Elastic hinged series hydrofoil power generation equipment and method

Abstract

The invention belongs to the field of hydroelectric power generation facilities, and discloses elastic hinged series hydrofoil power generation equipment and method.The elastic hinged series hydrofoil power generation equipment comprises an elastic hinged mechanism and two oscillating hydrofoil power generation devices, and each oscillating hydrofoil power generation device comprises a supporting frame, a power generator, a sliding rail, a sliding block, a hydrofoil and a bidirectional damping mechanism; one end of the hydrofoil is used for stretching into water flow, a connecting shaft is installed at the other end of the hydrofoil, the connecting shaft is rotatably installed on the sliding block and connected with the generator, and the bidirectional damping mechanism is fixedly connected with the sliding block. The two hydrofoils are connected through an elastic hinging mechanism, the elastic hinging mechanism comprises a first extension spring and two hinging pieces, and the first extension spring is hinged to the hydrofoils. The two hydrofoils are elastically connected through the elastic hinge mechanism, the hydrofoils can better adapt to the change of water flow and the coupling effect between the hydrofoils, energy in the water flow is more fully utilized, the effective working flow speed range of power generation equipment is widened, and the total energy harvesting amount of a unit water area is increased.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of hydroelectric power generation facilities, and more particularly relates to a flexible hinged series hydrofoil power generation device and method. BACKGROUND

[0002] Among numerous renewable energy sources, water flow energy has great development potential as a clean, renewable and widely distributed energy source. A high-efficiency generator at low flow rate can be applied to offshore low-speed tidal current energy, natural low-speed river current energy, and also to abyssal low-speed ocean current energy development. Oscillating hydrofoil water flow energy generator has become a research hotspot in recent years because it can generate electricity at low flow rate. Series oscillating hydrofoil generator further improves the energy capture efficiency at low flow rate through the interaction of regular limit cycle oscillation movement under the action of water flow, tail vortex evolution and flow field change between series hydrofoils.

[0003] In the development history of series oscillating hydrofoil generator, the connection mode between hydrofoils plays a key role in energy capture. Although certain achievements have been made through years of research and practice, there are still many problems to be solved.

[0004] In the prior art, some series hydrofoil generators use gear to rigidly connect the hydrofoils, use gear structure to capture water flow energy, and improve the energy conversion efficiency to a certain extent. However, when the hydrofoils reverse the direction of movement, due to the characteristics of rigid connection of the gear, when the direction of movement changes suddenly, a huge reversing force acts on the gear structure, resulting in serious energy loss and seriously affecting the durability of the device. In order to solve the problems caused by rigid connection, an invention using hydraulic structure to connect the hydrofoils appears, which uses liquid metal magnetic fluid to generate electricity and realizes the connection and energy transmission between the hydrofoils through hydraulic structure. However, the hydraulic structure connection mode has obvious disadvantages, the structure is complex, and the energy transmission needs to pass through multiple stages of hydraulic cavity-rod cavity-hydraulic cylinder, resulting in serious energy loss. The sealing, reliability and response speed of the hydraulic system also face challenges, and problems such as hydraulic oil leakage and system failure are prone to occur in actual application, affecting the normal operation and power generation efficiency of the power generation device. In addition, there is an invention using a single pile + connecting column to connect the hydrofoils, which captures water flow energy through the pitching and rotating movement of the hydrofoils. However, this connection mode limits the degrees of freedom of the series hydrofoils, seriously affecting the energy capture effect. The hydrofoils cannot fully adapt to the changes of water flow and the coupling between each other during the movement, resulting in insufficient energy capture and limiting the wide application of series hydrofoils in water flow energy generation field.

[0005] In addition to the problems of the above connection modes, the existing series oscillating hydrofoil generators also face many challenges in terms of effective working flow rate, overall energy capture efficiency, and total energy capture amount per unit water area. In terms of effective working flow rate, most existing devices require relatively high flow rates to achieve effective energy conversion, and their performance decreases significantly under low flow rate conditions, which cannot meet the wide application requirements under different water areas and different flow rate environments. For example, in some offshore areas, low-speed sections of rivers, and low-speed ocean current areas of deep-sea bottoms, the flow rate is low, and the existing devices have low power generation efficiency in these areas, making it difficult to achieve effective energy development.

[0006] In terms of overall energy capture efficiency, the energy conversion efficiency of the existing series oscillating hydrofoil generators still needs to be improved. Due to the limitations of the connection mode between the hydrofoils, the motion coupling mechanism, and the energy transfer process, a large amount of energy is wasted, which cannot be fully utilized in the flow. For example, during the hydrofoil reversing process, due to the lack of effective energy storage and reuse mechanism, the energy lost by the hydrofoil due to flow separation cannot be effectively recovered, further reducing the overall energy capture efficiency of the device.

[0007] In addition, in terms of total energy capture amount per unit water area, the existing technology also has deficiencies. In order to ensure the efficient energy capture of the rear hydrofoil, a large spacing between the front and rear hydrofoils is usually required, which makes it impossible to arrange enough hydrofoils in a limited water area, thereby limiting the total energy capture amount per unit water area. For example, the optimal working spacing of two hydrofoils without hinges is large, resulting in low water area utilization efficiency and failing to fully utilize the energy capture potential of series hydrofoils per unit water area. SUMMARY

[0008] In view of the above defects or improvement needs of the existing technology, the present application provides a flexible hinge series hydrofoil power generation device and method, which has a large effective working flow rate range, high overall energy capture efficiency, and large total energy capture amount per unit water area.

[0009] To achieve the above-mentioned purpose, according to one aspect of the present application, a flexible hinge series hydrofoil power generation device is provided, which comprises a flexible hinge mechanism and two oscillating hydrofoil power generation devices arranged in sequence along the flow direction, wherein: Each of the oscillating hydrofoil power generation devices comprises a support frame, a generator, a slide rail, a slide block, a hydrofoil and a bidirectional damping mechanism, the bidirectional damping mechanism, the generator and the slide rail are all installed on the support frame, the slide block is slidingly installed on the slide rail, one end of the hydrofoil is used to extend into the water flow, the other end of the hydrofoil is provided with a connecting shaft, the connecting shaft is rotatably installed on the slide block and connected with the generator, so as to drive the generator to generate electricity, and the bidirectional damping mechanism is fixedly connected with the slide block, so as to provide damping force for the first direction movement and the second direction movement opposite to the first direction of the hydrofoil. The two hydrofoils of the two oscillating hydrofoil power generation devices are connected through the elastic hinged mechanism, the elastic hinged mechanism comprises a first tensile spring and two hinge pieces, each end of the first tensile spring is hingedly connected with one of the hydrofoils through one of the hinge pieces, so that when the hydrofoil rotates and moves along the length direction of the slide rail, the first tensile spring exerts elastic force on the two hydrofoils and rotates around the center line of the hinge piece.

[0010] Preferably, each of the hinge pieces is installed on the side edge of the hydrofoil.

[0011] Preferably, the center line of the first tensile spring in the straightened state is collinear with the center line of each of the hinge pieces, the center line of each of the hinge pieces is perpendicular to the length direction of the hydrofoil, and the center lines of the two hinge pieces of the elastic hinged mechanism are collinear.

[0012] Preferably, the first tensile spring is in a relaxed state before the hydrofoil drives the first tensile spring to deform.

[0013] Preferably, the elastic hinged mechanism has a plurality of and they are arranged along the length direction of the hydrofoil.

[0014] Preferably, the chord length of each of the hydrofoils is L. When each of the hydrofoils is perpendicular to the direction of the water flow, the distance between the two hydrofoils is 1.5L-2L.

[0015] Preferably, the bidirectional damping mechanism comprises a second tensile spring, and the second tensile spring is in a pre-tensioned state before the hydrofoil connected with the second tensile spring moves.

[0016] Preferably, the hydrofoil connects the generator through a belt transmission mechanism and the slide block, the belt transmission mechanism comprises a belt and two pulleys rotatably installed on the support frame, one of the pulleys is installed on the rotor shaft of the generator, and the belt is fixedly installed on the slide block, so as to drive the belt to move when the slide block moves along the slide rail, thereby driving the pulleys to rotate and drive the generator to generate electricity.

[0017] Preferably, the displacement of each water wing along the length direction of the slide rail changes approximately sinusoidally with time, and the rotation angle of each water wing also changes approximately sinusoidally with time.

[0018] According to another aspect of the present application, a power generation method of the elastic hinged series water wing power generation device is also provided, comprising the following steps: 1) arranging two oscillating water wing power generation devices in sequence along the water flow direction and fixing them on the shore, and connecting their water wings through an elastic hinged mechanism, wherein each oscillating water wing power generation device comprises a support frame, a generator, a slide rail, a slide block, a water wing and a bidirectional damping mechanism, the bidirectional damping mechanism, the generator and the slide rail are installed on the support frame, the slide block is slidingly installed on the slide rail, one end of the water wing extends into the water flow, the other end of the water wing is provided with a connecting shaft which is rotatably installed on the slide block and connected with the generator, and the bidirectional damping mechanism is fixedly connected with the slide block to provide damping force for the first direction movement of the water wing and the second direction movement opposite to the first direction; 2) under the action of the water flow, the water flow impacts the two water wings in sequence, in the process of the swing of the water wings, the slide block slides along the slide rail with the water wing, and the water wing drives the rotor shaft of the generator to rotate, thereby realizing power generation of the generator; meanwhile, the bidirectional damping mechanism provides damping force in the process of the swing of the water wings, autonomously adjusts the transverse movement energy capture motion amplitude and frequency of the series water wings, optimizes the motion state of the water wings, improves energy capture, and the elastic hinged mechanism assists the swing of the water wings by continuously generating elastic deformation and restoring the elastic deformation, thereby repeatedly utilizing the energy lost by the turning of each water wing between the two water wings, and improving the energy capture efficiency of each water wing.

[0019] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects: 1) the elastic hinged series water wing power generation device of the present application connects two oscillating water wing power generation devices through an elastic hinged mechanism, the water wings swing under the impact of the water flow, drive the slide block to move along the slide rail, and then drive the rotor shaft of the generator to rotate and generate electricity. The bidirectional damping mechanism provides damping force in the process of the swing of the water wings, can autonomously adjust the transverse movement energy capture motion amplitude and frequency of the series water wings, make them better adapt to the change of the water flow, optimize the motion state, and thereby improve energy capture. Meanwhile, the elastic hinged mechanism continuously generates elastic deformation and restores the elastic deformation, assists the swing of the water wings, repeatedly utilizes the energy lost by the turning of each water wing between the two water wings, and improves the overall energy capture efficiency. Compared with the traditional rigid connection or hydraulic connection, the energy conversion efficiency is greatly improved, the energy in the water flow can be more fully utilized, especially under low flow speed conditions, a relatively high power generation efficiency can also be achieved, the effective working flow speed range is expanded, and thereby the total energy capture amount of a unit water area is improved.

[0020] 2) The elastic hinged series hydrofoil power generation device of the present application has a certain elastic connection between the two hydrofoils, which can better adapt to the changes of water flow and the coupling between them. When facing different flow rates and different direction of water flow, the hydrofoil can adjust the motion state more flexibly, and keep better energy trapping effect. In addition, the parameters of the elastic hinge mechanism (such as the stiffness and pre-tension of the first tension spring) can be adjusted and optimized according to the actual working conditions, so that the device can better adapt to different water environment and water flow conditions, and has strong universality and adaptability.

[0021] 3) The elastic hinged series hydrofoil power generation device of the present application has a lower effective working flow rate: the elastic hinge mechanism is used to realize the series connection of the hydrofoil, and in the running process, the elastic coupling effect of the elastic hinge mechanism improves the equivalent attack angle of each hydrofoil, increases the lift coefficient of the hydrofoil, and enhances the lift of the hydrofoil, so that normal power generation can be realized at a smaller flow rate. The laboratory physical test results show that, compared with the existing series connection method of hydrofoil, the dimensionless effective working flow rate of the series connection equipment realized by the elastic hinge mechanism of the present application is 3.07, which is 14.3% lower than the existing reported 3.58; it shows that the present application can generate electricity normally at a lower flow rate.

[0022] 4) The elastic hinged series hydrofoil power generation device of the present application has higher overall energy trapping efficiency: the elastic hinge mechanism is used to realize the series connection between the hydrofoils, and in the movement process, the energy lost by the front hydrofoil due to the reversing movement can be stored through the deformation of the elastic hinge mechanism, and the stored energy can be transmitted through the structure to assist the reversing and energy trapping movement of the rear hydrofoil; similarly, the energy lost by the rear hydrofoil due to the reversing movement can also be stored by the elastic hinge mechanism, and assist the reversing and energy trapping movement of the front hydrofoil, and finally through the store-release bidirectional coupling gain function of the elastic connection structure, the energy lost by the hydrofoil during turning is repeatedly used between the two hydrofoils through the bidirectional coupling function, and the energy trapping efficiency of each hydrofoil is improved. Laboratory physical test results show that: the energy trapping efficiency of the front hydrofoil is 42%, which is 33% higher than the efficiency of 31.5% of the existing series hydrofoil device; the energy trapping efficiency of the rear hydrofoil is 35%, which is 180% higher than the efficiency of 12.5% of the existing series hydrofoil device; the overall energy trapping efficiency of the two hydrofoils is 213% higher than that of the existing series hydrofoil device.

[0023] 5) The elastic hinged series hydrofoil power generation device of the present application has larger total energy capture amount per unit water area: for two hydrofoils arranged in front and back, the wake generated by the movement of the front hydrofoil will affect the energy capture effect of the rear hydrofoil, in order to ensure the efficient energy capture of the rear hydrofoil, the spacing between the two hydrofoils is usually set to 9 times the chord length of the hydrofoil; the two hydrofoils are connected in series through the elastic structure, the "storage-release" function of the elastic structure to the energy loss when the hydrofoil turns, bidirectional coupling gain of the reversing energy is realized, the energy capture efficiency of a single hydrofoil is improved, and the close arrangement of two hydrofoils is also realized, so that more hydrofoils can be arranged in a unit water area, and the total energy capture amount per unit water area is larger. Laboratory test results show that: the optimal working distance of the two hydrofoils of the present application is 1.5 times the chord length of the hydrofoil, at this time, the energy capture efficiency of the two hydrofoils is 77%, the optimal working distance of the two hydrofoils without hinge is 9 times the chord length of the hydrofoil, and the energy capture efficiency of the two hydrofoils is 44%, the total energy capture amount per unit water area of the present application is improved by 1049% compared with the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a perspective view of the elastic hinged series hydrofoil power generation device in the present application; Figure 2 It is a front view of the elastic hinged series hydrofoil power generation device in the present application; Figure 3 It is a side view of the elastic hinged series hydrofoil power generation device in the present application; Figure 4 It is a top view of the elastic hinged series hydrofoil power generation device in the present application; Figure 5 It is a schematic view of the oscillating hydrofoil power generation device after removing part of the structure in the present application; Figure 6 It is a curve graph of the rotation angle and transverse displacement of the front hydrofoil under the action of water flow and time; wherein the red curve is the curve of the rotation angle changing with time, and the black curve is the curve of the transverse displacement changing with time; Figure 7 It is a curve graph of the rotation angle and transverse displacement of the rear hydrofoil under the action of water flow and time; wherein the red curve is the curve of the rotation angle changing with time, and the black curve is the curve of the transverse displacement changing with time; Figure 8 It is a curve graph of the rotation angle and transverse displacement of the front hydrofoil under the action of water flow and time when the first extension spring is not hinged with the front hydrofoil and the rear hydrofoil; wherein the red curve is the curve of the rotation angle changing with time, and the black curve is the curve of the transverse displacement changing with time; In all the drawings, the same reference signs represent the same technical features, specifically: 1, oscillating hydrofoil power generation device; 2, elastic hinge mechanism; 3, belt transmission mechanism; 4, support frame; 5, bidirectional damping mechanism; 6, generator; 101, front hydrofoil; 102, rear hydrofoil; 201, hinge; 202, first tension spring; 7, sliding block; 8, sliding rail; 301, belt; 302, pulley. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0026] REFERENCE Figures 1-8 An elastic hinge series hydrofoil power generation device, comprising an elastic hinge mechanism 2 and two oscillating hydrofoil power generation devices 1 arranged in sequence along the direction of water flow, wherein: Each of the oscillating hydrofoil power generation devices 1 comprises a support frame 4, a generator 6, a sliding rail 8, a sliding block 7, a hydrofoil and a bidirectional damping mechanism 5, the bidirectional damping mechanism 5, the generator 6 and the sliding rail 8 are all mounted on the support frame 4, the sliding block 7 is slidingly mounted on the sliding rail 8, one end of the hydrofoil is used to extend into the water flow, the other end of the hydrofoil is provided with a connecting shaft, the connecting shaft is rotatably mounted on the sliding block 7 and connected with the generator 6, so as to drive the generator 6 to generate electricity, the connecting shaft is preferably rotatably mounted on the sliding block 7 through a bearing, and the bidirectional damping mechanism 5 is fixedly connected with the sliding block 7, so as to provide damping force for the first direction movement of the hydrofoil and the second direction movement opposite to the first direction; since the hydrofoil is mounted on the sliding block 7, the hydrofoil can move along the length direction of the sliding rail 8 with the sliding block 7, and the movement of the hydrofoil along the length direction of the sliding rail 8 is the cross movement of the hydrofoil.

[0027] The generator 6 preferably has a transmission, which ensures high power generation efficiency of the generator 6 through the gear transmission ratio inside the transmission. The support frame 4 is preferably a double-body shape with "inverted L-shaped" two ends and a recess in the middle. The support frame 4 provides stability for the overall device. The belt transmission mechanism 3 and the generator 6 are responsible for converting the water flow energy captured by the series hydrofoil into electrical energy; the bidirectional damping mechanism 5 optimizes the cross movement of the hydrofoil by relying on its own elasticity. The two hydrofoils are a front hydrofoil 101 and a rear hydrofoil 102, and the water flow passes through the front hydrofoil 101 and the rear hydrofoil 102 in sequence.

[0028] The length directions of the two hydrofoils of each of the two groups of hydrofoil assemblies are parallel to each other, the two hydrofoils of each of the two groups of hydrofoil assemblies are connected together through the elastic hinge mechanism 2, and the two hydrofoils and the elastic hinge mechanism 2 connecting the two hydrofoils together jointly form a tandem hydrofoil; the elastic hinge mechanism 2 comprises a first tensile spring 202 and two hinge members 201, each end of the first tensile spring 202 is hingedly connected to one of the hydrofoils through one of the hinge members 201, so that when the hydrofoils rotate and move along the length direction of the slide rail, the first tensile spring 202 exerts elastic force on the two hydrofoils and the first tensile spring 202 rotates around the center line of the hinge member 201. The hinge member 201 can adopt a commonly used hinge structure, for example, can be a structure in which the inner and outer rings can rotate relative to each other, or a pin shaft rotatably installed on the hydrofoil, etc.

[0029] When the water flows through the tandem hydrofoil of the application, under the fluid-structure coupling effect, the front hydrofoil 101 and the rear hydrofoil 102 respectively produce periodic oscillation around the connecting shaft and reciprocating transverse movement in the direction perpendicular to the water flow. The transverse displacement and the pitch angle of the hydrofoil change with time, both of which show an approximate sinusoidal law.

[0030] When the hydrofoil changes from upstream transverse movement to downstream transverse movement (or vice versa), due to the sudden change of the movement direction of the hydrofoil, flow separation is caused, which leads to the separation of the surface layer flow boundary layer from the wall surface of the hydrofoil, and the periodic shedding of the trailing vortex is formed at the trailing edge. The trailing vortex generates, sheds and transports downstream, dissipates energy, and according to the phase difference and relative position between the front hydrofoil 101 and the rear hydrofoil 102, positively or negatively affects the flow field where the rear hydrofoil is located.

[0031] Compared with the traditional uncoupled tandem (energy is difficult to transfer between hydrofoils) or mechanically rigidly coupled tandem design (complex structure and limited freedom), the elastic hinge mechanism 2 constitutes an elastic hinge strong elastic coupling tandem structure, which guarantees the transmission of the dynamic load between the hydrofoils and the freedom of the hydrofoil movement, significantly suppresses the vortex energy dissipation of the traditional uncoupled tandem design, effectively avoids the limitation of the energy capture performance caused by the reduction of the freedom of the hydrofoil in the traditional mechanically rigidly coupled design, and thus improves the energy capture efficiency of the device.

[0032] When the front hydrofoil 101 is currently in the process of switching the energy-capturing motion, the elastic deformation of the first tensile spring 202 of the elastic hinged mechanism 2 driven by the energy loss due to flow separation stores the energy of the switching of the front hydrofoil 101 as the elastic potential energy of the first tensile spring 202; when the rear hydrofoil 102 enters the switching motion, the stored elastic potential energy is released to assist the rear hydrofoil 102 in quickly switching; at the same time, part of the energy of the switching process of the rear hydrofoil 102 is also converted into the elastic potential energy stored in the first tensile spring 202, and then, when the front hydrofoil 101 switches again, the energy stored in the first tensile spring 202 is released to assist the front hydrofoil 101 in quickly switching. Thus, the elastic hinged mechanism 2 realizes the bidirectional coupling gain of the switching energy between the serial hydrofoils through the “storage-storage-release” bidirectional coupling gain function, significantly reduces the additional energy loss caused by the rigid switching and dead point problem of the traditional rigid coupling structure, and avoids the defect of low energy transmission efficiency between the hydrofoils in the uncoupled series.

[0033] Meanwhile, the introduction of the elastic hinged mechanism 2 makes the serial hydrofoils form a strong elastic coupling system. Compared with the traditional uncoupled series design, the structure effectively suppresses the vortex mutual interference between the hydrofoils when the distance between the hydrofoils is close, allowing the compact arrangement of multiple hydrofoils; compared with the traditional mechanical rigid coupling structure, on the one hand, the elastic hinged mechanism 2 realizes the “storage-storage-release” bidirectional coupling gain of the switching energy by using its elastic deformability, reducing the energy loss in the switching process of the hydrofoils; on the other hand, the elastic hinged mechanism 2 can autonomously adjust the motion configuration of the hydrofoils by relying on its elastic hinging characteristics, obtaining a larger equivalent attack angle and lift coefficient, improving the lift of the hydrofoils, and avoiding the energy loss caused by the traditional mechanical rigid constraint. Thus, the introduction of the elastic hinged mechanism 2 not only supports the arrangement of more hydrofoils in a unit water flow length, but also significantly improves the energy capture efficiency of a single hydrofoil, ultimately significantly improving the total energy capture amount of the device per unit water flow.

[0034] Under low-speed water flow conditions, the elastic hinged mechanism 2 enables the front hydrofoil 101 and the rear hydrofoil 102 to obtain a more optimal system equivalent attack angle, realizing the high-lift hydrofoil configuration of “front hydrofoil 101-elastic hinged mechanism 2-rear hydrofoil 102”. This configuration significantly increases the lift of the hydrofoils at low flow rates, effectively reduces the effective working flow rate threshold of the device, ensures the normal operation of the power generation equipment at low flow rates, and thus widens the effective working flow rate range of the power generation equipment.

[0035] Under normal flow rates, the relative position change between the hydrofoils caused by the reciprocating motion of the serial hydrofoils drives the elastic hinged mechanism 2 to dynamically deform and store the energy of the deformation of the first tensile spring 202, and releases the energy at an appropriate time to optimize the hydrofoil motion response. At the same time, the serial hydrofoils promote the hydrofoils to form a high-lift configuration, significantly improve the lift of the hydrofoils, and thus enhance the overall energy capture efficiency.

[0036] Compared with the rear hydrofoil 102 in the uncoupled series structure, the rear hydrofoil 102 is easy to be disturbed by the vortex of the front hydrofoil 101 and fall into vortex-induced vibration locking, so that the energy-capturing movement of the rear hydrofoil 102 is unstable and even stops; the introduction of the elastic hinge mechanism 2 between the two hydrofoils of the application can break the vortex-induced vibration locking state of the rear hydrofoil 102 through the strong elastic coupling series of the elastic hinge mechanism 2, so that the device can maintain effective energy-capturing movement in a high flow speed range, thereby widening the effective working flow speed range of the device.

[0037] In summary, when the application works, the flow drives the series hydrofoils to perform self-sustaining limit cycle oscillation movement to capture energy. The elastic hinge mechanism 2 hinges the two hydrofoils to work cooperatively, which is the core design of the application. The elastic hinge mechanism 2 of the application has multiple functions: 1) Through the elastic hinge design, the elastic coupling series of the hydrofoils is realized, and the double-degree-of-freedom movement of the hydrofoils is ensured; during operation, the elastic coupling effect of the elastic hinge mechanism 2 improves the equivalent attack angle of each hydrofoil, increases the lift coefficient of the hydrofoil, and enhances the lift of the hydrofoil movement, so that normal power generation can still be realized at a smaller flow speed, and the effective working flow speed of the device is reduced.

[0038] 2) The elastic hinge mechanism 2 realizes the “storage-releasing” bidirectional coupling gain of the reversing energy between the series hydrofoils by using the elastic property of the elastic hinge mechanism 2, and the energy lost by the hydrofoil turning is repeatedly used between the two hydrofoils through the bidirectional coupling function, so as to improve the energy-capturing efficiency of each hydrofoil. Further improve the overall energy-capturing efficiency of the device.

[0039] 3) The elastic hinge mechanism 2 and the series hydrofoils form a strong elastic coupling system, through the “storage-releasing” bidirectional coupling gain function of the elastic connection structure, not only reduces the negative influence of vortex between the hydrofoils, but also improves the layout density of the hydrofoils. While improving the energy-capturing efficiency of a single hydrofoil, the two hydrofoils are also arranged in close proximity, thereby realizing the effect of larger total energy capture per unit water area.

[0040] Furthermore, the hinged connection of the first tension spring 202 to the hydrofoil is also crucial, providing the following key benefits: 1) Flexible kinematic coupling: This hinged connection allows the first tension spring 202 to rotate about the centerline of the hinge 201 when the hydrofoil oscillates under the impact of the water flow. This rotational freedom accommodates the complex motion of the hydrofoil in the water flow, including rotation about its own axis and lateral movement perpendicular to the water flow. For example, as the hydrofoil oscillates about its connection axis under the action of the water flow, the hinged first tension spring 202 can adjust its position and force direction accordingly with the rotation angle of the hydrofoil, thereby ensuring that the deformation of the first tension spring 202 is coordinated with the motion of the hydrofoil. 2) Improved energy transfer and utilization efficiency: If the first tension spring 202 is not hinged to the hydrofoil but is fixed in some other manner, the deformation direction of the first tension spring 202 will deviate from the direction of motion of the hydrofoil, causing some energy to be dissipated as ineffective lateral force, reducing energy transfer and utilization efficiency. 3) Adapting to the Motion Trajectory of the Hydrofoil: The motion and forces acting on a hydrofoil in the water flow are complex. The hinged first tension spring 202 can better follow the motion trajectory of the hydrofoil, ensuring that the elastic hinge mechanism 2 functions effectively throughout the entire motion process. For example, during lateral movement and rotation of the hydrofoil, the speed and direction of movement vary at different positions. The hinged first tension spring 202 can flexibly adapt to these changes, ensuring that the elastic connection between the hydrofoils is always in optimal working condition.

[0041] If the first tension spring 202 is not hinged to the hydrofoil but fixedly connected to the hydrofoil, the following adverse effects will occur: 1) Motion coupling mismatch: When the hydrofoil swings in the water flow, the force generated by the deformation of the first tension spring cannot effectively match the movement direction and speed of the hydrofoil, which will cause the lateral and rotational movements of the hydrofoil to lose coordination, causing the movements of the two hydrofoils to interfere with each other. For example, the swinging of the front hydrofoil 101 may transmit an inappropriate force to the rear hydrofoil 102 through the non-hinged first tension spring 202, causing the movement direction and speed of the rear hydrofoil 102 to suddenly change, thereby destroying the original movement laws of the two hydrofoils. 2) The motion trajectory deviates from the sine law: The sinusoidal motion trajectory is the ideal state for the interaction between the hydrofoil and the water flow and the coordinated work of the elastic hinge mechanism 2 (refer to Figure 6 、 Figure 7 The relationship curve between the hydrofoil's approximately sinusoidal rotation angle and lateral displacement and time, Figure 6 、 Figure 7 The curve with larger peaks and smaller troughs is the curve of the relationship between the rotation angle and time. When the first tension spring 202 is not hinged to the two hydrofoils, the motion trajectory of the hydrofoil will be disturbed by unreasonable elastic force. This interference force will cause the curve of the displacement and rotation angle of the hydrofoil to deviate from the sine law and present a chaotic curve shape (refer to Figure 8Figure 2 shows the relationship between the rotation angle and the lateral displacement of the front hydrofoil under the action of water flow, and the situation of the rear hydrofoil is similar to that of the front hydrofoil). Chaotic motion trajectories can lead to unstable interaction between the hydrofoil and the water flow, for example, the hydrofoil may exhibit excessive oscillation or stagnation in certain positions, affecting the continuous capture of water flow energy by the hydrofoil, and thus affecting the stability and efficiency of power generation. Figures 6-8 In the figure, the abscissa represents time t in seconds, and the ordinate values of the rotation angle and the lateral displacement have been mathematically transformed. The rotation angle θ is calculated by the formula: θ = θ sensor π / 180°; the lateral displacement h is calculated by the formula: h = h sensor c . Wherein, θ sensor is the angle data directly read by the angle sensor connected to the connecting shaft, h sensor is the displacement data directly read by the displacement sensor connected to the slider, θ is radian, h is the dimensionless displacement data, c is the chord length of the hydrofoil.

[0042] The hydrofoil is prone to excessive oscillation or vibration under the impact of water flow due to changes in water flow speed and direction. The bidirectional damping mechanism 5 effectively suppresses excessive oscillation by providing a damping force opposite to the direction of movement of the hydrofoil, allowing the hydrofoil to move within a stable range and reducing energy waste. The bidirectional damping mechanism 5 makes the hydrofoil move more smoothly and regularly, avoiding excessively high or low frequencies and irregular vibrations, and improving energy conversion efficiency.

[0043] During the oscillation of the hydrofoil, the bidirectional damping mechanism 5 can dynamically adjust the size of the damping force according to the speed and direction of the hydrofoil's movement, thereby achieving energy balance control of the hydrofoil system. When the speed of the hydrofoil's movement is fast, the bidirectional damping mechanism 5 will provide a larger damping force to absorb excess kinetic energy and prevent the hydrofoil from deviating from the movement trajectory due to excessive speed; when the speed of the hydrofoil's movement is slow, the bidirectional damping mechanism 5 will appropriately reduce the damping force to allow the hydrofoil to oscillate more easily, thereby maintaining the energy stability of the entire system. The bidirectional damping mechanism 5 precisely controls the movement state of the hydrofoil to ensure that the hydrofoil always maintains good interaction with the water flow, thereby improving energy conversion efficiency. The adjustment of the damping force allows the hydrofoil to move more smoothly, reducing energy loss and ensuring that the kinetic energy of the water flow can be maximized to mechanical energy and transmitted to the generator 6.

[0044] ​The bidirectional damping mechanism 5 of each oscillating hydrofoil power generation device 1 can be provided in multiple, and the bidirectional damping mechanism 5 can be symmetrically provided on both sides of the sliding block 7 by using, for example, rubber shock-absorbing blocks, springs, etc., to provide bidirectional damping force.

[0045] The specific influence of the bidirectional damping mechanism 5 on the oscillation frequency is as follows: increasing the damping force will reduce the oscillation frequency of the hydrofoil, making the hydrofoil move more smoothly and slowly, and reducing energy loss and mechanical fatigue caused by frequent and rapid oscillation; reducing the damping force will increase the oscillation frequency of the hydrofoil, making the hydrofoil respond more quickly to changes in the flow, and enabling the hydrofoil to oscillate quickly when the flow velocity is high or the flow kinetic energy is sufficient, thereby improving power generation efficiency, but the damping force cannot be too small, as a damping force that is too small will cause the oscillation amplitude to be too large, affecting stability. The bidirectional damping mechanism 5 dynamically adjusts the damping force according to the speed and direction of the hydrofoil movement, so that the oscillation frequency is automatically optimized according to the flow velocity and the movement state of the hydrofoil, and is within the optimal working range, thereby improving power generation efficiency and device stability.

[0046] Further, each of the hinge members 201 is mounted on the side edge of the hydrofoil.

[0047] Mounting the hinge members 201 on the edge of the hydrofoil enables the elastic hinge mechanism 2 to more effectively transmit force and movement during oscillation of the hydrofoil. The hinge members 201 at the edge position can better adapt to the oscillation trajectory of the hydrofoil, making the movement of the hydrofoil under the action of the flow more smooth and stable, reducing the torsional and bending stress concentration of the hydrofoil during movement, and improving the structural strength and service life of the hydrofoil. At the same time, this arrangement is also conducive to optimizing the stress distribution of the entire device, making the stress between the components more uniform and reasonable, and enhancing the overall stability and reliability of the device.

[0048] Providing the hinge members 201 at the edge of the hydrofoil enables the elastic hinge mechanism 2 to be more coordinated with the movement of the hydrofoil, ensuring that the elastic hinge mechanism 2 can timely and effectively produce elastic deformation when the hydrofoil oscillates, and transfer and exchange energy between the two hydrofoils. This can more fully utilize the energy generated during oscillation of the hydrofoil, reduce energy loss during transmission, and further improve the energy conversion efficiency of the entire power generation device.

[0049] Further, the center line of the first tension spring 202 when stretched is collinear with the center line of each of the hinge members 201, the center line of each of the hinge members 201 is perpendicular to the length direction of the hydrofoil, and the center lines of the two hinge members 201 of the elastic hinge mechanism 2 are collinear.

[0050] The co-linear design ensures that the first tensile spring 202 mainly generates tensile or compressive deformation along its axis direction during the hydrofoil movement, optimizing the deformation direction of the first tensile spring 202 and more effectively storing and releasing elastic potential energy. When the hydrofoil rotates around the connecting shaft, the first tensile spring 202 can effectively store and release elastic potential energy along its own axis direction, thereby more efficiently converting the kinetic energy of the hydrofoil into elastic potential energy and releasing it at the appropriate time to assist the swing of the hydrofoil, improving the energy conversion efficiency.

[0051] The co-linear design helps to reduce the torsional and bending stress concentration of the hydrofoil during movement. The first tensile spring 202 is arranged along the center line of the hinge 201, so that the stress of each part of the hydrofoil during the swing is more uniform and reasonable, reducing the instability of the vibration and swing amplitude of the hydrofoil due to uneven stress. This uniform stress distribution enhances the stability of the hydrofoil movement, enabling the hydrofoil to swing more smoothly in the water flow, thereby improving the operation stability and power generation quality of the power generation device.

[0052] Further, before the hydrofoil drives the first tensile spring 202 to deform, the first tensile spring 202 is in a relaxed state, which makes the first tensile spring 202 not exert additional resistance or constraint force on the hydrofoil during the initial stage of the hydrofoil movement, thereby reducing the energy loss when the hydrofoil starts to move. The hydrofoil is easier to start to swing under the impact of the water flow, reducing the starting flow rate requirement of the device, so that the power generation device can start and generate power at a lower water flow speed. For example, under low flow conditions, the water flow impact on the hydrofoil is small, and if the first tensile spring 202 is in a pre-tightened state, the hydrofoil may need to overcome a larger spring force to start moving, while the first tensile spring 202 in a relaxed state enables the hydrofoil to start more easily at low flow rates, widening the effective working flow rate range of the device. Since the first tensile spring 202 is in a relaxed state before the hydrofoil starts to move, the hydrofoil can more fully absorb the kinetic energy of the water flow and convert it into mechanical energy during the initial swing stage. As the swing amplitude of the hydrofoil gradually increases, the first tensile spring 202 begins to deform and store elastic potential energy. When the hydrofoil changes direction, the elastic potential energy stored in the first tensile spring 202 is released, assisting the rapid change of direction of the hydrofoil, thereby improving the movement efficiency and energy capture ability of the hydrofoil. This design enables the hydrofoil to more effectively utilize the energy in the water flow during movement, reducing the waste of energy in the initial stage and improving the energy conversion efficiency of the entire power generation device.

[0053] Further, the elastic hinge mechanisms 2 are multiple and arranged along the length direction of the hydrofoils. By arranging multiple elastic hinge mechanisms 2 up and down, the overall rigidity and carrying capacity of the entire series hydrofoil in the direction perpendicular to the water flow can be significantly improved. The multiple elastic hinge mechanisms 2 collectively share various loads and moments generated during the swing of the hydrofoil, avoiding problems such as deformation, fatigue or damage of a single elastic hinge mechanism 2 due to excessive force, enhancing the structural strength and reliability of the entire device, and enabling it to adapt to larger scale hydrofoils and higher flow conditions, thereby improving the application range and power output capacity of the power generation equipment.

[0054] The multiple elastic hinge mechanisms 2 are arranged along the length direction of the hydrofoil, which can be more evenly distributed in the length direction of the hydrofoil, so that the hydrofoil can obtain effective elastic force assistance at each position during the swing. This uniform distribution of elastic support can make the movement of the hydrofoil more stable, reduce the vibration and deformation of the hydrofoil during movement, and improve the operation stability and power generation quality of the power generation equipment. At the same time, the multiple elastic hinge mechanisms 2 can more fully absorb and utilize the energy lost by the hydrofoil turning, and more effectively transfer and recover energy between the two hydrofoils, further improving the energy recovery effect and power generation efficiency of the entire system.

[0055] Further, the length of each hydrofoil is L.

[0056] When each hydrofoil is perpendicular to the direction of the water flow, the distance between the two hydrofoils is 1.5L-2L.

[0057] The setting of this distance range of the present application is based on the comprehensive consideration of fluid mechanics principles and energy capture optimization. Proper distance can ensure that the rear hydrofoil can still obtain sufficient energy for capture in the wake formed after the water flow passes through the front hydrofoil, while avoiding problems such as mutual interference, energy competition and vortex interaction between the hydrofoils due to too small distance, and preventing the waste of water space and the reduction of the number of hydrofoils in unit water area due to too large distance. By reasonably setting the distance between the hydrofoils, more hydrofoils can be arranged in a limited water area, improving the total energy capture amount in unit water area, while enabling the entire series hydrofoil system to work better in cooperation, achieving efficient utilization and maximum capture of energy.

[0058] Further, the bidirectional damping mechanism 5 includes a second tension spring, and the second tension spring is in a pre-tension state before the hydrofoil connected thereto moves.

[0059] The second tensile spring in the bidirectional damping mechanism 5 is in a pre-tension state before the hydrofoil moves, which enables the bidirectional damping mechanism 5 to have a certain damping force reserve at the initial moment. When the hydrofoil starts to swing under the action of water flow, the pre-tensioned second tensile spring can immediately generate damping force, more effectively inhibiting the excessive swing and vibration of the hydrofoil, making the movement of the hydrofoil more stable and controllable, reducing the sway and impact of the hydrofoil during movement, and improving the operation stability and reliability of the power generation equipment. The bidirectional damping mechanism 5 in this pre-tension state can better adapt to the movement of the hydrofoil in different directions, ensuring that effective damping force is provided during the movement of the hydrofoil in the first direction and the second direction opposite to the first direction, and realizing precise control and stable support of the movement of the hydrofoil.

[0060] The pre-tensioned second tensile spring can dynamically adjust the size and direction of the damping force according to the movement speed and direction of the hydrofoil, thereby autonomously adjusting the transverse movement amplitude and frequency of the series hydrofoil. Through this real-time energy adjustment effect, the movement state of the hydrofoil is better matched with the water flow conditions, and the energy capture effect of the hydrofoil is optimized. When the water flow speed changes or the hydrofoil is disturbed, the bidirectional damping mechanism 5 with pre-tensioned second tensile spring can respond and adjust more quickly, ensuring that the hydrofoil is always in an optimal movement state, and improving the energy conversion efficiency and stability of the entire power generation equipment under different working conditions.

[0061] Further, the hydrofoil and the generator 6 can be directly connected or connected through a gear mechanism, and the generator 6 needs to be installed on the sliding block 7, but this will increase the burden of the transverse movement of the hydrofoil, resulting in a decrease in power generation efficiency. The hydrofoil of the present application is preferably connected to the generator 6 through a belt transmission mechanism 3 and the sliding block 7, the belt transmission mechanism 3 comprising a belt 301 and two pulleys 302 rotatably installed on the support frame 4, one of the pulleys 302 being installed on the rotor shaft of the generator 6, and the belt 301 being fixedly installed on the sliding block 7 to drive the belt 301 to move when the sliding block 7 moves along the slide rail 8, thereby rotating the pulley 302 to drive the generator to generate electricity.

[0062] The cooperation of the belt 301 and the pulley 302 can effectively convert the linear reciprocating motion of the hydrofoil into the rotary motion of the rotor shaft of the generator 6, realizing efficient power transmission. Compared with direct connection or gear transmission, the belt transmission mechanism 3 can to some extent buffer and absorb the impact and vibration during the movement of the hydrofoil, reduce energy loss, improve transmission efficiency, and thereby improve the output power and power generation efficiency of the generator 6.

[0063] Further, the displacement of each water wing along the length direction of the slide rail 8 changes approximately in a sinusoidal manner over time, and the rotation angle of each water wing also changes approximately in a sinusoidal manner over time. This motion law design makes the water wing motion more in line with the dynamics of the water flow. The sinusoidal displacement and rotation angle can make the water wing interact more coordinately with the water flow during the swing process, reducing the acceleration mutation and inertial force impact of the water wing during the motion process. This smooth motion law is conducive to improving the energy capture efficiency of the water wing, because the water wing can effectively perform periodic acceleration and deceleration motion in the water flow, thereby more fully absorbing the kinetic energy in the water flow and converting it into mechanical energy to be transmitted to the generator 6 for power generation.

[0064] According to another aspect of the present application, a power generation method of the elastic hinged series water wing power generation device is also provided, comprising the following steps: 1) arranging two oscillating water wing power generation devices 1 in sequence along the water flow direction and fixing them on the shore, and connecting their water wings through the elastic hinged mechanism 2, wherein each oscillating water wing power generation device 1 comprises a support frame 4, a generator 6, a slide rail 8, a sliding block 7, a water wing and a bidirectional damping mechanism 5, the bidirectional damping mechanism 5, the generator 6 and the slide rail 8 are all installed on the support frame 4, the sliding block 7 is slidingly installed on the slide rail 8, one end of the water wing extends into the water flow, the other end of the water wing is rotatably installed on the sliding block 7 and connected with the generator 6, and the bidirectional damping mechanism 5 is fixedly connected with the sliding block 7 to provide damping force for the first direction movement of the water wing and the second direction movement opposite to the first direction; by arranging the two oscillating water wing power generation devices 1 in sequence along the water flow direction and connecting the two water wings through the elastic hinged mechanism 2, the water flow can impact the two water wings in sequence to cause the swing of the water wings. During the swing of the water wings, the sliding of the sliding block 7 on the slide rail 8 and the connection of the water wing with the generator 6 realize the efficient conversion of mechanical energy into electrical energy. At the same time, the cooperative action of the bidirectional damping mechanism 5 and the elastic hinged mechanism 2 can autonomously adjust the motion state of the water wing, optimize the energy capture process and improve the power generation efficiency. This systematic power generation method makes the entire power generation process more orderly and efficient, can fully exert the advantages of the elastic hinged series water wing power generation device, and realizes the effective utilization and stable output of the water flow energy.

[0065] 2) Under the action of water flow, the water flow impacts the two hydrofoils in turn. In the process of hydrofoil swing, the slider 7 slides along the slide rail 8 with the hydrofoil, and the hydrofoil drives the rotor shaft of the generator 6 to rotate, so as to realize the power generation of the generator 6. At the same time, the bidirectional damping mechanism 5 provides damping force in the process of hydrofoil swing, and independently adjusts the transverse movement energy capture motion amplitude and frequency of the series hydrofoils, optimizes the motion state of the hydrofoils, improves the energy capture, and the elastic hinged mechanism 2 assists the swing of each hydrofoil by continuously generating elastic deformation and restoring elastic deformation, so as to repeatedly utilize the energy lost by turning each hydrofoil, and improve the energy capture efficiency of each hydrofoil.

[0066] Those skilled in the art will easily understand that the above description is only the preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An elastic hinged series hydrofoil power plant, characterized by, The invention relates to a water power generation device, comprising an elastic hinge mechanism and two oscillating hydrofoils arranged in sequence along the direction of water flow, wherein: Each of the oscillating hydrofoil power generation devices comprises a support frame, a generator, a slide rail, a slide block, a hydrofoil and a bidirectional damping mechanism, the bidirectional damping mechanism, the generator and the slide rail are all mounted on the support frame, the slide block is slidingly mounted on the slide rail, one end of the hydrofoil is used to extend into the water flow, the other end of the hydrofoil is provided with a connecting shaft, the connecting shaft is rotatably mounted on the slide block and connected with the generator to drive the generator to generate electricity, and the bidirectional damping mechanism is fixedly connected with the slide block to provide damping force for the first direction movement of the hydrofoil and the second direction movement opposite to the first direction. The two hydrofoils of the two oscillating hydrofoil power generation devices are connected together through the elastic hinge mechanism, the elastic hinge mechanism comprises a first tensile spring and two hinge members, each end of the first tensile spring is hingedly connected with one of the hydrofoils through one of the hinge members, so that when the hydrofoil rotates and moves along the length direction of the slide rail, the first tensile spring exerts elastic force on the two hydrofoils and rotates around the center line of the hinge member.

2. A flexible hinged in-line hydrofoil power plant according to claim 1, characterized in that, Each of the hinge members is mounted on the side edge of the hydrofoil.

3. A flexible hinged in-line hydrofoil power plant according to claim 1, characterized in that, The center line of the first tensile spring in the straightened state is collinear with the center line of each of the hinge members, the center line of each of the hinge members is perpendicular to the length direction of the hydrofoil, and the center lines of the two hinge members of the elastic hinge mechanism are collinear.

4. A flexible hinged in-line hydrofoil power plant according to claim 1, characterized in that, The first tensile spring is in a relaxed state before the hydrofoil drives the first tensile spring to deform.

5. A flexible hinged in-line hydrofoil power plant according to claim 1, wherein, There are multiple elastic hinge mechanisms, and they are arranged along the length direction of the hydrofoil.

6. A flexible hinged in-line hydrofoil power plant according to claim 1, wherein, The chord length of each of the hydrofoils is L. When each of the hydrofoils is perpendicular to the direction of water flow, the distance between the two hydrofoils is 1.5L-2L.

7. A flexible hinged in-line hydrofoil power plant according to claim 1, characterized in that, The bidirectional damping mechanism comprises a second tensile spring, and the second tensile spring is in a pre-tensioned state before the hydrofoil connected with the second tensile spring moves.

8. A flexible hinged in-line hydrofoil power plant according to claim 1, characterized in that, The hydrofoil is connected with the generator through a belt transmission mechanism and the slide block, the belt transmission mechanism comprises a belt and two pulleys rotatably mounted on the support frame, one of the pulleys is mounted on the rotor shaft of the generator, and the belt is fixedly mounted on the slide block to drive the belt to move when the slide block moves along the slide rail, so that the pulleys rotate to drive the generator to generate electricity.

9. A flexible hinged in-line hydrofoil power plant according to claim 1, characterized in that, The displacement of each of the hydrofoils along the length direction of the slide rail changes approximately sinusoidally with time, and the rotation angle of each of the hydrofoils also changes approximately sinusoidally with time.

10. A method of generating electricity from an elastic hinged series hydrofoil power plant, characterized by, The method comprises the following steps: 1) Two oscillating hydrofoil power generation devices are arranged in sequence along the direction of water flow and fixed on the shore, and their hydrofoils are connected together through elastic hinge mechanism, wherein each oscillating hydrofoil power generation device comprises a support frame, a generator, a slide rail, a slide block, a hydrofoil and a bidirectional damping mechanism, the bidirectional damping mechanism, the generator and the slide rail are installed on the support frame, the slide block is slidingly installed on the slide rail, one end of the hydrofoil extends into the water flow, the other end of the hydrofoil is provided with a connecting shaft which is rotatably installed on the slide block and connected with the generator, and the bidirectional damping mechanism is fixedly connected with the slide block to provide damping force for the first direction movement of the hydrofoil and the second direction movement opposite to the first direction; 2) Under the action of water flow, the water flow successively impacts the two hydrofoils, in the process of hydrofoil oscillation, the slide block slides along the slide rail with the hydrofoil, and the hydrofoil drives the rotor shaft of the generator to rotate, thereby realizing power generation of the generator; at the same time, the bidirectional damping mechanism provides damping force in the process of hydrofoil oscillation, autonomously adjusts the transverse movement amplitude and frequency of the series hydrofoil, optimizes the motion state of the hydrofoil, improves the energy capture, the elastic hinge mechanism assists the oscillation of each hydrofoil by continuously generating elastic deformation and restoring elastic deformation, thereby repeatedly utilizing the energy lost by turning each hydrofoil, and improving the energy capture efficiency of each hydrofoil.

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