of the present invention is to provide an underwater floating device capable of adjusting the posture of the apparatus main body while suppressing the enlargement of the apparatus main body and the complexity of the internal structure of the apparatus main body.

  An underwater floating apparatus according to an aspect of the present invention includes an apparatus main body, a floating body provided outside the apparatus main body, a plurality of linear connection members connecting the apparatus main body and the floating body, and winding up the connection members. A take-up device that is configured to be extended and that adjusts the length of each connection member between the apparatus main body and the floating body.

  According to this underwater floating apparatus, the apparatus main body and the floating body are connected by the plurality of connecting members. Since a predetermined tension (tension) can act on the linear connection member, buoyancy or gravity can be transmitted from the floating body to the apparatus main body via this tension. By adjusting the lengths of the plurality of connecting members by the winding device, the position where the buoyancy is exerted (buoyancy) can be moved with respect to the apparatus main body. Therefore, the posture of the apparatus main body can be adjusted by utilizing the action in which the buoyancy and the center of gravity are aligned in the vertical direction. Since the floating body is provided outside the apparatus main body, it is possible to suppress the enlargement of the apparatus main body and the complexity of the internal structure of the apparatus main body.

  In some embodiments, the floating body is a ballast tank capable of adjusting the weight of the floating body by pouring and draining water therein. In this case, the weight of the entire apparatus can be adjusted by pouring water into the floating body. According to the floating body having the function of the ballast tank, the buoyancy adjusting device can be omitted in the apparatus main body, and the enlargement of the apparatus main body can be more suitably suppressed.

  In some embodiments, the connection member includes four connection members that connect four different portions on the apparatus main body and four different portions on the floating body. In this case, by adjusting the lengths of the four connecting members by the winding device, the position (buoyancy) at which the buoyancy is exerted can be easily moved. As a result, the posture of the apparatus main body can be easily adjusted.

  In some embodiments, the winding device is provided on a floating body. In this case, there is no need to provide a winding device on the apparatus body side, and the structure of the apparatus body can be simplified as much as possible.

  In some embodiments, the apparatus main body includes a pod and a power generation turbine provided in the pod, and is an underwater floating power generation apparatus that generates power using a water flow that floats in water. In this case, the attitude of the underwater floating power generator can be adjusted.

  According to some aspects of the present invention, it is possible to adjust the posture of the apparatus main body while suppressing the enlargement of the apparatus main body and the complexity of the internal structure of the apparatus main body.

1 is a diagram illustrating a schematic configuration of a system to which an underwater floating device according to an embodiment of the present invention is applied. It is a figure which shows schematic structure of an apparatus main body and a floating body. It is a figure which shows a mode when an underwater floating apparatus is in an equilibrium state. It is a figure which shows a mode when an underwater floating apparatus changes an attitude | position. It is a figure which shows a mode when the attitude | position of an underwater floating apparatus is changed. FIG. 6A is a view showing an underwater floating device according to one modified embodiment, and FIG. 6B is a view showing an underwater floating device according to another modified embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant descriptions are omitted.

  In the following description, the terms “upstream” or “downstream” are used with reference to the flow of water. Further, the term “front” means the upstream side of the water flow, and the term “rear” means the downstream side of the water flow. For example, when a downwind type turbine is used, blades (wings) are arranged on the rear side of the pod. The term “left” or “right” means a direction that is perpendicular and horizontal to the flow of water and is used as a reference when viewed from the rear or downstream. The term “roll” refers to rotation about an axis parallel to the central axis of the pod, ie, the longitudinal axis. The term “pitch” means rotation about a horizontal axis. The term “yaw” means rotation about an axis perpendicular to both the longitudinal axis and the lateral axis.

  With reference to FIG. 1, the underwater floating apparatus M of this embodiment is demonstrated. As shown in FIG. 1, the underwater floating apparatus M includes an underwater floating power generation apparatus (apparatus main body) 1 that is installed in, for example, seawater and floats and generates power using a sea current. The underwater floating power generator 1 includes a right pod 2A and a left pod 2B that are spaced apart from each other on the left and right sides, and a cross beam (connecting portion) 3 that connects the right pod 2A and the left pod 2B. A power generation turbine 4A is provided at the rear of the right pod 2A. A power generation turbine 4B is provided at the rear of the left pod 2B. In the following description, the underwater floating generator 1 is referred to as the ocean current generator 1. The power generation turbines 4A and 4B are referred to as a right turbine 4A and a left turbine 4B, respectively.

  The right pod 2A imparts proper buoyancy to the right turbine 4A while rotatably supporting the right turbine 4A. The left pod 2B imparts appropriate buoyancy to the left turbine 4B while rotatably supporting the left turbine 4B. The right pod 2A and the left pod 2B have a cylindrical shape, and have, for example, the same size and structure. The rotation axis of the right turbine 4A coincides with the axis of the right pod 2A. The rotation axis of the left turbine 4B coincides with the axis of the left pod 2B. These two rotation axes are parallel.

  Between the right pod 2A and the left pod 2B, a cross beam 3 which is a structure connecting them extends (that is, extends so as to cross). The cross beam 3 has a predetermined length in the front-rear direction and a predetermined thickness. The cross beam 3 has, for example, a wing shape in order to stabilize the posture of the floating ocean current power generation apparatus 1. The left and right ends of the cross beam 3 are fixed to, for example, approximately the center of the body of the right pod 2A and the left pod 2B. The position where the cross beam 3 is fixed is not limited to the above position. The cross beam 3 may be fixed to the upper part or the lower part of the pod, or may be fixed to the front part or the rear part of the pod. The cross beam 3 may have an equal cross-sectional shape in the extending direction (that is, a transverse direction), or may have a cross-sectional shape that changes in the extending direction. The cross beam 3 may have a structure that has a cavity inside and generates buoyancy, or may have a structure that does not have a cavity inside (for example, a truss structure) and does not generate buoyancy.

  The ocean current power generation apparatus 1 is connected to a sinker 14 (or an anchor) for fixing to the seabed via a mooring line 10. The mooring line 10 has a lower mooring line 11e connected to the sinker 14, and two upper mooring lines 11a and 11b branched from the upper end of the lower mooring line 11e and connected to the right pod 2A and the left pod 2B, respectively. Including. The upper mooring lines 11a and 11b are branched in a Y shape. The form of the mooring line 10 is not limited to this, and the mooring line 10 may be connected to the cross beam 3 at one point, or the two upper mooring lines 11a and 11b may be connected to the cross beam 3. .

  In addition, although illustration is abbreviate | omitted, the power transmission cable for transmitting the electric power generated in the turbine part 4 is provided so that the mooring line 10 may be followed. One end of the power transmission cable is connected to a generator (not shown) in the right pod 2A and the left pod 2B, and the other end of the power transmission cable is a repeater (or a transformer or the like) provided in the sinker 14, for example. )It is connected to the. Furthermore, a power transmission cable laid on the seabed and extending to the ground is provided. The electric power generated in the right turbine 4A and the left turbine 4B is transmitted to the ground via these power transmission cables. An underwater floating power generation system S includes the underwater floating device M including the ocean current power generation device 1, the mooring cable 10, the sinker 14, the power transmission cable, and the like.

  The right turbine 4A and the left turbine 4B applied to the ocean current power generation apparatus 1 are so-called downwind turbines. The right pod 2A and the left pod 2B float in a posture facing the direction of the ocean current (flow F shown in FIG. 1). When the direction of the ocean current is substantially horizontal, the rotation axes of the right turbine 4A and the left turbine 4B are maintained substantially horizontal. The right turbine 4A and the left turbine 4B may be upwind turbines.

  The right turbine 4A includes two first blades 6A. The left turbine 4B includes two second blades 6B. The first blade 6A is disposed at the rear end of the right pod 2A. The second blade 6B is disposed at the rear end of the left pod 2B. In the ocean current power generation apparatus 1 that employs a downwind turbine, the first blade 6A is disposed on the downstream side of the right pod 2A and the second blade 6B is disposed on the downstream side of the left pod 2B with reference to the direction of the ocean current. Is done.

  The right turbine 4A and the left turbine 4B rotate in directions opposite to each other in response to the ocean current. Thereby, the rotational torque generated in the right turbine 4A and the left turbine 4B is offset. Inside the right pod 2A and the left pod 2B, a rotating shaft connected to a hub that rotates together with the first blade 6A and the second blade 6B, and a generator connected to the rotating shaft are provided. (Neither is shown) The rotations of the first blade 6A and the second blade 6B are each transmitted to the generator via the rotation shaft. Note that three or more blades may be provided for one turbine.

  The ocean current power generation device 1 is provided with a device (posture stabilization device; stabilizer) for adjusting the attitude of the ocean current power generation device 1. Hereinafter, this apparatus will be described in detail with reference to FIG. 1 and FIG. As shown in FIGS. 1 and 2, the underwater floating device M includes a ballast tank (floating body) 30 provided outside the ocean current power generation device 1 and a plurality of wires connecting the ocean current power generation device 1 and the ballast tank 30. (Connecting member) 31.

  As shown in FIG. 2, the ballast tank 30 is provided above the ocean current power generation apparatus 1. The ballast tank 30 includes a housing 30a having a predetermined shape, and can store seawater inside the housing 30a. Although the shape of the housing | casing 30a is not specifically limited, For example, a cylindrical shape, a rectangular parallelepiped shape, a barrel shape, etc. may be sufficient. The casing 30a may have a streamlined outer shape in order to reduce the resistance of the ocean current. The ballast tank 30 can adjust the weight of the ballast tank 30 by pouring and draining seawater inside the housing 30a. The ballast tank 30 includes a pump 36 provided inside the housing 30a, piping (not shown), and the like. The space where equipment such as the pump 36 is provided and the space for storing seawater are partitioned by, for example, a partition plate. The piping is connected to a space for storing seawater and a space outside the housing 30a. The pump 36 is driven by a controller 25 to be described later, and discharges seawater from the housing 30a to the outside, or takes seawater into the housing 30a from the outside. A seawater partition plate may be provided in a space for storing seawater in the ballast tank 30 in order to prevent overshoot in posture change control described later.

  The ballast tank 30 is provided, for example, in the middle of the right pod 2 </ b> A and the left pod 2 </ b> B in plan view and above the cross beam 3. For example, four wires 31 that are linear connection members connect the ballast tank 30 to the ocean current power generation apparatus 1. The wire 31 is made of metal, for example. The first ends (lower ends) of the four wires 31 are connected to, for example, the front and rear portions of the upper surface of the right pod 2A and the front and rear portions of the upper surface of the left pod 2B. In other words, the connection point of the wire 31 to the ocean current power generation device 1 is arranged so as to be positioned at the apex of the rectangle. The second ends (upper ends) of the four wires 31 are connected to, for example, four places on the front and rear, left and right of the lower surface or side surface of the housing 30a. On the other hand, the connection point of the wire 31 with respect to the housing | casing 30a is arrange | positioned so that it may be located in the vertex of a rectangle in the lower surface or side surface of the housing | casing 30a, for example. That is, the four wires 31 connect four different parts on the ocean current power generation apparatus 1 and four different parts on the ballast tank 30.

  The wire 31 anchors the ballast tank 30 with respect to the ocean current power generation device 1. A tension is always applied to the wire 31. A buoyancy Fb (see FIG. 3) acting on the ballast tank 30 is transmitted to the ocean current power generation apparatus 1 through the wire 31. The wire 31 is a substantially linear member, and may be replaced with another member as long as the member has a strength capable of mooring the floating ballast tank 30 with respect to the ocean current power generation device 1. For example, a chain or a rope may be used as a linear connection member. Several members, such as a wire, a chain, and a rope, may be combined.

  The underwater floating device M further includes four winding devices 35 configured to be able to wind and unwind the wire 31. The winding device 35 reduces (shortens) the length of the wire 31 between the ocean current power generation device 1 and the ballast tank 30 by winding the wire 31. The winding device 35 extends (extends) the length of the wire 31 between the ocean current power generation device 1 and the ballast tank 30 by feeding the wire 31. The winding device 35 is provided individually for each wire 31 and adjusts the length of each wire 31 individually.

  More specifically, in the present embodiment, the four winding devices 35 are provided in the ballast tank 30. Each winding device 35 includes a motor 32 provided inside the housing 30 a, an output shaft 33 coupled to the motor 32, and a winding unit 34 provided at the tip of the output shaft 33. The space in which devices such as the motor 32 are provided and the space for storing seawater are partitioned by, for example, a partition plate. The output shaft 33 rotated by the motor 32 passes through, for example, a wall portion of the housing 30a, and its tip protrudes into seawater. The housing 30 a is provided with a shaft seal portion that supports the output shaft 33. The shaft seal portion allows rotation of the output shaft 33 and prevents external seawater from entering the ballast tank 30 through the through hole. The winding unit 34 is exposed to the outside of the ballast tank 30 and in seawater. The winding unit 34 is, for example, a drum or a reel around which the wire 31 is wound. The connection point of the wire 31 to the housing 30 a is the upper end of the wire 31, for example, the point where the wire 31 extends from the winding unit 34. The winding device 35 is driven by a controller 25 to be described later, and winds or feeds the wire 31. The wire 31 may calculate a winding amount and a feeding amount of the wire 31 and output the calculated amount to the controller 25.

  On the other hand, the lower end of the wire 31 is connected to the right pod 2A and the left pod 2B. The right pod 2A and the left pod 2B are provided with connecting fittings 21 at the front and rear positions, respectively. For example, the connection fitting 21 may be a shackle or a hook provided on the outer wall surface.

  Inside the right pod 2A and / or the left pod 2B, a gyro sensor (detection unit) 23 for detecting the attitude of the ocean current power generation device 1 is provided. The gyro sensor 23 detects the tilt angles of the ocean current power generation apparatus 1 in the roll direction, the pitch direction, and the yaw direction. The gyro sensor 23 sequentially outputs the detected inclination angles to the controller 25 described later. A depth sensor (pressure sensor) that measures the depth of the ocean current power generation apparatus 1 may be provided inside the right pod 2A and / or the left pod 2B.

  The ocean current power generation device 1 is provided with a controller 25 that obtains information from the gyro sensor 23 and controls the winding device 35 to control the entire ocean current power generation device 1. The controller 25 controls the winding device 35 in accordance with the roll angle and pitch angle (attitude) of the ocean current power generation device 1 detected by the gyro sensor 23. Further, the controller 25 controls the pump 36 to cause the ballast tank 30 and the outside to be poured and drained to adjust the buoyancy of the entire ocean current power generation apparatus 1. The controller 25 is provided in the right pod 2A, for example. The controller 25 is a computer composed of hardware such as a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory), and software such as a program stored in the ROM. The controller 25 can communicate with the motor 32 and the pump 36 in the ballast tank 30 in a wired or wireless manner, and can acquire signals output from these.

  In the underwater floating device M, the ballast tank 30 and the winding device 35 described above have functions of buoyancy adjustment and posture adjustment. The right pod 2A and the left pod 2B of the ocean current power generation apparatus 1 are not provided with ballast tanks for buoyancy adjustment. Further, the right pod 2A and the left pod 2B are not provided with a weight for adjusting the posture (an apparatus for adjusting the position of the center of gravity by moving oil). With these configurations, the structure of the ocean current power generation device 1 (device main body) is a simple structure with the minimum necessary.

  Next, an example of posture adjustment in the underwater floating device M will be described with reference to FIGS. As shown in FIG. 3, seawater is poured into the ballast tank 30 by the controller 25 and the pump 36, and the underwater floating device M dives. Further, seawater is drained from the ballast tank 30 by the controller 25 and the pump 36, and the underwater floating device M is levitated. The underwater floating device M floats at a point where the amount of injected water is antagonized, and maintains an equilibrium state. In this state, the buoyancy center B of the ballast tank 30 and the gravity center G of the ocean current power generation device 1 are located on the vertical direction line. The underwater floating device M is almost stationary in a state where the buoyancy Fb, the gravity Fg, and the tension received from the mooring line 10 are balanced.

  Next, as shown in FIG. 4, when changing to a desired posture for some purpose, for example, the two wires 31 on the rear side are wound by the controller 25 and the winding device 35, and the two wires on the front side are wound. 31 is paid out. As a result, the length of the rear wire 31 (distance between the main body side connection point Pb and the floating body side connection point Pn) is the same as the length of the front wire 31 (main body side connection point Pa and the floating body side connection point Pm). The distance between the center of gravity B and the center of gravity G becomes unbalanced. More specifically, the buoyancy center B moves to the rear side of the center of gravity G.

  Next, as shown in FIG. 5, the attitude of the ocean current power generation device 1 is balanced at a portion where the buoyancy B and the center of gravity G are located on the vertical direction line (coincident with a straight line). By such a series of controls, the attitude of the ocean current power generation device 1 can be changed. By controlling the length of the wire 31 using the ballast tank 30, for example, the attitude of the ocean current power generation apparatus 1 in the roll direction or the pitch direction can be adjusted.

  In the series of controls described above, when the balance of the ocean current power generation device 1 is lost, the position of the ballast tank 30 is changed by winding or unwinding the four wires 31. When the distance between the floating center B and the center of gravity G with respect to the ocean current power generation device 1 is required, the wire 31 may be extended to increase the distance between the apparent floating center B and the center of gravity G. If the balance position of the ocean current power generation apparatus 1 and the ballast tank 30 is determined, the wire 31 can be wound up and the position can be fixed by applying tension. By such control, the attitude of the ocean current power generation device 1 can be stabilized. Feedback control by the controller 25 that has acquired the output signal from the gyro sensor 23 may be performed so that the attitude of the ocean current power generation device 1 is stabilized.

  According to the underwater floating device M of the present embodiment, the ocean current power generation device 1 and the ballast tank 30 are connected by a plurality of wires 31. Since a predetermined tension (tension) can act on the linear wire 31, buoyancy can be transmitted from the ballast tank 30 to the ocean current power generation apparatus 1 via this tension. By adjusting the lengths of the plurality of wires 31 by the winding device 35, the position where the buoyancy Fb is applied (buoyancy B) can be moved with respect to the ocean current power generation device 1. Therefore, the attitude of the ocean current power generation apparatus 1 can be adjusted using the action in which the buoyancy center B and the center of gravity G are aligned in the vertical direction. Since the ballast tank 30 is provided outside the ocean current power generation device 1, an increase in the size of the ocean current power generation device 1 and a complicated internal structure of the ocean current power generation device 1 are suppressed.

  The total weight of the underwater floating device M can be adjusted by pouring water into and out of the ballast tank 30. According to the ballast tank 30 having the pouring / draining function, the buoyancy adjusting device can be omitted in the ocean current power generation device 1, and the enlargement of the ocean current power generation device 1 can be more suitably suppressed.

  By adjusting the length of the four wires 31 by the winding device 35, the position where the buoyancy Fb is applied (buoyancy B) can be easily moved. As a result, adjustment of the attitude of the ocean current power generation device 1 is facilitated.

  The winding device 35 is provided in the ballast tank 30 and is not provided in the ocean current power generation device 1. Therefore, the structure of the ocean current power generation device 1 is simplified. The overall shape can be optimized in accordance with the internal structure of the ocean current power generation device 1.

  According to the underwater floating apparatus M, the attitude of the ocean current power generation apparatus 1 including the right turbine 4A and the left turbine 4B can be adjusted.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment. For example, as shown in FIG. 6A, the modification of the present invention is designed such that the ocean current power generation device 1 is designed so that the buoyancy is excessive, and the ballast tank (floating body) 38 is replaced with a weight. The underwater floating device MA installed below may be used. The winding device 35 for the wire 31 is provided on the ballast tank 38 side, similarly to the underwater floating device M. The operation of the underwater floating device MA is the same as that of the underwater floating device M described above.

  Further, as shown in FIG. 6 (b), another modification of the present invention is an underwater device in which the ocean current power generation apparatus 1 is installed so as to be sandwiched between an upper ballast tank (floating body) 30B and a ballast tank (floating body) 38B. The floating device MB may be used. In this case, the upper ballast tank 30B is mainly treated as generating buoyancy, and the lower ballast tank 38B is mainly handled as a weight. As with the underwater floating device M, the winding device 35 for the wire 31 is provided on the ballast tank 30B side and the ballast tank 38B side. The operation of the underwater floating device MB is the same as that of the underwater floating device M described above.

  The controller 25 is not limited to being provided in the right pod 2A, and may be provided in the cross beam 3 or the left pod 2B. The controller 25 may be provided in both the right pod 2A and the left pod 2B. The controller 25 may be provided in the ballast tank 30. In that case, the controller 25 can communicate with the gyro sensor 23 in the ocean current power generation device 1.

  The number of linear connecting members may be changed as appropriate. Two, three, or five or more connecting members may be provided. The arrangement and number of connection points to which the connection member is connected may be changed as appropriate. The winding device may be provided in the ocean current power generation device (device main body) or may be provided between the floating body and the device main body (position in the middle of the connecting member).

  The floating body connected by the connecting member is not limited to the ballast tank, and may be a tank having a constant weight that does not have a water pouring / draining function. The device main body is not limited to the ocean current power generation device, and may be a water current power generation device installed in a water area other than the sea. The ocean current power generation device or the water current power generation device is not limited to a (so-called twin-engine) power generation device including two pods and two turbines, and may be a device including one pod and one turbine (so-called single-engine). A power generation device including three or more pods and three or more turbines may be used. The apparatus main body may be a traveling body such as a research ship that travels underwater.

1 Ocean current power generator (device main body)
2A Right pod 2B Left pod 3 Cross beam 4A Right turbine (power generation turbine)
4B Left turbine (turbine for power generation)
23 Gyro sensor 25 Controller 30, 30B Ballast tank (floating body)
38,38B Ballast tank (floating body)
31 wire (connection member)
35 Winding device M Underwater floating device MA, MB Underwater floating device S Underwater floating power generation system

Claims (5)

The device body;
A floating body provided outside the device body;
A plurality of linear connection members connecting the apparatus main body and the floating body;
An underwater floating device comprising: a winding device configured to be able to wind and unwind the connection member, and adjusting the length of each of the connection members between the device main body and the floating body.   The underwater floating device according to claim 1, wherein the floating body is a ballast tank capable of adjusting a weight of the floating body by pouring and draining water therein.   The underwater floating device according to claim 1 or 2, wherein the connection member includes four connection members that connect four different portions on the apparatus main body and four different portions on the floating body.   The underwater floating device according to any one of claims 1 to 3, wherein the winding device is provided on the floating body.   The apparatus main body includes a pod and a power generation turbine provided in the pod, and is an underwater floating power generation apparatus that generates power using a water flow that floats in water. The underwater floating device according to the item.

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