Effector for wave power generation system and wave power generation system

Abstract

An effector for a wave power generation system and a wave power generation system are disclosed. The effector includes a beam structure and a plurality of paddles. Each paddle includes a paddle shaft, at least one paddle blade having a first blade surface and an opposite second blade surface, a blade length along the paddle shaft, and a blade width perpendicular to the blade length. The plurality of paddles are fixed to the beam structure such that the paddle blades are arranged to form part of at least one common sail device when the paddles are in an unloaded state. Each of the paddle blades is elastically deformable, at least at its flexible blade portion, when a selected load is applied to one of the first flexible blade portion surface and the opposite second flexible blade portion surface of the flexible blade portion of the paddle blade.

Description

[Technical Field]

[0001] The present invention relates to wave power systems that extract energy from water waves, such as water waves in an ocean, lake, or any other body of water, the water waves being generated by wind or other environmental influences. [Background technology]

[0002] For many years, there has been a great deal of attention paid to environmentally friendly methods of generating energy, particularly harvesting energy from the sun, wind and water waves.

[0003] Many different systems have been proposed to extract energy from water waves. U.S. Patent Application Publication No. 2007 / 0257491 discloses a wave power system comprising a plurality of generators including a floating object, a brake, and a mechanical energy transfer system that harnesses wave energy and converts it into limited motion suitable for input into an electrical energy generator.

[0004] WO 20257909 describes a wave energy harnessing system comprising a number of wave energy devices linked together to form a large capacity installation. The wave energy device comprises a floating body which maintains a constant orientation relative to the sea surface whilst a power take-off (PTO) automatically adjusts to the direction of oncoming waves. The PTO is fully enclosed, above the waterline and easily accessible. The floating body is connected to the floating bodies of other similar wave energy devices by flexible or articulated connections. The wave energy devices are aligned in an array or other suitable configuration to form a combined large floating structure.

[0005] U.S. Patent Application Publication No. 2020088155 discloses a wave power generation device that extracts energy from water waves. The wave power generation device includes a reference structure and multiple effectors that move relative to the reference structure. Each effector is coupled to two water rams arranged symmetrically around the effector. The water rams have an effective hydraulic area that gradually increases as the length of the water ram is compressed and gradually decreases as the length of the water ram is increased.

[0006] A particular challenge with such wave power systems is that they are exposed to harsh underwater environments, such as seawater, both in terms of chemical and mechanical effects on the system: severe storms are frequent and aerated seawater is highly corrosive.

[0007] International Publication No. WO8100285 discloses a device for extracting energy from the movement of water under waves in a body of water, the device comprising a sail structure, the sail structure comprising one or more sail sections each held within a rigid frame, the frame comprising a horizontal frame section and a vertical frame section, the sail of each sail section being fixed between the two vertical frame sections, the direction of the sail being able to be changed by rotating the frame holding the sail which causes a change in the direction of the water movement.

[0008] Danish Patent Application Publication No. DK201000570 describes a wave power plant that extracts energy from water waves. The wave power plant comprises a substantially stationary member and a plurality of resistance elements coupled to the substantially stationary member so as to be movable along the length of the substantially stationary member, e.g., such that forces exerted on the resistance elements by water waves when the wave power plant is in use allow the resistance elements to move a maximum distance. At least one of the resistance elements has a resistance element area and a resistance surface area, the resistance surface area being defined as the projection of the resistance element area onto a plane perpendicular to the length axis of the substantially stationary member. The resistance surface area is variable and can be adjusted, e.g., automatically, semi-automatically, and / or manually, e.g., in response to applied forces. Summary of the Invention [Problem to be solved by the invention]

[0009] It is an object of the present invention to provide a wave power generation system that is relatively robust and at the same time effective in harvesting wave energy.

[0010] It is an object of the present invention to provide a wave power generation system that is relatively robust and at the same time effective in harvesting wave energy. [Means for solving the problem]

[0011] In one embodiment, it is an object to provide an effector for a wave power generation system, which has a relatively high effectiveness and a desirably high resistance to damage even from violent waves.

[0012] In one embodiment, it is an object to provide an effector, and / or a wave power generation system comprising such an effector, wherein the effector can have a relatively large surface area so as to be effectively moved by water waves, and in addition the effector is relatively robust and durable.

[0013] These and other objects are solved by the present invention, or the embodiments of the invention as defined in the claims and described herein.

[0014] The present invention or embodiments of the present invention have been found to have numerous additional advantages, which will become apparent to those skilled in the art from the following description and claims.

[0015] It should be emphasized that the term "comprises / comprising" when used herein should be interpreted as an open-ended term, i.e., as specifying the presence of specifically stated features, such as elements, units, integers, steps, components, and combinations thereof, and does not exclude the presence or addition of one or more other stated features.

[0016] The terms "applying a load" and "applying a force" are used interchangeably. Thus, applying a force to a paddle blade surface amounts to applying a force to the paddle blade surface.

[0017] References to "some embodiments" or "one embodiment" mean that particular features, structures, or characteristics described in connection with such embodiments are included in at least one embodiment of the disclosed subject matter. Thus, the appearances of the phrases "some embodiments" or "one embodiment" in various places throughout this specification are not necessarily referring to the same embodiments. Furthermore, one skilled in the art will understand that particular features, structures, or characteristics may be combined in any suitable manner within the scope of the present invention, as defined by the claims.

[0018] The term "substantially" should be construed to mean that normal product variations and tolerances are included, unless otherwise specified or apparent from the context.

[0019] Throughout this specification or the claims, the singular encompasses the plural unless otherwise specified or required by context.

[0020] All features of the invention described herein, including the ranges and preferred ranges of embodiments of the invention, can be combined in various ways within the scope of the invention, unless there is a specific reason not to combine such features.

[0021] The effector of the present invention, suitable for a wave power generation system, comprises a beam structure and a plurality of paddles. Each paddle includes a paddle shaft and at least one paddle blade. The one or more paddle blades are advantageously fixed to the paddle shaft. The one or more paddle blades can be fixed to the paddle shaft by, for example, mechanically or chemically attaching them to the paddle shaft. In one embodiment, the one or more paddle blades can be fixed to the paddle shaft by being integrated therewith. The paddle blades have a first paddle blade surface and an opposite second paddle blade surface, a blade width W along the paddle shaft, and a blade length L perpendicular to the blade width W. The plurality of paddles are fixed to the beam structure, for example via their respective paddle shafts, such that the paddle blades of each paddle are arranged to form part of at least one common sail device when the paddles are in an unloaded state. Each of the paddle blades is elastically deformable at least at its flexible blade portion when a selected load is applied to one of the faces of the flexible blade portion of the paddle blade.

[0022] The paddle blades are fixed to the paddle shaft along a fixed length that extends along at least a portion of the paddle width when viewed along the axis of the paddle, and the paddles advantageously have at least one free edge that is longer than the fixed length to allow the flexible blade portion to elastically deform. The paddle blades are unframed, and each paddle has at least one flexible blade portion that projects away from the paddle shaft and has a free edge that allows the flexible blade portion to elastically deform in the direction of an applied load.

[0023] To ensure that the flexible blade portion of the paddle blade can elastically deform, the paddle blade includes an unframed tip portion that includes the flexible blade portion.

[0024] The inventors of the present invention have found that a significantly improved wave power generation system can be obtained by providing an effector with a plurality of paddles, each having a paddle shaft and at least one paddle blade fixed to a beam structure, e.g. via each paddle shaft, each paddle blade being elastically deformable at least in its flexible blade portion when a selected load is applied to one of the faces of the flexible blade portion of the paddle blade, such that the paddle blades of each paddle are arranged to form part of at least one common sail device.

[0025] Without being bound by theory, it is believed that the common sail receives forces from water waves acting on one of the paddle blade surfaces of at least one paddle blade forming part of the common sail system, and that the common sail system effectively collects energy by being moved by rolling waves that do not deform, or only slightly deform, the paddle blade, as explained further below. When the effector is moved at high speed by rolling waves toward its stop, a certain amount of water moves with the effector and common sail system, adding a virtual mass to the common sail system, which is commonly referred to as "added mass." It is therefore believed that the common sail system is surrounded by forces exerted by the virtual mass. Attempts to operate prior art effectors in different modes by changing the orientation of the collecting surface of the effector have been found to subject the effector to torsional forces that are detrimental and make it difficult to control switching between operating modes.

[0026] This problem is alleviated by providing each of the paddle blades of the paddles forming part of the common sail system with a flexible blade section that is elastically deformable when a selected load is applied to its surface. When the effector is moved at high speed by rolling waves toward the stop, it is believed that a certain amount of water moving with the effector and the common sail system will be able to pass between the blades of the paddle without damaging the blades due to deformation of each flexible blade section. In addition, when each flexible blade section is subjected to a load that would otherwise expose the effector to mechanical overload and the risk of failure or even complete damage, the selected load, and thereby the selected blade strength and flexibility, can be chosen to ensure that it only undergoes elastic deformation, or substantial elastic deformation, as will be explained further below.

[0027] The effector of the present invention is suitable for wave power systems, such as those described further below, which advantageously comprise a number of effectors arranged to be set in motion by water waves to harvest energy which can be converted, for example, by a generator or other means.

[0028] The effector includes a beam structure and a plurality of paddles.

[0029] Each paddle includes a paddle shaft and at least one paddle blade fixed to or integral with the paddle shaft.

[0030] The paddle blade has a first paddle blade surface and an opposite second paddle blade surface, a blade length along the paddle shaft, and a blade width perpendicular to the blade length.

[0031] The plurality of paddles are secured to the beam structure via respective paddle shafts such that the paddle blades are arranged to form part of at least one common sail device when the paddles are in an unloaded state, and the flexible blade portion of each paddle blade includes a first flexible blade portion surface and an opposite second flexible blade portion surface.

[0032] The flexible blade is elastically deformable when a selected load is applied to one of the first flexible blade surface and the second flexible blade surface of the flexible blade of the paddle blade.

[0033] Preferably, the paddle blades have free edges on opposite sides of each paddle shaft. The first blade surface and the opposite second blade surface are provided by opposite-facing surfaces of the paddle blades. The first blade surface and the opposite second blade surface are advantageously substantially planar when the paddle blades are in an unloaded state.

[0034] The term "unloaded condition" is used herein to mean when the forces acting on a first blade surface and an opposite second blade surface are equal.

[0035] Each paddle blade can have the same or varying thickness over its extension (blade length and blade width), for example, from the paddle shaft to the furthest point from the paddle shaft. In one embodiment, the paddle blade is thicker closer to the paddle shaft than further from the paddle shaft. In one embodiment, the paddle blade has a gradually decreasing thickness from the paddle shaft to the furthest point from the paddle blade, so that the paddle blade can have a gradually increasing susceptibility to deformation over its width from the paddle shaft to the furthest point from the paddle blade.

[0036] The blade length of a paddle blade is defined as the length of the paddle blade parallel to the paddle shaft. If the length of the paddle blade varies from the paddle shaft to the farthest point from the paddle shaft, the blade length is defined as the length of the paddle blade closest to the paddle shaft. In one embodiment, the paddle blade has a length that gradually decreases from the blade length adjacent to the paddle shaft to the blade length farthest from the paddle shaft. In one embodiment, the paddle blade has a constant length across its entire width from the paddle shaft to the farthest point from the paddle shaft. Advantageously, the paddle blade has a free edge along its entire width from the paddle shaft to the farthest point from the paddle shaft.

[0037] The width of a paddle blade is defined perpendicular to the blade length, from the paddle shaft to its furthest point. If the paddle blade has a varying width, the blade width is the widest width of the paddle blade.

[0038] The flexible blade portion may be the entire paddle blade from the paddle shaft, or may be a portion of the paddle blade. The flexible blade portion preferably includes at least the tip portion, which includes the blade tip furthest from the paddle shaft.

[0039] Advantageously, the first flexible blade surface is all or part of the first blade surface and the second flexible blade surface is all or part of the second blade surface.

[0040] Advantageously, the flexible blade portion comprises 10% or more of the blade width from the paddle shaft to the edge furthest away, preferably such as 25% or more, such as 50% or more, such as 75% or more, such as 90% or more of the blade width including the blade tip furthest away from the paddle shaft in an unloaded state.

[0041] The flexible blade portion may be the entire paddle blade in one embodiment, and advantageously includes at least a portion of the paddle blade furthest from the paddle shaft, such as at least 25% of the blade width, at least 50% of the blade width, at least 90% of the blade width, etc.

[0042] The flexibility of the flexible blade portion can be uniform throughout the flexible blade portion, or can vary, for example, as a function of distance to the paddle shaft. In one embodiment, the flexibility increases gradually from closer to the paddle shaft to farther from the paddle shaft. Variations in flexibility can be caused, for example, by variations in the thickness of the paddle blade; i.e., thinner paddle blades have greater flexibility.

[0043] The flexible blade portions may advantageously have a flexibility large enough that when a force in the range of 25 N to 1 kN is applied to one of the first and second flexible blade portions surfaces of each paddle blade, the edge of the paddle blade furthest from the paddle shaft is angularly displaced by at least 15° relative to the edge in its unloaded state without irreversible plastic deformation, the flexibility being preferably determined by applying the force uniformly across the flexible blade portion or at a central position on the flexible blade portion.

[0044] Advantageously, the flexible blade portions have a sufficient flexibility such that when a force in the interval 25N to 1 kN is applied to one of the first and second flexible blade portions surfaces of each paddle blade, the edge of the paddle blade furthest from the paddle shaft is angularly displaced by 20° to 80°, e.g., 25° to 60°, relative to the edge in its unloaded state without irreversible plastic deformation, the flexibility being preferably determined by applying the force uniformly across the flexible blade portion or at a central position on the flexible blade portion.

[0045] The angular displacement of the edge of the paddle blade farthest from the paddle shaft is defined by the displacement of a line tangent to the edge perpendicular to the surface of the paddle blade farthest from where the force acts. The angular displacement can be determined by applying one or more shapeable load elements, such as sandbags with a selected load, to the flexible blade portion to determine the angular displacement, for example, as shown in the figure.

[0046] The desired deformability of the flexible blade portion can be selected depending on the forces that are expected to be experienced during use and therefore are under consideration.

[0047] In one embodiment, the flexible blade portion has a sufficient degree of flexibility that when a force is applied to one of the first flexible blade portion surface and the second flexible blade portion surface of each paddle blade, the edge of the paddle blade furthest from the paddle shaft is angularly displaced by at least 15° relative to the edge in its unloaded state without irreversible plastic deformation, the force being measured when the paddle blade is fully submerged in standard seawater at 20°C with no current and the paddle blade is moved horizontally in a first direction perpendicular to the first surface of the paddle blade, and the force is measured at a speed of 5 m / s 2 This is applied by water pressure by slowing down the speed.

[0048] In one embodiment, the flexible blade portion has a sufficient degree of flexibility that when a force is applied to one of the first flexible blade portion surface and the second flexible blade portion surface of each paddle blade, the edge of the paddle blade furthest from the paddle shaft is angularly displaced by 20° to 80°, e.g., 25° to 60°, relative to the edge in its unloaded state without irreversible plastic deformation, the force being sufficient to move the paddle blade horizontally in a first direction perpendicular to the first surface of the paddle blade at a speed of 5 m / s2 in standard seawater with no current at 20°C and full application of the force. 2 This is applied by water pressure by slowing down the speed.

[0049] The term "normal" is used herein to mean a vector that is initially perpendicular to the first surface of the paddle blade before the start of motion.

[0050] Conveniently, the test can be carried out in a towing tank filled with water having a temperature of 20°C, the paddle being accelerated to a speed of 2 m / s, and once that speed has been maintained for at least 1 s, the speed of the paddle being reduced to 5 m / s. 2 During the test, the angular displacement of the edge of the paddle blade furthest from the paddle shaft can be conveniently recorded using a camera.

[0051] Advantageously, the maximum angular displacement of the paddle relative to the first flexible blade surface and / or the second flexible blade surface immediately adjacent the paddle shaft is or includes the angular displacement of the paddle blade tip.

[0052] Generally, it is desirable for the flexible blade section to be configured to deform or bend in one direction at a time, i.e., in the direction of water flow. Therefore, it is desirable for at least the tip of the blade section, and preferably the entire flexible blade section, to be unconstrained beyond its attachment to the paddle blade. Thus, from the paddle shaft to the tip of the paddle blade, the paddle blade is advantageously unconstrained.

[0053] Each of the at least one common sail device includes at least two paddles, each including at least one paddle blade. The paddles of the common sail device are arranged relative to one another so as to resemble a common sail with optionally narrow gaps between each paddle blade when the blades of the paddles of the common sail device are in an unloaded state. Advantageously, the total area of ​​the gaps is less than 10% of the total area of ​​the common sail device.

[0054] In one embodiment, the paddle blades of the common sail system are arranged in a side-by-side configuration, preferably arranged so that the possible gap between adjacent paddle blades does not exceed 15% of the average blade width when the paddles are in an unloaded state. Advantageously, the paddle blades of the common sail system are arranged so that the possible gap between adjacent paddle blades does not exceed 10% of the average blade width when the paddles are in an unloaded state, and preferably so that the possible gap between adjacent paddle blades does not exceed 1% of the average blade width when the paddles are in an unloaded state.

[0055] In one embodiment, the paddle blades of the common sail system are arranged in a side-by-side configuration, preferably arranged so that the possible gap between adjacent paddle blades does not exceed 10 cm when the paddles are in an unloaded state. Advantageously, the paddle blades of the common sail system are arranged in a side-by-side configuration, preferably arranged so that the possible gap between adjacent paddle blades does not exceed 5 cm when the paddles are in an unloaded state, and preferably arranged so that the possible gap is 2 cm or less when the paddles are in an unloaded state.

[0056] The paddle blades of the common sail device can be advantageously arranged so that the possible gap between adjacent paddle blades is as small as possible when the paddles are in an unloaded state, and so that the flexible blade portion of each paddle blade can still deform when subjected to the load selected as described above, thereby significantly reducing or completely preventing the risk of damage to the paddles due to the effect of the added mass when the effector is moved a certain distance through the water, for example, accelerated and then decelerated or stopped completely, while at the same time ensuring effective energy capture from the water waves.

[0057] In one embodiment, the paddle blades of the common sail device may overlap when the paddles are in an unloaded state. The overlap is advantageously relatively small to ensure that the flexible blade portions of the paddle blades can deform under the selected loads as described above, thereby reducing the risk of damage to the paddles. The overlap serves to ensure optimal energy capture from waves. The effective overlap of adjacent paddle blades may advantageously be at least 1 mm, e.g., at least 4 mm. To ensure that the overlap of each paddle blade allows the flexible blade portions to elastically deform under the selected loads, e.g., when subjected to the force of an added mass, and to ensure that the overlap of each paddle blade does not result in undesirable constraints on the flexible blade portions, it is desirable that the overlap not exceed 15% of the average blade width of the overlapping blades, e.g., not exceed 10% of the average blade width of the overlapping blades. In one embodiment, the paddle blades of the common sail device are arranged in a parallel configuration, with two or more of the paddle blades overlapping each other, the maximum overlap of the paddle blades advantageously being no more than 15%, such as no more than 10%, of the average blade width of the overlapping blades. Preferably, the possible overlap of adjacent paddle blades does not exceed 5%, such as no more than 1%, of the average blade width of the overlapping blades when the paddles are in an unloaded state.

[0058] At least one common sail device can in principle include any number of paddle blades, two or more. In one embodiment, at least one common sail device includes an even number of paddles. This allows the common sail device to be very stable and balanced, which may be beneficial for moving the effector with water waves. Preferably, the common sail device includes at least four paddles, for example, 4 to 40 paddles, for example, 18 to 40 paddles, for example, 16 to 24 paddles. Each of the paddles can include any number of paddle blades. The desired number of paddle blades on a paddle largely depends on the size of the effector. Preferably, each paddle has one or an even number of paddle blades. If a paddle has an even number of paddle blades, the paddle blades are advantageously arranged to protrude in opposite directions from the paddle shaft, preferably arranged as a mirror image of the paddle shaft (i.e., the paddle shaft forms the axis of mirror symmetry). In one embodiment, each paddle of the common sail device includes up to 10 paddle blades.

[0059] The paddle blades can be symmetrical or asymmetrical about each paddle shaft.

[0060] In one embodiment, one or more paddles include one paddle blade fixed to or integral with the paddle shaft. In one embodiment, one or more paddles include two or more paddle blades fixed to or integral with the paddle shaft and projecting in the same direction from the paddle shaft along the length of the paddle shaft. Such paddle blades are referred to as adjacent paddle blades, while paddle blades projecting in opposite directions from the paddle shaft are referred to as counter-direction paddle blades.

[0061] In one embodiment, the one or more paddles include two or more counter-direction paddle blades, which may be symmetrical or asymmetrical.

[0062] In one embodiment, each paddle includes two or four oppositely symmetrical paddle blades.

[0063] Where the paddle includes adjacent paddle blades, the adjacent paddle blades are advantageously positioned adjacent to one another along the paddle shaft with no or a small overlap between the paddle blades, for example, at most 1 m, at most 5 mm, at most 2 mm, etc. In practice, it may be difficult to position adjacent paddle blades without gaps between them.

[0064] In one embodiment, at least one common sail system includes at least one paddle that includes at least one rigid paddle blade. Indeed, it is desirable that all paddle blades of the common sail system include flexible blade portions. The term "rigid" should be interpreted herein to mean that the rigid paddle blade is substantially inflexible, e.g., stiff, during normal and intended use of the effector.

[0065] For effective operation, the paddle shaft is advantageously stiffer than each paddle blade attached to or integral with the paddle shaft. Higher stiffness can be achieved by a greater material thickness or by further strengthening of the material, for example, the paddle shaft and paddle blades being made of a composite material.

[0066] The paddle shaft advantageously has a bending stiffness (determined by bending along the length of the paddle shaft) that is higher than the bending stiffness (determined by bending along the width of the flexible blade portion) of at least one paddle blade of each paddle.

[0067] In one embodiment, the paddle shaft has a bending stiffness that is at least 50%, such as at least 70%, such as at least 100% greater than the bending stiffness of the flexible blade portion of each paddle blade fixed to or integral with the paddle shaft.

[0068] The beam structure may include at least one beam and preferably multiple interconnected beams. The interconnected beams may have any configuration in principle. Advantageously, the beams of the beam structure are arranged in a common plane. In one embodiment, the beam structure has one beam. In one embodiment, the beam structure includes two or more parallel beams. In one embodiment, the beam structure includes at least two perpendicular beams.

[0069] Advantageously, the beams of the beam structure, or each interconnected beam, independently of one another, have a bending stiffness that is higher than the average bending stiffness of the paddle shafts of the paddles of the effector. In one embodiment, the bending stiffness of each interconnected beam of the beam structure are substantially identical to one another, i.e., within ±10% of the average bending stiffness, such as within ±10% of the average bending stiffness.

[0070] Preferably, each interconnected beam has a bending stiffness that is at least 50%, such as at least 70%, such as at least 100% higher than the average bending stiffness of the flexible blade portions of the paddle blades of the effector paddle.

[0071] Providing a beam or beam structure with a relatively high bending stiffness ensures that the effector is very stable and effective in obtaining energy from water waves.

[0072] The paddle shafts of the paddles, including the paddle blades of the at least one common sail device, can be coupled to at least one beam of the beam structure by rotation-limited joints, which prevent each paddle from rotating around the respective beam to which it is coupled, thereby ensuring effective energy harvesting.

[0073] Preferably, each rotation-limited joint limits the paddles to rotation about their respective paddle shafts by more than 10°, e.g., more than 5°, e.g., completely limiting the paddles to rotation about their respective paddle shafts to which they are coupled at their respective rotation-limited joints. In one embodiment, each paddle shaft is coupled to at least one beam at a respective rigid joint.

[0074] In one embodiment, the paddle blade comprises at least one of a metallic material and / or a polymeric material. Preferably, the flexible blade portion of the paddle blade is at least partially made of a polymeric material. For strength, the paddle blade may advantageously comprise a metal, such as steel and / or aluminum.

[0075] In one embodiment, the paddle blade comprises a polymer such as polypropylene (PP), polyethylene (PE), polyoxymethylene (POM), polyurethane (PU), polyamide (PA), polyethylene terephthalate (PET), and / or a thermosetting epoxy.

[0076] The paddle blades may preferably comprise or consist of a composite material, such as a fiber reinforced polymer, for example glass fiber reinforced polymer (GFRP), basalt fiber reinforced polymer (BFRP), and / or carbon fiber reinforced polymer (CFRP).

[0077] The term "composite material" is used herein to mean any structure that includes a thermosetting polymer matrix and at least one embedded element that is not made of a thermosetting polymer.

[0078] The thermosetting polymer is advantageously a thermosetting epoxy, which has high chemical resistance and durability even in seawater. Examples of embedded elements include reinforcing elements such as fibers and / or metallic elements, polymeric elements, filler elements, adhesives, fastening elements, etc. The composite structure may further include non-embedded or partially embedded elements such as coatings, e.g., paints and / or UV / weather protection coatings.

[0079] The term "embedded element" is to be interpreted herein to mean that the embedded element is at least partially embedded in the matrix, preferably with at least 50% of the element by volume being below the surface of the matrix. Advantageously, the embedded element is completely embedded in the matrix, i.e., the embedded element is surrounded by the matrix.

[0080] The embedded element or elements may serve various purposes. Advantageously, the embedded solid element comprises one or more reinforcing elements. The reinforcing elements, such as fibers, are arranged in the paddle blade in an orientation that ensures the desired deformability of the flexible blade portion. In one embodiment, the density of fiber reinforcement in the paddle blade is higher closer to the paddle shaft than further from the paddle shaft.

[0081] The paddle shaft and / or beam structure can include or consist of wood, metal, and / or composite materials. Wood can include, for example, balsa wood, which is highly buoyant. When balsa or other types of wood are used, the wood can be conveniently embedded in a thermosetting polymer, such as an epoxy, to form part of a composite material, preferably with reinforcing elements, such as those described above for the paddle blade, preferably metals, such as steel or aluminum, and / or fibers, such as those described further below.

[0082] In one embodiment, the paddle shaft and / or at least one beam of the beam structure, independently of one another, are made completely or partially of a metallic material and / or a polymeric material, preferably the paddle shaft and / or at least one beam of the beam structure, independently of one another, comprise steel, aluminum, polypropylene (PP), polyethylene (PE), polyoxymethylene (POM), polyurethane (PU), polyamide (PA), polyethylene terephthalate (PET), and / or a composite material such as, for example, fiber reinforced polymer, glass fiber reinforced polymer (GFRP), basalt fiber reinforced polymer (BFRP), and / or carbon fiber reinforced polymer (CFRP).

[0083] The paddle shaft may conveniently be made from or include a metal, for example steel or polymer coated steel, or a composite material, for example the composite materials mentioned elsewhere herein.

[0084] In one embodiment, the paddle shaft and paddle blade are made of a composite material, preferably with the paddle shaft having a higher density of reinforcing elements, such as reinforcing fibers, than the flexible blade portion.

[0085] In one embodiment, the composite material forming part or all of the paddle blade, paddle shaft and / or beam structure may include one or more embedded elements that do not have a reinforcing function, such as fillers, molding aids, electrical components, lightning protection, paints, adhesives, and / or foams and / or wood, for example, for buoyancy purposes.

[0086] Such foams may include foamed plastics, such as foamed plastics including at least one of polystyrene (PS), polyurethane (PU), poly(vinyl chloride) (PVC), polyethylene terephthalate (PET), polyolefins (polyethylene (PE) and polypropylene (PP)), ABS foams, and the foamed plastics are preferably rigid. The foamed plastics are advantageously closed-cell foams.

[0087] Foamed plastics advantageously have high fire resistance and ensure that the composite material is lightweight.

[0088] In one embodiment, the polymer of the composite material is selected from natural rubber, polypropylene (PP), polyethylene (PE), polyoxymethylene (POM), polyurethane (PU), polyamide (PA), polyethylene terephthalate (PET), and epoxy (e.g., modified epoxy resin such as PU-modified epoxy resin).

[0089] The fibers of the composite material may include fibers selected from one or more of synthetic fibers, semi-synthetic fibers, recycled fibers, plant fibers, carbon fibers, basalt fibers, glass fibers, animal-derived fibers, and / or metal fibers.

[0090] The fibers may advantageously form one or more reinforced elements or may form part of the reinforced elements. Synthetic fibers may include at least one of nylon, polyester, acrylic, polyvinyl chloride, polyurethane, vinylon, and aramid fibers. Semi-synthetic fibers may include at least one of acetate, triacetate, and promix fibers. Recycled fibers may include at least one of rayon, cupro, and polynosic fibers. Plant fibers may include at least one of cotton and hemp fibers. Carbon fibers may include at least one of pure carbon and pitch-based carbon. Animal-derived fibers may include at least one of body hair, angora, spider silk, and mohair fibers. Metal fibers may include at least one of silver and steel fibers.

[0091] In one embodiment, the fibers include glass fibers, synthetic fibers, carbon fibers, plant fibers, animal-derived fibers, and / or metal fibers. The fibers can advantageously be present in the form of a woven or non-woven mat, or can include threads or fibers cut to short lengths. The fibers can advantageously be present as one or many layers bound together by a thermosetting matrix, which can be a thermosetting epoxy matrix or a non-epoxy type thermosetting matrix. In one embodiment, the fibers can be coated with, for example, a primer. Such primers are commonly known as sizing agents.

[0092] In one embodiment, the fibers comprise glass fibers, such as E-glass fibers, which are aluminoborosilicate glass with a small amount of alkali oxide. The glass fibers can be advantageously coated, for example, with a resin coating and / or a silane coupling agent to improve the interfacial strength between the glass fibers and the thermosetting epoxy matrix. Examples of silane coupling agents include epoxy-functional organosilanes or 3-glycidyloxypropyltrimethoxysilane (GPTMS).

[0093] The fibers can advantageously be present in the form of a woven or nonwoven mat and / or in the form of bundles.

[0094] In one embodiment, the reinforcing elements of the composite material comprise a metal such as steel, aluminum, titanium, scandium, chromium, cobalt, nickel, copper, zinc, tin, lead, and any alloy containing at least one of the foregoing, preferably in the form of a wire and / or a metal grid. In one embodiment, the reinforcing material comprises metal fibers and / or one or more metal girders. Metal girders may be particularly suitable for beam structures.

[0095] In one embodiment, the composite material comprises unreinforced polymeric material, e.g., in the form of flakes or fibers, such as unreinforced polymers like polypropylene (PP), polyethylene (PE), polyethylene terephthalate (PET), polyamide (PA), polymethylpentene (PMP), or any mixture comprising at least one of these.

[0096] Advantageously, at least each flexible blade portion of the paddle blades, and preferably each paddle, comprises or consists of a composite material including a thermosetting polymer with embedded fibers and / or embedded non-reinforced polymer.

[0097] The paddle blades may have any shape suitable for forming one or more common sail devices. The paddle blades of at least one common sail device paddle are advantageously shaped so that they do not mutually interfere with the resilient flexibility of the flexible blade portions of each paddle blade.

[0098] In principle, the paddle blades can have any shape that preferably does not hinder their elastic deformation relative to one another and preferably maintains the distance between the paddle blades of the common sail device at a desired low level when the paddle blades are in an unloaded state.

[0099] In one embodiment, each paddle blade has straight edges, optionally with rounded corners, such as a radius of radius of 5 cm or less, or 2 cm or less.

[0100] Advantageously, each paddle blade has a blade width and blade length that ensures a desired area or first blade surface and an opposite second blade surface, respectively. The area of ​​each of the first blade surface and the opposite second blade surface is advantageously at least 0.05 m 2 and for example at least 0.1 m 2 , for example 0.2m 2 10m from 2 , for example 0.3m2 5m from 2 is.

[0101] When the effector is configured for use in a wave power system that is used where relatively high energy waves are expected, it may be advantageous for the paddle blades of the effector to be selected so that each of the first blade surface and the opposing second blade surface has a relatively small surface area while the number of paddle blades is relatively large, so that the sum of the first blade surface and the opposing second blade surface of all the paddle blades is as large as desired to obtain a desired amount of water wave energy.

[0102] When the effector is configured for use in a wave power generation system that is used where relatively low energy waves are expected, it may be advantageous for the paddle blades of the effector to be selected so that each of the first blade surface and the opposite second blade surface has a relatively large surface area while the number of paddle blades can be relatively small.

[0103] In one embodiment, the blade width of each paddle blade is at least 0.5m, such as from 1m to 5m, such as from 1.5m to 3m.

[0104] In one embodiment, each paddle blade has a blade length of at least 0.1 m, such as from 0.3 m to 5 m, such as from 0.4 m to 3 m, such as from 0.5 m to 2 m.

[0105] In one embodiment, at least one, and preferably each, of the one or more paddle blades has a first side and an opposite second side defined by a first blade surface and an opposite second blade surface, and a first auxiliary flap is disposed on the first side of the paddle blade. The first auxiliary flap is advantageously coupled to the paddle shaft, optionally via the paddle blade. The first auxiliary flap protrudes from the paddle shaft to a distance from the remote edge of the paddle blade. Preferably, the first auxiliary flap has a width, referred to as a "flap width," preferably defined parallel to the blade width, which is at most 75% of the blade width, e.g., 10% to 60% of the blade length, e.g., 20% to 50% of the blade width.

[0106] Advantageously, the paddle also includes a second auxiliary flap, which is located on a second side of the paddle blade. The second auxiliary flap can optionally be connected to the paddle shaft via the paddle blade. The second auxiliary flap projects from the paddle shaft to a distance from the remote edge of the paddle blade. Preferably, the second auxiliary flap has a width referred to as the "flap width," which is at most 75% of the blade width, for example 10% to 60% of the blade width, for example 20% to 50% of the blade width.

[0107] The flap widths of the first flap and the second flap can be equal or different from each other.

[0108] If it is anticipated that the wave forces acting on the first and second surfaces of the paddle blade may be different, it may be desirable for the first and second auxiliary flaps to have different sizes (e.g., different flap widths).

[0109] To obtain a very balanced paddle, it is desirable for the first and second flaps to have equal flap widths. The auxiliary flaps function to assist the paddle blades and protect them from damage, as will be explained further below.

[0110] Advantageously, the first and / or second auxiliary flaps have a rigidity equal to or greater than that of the flexible blade portion of the paddle blade. Preferably, the first and / or second auxiliary flaps are made of a material having a rigidity equal to or greater than that of the flexible blade portion of the paddle blade, and / or the first and / or second auxiliary flaps have a thickness or average thickness equal to or greater than that of the flexible blade portion of the paddle blade. This allows the first and / or second auxiliary flaps to very effectively protect the paddle blade from damage caused by water waves.

[0111] The first auxiliary flap may be secured to the first surface of the paddle blade with a securing width extending from the paddle shaft of up to 50%, such as up to 25% of the flap width of the first auxiliary flap, for example up to 10% of the flap width of the first auxiliary flap, for example up to 5% of the flap width of the first auxiliary flap. Preferably, the securing extends over at least 50% of a length of the first auxiliary flap defined perpendicular to the flap width of the first auxiliary flap, for example over the entire length of the first auxiliary flap.

[0112] Similarly, the second auxiliary flap may be secured to the second surface of the paddle blade with a securing width extending from the paddle shaft of up to 50%, such as up to 25% of the flap width of the second auxiliary flap, for example up to 10% of the flap width of the second auxiliary flap, for example up to 10% of the flap width of the second auxiliary flap. Preferably, the securing extends over at least 50% of the length of the second auxiliary flap, for example over the entire length of the second auxiliary flap.

[0113] By arranging the first and second auxiliary flaps on the first and opposite second surfaces of the blade, it is possible to provide the desired high degree of protection to the paddle blade without completely covering the flexible blade portion of the paddle blade (i.e., by bending the flap width less than the blade width to the left), while at the same time ensuring that the paddle blade undergoes the desired large deformation when subjected to large forces caused by the added mass.

[0114] To ensure highly effective energy harvesting, when the paddles are in an unloaded state, a first blade surface of each paddle blade of the paddles forming part of the at least one common sail device preferably faces in a common first facing direction, and a second blade surface of each paddle blade of the paddles forming part of the at least one common sail device preferably faces in a common second facing direction opposite to the common first facing direction. Preferably, the paddles forming part of the at least one common sail device are arranged such that their paddle blades lie in a common plane when the paddles are in an unloaded state. The present invention also includes a wave power generation system including at least one effector described above. a base structure including at least one elongated track; at least one effector movably engaged with the base structure and configured to be moved by water waves along the elongated track a travel distance between a first stop position and a second stop position; an energy harvesting device configured to harvest energy from relative motion between the effector and the base structure; wherein the at least one effector is as described above and as claimed in the accompanying claims.

[0115] The at least one elongated track has the purpose of controlling the movement of the effector caused by the water waves when in use. The effector is associated with the elongated track in that it is moved back and forth along the elongated track. The effector can be movably coupled to the elongated track by any suitable arrangement, such as a roller arrangement similar to the wheel arrangement on a roller coaster. In one embodiment, the effector is associated with the elongated track via a transmission, such as a transmission including a carriage.

[0116] Preferably, the elongate track is essentially uncurved, however in one embodiment the elongate track may be slightly curved, such as with a radius of curvature of 25 meters or more, such as a minimum radius of curvature of 50 meters or more, such as a minimum radius of curvature of 100 meters or more.

[0117] In one embodiment, the elongate track is straight or substantially straight.

[0118] Preferably, each paddle blade of the paddles forming part of the at least one common sail device, independently or together, is oriented perpendicular to the at least one elongated track section or approximately perpendicular to the elongated track section. The angle between the orientation of the paddle blade and the elongated track section is defined at the position of the elongated track section where the common sail device is located. In one embodiment, each paddle blade of the paddles forming part of the at least one common sail device of the effector, independently or together, is oriented at an angle of at most 30°, such as at most 20°, for example at most 10°, for example at most 5° from the perpendicular to the at least one elongated track section when the paddles are in an unloaded state.

[0119] Advantageously, the travel distance is at least 1 m, such as at least 2 m, such as at least 10 m or more. The desired travel distance is determined primarily by the expected wavelength of the water waves in which the wave power system is designed to operate.

[0120] Where the effector engages with the base structure via a transmission device, for example a carriage that is movable along the base structure and carries the effector, the travel distance plus the length of the carriage defined along the elongate track is advantageously at least 1.1 m, for example at least 2.1 m, for example a maximum of 15 m or more.

[0121] At least one effector of a wave power system is advantageously configured to operate in at least two modes of operation. Thus, in one embodiment, the at least one effector used submerged in seawater is configured to operate in at least two modes of operation including a release mode and a restraint mode when moved by water waves along the elongated track portion over a travel distance between a first rest position and a second rest position.

[0122] The restrained mode is when the movement of the effector is restrained, i.e., when wave power generation in a given direction is not at its maximum, i.e., the kinetic energy of the effector (or the carriage carrying the effector) is restrained relative to what it would be if the effector were not restrained.

[0123] When wave-induced motion is largely unrestrained (i.e., other than by the normal, unavoidable mechanical resistance between the slender track and the effector), the effector is in release mode.

[0124] The at least one effector is advantageously in the suppression mode when moving from the first braking position towards the first end position and when moving from the second braking position towards the second end position.

[0125] The at least one effector is advantageously in the release mode when moving from the second end position until it reaches the first braking position, and when moving from the first end position until it reaches the second braking position.

[0126] In one embodiment, at least one effector moves from the second stop position towards the first stop position and is in a release mode until the effector reaches the first brake position, at least one effector passes through the first brake position and is in a suppression mode until the first stop position is reached, at least one effector moves from the first stop position towards the second stop position and is in a release mode until the effector reaches the second brake position, and at least one effector passes through the second brake position and is in a suppression mode until the second stop position is reached.

[0127] The distance between the first braking position and the first stop end and the distance between the second braking position and the second stop end are, independently of each other, zero or a maximum of 25%, for example a maximum of 20%, for example a maximum of 10% of the travel distance between the first stop position and the second stop position, or for example a maximum of 5m, for example a maximum of 0.5m, for example a maximum of 0.2m of the travel distance between the first stop position and the second stop position.

[0128] If the distance between the first brake position and the first stop and the distance between the second brake position and the second stop are zero, respectively, the effector is brought to an immediate stop at the first stop and the second stop, respectively. This immediate stop can be brought about, for example, by the effector or the carriage carrying the effector colliding with a stop element at the first stop and the second stop, respectively. Due to the deformability of the paddle blade, the risk of damage to the effector due to a force caused by the additional mass of water behind the paddle blade and acting on the rear surface of the paddle blade in relation to the direction of movement immediately before the immediate stop can be greatly reduced or even completely avoided.

[0129] In one embodiment, the distance between the first braking position and the first stop and the distance between the second braking position and the second stop are each preferably greater than zero, which allows the effector to be stopped more abruptly. Additionally, the amount of energy that is suppressed can be harvested and released to the effector if the effector changes direction.

[0130] In one embodiment, at least one effector used while submerged in seawater is configured to be moved by water waves along an elongated track a distance between a first stop position and a second stop position in each of a release mode and a restrained mode, and a selected load applied to one of the faces of the flexible blade portion of each paddle blade to elastically deform the flexible blade portion of each paddle blade is selected such that the flexible blade portion of each paddle blade elastically deforms when the effector is at least partially in the restrained mode.

[0131] Advantageously, the selected load applied to one of the faces of the flexible blade portion to elastically deform the respective flexible blade portion of each paddle blade is selected so that when the effector is in the release mode, the flexible blade portion of each paddle blade does not elastically deform as much as when the effector is at least partially in the restraint mode.

[0132] In one embodiment, the selected load applied to one of the faces of the flexible blade portion to elastically deform the respective flexible blade portion of each paddle blade is selected such that the flexible blade portion of each paddle blade elastically deforms when the effector is in the release mode.

[0133] The wave power system advantageously includes a braking device configured to dampen movement of the effector in the dampening mode, for example when the effector is moving from the first braking position towards the first stop and / or from the second braking position towards the second stop.

[0134] The basic structure may include at least part of a braking device, and / or the elongated track may include at least part of a braking device, and / or the bogie (if present) may include at least part of a braking device, and / or the effector may include at least part of a braking device. Variations on this will be apparent from the examples and figures.

[0135] In one embodiment, when the effector engages the base structure via a carriage that is movable along the base structure and carries the effector, the carriage includes at least part of the braking device.

[0136] The braking device may include any braking device suitable for arresting movement of the effector as it passes from the first braking position towards the first stop and / or from the second braking position towards the second stop.

[0137] Advantageously, the braking device is a regenerative braking device, which is configured to convert at least a portion of the kinetic energy of the effector into a form that can be used immediately, for example by releasing it back into the effector when the direction of movement changes, or into a form that can store the kinetic energy until it is needed for any other purpose.

[0138] By restricting the movement of the effector (or the movement of the carriage carrying the effector) relative to the movement that would occur in the absence of the braking device, the kinetic energy of the effector (or the carriage carrying the effector) is reduced, and at least a portion of this kinetic energy can be converted by the braking device.

[0139] In one embodiment, the braking device is a mechanically operated braking device, which is preferably a regenerative braking device, and is preferably configured to convert at least a portion of kinetic energy into potential energy.

[0140] Advantageously, the regenerative braking device includes a spring device and / or a piston device for temporarily storing the converted kinetic energy.

[0141] The harvesting device can in principle include any kind of harvesting device, such as those known in the art that take kinetic energy and convert it into, for example, electrical and / or potential or pump energy.

[0142] In one embodiment, the energy harvesting device includes a pumping device configured to pump water actuated by movement of the at least one effector. The pumping device may include at least one hydraulic pumping device, such as a telescopic hydraulic ram or a piston pump including a piston and a pumping chamber, the former of which is held in a fixed position relative to the base structure.

[0143] The piston pump may be as described in co-pending Danish Patent Application No. DKPA202370508.

[0144] In one embodiment, the other of the piston and pump chamber is fixed to the carriage, or the other of the piston and pump chamber is not fixed to the carriage but is arranged to be actuated by the carriage when moved along the base structure, thereby achieving efficient energy conversion. The wave power system may advantageously comprise a number of modules, each module comprising: - A modular basic structure including a long and narrow track section; at least one effector movably engaged with the modular base structure and configured to be moved by water waves along the elongated track a travel distance between two stop positions; The modular base structure of each module may form part of the base structure of the wave power system.

[0145] This can provide a highly scalable wave power system. In addition, it can be relatively simple to add new modules to an already established wave power system, and it can be relatively simple to retrieve damaged or worn-out modules from the wave power system for replacement or repair without having to shut down the wave power system.

[0146] The energy harvesting device may conveniently be configured to obtain energy from the relative motion between the effector of each module and the modular base structure.

[0147] In one embodiment, the wave power system may be as described in WO 2022 / 214153, except that the effector, the optional operating modes, i.e., each of the release and restraint modes, and the control of those operating modes are as described herein.

[0148] In one embodiment, the wave power generation system may be similar to the wave power generation device described in U.S. Patent Application Publication No. US2020088155, but modified such that the effector, the optional operating modes, i.e., release and restraint modes, respectively, and the control of those operating modes are as described herein.

[0149] To ensure a desired position of the wave power system relative to the water surface, the wave power system may advantageously include a plurality of buoyancy elements, the desired number and buoyancy effect of which is determined primarily by the number and weight of the conduit sections.

[0150] The buoyancy elements can be arranged to maintain the basic structure at a desired buoyancy relative to the water surface for optimal harvesting of energy from the water waves.

[0151] Advantageously, the buoyancy elements are arranged so that the basic structure is partially completely buoyant.

[0152] Because the basic structure is nearly neutrally buoyant, it would be relatively easy to couple it to an effector that has slight buoyancy and keeps the entire system near the water surface, preferably so that the effector is at least 80% submerged by area when measured in still water, such as at least 90% submerged by area, for example at least 95% submerged by area, for example completely submerged when measured in still water.

[0153] In principle, the effector can be positioned so that it is moved in any direction by the water.

[0154] The displacement and frequency of water waves are often inconsistent and unpredictable. Generally, water particles in swell waves travel in a circular or elliptical pattern that includes vertical and horizontal components.

[0155] The effector can be configured to be moved by the horizontal component of the water waves and / or the vertical component of the water waves (water undulations).

[0156] Advantageously, the effectors are coupled to the base structure via transmission devices to movably engage with the base structure, for example each effector may be coupled to the base structure via one or more, for example one or two, transmission devices.

[0157] The transmission device may be, for example, as described in U.S. Patent Application Publication No. US2020088155.

[0158] In one embodiment, the transmission device includes at least one hydraulic ram coupled directly or indirectly to the base structure and coupled directly or indirectly to at least one effector.

[0159] All features of the invention, including the scope and preferred range of embodiments of the invention, can be combined in various ways within the scope of the invention unless there is a specific reason not to combine such features. [Brief explanation of the drawings]

[0160] The present invention is further illustrated below with reference to the figures, in connection with examples and embodiments. The figures are schematic and may not be drawn to scale. The examples and embodiments are given only to illustrate the invention and should not be construed as limiting the scope of the invention.

[0161] [Figure 1]1 is a schematic diagram of a wave power system according to an embodiment of the present invention, including a basic structure having a plurality of elongated track sections, each having at least one effector. [Figure 2] 1 is a schematic diagram of a portion of a wave power generation system according to an embodiment of the present invention. [Figure 3] FIG. 1 is a schematic diagram of a portion of another wave power generation system according to an embodiment of the present invention. [Figure 4A] 1 is a schematic side view of a portion of an embodiment of a wave power system operating through an operational cycle. FIG. [Figure 4B] 1 is a schematic side view of a portion of an embodiment of a wave power system operating through an operational cycle. FIG. [Figure 4C] 1 is a schematic side view of a portion of an embodiment of a wave power system operating through an operational cycle. FIG. [Figure 4D] 1 is a schematic side view of a portion of an embodiment of a wave power system operating through an operational cycle. FIG. [Figure 5A] 1 is a schematic side view of a portion of an embodiment of a wave power generation system in operation, the wave power generation system including at least one regenerative braking device. [Figure 5B] 1 is a schematic side view of a portion of an embodiment of a wave power generation system in operation, the wave power generation system including at least one regenerative braking device. [Figure 5C] 1 is a schematic side view of a portion of an embodiment of a wave power generation system in operation, the wave power generation system including at least one regenerative braking device. [Figure 6] FIG. 10 is a schematic top view of a portion of an elongated track and associated effector operating in a suppressed mode. [Figure 7] 7A shows a schematic perspective view of an embodiment of an effector, and FIG. 7B shows a paddle of the effector of FIG. 7A. [Figure 8A] FIG. 1 is a cross-sectional view of a paddle with a paddle blade in an unloaded state. [Figure 8B] 8B is a cross-sectional view of a paddle having the paddle blade of FIG. 8A, with the flexible blade portion of the paddle in an elastically deformed state. [Figure 9A] FIG. 1 is a side view of a paddle having first and second auxiliary flaps disposed on a first and an opposite second surface of a paddle blade of the paddle in an unloaded state. [Figure 9B] FIG. 9B is a front view of the paddle of FIG. 9A. [Figure 10A] 1 shows a paddle arrangement having a first auxiliary flap disposed on a first surface of a paddle blade of a paddle, with a force acting on a second blade surface. [Figure 10B] 10B shows the device of FIG. 10A with a force acting on the first blade surface. DETAILED DESCRIPTION OF THE INVENTION

[0162] Figure 1 shows a wave power generation system comprising a basic structure including three sets of elongated tracks 1a, 1b, 1c coupled to a common manifold 7 for transferring water pumped by movement of an effector 5 to a turbine generator 8. The common manifold 7 and generator 8 form part of an energy harvesting device configured to harvest energy from the relative motion between the effector 5 and the basic structure.

[0163] Each set of elongated track sections 1a, 1b, 1c includes a number of elongated track sections each associated with an effector 5, and the effector 5 is configured to movably engage with each associated track section and be moved by water waves along the associated elongated track section a respective movement distance between a first stop position and a second stop position.

[0164] In the embodiment shown, each elongate track segment is a straight track segment. As will be explained, the elongate track segment may be curved so long as the effector is movable along the elongate track segment between the first and second stops.

[0165] The elongated track sections are arranged in longitudinal extension of each other to form three sets of elongated track sections 1a, 1b, 1c.

[0166] The stop positions can ensure that the effectors do not collide. At least one, and preferably each, of the stop positions can include, for example, a stop block or stop plate, and / or the first and second stop positions can each include a hydraulic pump device, such as a telescopic hydraulic cylinder or a piston pump including, for example, a piston and a pump chamber, as described below. The set of elongated track sections 1 a, 1 b, 1 c is moored by mooring lines M. The set of elongated track sections 1 a, 1 b, 1 c can further include a number of buoyancy elements 3; only a representative number of these elements are shown; in addition to or as an alternative to the buoyancy elements 3, the base structure and / or effectors 5 can include an integrated lightweight material, such as balsa and / or polymer foam, which can be embedded in a thermosetting polymer (advantageously epoxy) to provide buoyancy.

[0167] FIG. 2 shows a portion of a wave power system. The portion of the wave power system shown shows a module of the wave power system including one effector 15. The wave power system has a basic structure including an elongated track section 11, and the module shown includes an effector 15 movably engaged with the elongated track section 11. A transmission including a carriage 16b and two hydraulic pumping devices in the form of two telescopic water rams 16a is arranged to control the movement of the effector 15 along the elongated track section 11. The effector 15 is carried mounted on the carriage 16b and moved by water waves along the elongated track section 11. The carriage 16b can be equipped with wheels, for example, as described above, to ensure low friction resistance between the carriage 16b and the elongated track section 11. Each face of the carriage 16b is attached to one of the two telescopic water rams 16a.

[0168] The telescoping hydraulic ram 16a is configured to pump water into each pipe section 17a and further into the pipeline 17 for movement to the turbine generator.

[0169] Each of the telescopic hydraulic rams 16a includes multiple telescopic hydraulic sections, including a main hydraulic section 16c attached to a pipe section 17a, and multiple movable hydraulic sections 16d that can be moved into the main hydraulic section 16c to send water through the pipe section 17a to the pipeline 17. A carriage 16b is fixed to the outermost portion of each hydraulic section 16d of the hydraulic ram 16a to stabilize the movement of the effector 15 as it moves back and forth. The stabilizer 16b moves with the effector 15 and transmits the pumping effect to the hydraulic ram 16a, which sends water through the pipe section 17a to the pipeline 17. The water level line is indicated by "W."

[0170] Effector 15 includes a beam structure and a plurality of paddles, not shown, as described elsewhere herein.

[0171] The first stop end position is defined by the position of the effector 15 when the carriage 16b is moved along the elongated track portion 11 to fully compress the first hydraulic ram 16a, i.e., when the movable hydraulic portion 16d is movable into the main hydraulic portion 16c.

[0172] The second stop end position is determined by the position of the effector 15 when the carriage 16b is moved along the elongated track portion 11 to fully compress the second telescopic hydraulic ram 16a, i.e., when the movable hydraulic portion 16d is movable into the main hydraulic portion 16c.

[0173] The travel distance is defined by the first stop position and the second stop position.

[0174] 3 shows that a portion of the wave power system including an elongated track 21 is hollow and forms part of a pipeline that guides the pumped water to the turbine generator. The elongated track 21 has a number of injection openings 21a and a pumping system including four telescopic water hammer pumps 26a, and a transmission system including a carriage 26b is coupled to the elongated track 21 to supply water directly to the elongated track 21, thereby functioning as part of the pipeline that moves the pumped water to the turbine generator.

[0175] Each of the telescopic water hammer pumps 26a includes multiple telescopic hydraulic sections, including a main hydraulic section 26c, and multiple movable hydraulic sections 26d that can move into the main hydraulic section 26c to pump water into the elongated track section 21. A carriage 26b is fixed to the outermost portion of each hydraulic section 26d of the telescopic water hammer pumps 26a and stabilizes the movement of the effector 25 as it moves back and forth due to water waves. The carriage 26b includes a flange 26b1 and a main section 26b2 for connecting to the telescopic water hammer pumps 26a. Bearings are provided between the elongated track section and the main section 26b2, allowing the carriage 26b to move together with the effector 25 and transmit the pumping effect to the telescopic water hammer pumps 26a, thereby pumping water into the elongated track section 21. The bearings may be ball bearings or roller bearings, for example. The water level line is indicated by "W."

[0176] The first stop end position is defined by the position of the effector 25 when the carriage 26b is moved along the elongated track portion 21 to fully press the first pair of telescopic hydraulic rams 26a, i.e., when the movable hydraulic portion 26d is movable into the main hydraulic portion 26c.

[0177] The second stop end position is defined by the position of the effector 25 when the carriage 26b is moved along the elongated track portion 21 to fully press the second pair of telescopic hydraulic rams 26a, i.e., when the movable hydraulic portion 26d is movable into the main hydraulic portion 26c.

[0178] The travel distance is defined by the first stop position and the second stop position.

[0179] 4A-4C show part of a wave power system comprising an elongated track section 31, an effector 35 and a transmission arrangement including a carriage 36. The effector 35 is carried by and engages with the elongated track section 31 via the carriage 36, which in the embodiment shown includes wheels to reduce friction between the elongated track section 31 and the carriage 36. The wave power system further includes first and second pumping devices in the form of piston pumps each including a piston 37 and a pumping chamber 38.

[0180] The piston has a piston head (not shown) that is located in the discharge 38, and a piston rod 37a that is fixed to the piston head and extends more or less outside the discharge depending on the stage of the operating cycle of the pumping device. The piston rod 37a extends from the housing 38 towards or in contact with one of the sides of the carriage 36 (e.g. the front bag face).

[0181] The housing 38 is held in a fixed position relative to the elongated track 31, for example by being fixed to the elongated track 31.

[0182] In Figure 4A, the carriage 36 is at rest between the first and second pump units, also referred to as the left and right pump units in the description of Figures 4A-4D, and is not in contact with the piston rods 37a of either the left or right pump units.

[0183] 4B, the carriage is moved by the water wave into contact with the piston rod 37a of the right pumping device, and the kinetic energy of the carriage 36 and effector 35 imparted by the movement of the water wave causes the piston rod 37a to push the piston head further into the housing 38, pumping out water that can be guided through pipes to the generator of the energy harvesting device or similar energy harvesting equipment. Arrow A1 indicates the direction of movement of the carriage 36 and effector 35.

[0184] As the carriage begins to push the piston rod 37a of the right pump device, the effector switches from operating in the release mode to operating in the suppression mode until the carriage 36 and effector 35 reach the right stop end and come to a complete stop against the elongated track section 31.

[0185] In Figure 4C, the water wave begins to move the carriage 36 with the effector 35 away from the right pumping unit. This causes the effector to switch from operating in a suppressed mode to operating in a released motion as the wave pushes the carriage towards the left pumping unit. The piston pump of the right pumping unit includes a piston retraction device configured to refill the housing with water and retract the piston rod to its initial position before being pushed by the carriage 36. As shown in Figure 4C, the piston rod is retracting. The piston of the left pumping unit has a similar retraction device.

[0186] 4D, the carriage is moved by the water wave into contact with the piston rod 37a of the left pumping device, and the kinetic energy of the carriage 36 and effector 35 imparted by the movement of the water wave causes the piston rod 37a to push the piston head further into the housing 38, pumping out water that can be guided through pipes to the generator of the energy harvesting device or similar energy harvesting equipment. Arrow A1 indicates the direction of movement of the carriage 36 and effector 35.

[0187] As the carriage begins to push in the piston rod 37a of the left pumping unit, the effector switches from operating in a released mode to operating in a restrained mode until the carriage 36 and effector 35 reach the left stop and come to a complete stop against the elongated track 31. At the same time, it can be seen that the piston rod of the right pumping unit is now fully retracted and ready for the next operating circle.

[0188] 5A to 5C show part of a wave power generation system, which includes at least one regenerative braking device.

[0189] The wave power system comprises an elongated track 41, an effector 45 and a transmission arrangement including a carriage 46. The effector 45 is carried by and engages the elongated track 41 via the carriage 46, which in the embodiment shown engages the elongated track 41 via a mounting ring 46a, preferably including a roller bearing (not shown), which reduces friction between the elongated track 41 and the carriage 46. The wave power system further comprises a pumping arrangement in the form of a piston pump including a piston 47 and a pumping chamber 48. It will be appreciated that in the embodiment shown, the pumping arrangement is located to the left of the carriage 46, whereas the wave power system would conveniently comprise a corresponding pumping arrangement located to the right of the carriage 46.

[0190] The piston has a piston head 47b disposed within the discharge 48, a piston, and a piston rod 47a fixed to the piston head and extending more or less outside the discharge depending on the stage of the operating cycle of the pumping device. The piston rod 47a extends from the housing 48 towards or in contact with one of the sides of the carriage 46. The housing 48 is held in a fixed position relative to the elongated track 41 by being fixed to the elongated track 41 at a fixed location 41a.

[0191] The pumping device includes a regenerative braking device including a spring device 49. The piston pump includes a piston retraction device having a cord 42 configured to retract the piston rod 47a after the piston rod 47a is released from being pushed further into the housing 48 by the carriage 46, as described below.

[0192] In Figure 5A, the water wave begins to move the carriage 46 with the effector 41 towards the pumping device. As the water wave pushes the carriage towards the pumping device, the effector 45 is operating in a release motion. Arrow A1 indicates the direction of movement of the carriage 46 with the effector 45.

[0193] 5A, the carriage 46 is moved by the water wave into contact with the piston rod 47a, and due to the kinetic energy of the carriage 46 and effector 45 imparted by the movement of the water wave, the piston rod 47a pushes the piston head 47b further into the housing 48, pumping out water that can be guided through a pipe to a generator of an energy harvesting device or similar energy harvesting equipment. Arrow A1 indicates the direction of movement of the carriage 46 with the effector 45.

[0194] When the carriage 46 starts to push the piston rod 47a, the effector 45 switches from operating in the release mode to operating in the suppression mode.

[0195] As the carriage 46 pushes the piston head 47b further into the housing 48, the piston pump simultaneously brakes the carriage 46. At the same time that the piston head 47b is pushed further into the housing 48, the retraction device, which now includes the elastic cord 42 being stretched, is activated.

[0196] In FIG. 5C, the carriage 46 with effector 45 begins to activate the spring device 49, which also serves to brake the carriage 46 and provides a regenerative braking function.

[0197] At some point, the carriage 46 with its effector 45 reaches the left stop and comes to a complete stop relative to the elongated track 41. The spring device 49 is then significantly compressed, stretching the elastic cord 42 to an equilibrium point where the carriage 46 can no longer exert pressure on the piston rod 47a. If the carriage were not fixed in this position, the direction of movement would change at this point, and the effector 45 would switch from operating in the restrained mode to operating in the released mode. The spring device 49 pushes the carriage away from the pumping device, and the water wave further moves the carriage 46 with its effector 45 toward the pumping device, which is preferably located to the right of the carriage 46 with its effector 45.

[0198] FIG. 6 shows a portion of an elongated track 51 and an associated effector operating in a constrained mode. The effector includes a plurality of paddles 56, each including a paddle shaft 54 ​​and at least two paddle blades 53. The paddles are rigidly coupled to beams 52 of the effector's beam structure. In the embodiment shown, the effector is operating in a constrained mode, moving in the direction indicated by arrow A1. Because of the constrained motion, the water in the immediate vicinity of each paddle blade 53 moves faster than the effector, exerting an added mass effect on the paddle blade 53 as described above; in this example, the flexible blade portion of each paddle blade 53, imparted by the entire paddle blade, causes the paddle blade 53 to deform in the same direction as the effector's motion, thereby increasing the gap between adjacent paddle blades 53 and allowing some water to pass through the paddle blade at a higher velocity than the effector without damaging the effector.

[0199] 7A includes a beam structure 62a, 62b and a plurality of paddles 66, each paddle 66 including a paddle shaft 64 and four paddle blades 63 having a first blade surface and an opposite second blade surface, a blade length b1 along the paddle shaft 64, and a blade width b2 perpendicular to the blade length, the plurality of paddles 66 being fixed to beams 62b of the beam structures 62a, 62b such that when the paddles 66 are in an unloaded state, the paddle blades form part of four common sail devices S1, S2, S3, S4. As described elsewhere herein, each of the paddle blades 63 is elastically deformable, at least at its flexible blade portion, upon application of a selected load to one of the first flexible blade portion surface and the opposite second flexible blade portion surface of the flexible blade portion of the paddle blade.

[0200] Each paddle 66 is fixed to the beam 62 such that the four paddle blades 63 of each paddle 66 are respectively arranged such that two opposing paddle blades 63 are disposed on a first surface of the paddle shaft 64 and the other two paddle blades 63 are disposed on a second surface opposite the paddle shaft 64. Thus, two of the paddle blades 63 form parts of different common sail devices S1, S2, S3, S4. A number of paddles 66 are disposed on one side of a central beam of the beam structures 62a, 62b, and a number of paddles 66 are disposed on the other side of the central beam of the beam structures 62a, 62b. The central beam holds a regenerative braking device including a spring device 69. A number of buoyancy modules 60 are attached to the effector.

[0201] In FIG. 7B, one of the effector paddles 66 is shown.

[0202] 8A shows a paddle with a paddle blade in an unloaded state. The paddle includes a paddle shaft 74 and a paddle blade 73 with a flexible blade portion fixed to the paddle shaft 74.

[0203] In Figure 8B, paddle blade 73 is subjected to a load in the form of a force indicated by the arrows applied to one of the first flexible blade surface and the opposing second flexible blade surface. It can be seen that the edge e of the paddle blade farthest from paddle shaft 74 is angularly displaced by an angle α. As shown, the flexibility of paddle blade 73 increases from paddle shaft 74 to the edge e of the paddle blade farthest from the paddle shaft.

[0204] 9A and 9B includes a paddle shaft 84 and a paddle blade 83, with first and second auxiliary flaps 82 disposed on a first and an opposite second surface of the paddle blade 83, respectively. The auxiliary flaps 82 are not fixed to the paddle blade 83, and in an alternative embodiment, can be fixed to the paddle blade 83 at a relatively short extension (e.g., as described above) of the paddle blade 83 closest to the paddle shaft 84.

[0205] When the paddle blade 83 is in an unloaded state as shown in Figures 9A and 9B, the first auxiliary flap and the second auxiliary flap 82 face and contact a first surface and an opposite second surface of the paddle blade 83, respectively.

[0206] Paddle blade 83 further has a remote edge 81 furthest from paddle shaft 84 and a width bw extending from paddle shaft 84 to remote edge 81 .

[0207] The respective widths fw of the first and second auxiliary flaps 82 are equal in the illustrated embodiment. Those skilled in the art will appreciate that the respective widths fw of the first and second auxiliary flaps 82 may differ from one another in other embodiments, for example, as described above. In the illustrated embodiment, the respective widths fw of the first and second auxiliary flaps 82 are approximately half the length of the width bw of the paddle blade 83. As described elsewhere herein, the respective widths fw of the first and second auxiliary flaps 82 may be wider or narrower than the width wf of the paddle blade 83 in other embodiments.

[0208] The paddle blade 83 has a length bl, and the first and second auxiliary flaps 82 each have a length fl. In the embodiment shown, the length fl of each of the first and second auxiliary flaps 82 is equal to the length bl of the paddle blade 83. As described elsewhere herein, the length fl of each of the first and second auxiliary flaps 82 can be greater or less than the length bl of the paddle blade 83 in other embodiments.

[0209] 10A includes a paddle shaft 94 and a paddle blade 93, with a first auxiliary flap 92 positioned on a first side of the paddle blade and a force, indicated by an arrow, applying a load acting on a second blade surface of the paddle blade 93. As shown, the paddle blade 93 is pushed toward the first auxiliary flap 92, which supports the portion of the paddle blade 93 closest to the paddle shaft 94 while not preventing the portion of the paddle blade further from the paddle shaft 94 from deforming under the applied load. Advantageously, at least a portion of the paddle blade 93 extends beyond the auxiliary flap 92 due to a portion of the flexible blade portion of the paddle blade 93 being elastically deformable under the applied load.

[0210] In FIG. 10B, the force indicated by the arrow applies a load that acts partially on the first blade surface of the paddle blade 93 and also on the auxiliary flap 92, which advantageously has a higher stiffness than the paddle blade 93.

[0211] As shown in the figure, the paddle blade 93, or at least the flexible blade portion thereof, elastically deforms substantially unaffected by the first auxiliary flap 92.

[0212] This allows the one or more auxiliary flaps to provide support and protection to the paddle blade without substantially restricting the flexibility of the flexible blade portion. Thus, for example, by having first and second auxiliary flaps disposed on the first and opposite second surfaces 9 a, 9 b of the paddle blade, respectively, it is possible to provide the paddle blade with a desired level of support and protection while simultaneously ensuring a desired high degree of deformability of the paddle blade.

Claims

1. 1. An effector for a wave power generation system, the effector comprising: a beam structure and a plurality of paddles, each of the paddles comprising a paddle shaft, at least one paddle blade having a first blade surface and an opposite second blade surface, a blade length along the paddle shaft, and a blade width perpendicular to the blade length, the plurality of paddles being fixed to the beam structure such that the paddle blades are arranged to form part of at least one common sail device when the paddles are in an unloaded state, and each of the paddle blades is elastically deformable at at least its flexible blade portion when a selected load is applied to one of the first flexible blade portion surface and the opposite second flexible blade portion surface of the flexible blade portion of the paddle blade.

2. 2. The effector of claim 1, wherein the flexible blade portion comprises 10% or more of the blade width from the paddle shaft to its furthest edge, such as 25% or more, such as 50% or more, such as 75% or more, such as 90% or more of the blade width.

3. 3. An effector according to claim 1 or 2, wherein the flexible blade portion has a high enough flexibility that when a force in the interval of 25N to 1 kN is applied to one of the first flexible blade portion surface and the second flexible blade portion surface of each of the paddle blades, the edge of the paddle blade furthest from the paddle shaft is angularly displaced by at least 15°, such as 20° to 80°, such as 25° to 60°, relative to the edge in an unloaded state without irreversible plastic deformation, the flexibility being preferably determined by applying the force uniformly to the flexible blade portion or at a central position of the flexible blade portion.

4. The flexible blade portion has a sufficient degree of flexibility that when a force is applied to one of the first flexible blade portion surface and the second flexible blade portion surface of each of the paddle blades, the edge of the paddle blade furthest from the paddle shaft is displaced angularly by at least 15°, e.g., 20° to 80°, e.g., 25° to 60°, relative to the edge in an unloaded state without irreversible plastic deformation, the force being measured by fully immersing the paddle blade in standard seawater with no current at 20°C and moving the paddle blade horizontally in a first direction perpendicular to the first surface of the paddle blade, and the force is measured at a speed of 5 m / s ２ 4. The effector according to claim 1, wherein the effector is hydraulically applied by decelerating the hydraulic fluid.

5. 5. An effector according to any one of claims 1 to 4, wherein the paddle blades of the common sail device are arranged in a parallel configuration, preferably arranged so that the possible gap between adjacent paddle blades when the paddles are in an unloaded state does not exceed 15% of the average blade width, preferably arranged so that the possible gap between adjacent paddle blades when the paddles are in an unloaded state does not exceed 10%, for example 1%, of the average blade width.

6. 6. An effector according to any one of claims 1 to 5, wherein the paddle blades of the common sail device are arranged in a parallel configuration, preferably such that the possible gap between adjacent paddle blades when the paddles are in an unloaded state does not exceed 10 cm, preferably such that the possible gap when the paddles are in an unloaded state is less than 5 cm, for example 2 cm or less.

7. 7. An effector according to any one of claims 1 to 6, wherein the paddle blades of the common sail device are arranged in a parallel configuration, with two or more of the paddle blades overlapping each other, preferably with a maximum overlap of not more than 15%, for example not more than 10%, of the average blade width, and preferably with the possible overlap between adjacent paddle blades when the paddles are in an unloaded state not exceeding 5%, for example not exceeding 1%, of the average blade width.

8. 8. An effector according to any one of claims 1 to 7, wherein at least one of the common sail devices comprises an even number of the paddles, preferably the common sail device comprises at least 4, for example 18 to 40, for example 16 to 24, of the paddles, and optionally the paddles comprise up to 10 of the paddle blades, preferably the number of the paddle blades on each of the paddles is 1 or an even number, and if the number of the paddle blades is even, the paddle blades are advantageously arranged to protrude in opposite directions from the paddle shaft, preferably arranged to be mirror images of the paddle shaft.

9. 9. An effector according to any one of claims 1 to 8, wherein the paddle shaft has a bending stiffness (determined by bending along the width of the flexible blade portion) that is higher than the bending stiffness of the flexible blade portion of at least one of the paddle blades of each of the paddles, preferably the paddle shaft has a bending stiffness that is at least 50%, such as at least 70%, for example at least 100% higher than the bending stiffness of the flexible blade portion.

10. 10. The effector of claim 9, wherein the beam structure comprises a plurality of interconnected beams, each of the interconnected beams having an equal bending stiffness that is higher than the average bending stiffness of the paddle shafts of the paddles of the effector, preferably each of the interconnected beams having a bending stiffness that is at least 50%, such as at least 70%, such as at least 100% higher than the average bending stiffness of the flexible blade portions of the paddle blades of the paddles of the effector.

11. An effector as described in any one of claims 1 to 10, wherein the paddle shafts of the paddles including the paddle blades of at least one of the common sail devices are connected to at least one of the beams of the beam structure by a rotationally restricted joint, preferably limiting the paddles from rotating by more than 10°, for example more than 5°, around each of the paddle shafts, for example limiting the paddles from rotating around the paddle shafts completely, and preferably the paddle shafts are connected to at least one of the beams by a rigid joint.

12. 12. An effector according to any one of claims 1 to 11, wherein the paddle blade comprises at least one of a metallic material and / or a polymeric material, preferably the paddle blade comprises steel, aluminum, polypropylene (PP), polyethylene (PE), polyoxymethylene (POM), polyurethane (PU), polyamide (PA), polyethylene terephthalate (PET), and / or a composite material such as, for example, fiber reinforced polymer, glass fiber reinforced polymer (GFRP), basalt fiber reinforced polymer (BFRP), and / or carbon fiber reinforced polymer (CFRP).

13. 13. An effector according to any one of claims 1 to 12, wherein at least the flexible blade portion of the paddle blade comprises or consists of a composite material including a polymeric material having embedded fibres.

14. The effector of claim 13 , wherein the fibers comprise one or more of synthetic fibers, semi-synthetic fibers, recycled fibers, plant fibers, carbon fibers, animal-derived fibers, and / or metal fibers.

15. 15. The effector according to claim 13 or 14, wherein the polymer is selected from natural rubber, polypropylene (PP), polyethylene (PE), polyoxymethylene (POM), polyurethane (PU), polyamide (PA), polyethylene terephthalate (PET), epoxy (e.g. modified epoxy resin, such as PU modified epoxy resin).

16. 16. The effector of any one of claims 1 to 15, wherein the paddle shaft and / or at least one beam of the beam structure, independently of one another, are made fully or partly of a metallic and / or polymeric material, preferably the paddle shaft and / or at least one beam of the beam structure, independently of one another, comprise steel, aluminum, polypropylene (PP), polyethylene (PE), polyoxymethylene (POM), polyurethane (PU, polyamide (PA), polyethylene terephthalate (PET), and / or composite materials such as, for example, fiber reinforced polymer, glass fiber reinforced polymer (GFRP), basalt fiber reinforced polymer (BFRP), and / or carbon fiber reinforced polymer (CFRP).

17. 17. An effector according to any one of claims 1 to 16, wherein the paddle blades of the paddles of at least one of the common sail devices are shaped so that each of the paddle blades does not interfere with the elastic flexibility of the flexible blade portions of each of the paddle blades.

18. 18. An effector according to any preceding claim, wherein the blade width of each of the paddle blades is at least 0.5m, such as from 1m to 5m, such as from 1.5m to 3m.

19. 19. An effector according to any preceding claim, wherein the blade length of each of the paddle blades is at least 0.1 m, such as from 0.3 m to 5 m, such as from 0.4 m to 3 m, such as from 0.5 m to 2 m.

20. 20. An effector according to any one of claims 1 to 19, wherein each of the one or more paddle blades has a first side and an opposite second side defined by the first blade surface and the opposite second blade surface, a first auxiliary flap is disposed on the first side of the paddle blade, the first auxiliary flap optionally being coupled to the paddle shaft via the paddle blade, the first auxiliary flap protruding from the paddle shaft to a distance from the remote edge of the paddle blade, and preferably the first auxiliary flap has a flap width that is at most 75% of the blade width, for example 10% to 60% of the blade length, for example 20% to 50% of the blade width.

21. 21. The effector of claim 20, wherein a second auxiliary flap is disposed on the second side of the paddle blade, the second auxiliary flap optionally being coupled to the paddle shaft via the paddle blade, the second auxiliary flap protruding from the paddle shaft to a distance from the remote edge of the paddle blade, and preferably the second auxiliary flap having a flap width that is at most 75% of the blade width, such as 10% to 60% of the blade width, such as 20% to 50% of the blade width.

22. 22. An effector according to claim 20 or 21, wherein the first and / or second auxiliary flaps have a rigidity equal to or greater than that of the flexible blade portion of the paddle blade, preferably the first and / or second auxiliary flaps are made of a material having a rigidity equal to or greater than that of the material of the flexible blade portion of the paddle blade, and / or the first and / or second auxiliary flaps have a thickness or average thickness equal to or greater than that of the flexible blade portion of the paddle blade.

23. 23. An effector according to any one of claims 20 to 22, wherein the first auxiliary flap is secured to the first surface of the paddle blade with a fixed width extending from the paddle shaft of up to 50%, such as up to 25% of the flap width of the first auxiliary flap, for example up to 10% of the flap width of the first auxiliary flap, for example up to 5% of the flap width of the first auxiliary flap, and preferably said securing extends over at least 50% of the length of the first auxiliary flap, for example over the entire length of the first auxiliary flap.

24. 24. An effector according to any one of claims 20 to 23, wherein the second auxiliary flap is secured to the second surface of the paddle blade with a fixed width extending from the paddle shaft of up to 50%, such as up to 25% of the flap width of the second auxiliary flap, for example up to 10% of the flap width of the second auxiliary flap, for example up to 10% of the flap width of the second auxiliary flap, and preferably said securing extends over at least 50% of the length of the second auxiliary flap, for example over the entire length of the second auxiliary flap.

25. 25. An effector according to any one of claims 1 to 24, wherein when the paddles are in an unloaded state, the first blade surfaces of each of the paddle blades of the paddles that form part of at least one of the common sail devices face a common first facing direction, and the second blade surfaces of each of the paddle blades of the paddles that form part of at least one of the common sail devices face a common second facing direction opposite to the common first facing direction, and preferably the paddles that form part of at least one of the common sail devices are arranged so that the paddle blades of the paddles lie in a common plane when the paddles are in an unloaded state.

26. A wave power generation system that extracts energy from water waves, a base structure including at least one elongated track; at least one effector movably engaged with the base structure and configured to be moved by water waves along the elongated track a distance between a first stop position and a second stop position; - an energy harvesting device configured to harvest energy from relative motion between the effector and the base structure; Equipped with 26. A wave power system according to any one of claims 1 to 25, wherein the at least one effector is a wave power generator.

27. 27. A wave power system according to claim 26, wherein each of the paddle blades of the paddles forming part of at least one said common sail device, when the paddles are in an unloaded state, are, independently of one another or together, perpendicular to at least one said elongated track section or oriented at an angle of at most 30°, such as at most 20°, for example at most 10°, for example at most 5° from perpendicular to at least one said elongated track section.

28. 28. The wave power generation system of claim 26 or 27, wherein the at least one effector used while submerged in seawater is configured to operate in at least two operating modes including a release mode and a restrained mode when moved by water waves along the elongated track section over a distance between the first stop position and the second stop position, and wherein the at least one effector is in the restrained mode when moving from a first braking position towards the first end position and when moving from a second braking position towards the second end position.

29. 29. A wave power system according to claim 28, wherein the distance between the first braking position and the first stop and the distance between the second braking position and the second stop are, independently of each other, zero, or up to 25%, such as up to 20%, for example up to 10% of the distance travelled between the first and second stop positions, or for example up to 5m, such as up to 0.5m, for example up to 0.2m of the distance travelled between the first and second stop positions.

30. 30. The wave power system of claim 28 or 29, wherein the at least one effector, when used submerged in seawater, is configured to be moved by water waves along the elongate track section the travel distance between the first and second stop positions in the released and restrained modes, and wherein the selected load applied to one of the faces of the flexible blade section of each of the paddle blades to elastically deform the flexible blade section of each of the paddle blades is selected such that the flexible blade section of each of the paddle blades elastically deforms when the effector is at least partially in the restrained mode.

31. 31. The wave power system of any one of claims 28 to 30, wherein the wave power system includes a braking device configured to dampen movement of the effector in the damped mode.

32. 32. The wave power system of claim 31 , wherein the base structure includes at least a portion of the braking device.

33. 33. A wave power system as claimed in any one of claims 26 to 32, wherein the effector engages with the base structure via a transmission device which is movable along the base structure and carries the effector, the transmission device preferably including at least part of the braking device.

34. 34. A wave power generation system according to any one of claims 31 to 33, wherein the braking device is a mechanically operated braking device, the braking device preferably being a regenerative braking device, for example including a spring device and / or a piston device for temporarily storing kinetic energy.

35. 35. A wave power system according to claim 33 or 34, wherein the energy harvesting device comprises a pumping device configured to pump water actuated by movement of the at least one effector, the pumping device preferably comprising at least one hydraulic pumping device such as a telescopic water hammer or a piston pump comprising a piston and a pumping chamber, the former of the piston and the pumping chamber being held in a fixed position relative to the base structure.

36. 36. The wave power system of claim 35, wherein the other of the piston and the pump chamber is fixed to the transmission device, or the other of the piston and the pump chamber is not fixed to the transmission device.

37. The wave power system includes a number of modules, each of which comprises: - a modular basic structure including an elongated track section; at least one effector movably engaged with the modular base structure and configured to be moved by water waves along the elongated track portion a travel distance between two stop positions; Including, the modular base structure of each of the modules forming part of the base structure of the wave power system.

33. A wave power generation system according to any one of claims 24 to 32.

38. 34. The wave power system of claim 33, wherein the energy harvesting device is configured to obtain energy from relative motion between the effector and the modular base structure of each of the modules.

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