Multi-dimensional swing type wave energy power generation device and energy obtaining method thereof

Abstract

The invention belongs to the technical field of offshore wave energy power generation, and particularly relates to a multi-dimensional swing type wave energy power generation device and an energy obtaining method thereof.The device comprises an outer swing body, an energy capturing swing mechanism, a base and an inner swing body, the energy capturing swing mechanism is composed of a plurality of hydraulic rods, a swing arm support and an energy conversion system, the base is connected with a draught fan floating platform, and the swing arm support is connected with the draught fan floating platform; the energy conversion system is connected with the hydraulic rod through a pipeline and used for converting hydraulic energy into electric energy. The outer swinging body is a hemispherical shell and can capture multi-dimensional acting force of waves; the inner swing body comprises a linear motor, a rotating shaft and a reversing rod, and the energy conversion system is driven to generate power through reciprocating motion of the linear motor. The problems that an existing wave energy device is low in energy conversion efficiency and unstable are solved, and through cooperative movement of the outer swing body and the inner swing body, capturing of multi-dimensional wave force and a flexible hydraulic system structure, the conversion efficiency of wave energy is improved, anchoring and structural layout is optimized, and the utilization efficiency of a sea area is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of offshore wave energy power generation, and in particular, relates to a multi-dimensional pendulum wave energy power generation device and an energy acquisition method thereof. Background Art

[0002] In the field of ocean energy utilization, the acquisition and conversion of wave energy is the focus of current research and application. Existing wave energy collection devices, such as oscillating water column wave energy devices, catenary anchoring systems for deep-water wave energy devices, and oscillating buoy wave energy devices, have some technical limitations and problems.

[0003] First, the instability and randomness of waves are the main reasons that affect the efficiency of energy acquisition. Due to differences in the geographical environment and climatic conditions of the ocean, the amplitude and wave period of the incident waves vary significantly in time and space. The instability of such wave conditions directly leads to the instability and low energy conversion efficiency of existing wave energy devices. For example, the oscillating water column wave energy device is a relatively mature wave energy device, which causes the air in the closed air chamber to compress and expand through the rise and fall of waves, driving the turbine to generate electricity. However, due to the large differences in wave conditions in different regions and seasons, it is difficult for the device to maintain efficient energy conversion under various sea conditions.

[0004] Secondly, there are certain technical challenges in the anchoring method of deep-water wave energy devices. The currently commonly used catenary anchoring system mainly relies on the deadweight of the anchor chain to provide anchoring force, which requires a larger anchoring radius. In addition, the heavy deadweight of the anchor chain will increase the draft of the wave energy device and reduce the stability and power output of the device. At the same time, when the wave energy devices are arranged in an array, the large anchoring radius of the catenary anchoring system leads to excessive spacing between the devices, thereby reducing the utilization efficiency of the sea area.

[0005] Oscillating buoy wave energy devices convert energy by floating up and down or swinging horizontally in the waves. The energy conversion efficiency of this type of device is poor in areas with small wave fluctuations or large wave period changes. This means that in actual applications, oscillating buoy wave energy devices often need to be optimized and adjusted for specific sea areas and wave conditions, which increases the complexity of technical implementation.

[0006] In summary, existing wave energy devices generally have the problem of low energy conversion efficiency due to wave instability and randomness. At the same time, the anchoring method and device layout of the deep-water mooring system also limit the effective use of the sea area. Improving energy conversion efficiency and optimizing the anchoring system are key challenges in improving wave energy utilization technology. Summary of the invention

[0007] In view of the defects of the prior art, the present invention proposes a multi-dimensional pendulum wave energy power generation device and an energy acquisition method thereof, which improves the conversion efficiency of wave energy through the coordinated movement of the outer pendulum body and the inner pendulum body, the capture of multi-dimensional wave force and the flexible hydraulic system structure, optimizes the anchoring and structural layout, and improves the technical problem of improving the utilization efficiency of the sea area.

[0008] To achieve the above-mentioned purpose, on the one hand, the present invention provides a multi-dimensional pendulum wave energy power generation device, comprising an outer pendulum body, an energy-capturing swing mechanism, a base and an inner pendulum body; the energy-capturing swing mechanism comprises a plurality of hydraulic rods, a swing arm bracket and an energy conversion system, the base is connected to a wind turbine floating platform, the energy conversion system is a hydraulically driven energy conversion system, which is arranged on the base, and its hydraulic chamber is connected to the hydraulic chambers of a plurality of hydraulic rods through pipelines, and is used to convert the hydraulic energy generated by the hydraulic rods into electrical energy; a plurality of universal connection grooves are arranged at the bottom of the base, the swing arm bracket is located below the base, and a ball groove is arranged thereon which is perpendicular to and corresponds to each universal connection groove, one end of the hydraulic rod is rotatably connected to the universal connection groove of the base, and the other end is connected to the ball groove corresponding to the swing arm bracket, so as to form a frame structure;

[0009] The outer swing body is arranged at the bottom of the swing arm bracket, and is a hemispherical shell structure, with its arc surface facing the sea level, which is used to capture the multi-dimensional force of waves; the inner swing body is arranged at the inner bottom of the outer swing body, and includes a linear motor, a rotating shaft and a reversing rod; the linear motor includes a mover and a stator, and the mover is located at the top of the stator and is connected to the guide rail of the stator; the rotating shaft is arranged below the guide rail of the stator, and is rotatably connected to the stator through a bearing, so that the rotating shaft can rotate freely around its axis; one end of the reversing rod is connected to the stator through the rotating shaft, and the other end is connected to the mover, so as to convert the rotational motion of the rotating shaft into a linear reciprocating motion of the mover along the stator guide rail;

[0010] Under the action of waves, the multi-dimensional force exerted on the outer pendulum body causes the hydraulic rod to flexibly rotate along the universal connection groove and the ball groove under the push of waves and compress the hydraulic rod to generate hydraulic energy. The multi-dimensional force further drives the rotating shaft of the inner pendulum body to rotate, driving the reversing rod to swing, so that the mover reciprocates along the guide rail of the stator, generates induced electromotive force and outputs electrical energy.

[0011] In a preferred implementation, further, a guide rail for the movement of the mover is provided on the top of the stator, a bearing mounting hole is provided below the guide rail of the stator, the rotating shaft passes through the bearing mounting hole and is arranged in the bearing; one end of the reversing rod is rotatably connected to the stator through a pin shaft, and two oblong holes are provided on the reversing rod, one of the oblong holes is connected to the rotating shaft, and the other oblong hole is connected to the mover, so that the reversing rod can rotate and swing within a predetermined range driven by the rotating shaft.

[0012] In a preferred implementation, further, the multiple hydraulic rods include a hydraulic rod 2 fixed at the center of the bottom of the base and a plurality of hydraulic rods 1 symmetrically arranged around the hydraulic rod 2; the push rod of each hydraulic rod 1 is rotatably connected to the ball groove corresponding to the swing arm bracket, and the oil cylinder of each hydraulic rod 1 is rotatably connected to the corresponding universal connection groove at the bottom of the base.

[0013] In a preferred implementation, further, the swing arm bracket includes a frame support structure, a cross rod and a U-shaped support rod; the frame support structure is a rectangular frame, each frame is provided with a spherical universal groove, the spherical universal grooves on the opposite frames are coaxially arranged, and two symmetrical frames are also provided with bearing seats; the cross rod is arranged in the frame of the frame support structure, and its two coaxial connecting ends are rotatably connected to the bearings in the bearing seats, so that the frame support structure can rotate around the axis of the cross rod, and the cross rod is used for the frame support structure to provide lateral swinging force transmission; the U-shaped opening of the U-shaped support rod is set downward, and its top is connected to the push rod of the hydraulic rod 2, so that the hydraulic rod 2 transmits force to the frame support structure through the U-shaped support rod under the action of waves.

[0014] In a preferred implementation, further, the reversing rods are symmetrically arranged on both sides of the linear motor, and the rotation axis of the rotating shaft is perpendicular to the movement direction of the mover of the linear motor.

[0015] In a preferred implementation, further, the energy conversion system includes a hydraulic pump, a hydraulic motor, a hydraulic pipeline and a generator; the hydraulic rod one and the hydraulic rod two are respectively connected to the hydraulic pump through hydraulic pipelines, and the hydraulic pump is connected to the hydraulic motor through hydraulic pipelines to transmit the high-pressure liquid generated by the hydraulic rods to the hydraulic motor; the rotor shaft of the hydraulic motor is connected to the rotor shaft of the generator, and the generator is used to convert the mechanical energy of the rotor shaft into electrical energy.

[0016] In a preferred implementation, further, it also includes a power management system, which includes a rectifier module; the input end of the rectifier module is connected to the mover of the inner swing body and the energy conversion system of the energy-capturing swing mechanism through cables, and the rectifier module is used to rectify the alternating current generated by the hydraulic power generation system of the mover and the energy-capturing swing mechanism into direct current.

[0017] In a preferred implementation, further, the power management system also includes a voltage regulation module, an energy storage device and an inverter; the output end of the rectifier module is connected to the voltage regulation module, the output end of the voltage regulation module is connected to the energy storage device, and the output end of the energy storage device is connected to the inverter.

[0018] In another aspect, the present invention provides a method for obtaining energy from a multi-dimensional pendulum wave energy power generation device, comprising:

[0019] Step 1: The arc surface of the outer pendulum is directed toward the sea level and maintained at a predetermined height to capture the multi-dimensional force exerted by the waves. The multi-dimensional force is converted into a swinging force acting on the outer pendulum through the motion model of the outer pendulum, which is used to drive the energy-capturing swing mechanism and the inner pendulum to provide power for the subsequent energy conversion process;

[0020] Step 2: Under the action of waves, the outer swing body swings with the waves, driving the hydraulic rod in the energy-capturing swing mechanism to perform corresponding telescopic movement, converting the power obtained by the outer swing body from the waves into hydraulic energy;

[0021] Step 3: The hydraulic system transmits the high-pressure liquid generated by the hydraulic rod to the hydraulic motor through the hydraulic pump. Under the action of the high-pressure liquid, the hydraulic motor rotates and further converts the hydraulic energy into mechanical energy. The rotation of the hydraulic motor drives the connected generator to work, and the generator uses the principle of electromagnetic induction to convert the mechanical energy into alternating current;

[0022] Step 4: Under the action of wave force, the rotating shaft of the inner pendulum rotates, driving the connected reversing rod to swing. The swing of the reversing rod causes the mover in the inner pendulum to reciprocate along the guide rail of the stator. The reciprocating motion of the mover generates an induced electromotive force between the mover and the stator, outputting additional electrical energy. The additional electrical energy is combined with the electrical energy generated by the hydraulic motor driving the generator to obtain the total electrical energy output of the system;

[0023] Step 5: The alternating current generated by the generator and the inner swing body is rectified by the rectifier module, and the rectified direct current is sent to the voltage regulation module for voltage stabilization to generate a stable direct current and store it in the energy storage device. When needed, the direct current is converted into alternating current for output through the inverter.

[0024] In a preferred implementation, further, in step 4, the total electrical energy of the system is determined by the following formula:

[0025] P total =P e +P elec_i =η ren ·η motor ·η pump ·P o +B·l·(w i ·r)·I

[0026] Where: P e =η ren ·η motor ·η pump ·P o , P e Represents the electrical energy generated by the hydraulic motor driving the generator; P elec_i =B·l·(w i ·r)·I,P elec_iRepresents the electrical energy output by the inner pendulum; η ren , η motor , η pump Respectively represent the efficiency of hydraulic pump, hydraulic motor and generator; P o represents the instantaneous power of the external swing body; B represents the stator magnetic field strength; l represents the effective length of the rotor in the magnetic field; w i It represents the angular velocity generated by the rotation of the shaft; r represents the distance conversion ratio between the reversing rod and the mover; I represents the current in the induction circuit of the inner pendulum.

[0027] The beneficial technical effects of the present invention include:

[0028] First, the present invention can efficiently capture and amplify wave energy in a marine environment with random wave amplitudes and wave periods through the coordinated movement of the outer swing body and the inner swing body, reducing the stagnation time caused by small wave amplitudes or short period waves, thereby improving the working performance of the device and the efficiency of wave energy utilization. The power generation system of the inner swing body is enclosed inside the outer swing body, which reduces the number of components in direct contact with seawater, effectively reduces the risk of seawater corrosion to the power generation system, extends the service life of the equipment, and significantly reduces the maintenance frequency and cost. The device can operate in coordination with an offshore wind power floating platform, reducing the need for an independent anchoring system and enhancing the overall stability of the floating platform. Through coordinated arrangement, efficient utilization of marine resources is achieved, project costs are reduced, and the comprehensive development and sustainable utilization of the marine environment are promoted.

[0029] Second, in the preferred implementation, the structural design of the present invention arranges a guide rail for the movement of the mover on the top of the stator, and a rotating shaft and a reversing rod connected by a bearing mounting hole and a pin shaft, so that the reversing rod can rotate and swing within a predetermined range under the drive of the rotating shaft, thereby effectively converting the rotational motion of the rotating shaft into a linear reciprocating motion of the mover. This structural design improves the smoothness of the mover movement and reduces the mechanical loss in the energy conversion process. At the same time, the symmetrical setting of the reversing rod further balances the system force, so that the system can maintain stable operation in a complex wave environment.

[0030] Third, in the preferred implementation, the hydraulic rod 2 of the present invention is fixed at the bottom center of the base, and multiple hydraulic rods 1 are symmetrically arranged around the hydraulic rod 2, which helps to evenly distribute the wave force. The cross rod and U-shaped support rod design in the frame support structure enable the device to effectively transmit the lateral swing force to the frame support structure under the action of waves, thereby improving the response capability of the device under different wave directions.

[0031] Fourth, in the preferred implementation mode, the present invention realizes multi-level energy conversion from mechanical energy to hydraulic energy and then from hydraulic energy to electrical energy through a hydraulic system, thereby improving the energy conversion efficiency. A rectifier module, a voltage regulation module, an energy storage device and an inverter are arranged in the power management system, which can effectively balance the output voltage and avoid voltage instability problems caused by wave fluctuations. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a three-dimensional structural diagram of a multi-dimensional pendulum wave energy power generation device according to an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of an outer swing body of an embodiment of the present invention being acted upon by waves;

[0034] Figure 3 is a schematic diagram of a multi-dimensional pendulum wave energy power generation device according to an embodiment of the present invention installed on a wind turbine floating platform;

[0035] Figure 4 is a three-dimensional structural diagram of an energy-capturing swing mechanism and a base according to an embodiment of the present invention;

[0036] Figure 5 is a front view of an inner swing body of an embodiment of the present invention;

[0037] Figure 6 is a framework diagram of an energy conversion system according to an embodiment of the present invention;

[0038] Figure 7 is a three-dimensional structural diagram of an inner swing body of an embodiment of the present invention;

[0039] Figure 8 is a framework diagram of a power management system according to an embodiment of the present invention;

[0040] Fig. 9 Schematic diagram of the force on the hydraulic rod of the multi-dimensional pendulum wave energy power generation device subjected to rolling motion according to an embodiment of the present invention;

[0041] Fig.10 Schematic diagram of the force on the hydraulic rod of the multi-dimensional pendulum wave energy power generation device subjected to pitch motion according to an embodiment of the present invention;

[0042] Fig.11 It is a schematic diagram of the force on the hydraulic rod of the multi-dimensional pendulum wave energy power generation device subjected to vertical motion in an embodiment of the present invention;

[0043] Fig.12 It is a flow chart of the energy acquisition method of the multi-dimensional pendulum wave energy power generation device according to an embodiment of the present invention.

[0044] Among them, 1-outer swing body; 2-energy-capturing swing mechanism; 20-frame support structure; 21-cross rod; 22-hydraulic rod one; 23-hydraulic rod two; 24-U-shaped support rod; 3-base; 30-mounting plate one; 31-universal foot; 4-inner swing body; 40-mover; 41-stator; 42-rotating shaft; 43-reversing rod; 44-mounting plate two; A-floating platform for wind turbines. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the technical solution of the present application, the present application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0046] The terms such as up, down, left, right, front and back in this application document are based on the positional relationships shown in the drawings. If the drawings are different, the corresponding positional relationships may also change accordingly, so they cannot be understood as limiting the scope of protection.

[0047] In this application, the terms "install", "connected", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, or mutual communication, a direct connection, or an indirect connection through an intermediate medium, the internal connection of two components, or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0048] Example 1

[0049] As the instruction manual Figure 1-5 A multi-dimensional pendulum wave energy power generation device comprises an outer pendulum body 1, an energy-capturing swing mechanism 2, a base 3 and an inner pendulum body 4. The energy-capturing swing mechanism 2 comprises a plurality of hydraulic rods, a swing arm bracket and an energy conversion system. The energy conversion system is arranged on the base 3 and is connected to a plurality of hydraulic rods through pipelines, and is used to convert the hydraulic energy generated by the hydraulic rods into electrical energy. A plurality of universal connection grooves are arranged at the bottom of the base 3, and the swing arm bracket is located below the base 3, and is provided with ball grooves which correspond vertically to each universal connection groove. One end of each hydraulic rod is rotatably connected to the universal connection groove of the base 3, and the other end is connected to the ball groove corresponding to the swing arm bracket to form a frame structure. The outer pendulum body 1 is arranged at the bottom of the swing arm bracket and is a hemispherical shell structure. The inner pendulum body 4 is located at the bottom center of the outer pendulum body 1. The top plane of the outer pendulum body 1 is a closed structure, which effectively reduces the risk of corrosion of the inner pendulum body 4 by seawater. The outer pendulum body 1 is used to capture the multi-dimensional force of the wave and transmit it to each hydraulic rod and the inner pendulum body 1. The multi-dimensional pendulum wave energy power generation device is in accordance with Figure 2-3In the state shown, it is connected to the wind turbine floating platform A through the base 3, the arc surface of the outer pendulum body 1 faces the sea level and maintains a predetermined height with the sea level. The hydraulic rod and the swing arm bracket in the multi-dimensional pendulum wave energy power generation device can flexibly rotate along the universal connection groove of the base 3 under the push of the waves, so as to adapt to the changes in the direction of the waves.

[0050] The inner swing body 4 includes a linear motor, a rotating shaft 42 and a reversing rod 43. The linear motor includes a mover 40 and a stator 41. The mover 40 is located at the top of the stator 41 and is connected to the guide rail of the stator 41. The rotating shaft 42 is arranged below the guide rail of the stator 41 and is rotatably connected to the stator 41 through a bearing so that it can rotate freely around its own axis. One end of the reversing rod 43 is connected to the stator 41 through the rotating shaft 42, and the other end is connected to the mover 40 to achieve the conversion of the movement direction of the mover 40 along the guide rail of the stator 41. Under the action of waves, the multi-dimensional force generated by the outer swing body 1 drives the rotating shaft 42 of the inner swing body 4 to rotate, drives the reversing rod 43 to swing, and causes the mover 40 to reciprocate along the guide rail of the stator 41, thereby generating an induced electromotive force in the mover 40 and outputting electrical energy.

[0051] Further, the base 3 includes a mounting plate 30 and a universal foot 31 arranged on the mounting plate 30. The swing arm bracket of the energy capture swing mechanism 2 includes a frame support structure 20, a cross rod 21 and a U-shaped support rod 24. The frame support structure 20 is a rectangular frame, each frame is provided with a spherical universal groove, the spherical universal grooves of the symmetrical frames are coaxially arranged, and two symmetrical frames are also provided with bearing seats. The cross rod 21 is located in the frame of the frame support structure 20, and its two coaxial connecting ends are rotatably connected to the bearings in the bearing seats, so that the frame support structure 20 can rotate around the rotating axis of the cross rod 21, and the cross rod 21 provides the frame support structure 20 with a lateral swing force transmission. The other two ends of the cross rod 21 are free ends, and the two free ends are respectively connected to the two ends of the opening of the U-shaped support rod 24. The U-shaped opening of the U-shaped support rod 24 is arranged downward, and its top is connected to the push rod of the hydraulic rod 23. The hydraulic rod 23 is fixed to the center of the mounting plate 30 through its oil cylinder, so that the cross rod 21 can only move vertically. In this embodiment, there are four hydraulic rods 22, and each hydraulic rod 22 is symmetrically arranged around hydraulic rod 23. The push rod head of each hydraulic rod 22 is spherical and is installed in the spherical universal groove of the frame support structure 20 one by one. The oil cylinder of each hydraulic rod 22 is installed on the universal foot seat 31 one by one. The design of the universal foot seat 31 allows the hydraulic rod 22 to perform universal motion, that is, the angle can be freely adjusted to adapt to the multi-directional swing of the outer swing body 1 when it is affected by waves. This flexible support design reduces the force resistance during the swing of the outer swing body 1, allowing the device to swing smoothly and maximize the capture of wave energy. The central axis of the hydraulic rod 23 and the cross axis of the cross rod 21 pass through the center of the cross axis. A U-shaped frame is also provided at the bottom of the frame support structure 20, and the two ends of the U-shaped frame are located on the axis of the rotating shaft of the cross rod 21. The plane of the outer swing body 1 is connected to the U-shaped frame. In this embodiment, the opening length of the U-shaped frame is equal to the diameter of the outer swing body 1. Such a design ensures the stability of the outer swing body and the uniform distribution of force.

[0052] As the instruction manual Figure 6, the energy conversion system includes a hydraulic pump, a hydraulic motor, a hydraulic pipeline, a generator and a control valve group. The hydraulic rod 1 22 and the hydraulic rod 2 23 are connected to the hydraulic pump through the hydraulic pipeline, and the hydraulic pump converts these mechanical swing forces into high-pressure liquid flow. The hydraulic rod 1 22 is mainly responsible for the force generated by the wave rolling and pitching that causes the hydraulic rod and the swing arm bracket to swing, and when subjected to the vertical force of the wave, the hydraulic rod 1 22 and the hydraulic rod 2 23 work together to make the hydraulic pump produce continuous and high-pressure liquid flow. The hydraulic pump is connected to the hydraulic motor through the hydraulic pipeline, and the high-pressure oil is delivered to the hydraulic motor to drive the rotor in the motor to rotate. The hydraulic motor converts hydraulic energy into mechanical energy, that is, the kinetic energy of rotation, which can effectively prevent the loss of hydraulic energy and maintain efficient transmission. The efficiency of this process mainly depends on the pressure and flow control of the hydraulic fluid, so the control valve group will be adjusted according to the input conditions of the hydraulic fluid to ensure that the hydraulic motor operates under the best working conditions. The rotor shaft of the hydraulic motor is directly connected to the rotor shaft of the generator, and the rotation of the hydraulic motor drives the generator to work. The generator further converts mechanical energy into electrical energy through the principle of electromagnetic induction.

[0053] As the instruction manual Figure 7 , the inner swing body 4 also includes a mounting plate 44. The mounting plate 44 is a square plate, which is arranged at the center of the inner bottom of the outer swing body 1 and can be fixed by welding. The stator 41 of the linear motor is centrally mounted on the mounting plate 44, and a guide rail for the mover 40 is provided on the top thereof. A bearing mounting hole is provided below the guide rail of the stator 41, and a rotating shaft 42 passes through the bearing arrangement. One end of the reversing rod 43 is rotatably connected to the stator 41 through a pin shaft, and the reversing rod 43 is provided with two oblong holes, one of which is connected to the rotating shaft 42, and the other is connected to the mover 40. Due to the presence of the oblong holes, the reversing rod 43 can realize rotation and swing within a certain range under the action of the rotating shaft 42, so that the reversing rod can flexibly adjust the angle in the vertical direction to cope with the swinging force of the outer swing body.

[0054] The reversing rods 43 of this embodiment are symmetrically arranged on both sides of the linear motor. During the transmission process of the swing force of the wave, the load is shared by the joint action of the reversing rods on both sides, reducing the risk of a single side being subjected to a large impact force, thereby enhancing the structural stability and durability of the entire system. The reversing rods 43 on each side are connected to the rotating shaft 42 and the mover 40 through the same oblong hole, so that when subjected to the swing force of the outer swing body, the reversing rods 43 can evenly transmit the force to the mover 40 of the linear motor, reducing the situation of offset or excessive force on one side.

[0055] Preferably, the rotation axis of the rotating shaft 42 is perpendicular to the movement direction of the mover 40 of the linear motor. When the swing force of the outer swing body is transmitted to the reversing rod 43 through the rotating shaft 42, since the movement direction of the mover 40 is reciprocating along the guide rail, it is necessary to ensure that the rotation axis of the rotating shaft is perpendicular to the movement direction of the mover. This design can convert the rotation of the reversing rod into the linear reciprocating motion of the mover, thereby effectively converting the swing force into electromotive force.

[0056] In this embodiment, the bearing in the bearing mounting hole of the stator 41 can be a deep groove ball bearing or a thrust ball bearing. The rotating shaft 42 is made of high-strength alloy steel (such as 42CrMo) or stainless steel (such as 304 stainless steel), which can withstand high-frequency swinging force and certain axial and radial loads. The linear motor adopts a high-precision permanent magnet linear motor, and its mover guide rail adopts a low-friction guide rail to ensure that the mover reciprocates smoothly in the guide rail. The reversing rod 43 can be made of carbon fiber composite material or high-strength aluminum alloy (such as 7075 aluminum alloy), which can ensure light weight and provide sufficient strength.

[0057] As the instruction manual Figure 8 , the multi-dimensional pendulum wave energy power generation device also includes a power management system. The power management system includes a rectifier module, a voltage regulation module, an energy storage device and an inverter. The input end of the rectifier module is connected to the inner pendulum body 4 and the energy capture swing mechanism 2 through a cable, and the output end of the rectifier module is connected to the voltage regulation module. The rectifier module is used to rectify the AC power from the linear motor and the hydraulic power generation system into DC power. The output end of the voltage regulation module is connected to the energy storage device, which contains a DC-DC converter or a voltage stabilizing circuit to balance voltage fluctuations and output a standard DC current. The energy storage device can be a battery, a supercapacitor, etc. The output end of the energy storage device is connected to the inverter to convert DC power into AC power when needed. The inverter can output single-phase or three-phase AC power according to the application scenario, and has the functions of voltage protection and frequency regulation. The output end of the inverter is connected to the power output interface to provide external power demand.

[0058] Preferably, the power management system also includes a voltage sampling module, which is respectively arranged on the transmission circuit of the inner swing body 4 and the energy-capturing swing mechanism 2 and the rectifier module, and is used to monitor the respective current and voltage parameters to ensure real-time monitoring of power flow.

[0059] The following is an explanation of the working principle of the multi-dimensional pendulum wave energy power generation device when it is subjected to roll, pitch and vertical motion.

[0060] As the instruction manual Fig. 9 As shown, Fig. 9The solid and dotted arrows in the figure represent the reciprocating motion of the hydraulic rods, and the hydraulic rods corresponding to the arrows are the motion states of the two hydraulic rods in the rolling motion scenario. In the rolling motion scenario, the waves exert a lateral thrust on the multi-dimensional pendulum wave energy power generation device, and the hemispherical shell of the outer pendulum body 1 will swing laterally around the base 3. This lateral swinging force is transmitted to the frame support structure 20 in the energy capture swing mechanism 2 through the connection between the outer pendulum body 1 and the swing arm bracket. At this time, the spherical universal groove in the symmetrical frame of the frame support structure 20 allows the push rod of the hydraulic rod 22 to be freely adjusted laterally. Due to the design of the universal foot 31, the spherical push rod head of the hydraulic rod 22 can be flexibly adjusted in the spherical universal groove, so that the swing arm bracket will not be constrained when swinging laterally, thereby smoothly transmitting the lateral swinging force of the wave. This swinging force is transmitted to the hydraulic system through the push rod movement of the hydraulic rod 22. The flexible movement of the hydraulic rod 22 in the spherical universal groove enables it to withstand the lateral thrust of the outer pendulum body and convert it into hydraulic energy. At the same time, the swing force of the outer swing body 1 is transmitted to the reversing rod 43 through the rotating shaft 42. The reversing rod rotates under the drive of the rotating shaft, so that the mover 40 of the linear motor moves linearly along the guide rail, and finally realizes the output of electric energy.

[0061] As the instruction manual Fig.10 As shown, Fig.10 The solid and dotted arrows in the figure represent the reciprocating motion of the hydraulic rods, and the hydraulic rods corresponding to the arrows are the motion states of the two hydraulic rods in the pitch motion scenario. In the pitch motion scenario, the pitch motion scenario: the waves exert a thrust in the forward and backward directions on the multi-dimensional pendulum wave energy power generation device, and the hemispherical shell of the outer pendulum body 1 will produce a longitudinal forward and backward swing. The longitudinal swing force of the outer pendulum body is transmitted to the cross rod 21 through the swing arm bracket and the frame support structure 20. The two ends of the cross rod 21 are fixed in the bearing seat in the frame support structure 20 through the bearing seat. Under the action of the longitudinal swing force, the two ends of the cross rod 21 connected to the bearing transmit the force to the corresponding two hydraulic rods 22, and the longitudinal swing force of the outer pendulum body can generate a longitudinal thrust through these two hydraulic rods 22. Due to the flexible design of the universal foot 31, the angle of its push rod can be adjusted to adapt to the longitudinal swing of the outer pendulum body 1, and the longitudinal swing force is transferred to the hydraulic system to realize power generation. During this process, the longitudinal swing force of the outer swing body is simultaneously transmitted to the reversing rod 43 through the rotating shaft 42. The swing of the reversing rod drives the mover 40 of the linear motor to perform linear reciprocating motion, and finally outputs electrical energy.

[0062] As the instruction manual Fig.11 As shown, Fig.11The solid and dotted arrows in the figure represent the reciprocating motion of the hydraulic rods, and the hydraulic rods corresponding to the arrows are the motion states of all hydraulic rods in the vertical motion scenario. When the outer swing body 1 is subjected to the wave thrust in the vertical direction, the outer swing body 1 will float vertically with the ups and downs of the waves. The vertical swing force of the outer swing body is transmitted to the hydraulic rod 1 22 and the hydraulic rod 2 23 through the frame support structure 20. The hydraulic rod 1 22 and the hydraulic rod 2 23 work together to transmit the vertical swing force of the outer swing body to the hydraulic pump in the hydraulic system, and the hydraulic pump transmits it to the hydraulic motor and then to the engine to generate electricity, thereby realizing the energy conversion of the vertical swing force.

[0063] It can be seen that the electric energy generated by the multi-dimensional pendulum wave energy power generation device is different when it is subjected to roll, pitch and vertical motion. During roll motion, the electric energy generated is coordinated by two hydraulic rods 22 and the inner swing body 4; during pitch motion, the electric energy generated is acted on by two hydraulic rods 22, and the inner swing body 4 is affected by the different motion angles of the linear motor and the pitch direction, and the electric energy generated by the inner swing body 4 is lower than that generated by roll motion; during vertical motion, the electric energy generated is acted on by all hydraulic rods 22. This is because the waves in the ocean are often generated by wind, and lateral waves (side waves) are more likely to cause roll. Therefore, in this embodiment, the motion direction of the linear motor is the same as the swaying direction of the multi-dimensional pendulum wave energy power generation device. In other embodiments, multiple linear motors can be arranged at different motion angles in the outer swing body 1 to achieve the output of electric energy of the inner swing body 4 in other motion scenes such as pitching, so as to improve energy conversion.

[0064] As the instruction manual Fig.12 The present invention also provides an energy acquisition method for a multi-dimensional pendulum wave energy power generation device, the energy acquisition method comprising:

[0065] Step 1: Direct the arc surface of the outer pendulum toward the sea level and maintain a predetermined height to capture the multi-dimensional force exerted by the waves. The multi-dimensional force is converted into a swinging force acting on the outer pendulum through the motion model of the outer pendulum, which is used to drive the energy-capturing swing mechanism and the inner pendulum, providing power for the subsequent energy conversion process.

[0066] Under the six-degree-of-freedom model, the motion model of the external swing body is:

[0067] m o +a o =F wave +F rad +F rest +F int -F PTO +F mooring +F drift (1)

[0068] Where: m orepresents the mass matrix of the external swing body; a o represents the acceleration vector of the external swinging body; F wave Indicates the wave excitation force; F rad represents the wave radiation force; F rest F represents the hydrostatic restoring force; int F represents the force exerted by the inner swing body on the outer swing body; PTO Indicates the PTO damping force; F mooring Indicates the mooring force; F drift Represents the average drift force.

[0069] Specifically, the mass matrix m of the external swing body is o The static parameters of the motion model of the external swing body are calculated by the geometric dimensions, material density and mass distribution of the external swing body. The precise value of the mass matrix can be obtained through finite element analysis (FEA) or physical measurement to describe the inertial characteristics of the external swing body in the six degrees of freedom (front and back, left and right, up and down, roll, pitch and yaw).

[0070] The acceleration vector a of the external swinging body o The dynamic parameters of the motion model of the external swing body are measured in real time by an acceleration sensor or inertial measurement unit (IMU) installed on the external swing body. The IMU can monitor the motion state of the external swing body in six degrees of freedom, obtain the acceleration data of roll, pitch and vertical, and then calculate the acceleration vector.

[0071] Wave excitation force F wave The dynamic parameters of the motion model of the external swing body are obtained by obtaining the height, period, wavelength and other data of the waves through wave buoys or wave sensors installed in the sea area, and then calculated through the hydrodynamic model. The hydrodynamic model is established using linear or nonlinear wave theory, and the wave characteristic parameters are input into the hydrodynamic model to calculate the wave excitation force.

[0072] Wave radiation force F rad It is the dynamic parameter of the motion model of the external pendulum, which is the reaction force generated by the motion of the external pendulum in the water, obtained through numerical simulation or experimental test. Usually, the boundary element method (BEM) or computational fluid dynamics (CFD) is used, combined with the real-time data input model of the motion speed of the external pendulum and the acceleration sensor, to obtain an accurate radiation force value.

[0073] Hydrostatic recovery F rest is the dynamic parameter of the motion model of the external pendulum, which is mainly caused by the difference between buoyancy and gravity and is affected by the immersion depth and posture of the external pendulum. The position and angle of the external pendulum are monitored in real time by the position and inclination sensors installed on the external pendulum, and the hydrostatic restoring force is calculated in combination with the buoyancy formula.

[0074] The force F exerted by the inner swing body on the outer swing body int is the dynamic parameter of the motion model of the outer pendulum, which is calculated by the coupled motion and relative displacement between the inner and outer pendulums. It can be measured in real time using a force sensor installed between the inner and outer pendulums. The force is related to the rotation and swing state of the inner pendulum, and the force transmission effect on the outer pendulum can be calculated using the motion equation of the inner pendulum.

[0075] PTO damping force F PTO is the dynamic parameter of the motion model of the external swing body. The PTO damping force is calculated based on the speed of the external swing body and the damping coefficient and stiffness coefficient of the PTO system. The relative speed of the external swing body can be measured by a speed sensor, and the damping force can be calculated in real time in combination with the damping coefficient and stiffness coefficient of the PTO system. A speed sensor or force sensor is installed in the PTO system to measure the speed of the relative motion of the external swing body or directly measure the damping force.

[0076] Mooring force F mooring is the dynamic parameter of the motion model of the outer swing body, which is the force applied to the outer swing body by the mooring system (such as anchor chain, cable or buoy). A tension sensor is installed on the cable or anchor chain of the mooring system to monitor the mooring force in real time to deal with the displacement of the outer swing body. The displacement of the outer swing body is measured by a position sensor (such as GPS), and then the mooring force is calculated in combination with the tension model of the mooring system.

[0077] Average drift force F drift It is a dynamic parameter of the motion model of the external pendulum, a low-frequency force caused mainly by the nonlinear effect of waves. The drift force can be calculated by combining the wave data and the motion data of the external pendulum with the hydrodynamic model. The average drift force can be estimated based on the high-frequency motion of waves and the low-frequency response of the external pendulum using numerical simulation methods (such as CFD) or empirical formulas.

[0078] It should be noted that, in practical applications, the acquisition of these dynamic parameters is often achieved through data fusion technology to improve accuracy and real-time performance.

[0079] Step 2: Under the action of waves, the outer swing body swings with the waves, driving the hydraulic rod in the energy-capturing swing mechanism to perform corresponding telescopic movement, thereby converting the power obtained by the outer swing body from the waves into hydraulic energy.

[0080] Specifically, since the forces of wave energy include roll, pitch and heave, the forces in the directions of roll, pitch and heave are absorbed by the outer swing body, so the power output of the outer swing body depends on its movement in different directions under the action of waves.

[0081] In the roll and pitch directions, the movement of the external swing body is manifested as a rotational movement around a certain axis, resulting in changes in its angular velocity and angular displacement. Under constant damping, the instantaneous output power P of the external swing body in the roll or pitch direction is o The calculation formula is:

[0082]

[0083] Where: B o represents the constant damping coefficient of PTO; w o The relative angular velocity of the external swing body (angular velocity in the roll or pitch direction).

[0084] Under linear damping, the instantaneous output power P in the roll or pitch direction is o The formula is:

[0085]

[0086] Where: K o Indicates the stiffness coefficient of PTO; θ o Indicates the relative angular displacement of the external swing body (angular displacement in the roll or pitch direction); B o1 represents the linear damping coefficient; w o Indicates the relative angular velocity of the external swing body (angular velocity in the roll or pitch direction).

[0087] In the vertical swing direction, the movement of the external swing body is shown as floating up and down (i.e. linear displacement), and the instantaneous power P in the vertical swing direction is o Under constant damping:

[0088]

[0089] Where: B o represents the PTO constant damping coefficient in the heave direction; v o Indicates the velocity in the heave direction.

[0090] Under linear damping in the heave direction, the instantaneous power is:

[0091]

[0092] Where: K o Indicates the stiffness coefficient in the heave direction; d o Indicates the relative displacement in the heave direction; B o1 Represents the linear damping coefficient in the heave direction.

[0093] It should be noted that in practical applications, the instantaneous output power of the external pendulum calculated by constant damping is usually suitable for application scenarios where the wave conditions are relatively stable, the system does not require high energy capture efficiency, and needs to reduce costs and simplify structures, such as some small offshore wave power generation devices. The instantaneous output power of the external pendulum calculated by linear damping is suitable for application scenarios where the wave conditions vary greatly, high energy capture efficiency is required, and high equipment costs can be tolerated, such as large wave power generation devices in the deep sea or the open ocean.

[0094] Step 3: The hydraulic system transmits the high-pressure liquid generated by the hydraulic rod to the hydraulic motor through the hydraulic pump. Under the action of the high-pressure liquid, the hydraulic motor rotates and further converts the hydraulic energy into mechanical energy. The rotation of the hydraulic motor drives the connected generator to work, and the generator uses the principle of electromagnetic induction to convert mechanical energy into alternating current.

[0095] Specifically, the hydraulic power output by the hydraulic pump is determined according to the power of the outer swing body and the efficiency of the hydraulic pump:

[0096] P hyd =η pump ·P o (6)

[0097] Where: P hyd Indicates the hydraulic power output by the hydraulic pump; η pump Indicates the efficiency of the hydraulic pump; P o Indicates the power of the external swing body.

[0098] Furthermore, the mechanical power converted from the hydraulic power is determined based on the efficiency of the hydraulic motor and the hydraulic power output by the hydraulic pump:

[0099] P m =η motor ·P hyd (7)

[0100] Where: P m Indicates the mechanical power of the hydraulic motor; η motor Indicates the efficiency of the hydraulic motor; P hyd Indicates the hydraulic power output by the hydraulic pump.

[0101] Furthermore, the electrical power of the generator is determined based on the efficiency of the generator and the mechanical power of the hydraulic motor:

[0102] P e =η ren ·P m (8)

[0103] Where: P e Represents the electrical power of the generator; η ren Indicates the efficiency of the generator; P mIndicates the mechanical power of the hydraulic motor.

[0104] According to formulas (6)-(8), the relationship between the power output of the entire system and the power obtained by the external swing body is obtained. The power output of the entire system is:

[0105] P e =η ren ·η motor ·η pump ·P o (9)

[0106] Where: P e represents the power obtained by the outer swing body from the waves; η ren , η motor , η pump Respectively represent the efficiency of hydraulic pump, hydraulic motor and generator; P o Represents the instantaneous power of the external swing body.

[0107] It should be noted that during the installation and commissioning phase of the multi-dimensional pendulum wave energy power generation device, the efficiency of the hydraulic pump, hydraulic motor and generator can be calibrated through experimental measurement or the efficiency curve provided by the manufacturer to obtain efficiency data under different working conditions. Specifically, through experimental measurement or using the efficiency curve provided by the manufacturer, the efficiency curves of the hydraulic pump, hydraulic motor and generator under different input conditions (such as pressure, flow, speed, load) are drawn, and the calibration curve is converted into a discrete efficiency data table, which contains the efficiency change data with each input variable (such as pressure, flow, etc.). The calibrated efficiency data is stored in the control program of the system for search and reference during real-time calculation. During the operation of the system, the motion parameters of the outer pendulum body (such as wave excitation force, motion speed and angular velocity of the outer pendulum body, etc.) are measured in real time by sensors, and the power obtained by the outer pendulum body from the wave energy is calculated according to formulas (2)-(5) in step 1. Then, according to the power of the outer pendulum body, the corresponding efficiency value is found in the calibrated efficiency table. According to the input flow and pressure of the hydraulic pump, the efficiency of the hydraulic pump is found from the calibration table. According to the input pressure and flow of the hydraulic motor, the efficiency of the hydraulic motor is found. According to the input speed and load of the generator, the efficiency of the generator is found. Using the efficiency data found, the output power of each device and the final power output are calculated according to formulas (5)-(7). Finally, the above calculation results are combined according to formula (9) to obtain the real-time power output power P of the entire system. e .

[0108] Step 4: Under the action of wave force, the rotating shaft of the inner pendulum rotates, driving the connected reversing rod to swing. The swing of the reversing rod causes the mover in the inner pendulum to perform reciprocating linear motion along the guide rail of the stator. The reciprocating motion of the mover generates an induced electromotive force between the mover and the stator, outputting additional electrical energy. The additional electrical energy is combined with the electrical energy generated by the hydraulic motor-driven generator to obtain the total electrical energy output of the system.

[0109] Specifically, under the action of wave force, the mechanical power obtained by the inner pendulum through the rotation of the shaft is determined according to the angular velocity and torque of the shaft generated by the rotation of the shaft of the inner pendulum:

[0110] P i =τ i ·w i (10)

[0111] Where: P i represents the mechanical power obtained by the inner pendulum through the rotation of the shaft; τ i Indicates the torque of the shaft; w i Indicates the angular velocity of the shaft.

[0112] It should be noted that the torque τ of the shaft i The torque of the shaft under different wave conditions can be predicted by installing a force sensor or torque sensor on the shaft for real-time measurement. If numerical simulation (such as computational fluid dynamics CFD) is used in combination with a mechanical model during the design phase, the torque of the shaft under different wave conditions can be predicted. i Real-time measurement can be performed by an angular velocity sensor (such as a gyroscope or optical encoder) installed on the shaft. If the system is equipped with an IMU sensor, the IMU can provide multi-axis acceleration and angular velocity data, which can be combined with the dynamic model of the shaft to calculate the actual angular velocity of the shaft.

[0113] Furthermore, according to the known swing amplitude and frequency of the commutation rod, the average linear speed of the mover on the stator rail is determined:

[0114] v m =w i ·r (11)

[0115] Where: v m Indicates the average linear velocity of the mover on the stator rail; w i It represents the angular velocity generated by the rotation of the shaft; r represents the distance conversion ratio between the reversing rod and the mover.

[0116] It should be noted that the distance conversion ratio r between the reversing rod and the mover is a design parameter, which depends on the geometric structure between the reversing rod and the mover. The distance can be accurately obtained through the CAD model or assembly drawing during the design stage, r = d m / θi , where: d m Represents the displacement of the mover in linear motion; θ i Indicates the swing amplitude of the reversing rod.

[0117] Furthermore, according to the principle of electromagnetic induction, the relative speed of the mover in the stator will generate an induced electromotive force ε between the mover and the stator:

[0118] ε=B·l·v m (12)

[0119] Where: B represents the stator magnetic field strength; l represents the effective length of the mover in the magnetic field; v m Indicates the average linear velocity of the mover on the stator rail.

[0120] It should be noted that the effective length l of the mover in the magnetic field is determined by the physical design of the stator and the mover. This length can be obtained through the CAD model and structural drawings during the design stage, l = the effective height of the stator magnetic field × the width of the mover in the guide rail direction.

[0121] Furthermore, the electric energy output power of the inner swing body is determined according to the current in the induction circuit of the inner swing body:

[0122] P elec_i =ε·I=B·l·v m ·I=B·l·(w i ·r)·I (13)

[0123] Where: B represents the stator magnetic field strength; l represents the effective length of the mover in the magnetic field; w i It represents the angular velocity generated by the rotation of the shaft; r represents the distance conversion ratio between the reversing rod and the mover, which depends on the geometric structure of the device; I represents the current in the induction circuit of the inner pendulum.

[0124] It should be noted that the current in the induction circuit of the inner swing body is measured in real time by a current sensor (such as a Hall effect current sensor or a shunt resistor) installed in the induction circuit.

[0125] Furthermore, the electric energy generated by the hydraulic motor-driven generator and the electric energy generated by the inner swing body are combined to obtain the total electric energy output of the system:

[0126] P total =P e +P elec_i =η ren ·η mothtor ·η pump ·P o +B·l·(w i ·r)·I (14)

[0127] Finally, according to formula (14), the electric energy E output by the external swing body per unit time t is obtained:

[0128] E=P total t (15)

[0129] Step 5: The alternating current generated by the generator and the inner swing body is rectified by the rectifier module, and the rectified direct current is sent to the voltage regulation module for voltage stabilization to generate a stable direct current and store it in the energy storage device. When needed, the direct current is converted into alternating current for output through the inverter.

[0130] The above is only an embodiment of the present invention, and the common sense such as the known specific structure and characteristics in the scheme is not described in detail here. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the attached claims rather than the above description, so it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

Claims

1. A multi-dimensional pendulum wave energy power generation device, characterized in that: The invention comprises an outer swing body (1), an energy-capturing swing mechanism (2), a base (3) and an inner swing body (4); the energy-capturing swing mechanism (2) comprises a plurality of hydraulic rods, a swing arm bracket and an energy conversion system; the base (3) is connected to a wind turbine floating platform; the energy conversion system is a hydraulically driven energy conversion system, which is arranged on the base (3); a hydraulic chamber thereof is connected to the hydraulic chambers of a plurality of hydraulic rods through pipelines, and is used for converting hydraulic energy generated by the hydraulic rods into electrical energy; a plurality of universal connection grooves are arranged at the bottom of the base (3); the swing arm bracket is located below the base (3) and is provided with ball grooves which are perpendicular to and correspond to the universal connection grooves one by one; one end of the hydraulic rod is rotatably connected to the universal connection groove of the base (3), and the other end is connected to the ball groove corresponding to the swing arm bracket, so as to form a frame structure; The outer swing body (1) is arranged at the bottom of the swing arm bracket and is a hemispherical shell structure, whose arc surface faces the sea level and is used to capture the multi-dimensional force of waves; the inner swing body (4) is arranged at the inner bottom of the outer swing body (1), and comprises a linear motor, a rotating shaft (42) and a reversing rod (43); the linear motor comprises a mover (40) and a stator (41), wherein the mover (40) is located at the top of the stator (41) and is connected to the guide rail of the stator (41); the rotating shaft (42) is arranged below the guide rail of the stator (41) and is rotatably connected to the stator (41) through a bearing, so that the rotating shaft (42) can rotate freely around its axis; one end of the reversing rod (43) is connected to the stator (41) through the rotating shaft (42), and the other end is connected to the mover (40) to convert the rotational motion of the rotating shaft (42) into a linear reciprocating motion of the mover (40) along the guide rail of the stator (41); Under the action of waves, the multi-dimensional force exerted on the outer swing body (1) causes the hydraulic rod to flexibly rotate along the universal connection groove and the ball groove under the push of the waves and compress the hydraulic rod to generate hydraulic energy. The multi-dimensional force further drives the rotating shaft (42) of the inner swing body (4) to rotate, driving the reversing rod (43) to swing, thereby causing the mover (40) to reciprocate along the guide rail of the stator (41), generating an induced electromotive force and outputting electrical energy.

2. The multi-dimensional pendulum wave energy power generation device according to claim 1, characterized in that: A guide rail for the movement of the mover (40) is provided at the top of the stator (41), a bearing mounting hole is provided below the guide rail of the stator (41), the rotating shaft (42) passes through the bearing mounting hole and is arranged in the bearing; one end of the reversing rod (43) is rotatably connected to the stator (41) through a pin shaft, and two oblong holes are provided on the reversing rod (43), one of which is connected to the rotating shaft (42), and the other oblong hole is connected to the mover (40), so that the reversing rod (43) can rotate and swing within a predetermined range under the drive of the rotating shaft (42).

3. The multi-dimensional pendulum wave energy power generation device according to claim 1, characterized in that: The multiple hydraulic rods include a hydraulic rod 2 (23) fixed at the center of the bottom of the base (3) and a plurality of hydraulic rods 1 (22) symmetrically arranged around the hydraulic rod 2 (23); the push rod of each hydraulic rod 1 (22) is rotatably connected to the ball groove corresponding to the swing arm bracket, and the oil cylinder of each hydraulic rod 1 (22) is rotatably connected to the corresponding universal connection groove at the bottom of the base (3).

4. The multi-dimensional pendulum wave energy power generation device according to claim 3, characterized in that: The swing arm bracket comprises a frame support structure (20), a cross rod (21) and a U-shaped support rod (24); the frame support structure (20) is a rectangular frame, each frame is provided with a spherical universal groove, the spherical universal grooves on the opposite frames are coaxially arranged, and two symmetrical frames are also provided with a bearing seat; the cross rod (21) is arranged in the frame of the frame support structure (20), and its two coaxial connecting ends are rotatably connected to the bearing in the bearing seat, so that the frame support structure (20) can rotate around the axis of the cross rod (21), and the cross rod (21) is used for the frame support structure (20) to provide lateral swing force transmission; the U-shaped opening of the U-shaped support rod (24) is arranged downward, and its top is connected to the push rod of the hydraulic rod 2 (23), so that the hydraulic rod 2 (23) transmits force to the frame support structure (20) through the U-shaped support rod (24) under the action of waves.

5. The multi-dimensional pendulum wave energy power generation device according to claim 1, characterized in that: The reversing rods (43) are symmetrically arranged on both sides of the linear motor, and the rotation axis of the rotating shaft (42) is perpendicular to the movement direction of the mover (40) of the linear motor.

6. The multi-dimensional pendulum wave energy power generation device according to claim 3, characterized in that: The energy conversion system includes a hydraulic pump, a hydraulic motor, a hydraulic pipeline and a generator; the hydraulic rod one (22) and the hydraulic rod two (23) are respectively connected to the hydraulic pump through hydraulic pipelines, and the hydraulic pump is connected to the hydraulic motor through hydraulic pipelines to transmit the high-pressure liquid generated by the hydraulic rod to the hydraulic motor; the rotor shaft of the hydraulic motor is connected to the rotor shaft of the generator, and the generator is used to convert the mechanical energy of the rotor shaft into electrical energy.

7. The multi-dimensional pendulum wave energy power generation device according to claim 4, characterized in that: It also includes a power management system, which includes a rectifier module; the input end of the rectifier module is connected to the mover (40) of the inner swing body (4) and the energy conversion system of the energy-capturing swing mechanism (2) through cables, and the rectifier module is used to rectify the alternating current generated by the mover (40) and the hydraulic power generation system of the energy-capturing swing mechanism into direct current.

8. The multi-dimensional pendulum wave energy power generation device according to claim 6, characterized in that: The power management system also includes a voltage regulation module, an energy storage device and an inverter; the output end of the rectifier module is connected to the voltage regulation module, the output end of the voltage regulation module is connected to the energy storage device, and the output end of the energy storage device is connected to the inverter.

9. A method for obtaining energy using the multi-dimensional pendulum wave energy power generation device according to any one of claims 1 to 8, characterized in that: include: Step 1: The arc surface of the outer pendulum is directed toward the sea level and maintained at a predetermined height to capture the multi-dimensional force exerted by the waves. The multi-dimensional force is converted into a swinging force acting on the outer pendulum through the motion model of the outer pendulum, which is used to drive the energy-capturing swing mechanism and the inner pendulum to provide power for the subsequent energy conversion process; Step 2: Under the action of waves, the outer swing body swings with the waves, driving the hydraulic rod in the energy-capturing swing mechanism to perform corresponding telescopic movement, converting the power obtained by the outer swing body from the waves into hydraulic energy; Step 3: The hydraulic system transmits the high-pressure liquid generated by the hydraulic rod to the hydraulic motor through the hydraulic pump. Under the action of the high-pressure liquid, the hydraulic motor rotates and further converts the hydraulic energy into mechanical energy. The rotation of the hydraulic motor drives the connected generator to work, and the generator uses the principle of electromagnetic induction to convert the mechanical energy into alternating current; Step 4: Under the action of wave force, the rotating shaft of the inner pendulum rotates, driving the connected reversing rod to swing. The swing of the reversing rod causes the mover in the inner pendulum to reciprocate along the guide rail of the stator. The reciprocating motion of the mover generates an induced electromotive force between the mover and the stator, outputting additional electrical energy. The additional electrical energy is combined with the electrical energy generated by the hydraulic motor driving the generator to obtain the total electrical energy output of the system; Step 5: The alternating current generated by the generator and the inner swing body is rectified by the rectifier module, and the rectified direct current is sent to the voltage regulation module for voltage stabilization to generate a stable direct current and store it in the energy storage device. When needed, the direct current is converted into alternating current for output through the inverter.

10. The energy acquisition method of the multi-dimensional pendulum wave energy power generation device according to claim 9, characterized in that: In step 4, the total electrical energy of the system is determined by the following formula: P total =P e +P elec_i =the ren ·or motor ·or pump ·P o +B·l·(w i ·r)·I Where: P e =η ren ·η motor ·η pump ·P o , P e Represents the electrical energy generated by the hydraulic motor driving the generator; P elec_i =B·l·(w i ·r)·I,P elec_i Indicates the electrical energy output by the inner pendulum; η ren , η motor , η pump Respectively represent the efficiency of hydraulic pump, hydraulic motor and generator; P o represents the instantaneous power of the external swing body; B represents the stator magnetic field strength; l represents the effective length of the rotor in the magnetic field; w i It represents the angular velocity generated by the rotation of the shaft; r represents the distance conversion ratio between the reversing rod and the mover; I represents the current in the induction circuit of the inner pendulum.

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