WO2018147716A1

WO2018147716A1 - Electric power plant (variants) based on a parallel manipulator

Info

Publication number: WO2018147716A1
Application number: PCT/KZ2017/000001
Authority: WO
Inventors: Корганбай Сагнаевич ШОЛАНОВ
Original assignee: Корганбай Сагнаевич ШОЛАНОВ
Priority date: 2017-02-13
Filing date: 2017-02-13
Publication date: 2018-08-16

Abstract

The invention relates to the field of applied robotics for generating electrical energy from renewable sources of energy. A group of inventions is proposed: a six-degrees-of-freedom parallel manipulator primary converter, a wind power plant, an underwater wave power plant, and a wind and wave power plant, said power plants being related by the use of a six-degrees-of-freedom parallel manipulator primary converter to convert the energy of wave and air masses into translational mechanical energy. In the wind power plant, the element receiving the motion of air flow is an air torus with controllable lift. A submerged double-cavity float with controllable buoyancy is used as a sensor device in the underwater wave power plant. The wind and wave power plant receives wind energy using the controllable air torus and wave energy using the controllable half-submerged float.

Description

Power plant (options) based on a parallel manipulator

The invention relates to the field of application of robotics for generating electrical energy from renewable energy sources in wind and wave energy. And can be used as an alternative energy source.

A known converter of wind energy into electrical energy (patent US 20120068465 A1, Vertical axis wind turbine generator with sails // Freddy Dawoud, Annetta Yacoub, 03.22, 20 Ϊ 2). The wind power converter has a bottom ^; a fixed ring and an upper movable ring moving together with wind-sensitive sails. In this case, the movable ring can move along the vertical axis and rotate around this axis. This converter requires constant adjustment of the sail system, ^" in addition, when converting wind energy, only part of the wind energy is used, which through the sail system is converted into one rotational mechanical movement.

It is known (Electrical design for a wave buoy, Sara Hoya Arija, Goteborg, Sweden 2011, http://e-archivo.uc3m.es/bitstream/handle/l0016/13027/) that float converters using movement of water masses only in the vertical direction.

The prototype of the invention was selected Wave power plant based on a parallel manipulator (WO / 2017/003273. Wave power plant based on a parallel manipulator // Sholanov. P. 22.06.2016), in which the structure of the parallel manipulator Sholkor is used as a manipulator transformer of wave energy into mechanical energy (WO / 2015/016692. Platform robot manipulator // K. Sholanov 02/05/2015). The disadvantage of this manipulator transducer is the presence of multi-link spherical joints, the resource of which can be limited when used in aggressive aqueous environments. The use of a hydraulic manipulator transducer limits all possible options for converting wave energy into electrical energy by the obligatory use of a system for the intermediate conversion of mechanical energy into hydraulic fluid energy.

An object of the present invention is to provide a primary transducer of the spatial movement of air and water mass into the energy of translationally moving bodies, as well as the creation of power plants using this transducer to generate electrical energy. In power plants, the energy of the waves (wind) after the primary converter is converted into electrical energy by known methods.

This group of inventions proposes a six-moving parallel manipulator primary transducer (ΙΠΙΤΜΠΠ) of the spatial movement of water and air masses incorporating well-known features: a lower fixed platform and an upper movable platform associated with a sensitive body that perceives the movement of water masses and air flows. Other inventions - power plants, are connected by a single concept, i.e. application of this manipulator primary converter.

To solve the technical problem posed, the creation of a primary transducer of wind and wave energy into organized mechanical energy and eliminate the shortcomings identified in the analogues and prototype is proposed ШПМ1Ш with a structure diagram similar to the Sholkor manipulator, in which, in order to increase the operating resources of the manipulator instead of multi-link spherical joints of two, three, four links, it is proposed to use chain connections of round links (rings) of metal or rubber-metal chains, which are mutually connected in such a way that they put on the ring forming the rotational connection with the platform: when two link connection - one ring forming a rotational connection with links of the connecting kinematic chain (RCC); with a three-link connection, two rings, each of which forms a rotational connection with its RCC links; with a four-link connection, three rings, each of which forms a rotational connection with its RCC links.

Another variant of ШПМ1Ш is proposed, characterized in that instead of multi-link two-, three-, and four-link connections,

^■ G ^' C' use flexible joints made of steel cables or ropes made of strong and flexible materials. At the same time, with two-link connections, the rope (cable), with one integral end forms a rotational connection with the platform with the other integral end forms a rotational connection with SKZ links; in the case of a three-link connection, two ropes with one united integral end form a rotational connection with the platform, and with the other integral ends each rope forms rotational connections with links of different RCCs; with a four-link connection, three ropes with a united integral end form a rotational connection with the platform, and with other integral ends three ropes form rotational connections with the links of three SKZ.

In order to exclude local mobility, namely: the rotation of the RCC around its own axis - each pair of links of one RCC forms a rotational connection ^" with a chain or rope connection on only one side, and on the other hand forms a fixed connection with a rope or ring. Further conversion of translational energy into electrical energy is carried out by using linear electric generators or by using known converters of translational motion of SKZ drives into rotational motion of the rotor shaft of one or more electric generators.

To solve the problem create plants utilizing wind energy and eliminate the deficiencies identified in the analogue proposed wind power plant (WPP), comprising a wind energy converter having a lower fixed body ^"and the upper _movable. Body moving together with sensitive to the wind body, I in which, in order to increase the efficiency of using the energy of the spatial motion of the air flow, uses ШП Ш1. As a body sensitive to wind, a body (air torus) is used - a gas-filled elastic shell in the form of a torus with an aerodynamic profile, i.e. the cross section of the torus ¹ represents a figure similar to, for example, the cross-section of an airplane wing. The aerodynamic profile creates a lifting force in the vertical direction with a horizontally acting air flow. the upper platform of the primary manipulator transducer so that all spatial movements of the torus are perceived by the movable and the platform.The air torus has a system for automatically controlling the lifting force by Changes of volume of gas. The control system includes, for example, a controller, an interface, displacement sensors of a manipulator transducer, a pressure sensor for compressed air, a gas exhaust valve installed in an air torus, a compressor for pumping gas, a gas tank, a power source, etc. . J, L—>

To solve the task of creating a power plant using the energy of the waves of the oceans and seas and to eliminate the shortcomings identified in the prototype, an underwater wave power station is proposed

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: Ή '^''1 ί \ (PVlES) in which to convert; spatial movements of water masses at a depth a six-moving parallel manipulator primary transducer is used.

To change the lifting force of the float, the hollow body of the float; ; with a hydrodynamic profile consists of two cavities separated by a flexible diaphragm, one of the cavities (upper) represents a sealed container filled with air (gas), and the other (lower) is filled with water as needed and automatically controlled water intake and discharge valves are placed in it.

To solve the problem of creating wave power plants for reservoirs with small waves (lake version), where the surface wave energy is insufficient to generate electrical energy, a wind-wave power plant (WWLES) is proposed that uses the energy of surface waves and wind at the same time. As the power converter surface voly and wind energy is used shestipodvizhny parallel manipulator transducer to _(the upper platform is fixed floor recessed float. To the body of the float at the desired height by means of a rod or other structure rigidly fixed air torus having Aerohydrodynamic profile. In this case, aerodynamic the profile of the air torus creates force in the vertical direction down from the horizontally acting air flow. m automatic control of the lifting force of both the air torus and the float. ι

The drawing (figure 1) shows a 'Sholkor parallel manipulator design consisting of an upper platform 1 and a lower platform 2 connected by six connecting kinematic chains 3 of two links forming translational kinematic pairs to provide a change in the length of the RCC. SKZ ,

form with platforms 1 and 2 and between themselves multilink spherical connections of two links -4, of three links -5 and four links-6, shown in figure 1 and separately made.

In six-moving parallel; manipulator primary transducer formed according to the scheme of interconnection of links of the Sholkor manipulator, the above-mentioned spherical multi-link connections of two, three and four links are replaced, respectively, with chain connections of two chain links 7-8 and 9-10; three chain links 7-8, 9-10 and 11-12; four links of the chain 7-8, 9-10, 11-12 and 13-14, which are shown in the figures, respectively, a, b, from figure 2. It should be noted that in figures a, b, from figure 2 it is shown that the link 8 connection forms a rotational pair with the platform (lower or upper). Other links 10,12,14 form rotational pairs with RCC.

It is possible to replace multi-link spherical joints of two (4), three (5) and four (b) links, respectively, with flexible joints using a cable (rope) 15 connecting two links 16 and 17 (figure 2, d); three links 16,17,18 (figure 2, e) connected by two ropes 15; four chain links 16,17,18,19 (Figure 2J) connected by three ropes 15. In this case, link 16 forms a rotary pair with the upper or lower platform, links 17,18, 19 form rotational pairs with RCCs.

I

The figure 3 shows a diagram of the ШПМПП with a chain connection. Here is a movable hoop-like platform 1 and a fixed platform 2 connected so that each of the six connecting kinematic chains consists of two links: a slider 20 and a guide 21, forming a translational driving kinematic pair. Also, each connecting kinematic chain has displacement sensors with an engine 22 moving together with the ^* slide 20 relative to the panel 23 fixed to the guide 21. The figure 4 shows a diagram of a wind farm, which consists of a six-moving manipulator primary transducer with an upper platform 1 in the form of a hoop, a lower platform 2 and six SKTs-3. An air torus 24 is attached to the upper platform 1, representing an elastic shell in the shape of a torus filled with a substance lighter than air. Cable 25 transfers electric current from the electric generators to the power electronic unit 26, from which current is transmitted to the distribution network via cable 27.

The figure 5 shows the air torus 24, as well as its cross section 28 in the form of an aerodynamic profile. From the bottom, the air torus is attached to the hoop 1 - the upper platform of the manipulator primary transducer. ^' ι

The figure 6 presents PVLES based on the primary manipulator transducer consisting of a lower platform 2, six SKZ with translational pairs -3 with a variable length, the upper platform 1 with a float 29 completely immersed in water. The figure 6 shows that the power cable 30 transfers electric current from the generators to the power electronic unit 31, from which electric energy is transmitted to the distribution network via cable 32.

On the figure _. Figure 7 presents a VVlES with a primary manipulative converter of the energy of water and air mass into mechanical energy. Manipulative converter 2 consisting of a stationary and a movable platform 1, connected by six pairs of RCCs with translational 3. To the upper platform is fixed semi submerged float 29, which at a certain height by means of the rod construction 33 is mounted an air torus 24. Here, ^L shows the cable 30, the block power electronics 31, electric cable 32. The principle of operation of the primary manipulator transducer is based on the fact that under the action of spatial movements of air masses or waves, the upper platform 1 moves relative to the lower fixed platform 2 with six degrees of freedom, while changing the length of the RCC using translational drive kinematic pairs 3. Thus, the energy of motion air or water masses is converted into mechanical energy of translational motion, which can then be converted into electrical energy by known methods . In the primary manipulator, the complex multilink spherical joints of the Sholkor manipulator (4,5,6 - figure 1) are replaced by chain (figure 2, a, b, c) or flexible (figure 2, d, e,) connections. In the case when accuracy in positioning is not required, these joints provide the same mobility and the corresponding multilink spherical joints, but are simple in design and reliable in operation, especially in aggressive aqueous environments. To eliminate excessive local mobility around its own axis, the RCCs in the primary manipulator (figure 3) have only one rotary connection at the lower or upper end. On all six RCCs (figure 3), displacement sensors (22.23) are installed, the information from which is used to control the lifting force of the sensing element (float or air torus) connected to the upper platform. 'ί

The principle of operation of the wind farm (figure 4) is as follows: an air torus 24, representing an elastic shell in the form of a torus with an aerodynamic profile 28 (figure 5), is filled with matter lighter than air and, under the influence of air flow, moves, making the upper platform of the primary manipulator transducer move in the wind and up. In this case, the lengths of the SKTs -3 are changed, i.e. wind energy is converted into the energy of six translational movements, which by known methods, are converted into electrical energy. The electric current from the generators is transmitted via cable 25 to a hub (power electronics unit) 26 and then through cable 27 to a transformer or to an electrical distribution network. If a linear electric generator is built into the design of the RCC, then when the length of the RCC is changed, each generator generates an electric current. To return the movable platform 1 of the primary manipulator transducer to its original position can be used the energy of compressed air, elastic elements, the mass of the movable structure. Depending on the strength of the wind, the lifting force of the air torus is automatically adjusted; by changing the volume of gas filling the air torus. The air torus lift control system consists of well-known elements: a controller, an interface, displacement and pressure sensors of a manipulator transducer, a gas exhaust valve installed in the air torus, a gas pump, a gas tank, a power source, etc. In the initial position, if not external influence, the lifting force of the air-torus is balanced by the action of an elastic element (spring) acting on the SKZ or compressed air to the desired pressure in the pneumatic cylinder, the rod of which is connected inen with SKZ. Under the action of a gust of wind, the air torus moves in the direction of the wind and up due to the aerodynamic component and lengthens some SKZ, which in turn compress the air in the pneumatic cylinder or an elastic element. These reaction forces seek to return the RCC and the moving platform to its original state. In view of the fact that the forces of action of the air mass (wind force) on the air torus can vary in magnitude; and direction, provides automatic control of the lifting force of the air torus. In this case, the following control ^logic:; in the equilibrium (initial) state, signals from displacement sensors are set to zero. In strong winds, displacement sensors will show the maximum length of the RCC. AT ; this case to reduce

I ^'" -""-^'''""'' - ( ^{1 1} lifting force, the valve automatically releases gas from the air torus until the state of the wind farm is reached, when the performance of the displacement sensors reaches the maximum values. On the contrary for example, in light winds, there will be insignificant deviations of the displacement sensors, in which case sensitivity should be increased, i.e. the lifting force of the air torus until the stroke of the RCC increases, in this case gas is pumped into the air torus using a flexible hose Compressor The automatic control system also prevents resonance phenomena.

The principle of operation of the PVlES (Figure 6) is based on the fact that water particles at depth, depending on the movement of waves on the surface of the reservoir (ocean, sea), perform spatial cyclic movements with high energy. The primary manipulator transducer allows you to convert this wave energy into mechanical energy of translational movements. On the surface of the sea, ocean, waves have a large destructive energy leading to the destruction of technical systems; therefore, the PVES is installed at the calculated depth at the bottom of the reservoir. The principle of operation of PVlES is based on the fact that a moving mass of water acts on a float 29 immersed in water with an aero-hydrodynamic profile, connected with the platform 1 1 of the manipulator creates forces directed upstream and upward, causing a change in the lengths of SKZ -3. those. reciprocating motion relative to a fixed base — the lower platform fixed to the bottom of the reservoir 2. The reciprocating motion of the six SCZ drives is converted into electrical energy by known methods. The current generated by the electric generators is transmitted via cable -30 to the power electronic unit 31 and then via the power cable 32 to a transformer located on the coast. The mechanical energy of the reciprocating movements can also be converted into electrical energy by known methods: directly, through a linear generator; through the working fluid, the electric generator drive shaft; through various mechanical converters of translational motion into rotational motion of the shaft of one or more electric generators.

The automatic control system of the lifting force of the PVlES float is designed to increase the efficiency of PVlES operation at various wave dynamics. To control the lifting force, the float is divided into two cavities: the lower, filled with water and the upper - hermetic, filled with a gaseous substance. Between these cavities is a flexible diaphragm. The lifting force of the float is changed by changing the volume of water in the lower cavity of the float. Moreover, in the normal operating mode of PVlES operation, the volume of the float and the volumes of the cavities with water and gas will correspond to the calculated, i.e. such that the readings of the RCC displacement sensors will deviate from zero in one direction or another within the acceptable range. In other words, the upper platform with a float performs a complete movement from the lower position to the upper Gomi on the contrary for a cycle of work. If. it turns out that according to the readings of the sensors, the length of the RCC often increases by the full length and does not reach the minimum value. This is observed with weak waves. In this case, the automatic control system must reduce the lifting force of the float by pumping water into the cavity of the float while opening the water intake valve until normal operation is established. With strong waves, on the contrary, the RCC will not reach the maximum allowable lengths. In this case, it is necessary to increase the lifting force of the float. For this, water is discharged from the cavity of the float by pumping it out with a hydraulic pump or by discharging using controlled valves. Turn on the hydraulic pump)> and open the relief valves automatically until

! I normal operation will be established. The flexible diaphragm allows you to change the size of the cavities and displaces the liquid due to the pressure forces of compressed air.

The principle of operation of the lake version of the power plant - the wind-wave power plant is as follows: the upper platform of the primary manipulator transducer connected to the flooded float 29 (figure 7) and the air torus 24 move under the influence of surface waves and wind. In this case, the air torus is set so that the aerodynamic force F directed downwards arises from the action of the horizontal air flow v (Figure 7). The air torus in VVLES takes the opposite position to that in the wind farm. The interaction of the air torus and the float occurs as follows: in the initial position, the RCC drives occupy a middle position. Under the influence of wind, an air torus, for example, goes down, dragging a float along with it, while the length of the RCC decreases. As a result, with an additional immersion of the float in water, an additional Archimedean force arises, which returns the float to its original position, while changing the length of the RCC. As a result of the interaction of the air torus moving under the influence of the air flow and the float moving under the influence of water, the lengths of the SCS are changed and the reciprocating ones are performed _. movements that are converted into electrical energy by known methods. The electric current generated by the electric generators via cable 30 is transferred to the power electronics unit 31 and, after conversion, the total current is transmitted to the coast via cable 32, to a transformer or distribution network s. .

The automatic control system of VVlES controls the lifting force of the air torus and the float at the same time according to the above method.

Claims

CLAIM

1. Six-movable parallel manipulator primary transducer, consisting of a lower fixed and upper movable platform connected according to the structure of the parallel Sholkor manipulator using connecting kinematic chains forming multi-link connections with the platforms and between them, characterized in that multi-link spherical connections are used to increase the operating life of the manipulator converter from two-, three-, and four links are made in the form of chain connections from round links over the section (to olet) of metal or rubber-metal chains connected in such a way that they put on the ring forming the rotational connection with the platform: with two link connections, one ring forming the rotational connection with the links of the connecting kinematic chain; with a three-link connection, two rings, each of which forms a rotational connection with its links in the connecting kinematic chain; with a four-link connection '- three rings, each of which forms a rotational connection with its connecting links. kinematic chain. ι

^' - ^:' . -; , · :-: one- . i:

2. Six-movable parallel manipulator primary

, k> Γι.τ · ..; · ... 1 I; . a converter consisting of a lower fixed and an upper movable platform connected according to the structure of the parallel Sholkor manipulator using connecting kinematic chains forming multi-link connections with the platforms and with each other, characterized in that in order to reduce backlash in the joints of multi-link two-, three-, and four-link connections steel joints

.) - ^· ·. ί ropes or ropes made of strong and flexible materials connected in such a way that with two-link connections, the rope (cable) forms one rotational connection with the platform with the other integral end forms a rotational connection with connecting parts

one kinematic chain; in the case of a three-link connection, two ropes with one united integral end form a rotational connection with the platform, and with the other integral ends each rope forms rotational connections with links of different connecting kinematic chains; with a four-link connection, the three ropes with the united integral end form a rotational connection with the platform, and with the other integral ends the three ropes form rotational connections with the links of three connecting kinematic chains.

3. Six-movable parallel manipulator primary transducer according to p. 1,2 characterized in that in order to exclude local mobility (rotation) of the connecting kinematic chain around its own axis, each pair of links of one connecting kinematic chain forms a rotational connection with a chain or cable connection from only one end, and from the other end forms a fixed connection to a rope or ring.

4. A wind power station comprising a wind energy converter having a lower stationary body and an upper movable body moving together with a wind-sensitive body, characterized in that in order to increase the efficiency of using the energy of the spatial movement of the air flow, a six-moving parallel manipulator primary is used

L. the transducer according to claims 1-3, and an air torus is used as a sensitive body, perceiving the movement of air flow - a body with an elastic shell in the shape of a torus, filled with gas lighter than air, having an aerodynamic profile that creates lifting force from the action of horizontal air flow.

2

5. The wind farm according to claim 4, characterized in that the air torus has a system for automatically controlling the lifting force by changing the volume of gas in the air torus.

6. An underwater wave power station containing a manipulator for converting wave energy, in which the lower platform is fixed to the bottom, and the upper platform represents a body buried in water with controlled buoyancy necessary to return the platform to its original position, characterized in that with the aim of increasing the service life of multi-link connections a six-movable parallel manipulator primary transducer according to claims 1-3 is used.

7. The underwater wave power station according to claim 6, characterized in that to ensure the controlled lifting force of the float, the hollow body of the float is divided by a flexible diaphragm into two cavities, one of which (upper) represents a sealed container filled with air (gas), and the other (lower ) is filled as necessary with water and automatically controlled intake and discharge valves are placed in it

ι .: (.. · water.

8. For water bodies with small waves (lake version), where the surface wave energy is insufficient to generate electrical energy, a wind power plant is proposed, which is characterized by the fact that it uses the energy of surface waves and wind at the same time, and uses the energy of surface waves and wind energy as a converter six-movable manipulator primary converter according to claims 1-3.

9. The wind power plant according to claim 8, characterized in that a semi-recessed float is fixed to the upper platform of the manipulator primary transducer, to the casing of which an air torus is attached at the required height using a rod or other design representing an elastic shell in the form of a torus with an aerodynamic profile causing the torus to move downward under the action of a horizontally directed air flow.

10. A wind power plant according to claim 8, 9, characterized in that it has a system for automatically controlling the lifting force of the float and the aerodynamic force of the air torus at the same time.

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