A multi-dimensional pendulum wave energy power generation device and energy acquisition method thereof

Abstract

The present application belongs to the technical field of offshore wave energy power generation, and specifically relates to a multi-dimensional pendulum wave energy power generation device and its energy acquisition method. The device includes an outer pendulum body, an energy-capturing swing mechanism, a base and an inner pendulum body, wherein the energy-capturing swing mechanism is composed of a plurality of hydraulic rods, a swing arm bracket and an energy conversion system. The base is connected to the wind turbine floating platform, and the energy conversion system is connected to the hydraulic rods through pipelines to convert hydraulic energy into electrical energy. The outer pendulum body is a hemispherical shell that can capture the multi-dimensional force of waves; the inner pendulum body includes a linear motor, a rotating shaft and a reversing rod, and the reciprocating motion of the linear motor drives the energy conversion system to generate electricity. The present application solves the problems of low energy conversion efficiency and instability of existing wave energy devices. Through the coordinated movement of the outer pendulum body and the inner pendulum body, as well as the capture of multi-dimensional wave forces and the flexible hydraulic system structure, the wave energy conversion efficiency is improved, the anchoring and structural layout are optimized, and the utilization efficiency of the 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 ocean energy utilization technology, the capture and conversion of wave energy is a key area of ​​current research and application. Existing wave energy harvesting devices, such as oscillating water column wave energy devices, catenary anchoring systems for deepwater 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 factors affecting energy capture efficiency. Due to differences in the ocean's geographical environment and climatic conditions, the amplitude and wave period of incident waves vary significantly in time and space. This instability in wave conditions directly leads to unstable and low energy conversion efficiency in existing wave energy devices. For example, the oscillating water column wave energy device is a relatively mature wave energy device. It uses the rise and fall of waves to cause the air in a closed air chamber to compress and expand, driving the turbine to generate electricity. However, due to the large differences in wave conditions in different regions and seasons, this device has difficulty maintaining efficient energy conversion in all sea conditions.

[0004] Secondly, the anchoring method for deepwater wave energy devices presents certain technical challenges. The currently commonly used catenary anchoring system relies primarily on the deadweight of the anchor chain to provide anchoring force, which requires a large anchoring radius. Furthermore, the heavy deadweight of the anchor chain increases the draft of the wave energy device, reducing its stability and power output. Furthermore, when wave energy devices are arranged in an array, the large anchoring radius of the catenary anchoring system results in excessive spacing between devices, reducing the efficiency of marine utilization.

[0005] Oscillating buoy wave energy devices convert energy by floating up and down or oscillating horizontally in the waves. However, these devices exhibit poor energy conversion efficiency in areas with low wave fluctuations or large variations in wave period. Consequently, practical applications often require optimization and adjustment for specific sea areas and wave conditions, increasing the complexity of their implementation.

[0006] In summary, existing wave energy devices generally suffer from low energy conversion efficiency due to wave instability and randomness. Furthermore, the anchoring methods and device layout of deep-water mooring systems also limit the effective use of sea areas. Improving energy conversion efficiency and optimizing anchoring systems are key challenges in advancing wave energy utilization technology. Summary of the Invention

[0007] In response to the shortcomings of the existing technology, the present invention proposes a multi-dimensional pendulum wave energy power generation device and its energy acquisition method. Through the coordinated movement of the outer pendulum body and the inner pendulum body, as well as the capture of multi-dimensional wave force and the flexible hydraulic system structure, the wave energy conversion efficiency is improved, and the anchoring and structural layout are optimized, thereby improving the utilization efficiency of the sea area. Technical problems.

[0008] To achieve the above-mentioned objectives, 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, for converting the hydraulic energy generated by the hydraulic rods into electrical energy; the bottom of the base is provided with a plurality of universal connection grooves, the swing arm bracket is located below the base, and is provided with ball grooves perpendicular to and corresponding 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 corresponding ball groove of the swing arm bracket, forming a frame structure;

[0009] The outer pendulum 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 pendulum is arranged at the inner bottom of the outer pendulum, 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 the 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, and the spherical universal grooves on the opposite frames are coaxially arranged, and the 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 to provide the frame support structure with 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 hydraulic rod 2, so that 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, it further 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, the power management system further 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 oriented toward the sea level and maintained at a predetermined height to capture the multi-dimensional forces exerted by the waves. The multi-dimensional forces are converted into swinging forces acting on the outer pendulum through the motion model of the outer pendulum, which are used to drive the energy-capturing swing mechanism and the inner pendulum, providing power for the subsequent energy conversion process.

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

[0021] Step 3: The hydraulic system transmits the high-pressure fluid generated by the hydraulic rod to the hydraulic motor through the hydraulic pump. Under the action of the high-pressure fluid, 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. 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 linearly 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 generator driven by the hydraulic motor 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, generating a stable direct current and storing it in the energy storage device. When needed, the direct current is converted into alternating current through the inverter for output.

[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_iIndicates the electrical energy output by the inner pendulum; η ren ,η motor ,η pump Represent the efficiency of hydraulic pump, hydraulic motor and generator respectively; 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 amplitude 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 frequency and cost of maintenance. 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 provides a guide rail for the movement of the mover at the top of the stator, and connects the rotating shaft and the reversing rod through the bearing mounting hole and the 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 the 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 center of the bottom 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 device's response capability under different wave directions.

[0031] Fourth, in the preferred implementation, the present invention realizes multi-stage 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 set 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 This 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 outward swinging body subjected to wave action according to an embodiment of the present invention;

[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 1 is a three-dimensional structural diagram of the energy-capturing swing mechanism and the 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 This is a three-dimensional structural diagram of the 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] Figure 9 Schematic diagram of the force applied to the hydraulic rods of a multi-dimensional pendulum wave energy power generation device subjected to rolling motion according to an embodiment of the present invention;

[0041] Figure 10 Schematic diagram of the force applied to the hydraulic rods of a multi-dimensional pendulum wave energy power generation device subjected to pitching motion according to an embodiment of the present invention;

[0042] Figure 11 Schematic diagram of the force applied to the hydraulic rod of the multi-dimensional pendulum wave energy power generation device subjected to vertical motion according to an embodiment of the present invention;

[0043] Figure 12 It is a flow chart of an energy acquisition method of a 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-wind turbine floating platform. 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 "up", "down", "left", "right", "front", and "back" in this application are based on the positional relationships shown in the accompanying drawings. The corresponding positional relationships may vary depending on the drawings, and should not be construed as limiting the scope of protection.

[0047] In this application, the terms "installed," "connected," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, integral connection, mechanical connection, electrical connection, or mutual communication. They can also be directly connected or indirectly connected through an intermediate medium. They can also refer to internal communication between two components or interaction between two components. For those skilled in the art, 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 the plurality of hydraulic rods through pipelines, and is used to convert the hydraulic energy generated by the hydraulic rods into electrical energy. The bottom of the base 3 is provided with a plurality of universal connection grooves, 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 corresponding ball groove of 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 waves 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 from 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, thereby adapting to changes in the direction of the waves.

[0050] The inner pendulum 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 pendulum 1 drives the rotating shaft 42 of the inner pendulum 4 to rotate, driving the reversing rod 43 to swing, causing 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] Furthermore, the base 3 includes a mounting plate 30 and a universal foot 31 disposed on the mounting plate 30. The swing arm support of the energy-capturing swing mechanism 2 includes a frame support structure 20, a cross bar 21, and a U-shaped support bar 24. The frame support structure 20 is a rectangular frame, each frame having a spherical universal groove. The spherical universal grooves of the symmetrical frames are coaxially arranged, and two of the symmetrical frames also have bearing seats. The cross bar 21 is located within the frame of the frame support structure 20. Its two coaxial connection ends are rotatably connected to the bearings in the bearing seats, allowing the frame support structure 20 to rotate about the cross bar 21 axis. The cross bar 21 provides a lateral swing force transmission for the frame support structure 20. The other two ends of the cross bar 21 are free ends, which are respectively connected to the two ends of the opening of the U-shaped support bar 24. The U-shaped opening of the U-shaped support bar 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 by its oil cylinder, allowing the cross bar 21 to move only vertically. In this embodiment, four hydraulic rods 1 (22) are provided, each symmetrically arranged around hydraulic rod 2 (23). Each hydraulic rod 1 (22) has a spherical push rod head, which fits into the spherical universal groove of the frame support structure 20. The oil cylinder of each hydraulic rod 1 (22) is mounted on a universal foot (31). The universal foot (31) allows for universal movement of the hydraulic rods 1 (22), allowing for free adjustment of angles to accommodate the multi-directional swinging of the outer swing body 1 under wave action. This flexible support design reduces force resistance during the swinging of the outer swing body 1, allowing for smooth swinging and maximizing wave energy capture. The central axis of hydraulic rod 2 (23) aligns with the cross axis of the cross rod 21 and passes through the center of the cross axis. A U-shaped bracket is also provided at the bottom of the frame support structure 20, with its ends aligned with the axis of the cross rod 21's rotational axis. The flat surface of the outer swing body 1 is connected to this U-shaped bracket. In this embodiment, the opening length of the U-shaped frame is equal to the diameter of the outer swing body 1. This design ensures the stability of the outer swing body and the uniform distribution of force.

[0052] As the instruction manual Figure 6The energy conversion system includes a hydraulic pump, a hydraulic motor, hydraulic piping, a generator, and a control valve assembly. Hydraulic rods 1 (22) and 2 (23) are connected to the hydraulic pump via hydraulic piping. The hydraulic pump converts these mechanical swinging forces into high-pressure fluid flow. Hydraulic rod 1 (22) primarily handles the forces generated by the rolling and pitching waves, which cause the hydraulic rod and the swing arm bracket to swing. When subjected to vertical wave forces, hydraulic rods 1 (22) and 2 (23) work together to generate a continuous, high-pressure fluid flow in the hydraulic pump. The hydraulic pump is connected to the hydraulic motor via hydraulic piping. High-pressure oil is delivered to the hydraulic motor, driving the rotor inside the motor to rotate. The hydraulic motor converts hydraulic energy into mechanical energy, i.e., rotational kinetic energy, effectively preventing hydraulic energy loss and maintaining efficient transmission. The efficiency of this process primarily depends on the pressure and flow control of the hydraulic fluid. Therefore, the control valve assembly adjusts according to the hydraulic fluid input conditions to ensure that the hydraulic motor operates under optimal 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. The generator further converts mechanical energy into electrical energy through the principle of electromagnetic induction.

[0053] As the instruction manual Figure 7 The inner pendulum 4 also includes a mounting plate 2 44. The mounting plate 2 44 is a square plate, which is arranged at the center of the inner bottom of the outer pendulum 1 and can be fixed by welding. The stator 41 of the linear motor is centrally mounted on the mounting plate 2 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 the 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 rotate 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 pendulum.

[0054] In this embodiment, the reversing rods 43 are symmetrically positioned on either side of the linear motor. The wave's swinging force is transmitted through the two reversing rods, sharing the load and mitigating the risk of a single side experiencing a significant impact force, thereby enhancing the structural stability and durability of the entire system. The reversing rods 43 on each side connect the rotating shaft 42 and the mover 40 through the same oblong hole. This ensures that when subjected to the swinging force of the outer pendulum, the reversing rods 43 evenly transmit the force to the linear motor's mover 40, minimizing offset or excessive force on one side.

[0055] Preferably, the rotation axis of shaft 42 is perpendicular to the direction of motion of the linear motor's mover 40. When the swinging force of the outer swing body is transmitted to the reversing rod 43 via shaft 42, the reversing rod 40 reciprocates along the guide rails, so it is necessary to ensure that the rotation axis of the shaft and the reversing rod's direction of motion are perpendicular. This design converts the reversing rod's rotation into linear reciprocating motion of the reversing rod, effectively converting the swinging force into electromotive force.

[0056] In this embodiment, the bearings in the bearing mounting holes of the stator 41 can be deep groove ball bearings or thrust ball bearings. 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 swing forces 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 while providing 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-capturing swing mechanism 2 through cables, 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 needs.

[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 their respective current and voltage parameters to ensure real-time monitoring of power flow.

[0059] The following describes 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 Figure 9 As shown, Figure 9The solid and dashed arrows in the figure represent the reciprocating motion of the hydraulic rods. The arrows correspond to the motion states of the two hydraulic rods in a rolling motion scenario. In a rolling motion scenario, waves exert a lateral thrust on the multi-dimensional pendulum wave energy generator, causing the hemispherical shell of the outer pendulum body 1 to swing laterally around the base 3. This lateral swinging force is transmitted to the frame support structure 20 in the energy-capturing swing mechanism 2 through the connection between the outer pendulum body 1 and the swing arm bracket. At this time, the spherical universal groove within the symmetrical frame of the frame support structure 20 allows the push rod of hydraulic rod 1 22 to be freely adjusted laterally. Due to the design of the universal foot 31, the spherical push rod head of hydraulic rod 1 22 can be flexibly adjusted in the spherical universal groove, so that the swing arm bracket is not constrained during lateral swing, thereby smoothly transmitting the lateral swing force of the waves. This swinging force is transmitted to the hydraulic system through the movement of the push rod of hydraulic rod 1 22. The flexible movement of hydraulic rod 1 22 within 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 swinging 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 electrical energy.

[0061] As the instruction manual Figure 10 As shown, Figure 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 forward and backward thrust 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 Figure 11 As shown, Figure 11The solid and dotted arrows in the figure represent the reciprocating motion of the hydraulic rods, and the hydraulic rods corresponding to the arrows represent the motion states of all hydraulic rods in the vertical motion scenario. When the outer pendulum 1 is subjected to vertical wave thrust, the outer pendulum 1 will float vertically with the ups and downs of the waves. The vertical swinging force of the outer pendulum 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 swinging force of the outer pendulum 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 swinging force.

[0063] It can be seen that the multi-dimensional pendulum wave energy power generation device generates different amounts of electricity when subjected to roll, pitch, and vertical motion. During roll motion, the electricity generated is the result of the coordinated action of the two hydraulic rods 22 and the inner pendulum body 4. During pitch motion, the electricity generated is the result of the action of the two hydraulic rods 22. The inner pendulum body 4 is affected by the different motion angles of the linear motor and the pitch direction, and the electricity generated by the inner pendulum body 4 is lower than that generated by roll motion. During vertical motion, the electricity generated is the result of the combined action of all hydraulic rods 22. This is because waves in the ocean are often generated by wind, and transverse 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 roll motion direction of the multi-dimensional pendulum wave energy power generation device. In other embodiments, multiple linear motors can be added to the outer pendulum body 1 and arranged at different motion angles to achieve electrical energy output from the inner pendulum body 4 during other motion scenarios such as pitching, thereby improving energy conversion.

[0064] As the instruction manual Figure 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: 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, 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 pendulum; a o represents the acceleration vector of the external swinging body; F wave represents the wave excitation force; F rad represents the wave radiation force; F rest represents the hydrostatic restoring force; F int F represents the force exerted by the inner pendulum on the outer pendulum; PTO Indicates PTO damping force; F mooring Indicates the mooring force; F drift Represents the average drift force.

[0069] Specifically, the mass matrix m of the pendulum o These are the static parameters of the external pendulum's motion model, calculated from its geometric dimensions, material density, and mass distribution. The precise value of the mass matrix, obtained through finite element analysis (FEA) or physical measurement, describes the inertial properties of the external pendulum in all six degrees of freedom (fore / aft, left / right, up / down, roll, pitch, and yaw).

[0070] Acceleration vector a of the external swinging body o These are the dynamic parameters of the external pendulum's motion model, measured in real time by an accelerometer or inertial measurement unit (IMU) mounted on the external pendulum. The IMU monitors the external pendulum's motion in six degrees of freedom, acquiring roll, pitch, and vertical acceleration data to calculate the acceleration vector.

[0071] Wave excitation force F wave These are the dynamic parameters of the oscillating body's motion model. These parameters are obtained from wave height, period, wavelength, and other data collected by wave buoys or wave sensors installed in the ocean, and then calculated using a hydrodynamic model. The hydrodynamic model is constructed 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 The dynamic parameters of the oscillating body's motion model are derived from the reaction force generated by the oscillating body's motion in the water, obtained through numerical simulation or experimental testing. Typically, the Boundary Element Method (BEM) or Computational Fluid Dynamics (CFD) is used, incorporating real-time data from the oscillating body's velocity and acceleration sensors into the model to obtain accurate radiation force values.

[0073] Hydrostatic resilience F rest The dynamic parameters of the external pendulum's motion model are primarily caused by the difference between buoyancy and gravity, and are affected by the pendulum's immersion depth and posture. Position and inclination sensors installed on the pendulum monitor its position and angle in real time, and the hydrostatic restoring force is calculated using the buoyancy formula.

[0074] The force F exerted by the inner swing body on the outer swing body int These are the dynamic parameters of the outer pendulum's motion model, calculated from the coupled motion and relative displacement between the inner and outer pendulums. They can be measured in real time using a force sensor installed between the inner and outer pendulums. This force is related to the inner pendulum's rotational and oscillatory states, and the force transmission effect on the outer pendulum can be calculated using the inner pendulum's equation of motion.

[0075] PTO damping force F PTO The PTO damping force is calculated based on the velocity of the external swinging body and the damping and stiffness coefficients of the PTO system. A velocity sensor can be used to measure the relative velocity of the external swinging body and, combined with the damping and stiffness coefficients of the PTO system, calculate the damping force in real time. A velocity sensor or force sensor can be installed in the PTO system to measure the relative velocity of the external swinging body or directly measure the damping force.

[0076] Mooring force F mooring The dynamic parameters of the motion model of the external pendulum are the forces exerted on the external pendulum by the mooring system (e.g., anchor chains, cables, or buoys). Tension sensors are installed on the mooring system's cables or chains to monitor the mooring force in real time to account for the external pendulum's displacement. The mooring force is calculated by combining the displacement of the external pendulum with the tension model of the mooring system using a position sensor (e.g., GPS).

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

[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 pendulum 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 pendulum from the waves into hydraulic energy.

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

[0081] In the roll and pitch directions, the motion of the external pendulum is manifested as a rotational motion 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 pendulum 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 pendulum (the 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 pendulum (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 Indicates 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 using constant damping is generally suitable for applications where wave conditions are relatively stable, energy capture efficiency is not a high requirement, and cost reduction and structural simplification are required, such as some small offshore wave power generation devices. The instantaneous output power of the external pendulum calculated using linear damping is suitable for applications where wave conditions vary significantly, high energy capture efficiency is required, and higher equipment costs can be tolerated, such as large deep-sea or open-ocean wave power generation devices.

[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 based on 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 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 electric 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 oscillating body from the waves; η ren ,η motor ,η pump Represent the efficiency of hydraulic pump, hydraulic motor and generator respectively; 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 measurements or the efficiency curves provided by the manufacturer to obtain efficiency data under different working conditions. Specifically, through experimental measurements or using the efficiency curves provided by the manufacturer, the efficiency curves of the hydraulic pump, hydraulic motor, and generator under different input conditions (such as pressure, flow, speed, and load) are drawn, and the calibration curves are converted into discrete efficiency data tables containing data on the change of efficiency with each input variable (such as pressure, flow, etc.). The calibrated efficiency data is stored in the system control program for search and reference during real-time calculations. During system operation, 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 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 searched 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 generator driven by the hydraulic motor 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 based on the angular velocity and torque of the shaft generated by the rotation 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 generated by the rotation 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 combined 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 achieved through an angular velocity sensor (such as a gyroscope or optical encoder) installed on the rotating 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 rotating shaft to calculate the actual angular velocity of the rotating shaft.

[0113] Furthermore, based on the known swing amplitude and frequency of the commutation rod, the average linear velocity of the mover on the stator guide rail is determined:

[0114] v m =w i ·r (11)

[0115] Where: v m represents the average linear velocity of the mover on the stator guide 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 that depends on the geometric structure between the reversing rod and the mover. The distance can be accurately obtained through CAD models or assembly drawings during the design phase, r = d m / θi , where: d m Represents the displacement of the linear motion of the mover; 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 guide 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 mover. This length can be determined during the design phase using CAD models and structural drawings: l = effective height of the stator magnetic field x width of the mover in the guide rail direction.

[0121] Furthermore, the electric energy output power of the inner pendulum is determined based on the current in the induction circuit of the inner pendulum:

[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 pendulum 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 power generated by the hydraulic motor-driven generator and the power generated by the inner swing body are combined to obtain the total power 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, generating a stable direct current and storing it in the energy storage device. When needed, the direct current is converted into alternating current through the inverter for output.

[0130] The above is only an embodiment of the present invention, and common sense such as the specific structure and characteristics of the scheme are 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, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claim 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); the hydraulic chamber thereof is connected to the hydraulic chambers of a plurality of hydraulic rods through pipelines, and is used for converting the hydraulic energy generated by the hydraulic rods into electrical energy; the bottom of the base (3) is provided with a plurality of universal connection grooves; the swing arm bracket is located below the base (3) and is provided with ball grooves perpendicular to and corresponding to the universal connection grooves; 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, thereby forming a frame structure; The outer swing body (1) 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 (4) is arranged at the inner bottom of the outer swing body (1), and 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 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 pendulum (1) causes the hydraulic rod to flexibly rotate along the universal connection groove and the ball groove under the action of the wave and compress the hydraulic rod to generate hydraulic energy. The multi-dimensional force further drives the rotating shaft (42) of the inner pendulum (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. A guide rail for the movement of the mover (40) is provided on the top of the stator (41), a bearing mounting hole is provided below the guide rail of the stator (41), and 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 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).

2. The multi-dimensional pendulum wave energy power generation device according to claim 1, characterized in that: The plurality of 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).

3. The multi-dimensional pendulum wave energy power generation device according to claim 2, characterized in that: The swing arm bracket 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 on the opposite frames are coaxially arranged, and two symmetrical frames are also provided with bearing seats; the cross rod (21) is arranged in the frame of the frame support structure (20), and its two coaxial connection ends are rotatably connected to the bearings in the bearing seats, so that the frame support structure (20) can rotate around the axis of the cross rod (21), and the cross rod (21) is used to provide the frame support structure (20) with a 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.

4. 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.

5. The multi-dimensional pendulum wave energy power generation device according to claim 2, characterized in that: The energy conversion system includes a hydraulic pump, a hydraulic motor, a hydraulic pipeline and a generator; the hydraulic rod 1 (22) and the hydraulic rod 2 (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.

6. The multi-dimensional pendulum wave energy power generation device according to claim 3, characterized in that: The invention 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.

7. 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.

8. A method for obtaining energy using the multi-dimensional pendulum wave energy power generation device according to any one of claims 1 to 7, characterized in that: include: Step 1: The arc surface of the outer pendulum is oriented toward the sea level and maintained at a predetermined height to capture the multi-dimensional forces exerted by the waves. The multi-dimensional forces are converted into swinging forces acting on the outer pendulum through the motion model of the outer pendulum, which are used to drive the energy-capturing swing mechanism and the inner pendulum, providing power for the subsequent energy conversion process. Step 2: Under the action of waves, the outer pendulum swings with the waves, driving the hydraulic rods in the energy-capturing swing mechanism to perform corresponding telescopic movements, converting the power obtained by the outer pendulum from the waves into hydraulic energy; Step 3: The hydraulic system transmits the high-pressure fluid generated by the hydraulic rod to the hydraulic motor through the hydraulic pump. Under the action of the high-pressure fluid, 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. 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 linearly 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 generator driven by the hydraulic motor 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, generating a stable direct current and storing it in the energy storage device. When needed, the direct current is converted into alternating current through the inverter for output.

9. The energy acquisition method of the multi-dimensional pendulum wave energy power generation device according to claim 8, characterized in that: In step 4, the total electrical energy of the system is determined by the following formula: + ； Where: It represents the electrical energy generated by the generator driven by the hydraulic motor; Indicates the electrical energy output by the inner pendulum; 、 、 Represent the efficiencies of the hydraulic pump, hydraulic motor, and generator respectively; represents the instantaneous power of the external pendulum; Indicates the stator magnetic field strength; It represents the effective length of the mover in the magnetic field; 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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