rexresearch
Benjamin FILARDO
Traveling Wave Propulsion
https://www.pliantenergy.com/
Pliant
Energy Systems
Pliant Energy Systems conceptualizes, patents and develops
highly novel technologies in the fields of Robotics & Marine
Propulsion / Energy Harnessing / Passive Irrigation Pumping
https://www.youtube.com/channel/UC-UhN9_oZWzIM3JFffuDfkA
https://www.youtube.com/watch?v=JVq0adTn0_w
Ice-skating
Robot Also Swims
TRAVELING
WAVE PROPELLER, PUMP AND GENERATOR APPARATUSES, METHODS AND
SYSTEMS
US2019055917
Inventor: FILARDO BENJAMIN PIETRO / Applicant: PLIANT ENERGY
SYSTEMs
The TRAVELING WAVE PROPELLER, PUMP AND GENERATOR APPARATUSES,
METHODS AND SYSTEMS include force or forces applied to an
arc-like flexible sheet-like material to create a deformed
crenated strip fin with strained-deformations. The
strained-deformations take on a sinusoid-like form that express
the internal energy state of the flexible sheet-like material
after it has been configured into a crenated strip fin. After
being incorporated into a mechanism with couplings that prevent
the crenated strip fin from returning to its un-strained state,
the strained-deformations persist. Actuators may be used to
sequentially rotate vertebrae attached to the fins causing the
travel of sinusoid-like deformations along the fins. In a fluid
medium, the traveling waves of sinusoidal deformations may exert
force on the fluid causing the fluid to move and/or creating
thrust. Arched blades affixed to the fins facilitate propulsion
on hard surfaces such as ice.
[0001] This application is a Continuation-in-Part of and claims
priority to co-pending Non-Provisional application Ser. No.
15/294,635 filed Oct. 14, 2016 entitled, “Traveling Wave
Propeller, Pump and Generator Apparatuses, Methods and Systems”
(attorney docket no. 162669-0037 (P009)), which in turn claims
priority under 35 U.S.C. § 119 to prior U.S. provisional
application Ser. No. 62/357,318 filed Jun. 30, 2016 entitled,
“Traveling Wave Propeller, Pump and Generator Apparatuses,
Methods and Systems” (attorney docket no. 162669-0033 (P009Z)).
The entire contents of the aforementioned applications are
incorporated in their entirety herein by reference.
[0002] This application for letters patent disclosure document
describes inventive aspects that include various novel
innovations (hereinafter “disclosure”) and contains material
that is subject to copyright, mask work, and/or other
intellectual property protection. The respective owners of such
intellectual property have no objection to the facsimile
reproduction of the disclosure by anyone as it appears in
published Patent Office file/records, but otherwise reserve all
rights.
FIELD
[0003] The present innovations generally address energy
conversion, and more particularly, include TRAVELING WAVE
PROPELLER, PUMP AND GENERATOR APPARATUSES, METHODS AND SYSTEMS.
BACKGROUND
[0004] Mechanical devices actuated to perform prescribed motions
for a variety of purposes are ubiquitous. Such devices may be
configured to effectuate automated movements in or on a variety
of media, such as on land, underwater, or in the air. In some
cases, sensors may be employed to provide data about device
motion, device orientation, environmental factors, and the like.
Sensor data may then be used to control actuation of motors to
produce the prescribed motions for a particular device
configuration or environment,
SUMMARY
[0005] Aspects of the disclosed apparatuses, methods and systems
include devices which create repetitive or undulating motion, or
effect, to produce useful work, such as for a propulsion system
or other system, including energy-harnessing systems.
[0006] In one embodiment force or forces are applied to an
arc-like flexible sheet-like material to create a deformed
crenated strip fin with strained-deformations. The
strained-deformations take on a sinusoid-like form that express
the internal energy state of the flexible sheet-like material
after it has been configured into a crenated strip fin. After
being incorporated into a mechanism with couplings that prevent
the crenated strip fin from returning to its un-strained state,
the strained-deformations persist. Actuators may be used to
sequentially rotate vertebrae attached to the fins causing the
travel of sinusoid-like deformations along the fins. In a fluid
medium, the traveling waves of sinusoidal deformations may exert
force on the fluid causing the fluid to move and/or creating
thrust. In some land-based embodiments, the fins may be
configured and the actuators operated to create a crawling
action. Some examples of applications in various embodiments
include propulsion systems for sub-sea vessels, personal
propulsion systems attachable to the body of a swimmer or diver,
surface vessels, amphibious vehicles, lighter-than-air craft,
and the pumping, mixing and transportation of fluids, powders,
and aggregates. Components and assemblies are described.
[0007] Where the actuators are of a type that are capable of
harnessing energy, such as electromagnetic motors or dielectric
elastomers, the mechanisms may also harness energy when fixed in
an environment with moving fluid.
BRIEF
DESCRIPTION OF THE DRAWINGS
[0008] The accompanying appendices and/or drawings illustrate
various non-limiting, example, innovative aspects in accordance
with the present descriptions:
[0009] FIG. 1 shows the formation of a crenated strip fin in one
embodiment;
[0010] FIG. 2 shows a configuration of a crenated strip fin
assembled into a mechanism in one embodiment;
[0011] FIG. 3 shows details of a transmission assembly in one
embodiment;
[0012] FIG. 4 shows details of a transmission assembly in one
embodiment;
[0013] FIG. 5 shows details of a transmission assembly in one
embodiment;
[0014] FIG. 6 shows an embodiment attached to a vessel and mode
of operation in one embodiment;
[0015] FIG. 7 shows an embodiment of a free-swimming vessel in
one embodiment;
[0016] FIG. 8 shows an embodiment of a vessel or vehicle capable
of moving on land in one embodiment;
[0017] FIG. 9 shows and embodiment attached to an immovable
object or substrate and mode of operation in one embodiment;
[0018] FIG. 10 shows another implementation of one embodiment;
[0019] FIG. 11 shows details of a transmission assembly in one
embodiment;
[0020] FIG. 12 shows an implementation attached to a vessel in
one embodiment;
[0021] FIG. 13 shows an implementation attached to an immovable
object or substrate in one embodiment;
[0022] FIG. 14 shows another implementation of one embodiment;
[0023] FIG. 15 shows details of a transmission assembly of one
embodiment;
[0024] FIG. 16 shows an implementation with two fins sharing
common actuators in one embodiment;
[0025] FIG. 17 shows an implementation with two fins on two sets
of actuators in one embodiment;
[0026] FIG. 18 shows an implementation with two pairs of fins on
two sets of actuators in one embodiment;
[0027] FIG. 19 is a diagram of an implementation with two fins
sharing common actuators in one embodiment;
[0028] FIG. 20 is a diagram of an implementation with two fins
on two sets of actuators in one embodiment;
[0029] FIG. 21 is a diagram of an implementation with two pairs
of fins on two sets of actuators in one embodiment;
[0030] FIG. 22 shows an implementation having a cam in one
embodiment; and
[0031] FIG. 23 shows details of a transmission assembly of an
implementation having a cam in one embodiment;
[0032] FIG. 24 shows details of a transmission assembly of
another implementation having a cam in one embodiment;
[0033] FIG. 25 shows an implementation with two pairs of fins
sharing cam driven actuators in one embodiment;
[0034] FIG. 26 shows an implementation with two pairs of fins
sharing cam driven actuators in another embodiment;
[0035] FIG. 27 shows a generator implementation in one
embodiment;
[0036] FIGS. 28-29 show an arched blade added to one edge of the
arc-like flexible sheet-like material in one embodiment;
[0037] FIG. 30 shows a cross section through the edge of the
flexible sheet-like material in one embodiment;
[0038] FIG. 31 shows a cross section of an implementation in
which the arched blade has a thickening or flange along the edge
in one embodiment;
[0039] FIG. 32 shows an implementation of the arched blade
wherein the outer radius edge of the arched blade forms a
continuous arc but its inner edge is comprised of a series of
narrow tabs in one embodiment;
[0040] FIG. 33 shows an implementation of two or more composite
fin, each coupled to two or more transmission assemblies in one
embodiment; and
[0041] FIG. 34 shows an implementation of a shaft with conjugate
cams for each composite fin in one embodiment.
DETAILED
DESCRIPTION
[0042] Force or forces 1 are applied to an arc-like flexible
sheet-like material 2 to create a deformed crenated strip fin 3
with strained-deformations, FIG. 1. The strained-deformations
take on a sinusoid-like form that express the internal energy
state of the flexible sheet-like material 2 after it has been
configured into a crenated strip fin 3 . After being
incorporated into a mechanism with couplings 5 , 6 , 7 , 10 ,
FIG. 2 for example, that prevent the crenated strip fin 3 from
returning to its un-strained state, the strained-deformations
persist.
[0043] In one embodiment, in its strained state the crenated
strip fin 3 is prevented from returning to its relaxed state by
being fixed in at least two locations along an inner edge 4 to a
first coupling 5 that is fixed to a vertebra plate 7 , for
example, via a rotation-enabling component 6 which may be a
bearing 6 a, FIG. 3, or other component that allows the
transmission of force from the first coupling 5 and vertebra
plate 7 while allowing partial rotation between the first
coupling 5 and the vertebra plate 7 , such as a flexible planar
plate 6 b, FIG. 4, torsion spring, rubber bushing and/or the
like. The vertebra plate 7 is fixed to the shaft 8 of an
actuator 9 such as an electromagnetic motor, hydraulic motor,
servo etc., FIG. 2. The actuators may be fixed to a common
member 10 and are powered by a battery 11 or other power source.
In one embodiment the rotational positions of the actuators 9
may be controlled by a central controller 12 .
[0044] In one embodiment the first coupling 5 ,
rotation-enabling component 6 , vertebra plate 7 and shaft 8
comprise a transmission assembly 13 , FIG. 3.
[0045] In one embodiment the point of attachment of the crenated
strip fin 3 to the transmission assembly 13 , 13 a , 13 b has
three degrees of freedom of movement. The actuator 9 induces
rotation 14 of the vertebra plate 7 about the axis of the shaft
8 . Since in one embodiment the vertebra plate 7 is flexible in
the direction 15 parallel to the axis of the shaft 8 , the end
of the vertebra plate 7 where it is fixed to the
rotation-enabling component 6 is able to shift 15 in a direction
parallel to the axis of the shaft 8 . The rotation-enabling
component 6 allows the first coupling 5 to at least partially
rotate 16 about an axis 17 perpendicular to the shaft 8 , FIG.
4.
[0046] In one embodiment, the vertebra plate 7 may be rigid and
motion of the transmission assembly 13 , 13 b in a direction 15
parallel to the direction of the axis of the shaft 8 may be
facilitated by a bearing track, sleeve bearings 17 a and/or the
like, FIG. 5. The 8 transmission assembly 13 , 13 b may be
coupled to the common member 10 via mounting fixtures 17 b.
[0047] The central controller 12 induces the actuators 9 to
rotate the vertebra plates 7 clockwise and counterclockwise in a
sequence that causes a traveling wave to move along the crenated
strip fin 3 . When the mechanism in placed in a fluid medium,
FIG. 6, fluid is primarily moved 18 in the direction of the
traveling wave 19 , causing the mechanism as well as a body 20
that may be attached to it via a harnessing fixture 22 , to
travel in a direction 21 opposite to that of the traveling wave
19 . Some examples of applications include surface craft or
sub-sea marine propulsion, propulsion for lighter-than-air
vehicles and/or the like.
[0048] The central controller 12 and battery 11 or other power
source may be placed, e.g., inside the common member 10 which in
some implementations may be water tight or air tight. One fin,
or two fins FIG. 7, or more than two fins may, in one
implementation, be attached to the common member 10 via
transmission assemblies 13 , 13 a , 13 b , to create a
free-swimming vessel or vehicle which is able to move through
fluid by imparting forces to the fluid, such as described above.
For a craft utilizing such an embodiment, thrust vectoring may
be facilitated to control the vessel's pitch, yaw, roll,
direction, turning, and other controlled movements which may be
executed via the central controller 12 . Sensors such as
accelerometers, gyroscopes, inertial measurement units, compass,
optic flow sensors, sonar, lidar, and fluid motion sensors such
as pressure and velocity sensors, and/or the like, may feed into
the central controller 12 to achieve desired behavior of the
vessel, vehicle or mechanism.
[0049] The mechanism illustrated in FIG. 7 may also be
configured, in some embodiments, to move itself on land or other
substrate 23 , e.g., by adjusting the position of the fins 3 to
make contact with the land or other substrate 23 , and by
configuring the transmission assemblies 13 , 13 a , 13 b , via
the central controller 12 , yielding a crawling or “slithering”
action, to move the vessel or vehicle in a desired direction,
FIG. 8.
[0050] In another implementation, the mechanism described above
and illustrated in FIG. 6, instead of being fixed to a body 20
via a harnessing fixture 22 , may be fixed to an immovable
object or substrate 23 via a harnessing fixture 22 . The
traveling-wave 19 along the crenated strip fin 3 induced by
transmission assemblies 13 , 13 a , 13 b may cause fluid such as
air or water to primarily move 18 in the direction of the
traveling wave 19 , FIG. 9. Applications include fluid-moving
devices such as fans or pumps; fluid transportation or mixing,
e.g. for industrial and chemical applications; aggregate,
particle or powder mixing or transportation, e.g. for industrial
and chemical applications, and/or the like.
[0051] In another embodiment, the vertebra plate 7 has two or
more lobes that may be evenly-spaced and may be rotationally
symmetrical about the axis of the shaft 8 . A three-lobed
vertebra plate 24 is shown for example in FIG. 10. The common
member 10 described above in this embodiment may be a
chassis-like structure 10 , 25 consisting of at least mainly
longitudinal elements 10 , 25 , 26 and at least mainly
transverse elements 10 , 25 , 27 to which at least one actuator
9 is fixed. The actuator 9 or actuators 9 are fixed to the
chassis 25 which provides reaction torque for the actuator 9 or
actuators 9 . A crenated strip fin 3 is fixed to at least one
lobed vertebra plate 24 via the first coupling 5 . In one
embodiment at least one actuator 9 is employed to actuate at
least one lobed vertebra plate 24 . In one embodiment a central
controller 12 controls the actuator 9 or actuators 9 and a
battery 11 or other power source powers the central controller
12 and actuator 9 or actuators 9 .
[0052] The transmission assembly 13 , 28 , FIG. 11, for the
embodiment shown in FIG. 10 may in one embodiment be comprised
of a first coupling 5 , rotation-enabling component 6 , lobed
vertebra plate 24 and shaft 8 powered by an actuator 9 and allow
three degrees of freedom of motion.
[0053] In another embodiment, one or more harnessing fixtures 22
may be added at a location or locations on the chassis 10 , 25 ,
so that the mechanism may be fixed to another body or to an
immovable object or substrate 23 . In embodiments where the
other body 20 is a vessel, such as a boat, submersible or
lighter-than-air craft, FIG. 12, the mechanism under operation
may provide propulsive thrust in the manner shown in FIG. 6. In
embodiments where the other body is an immovable object or
substrate 23 , FIG. 13, the mechanism under operation may move
ambient fluid in a desired direction or desired directions for
the purposes of fluid transport or for the purposes of fluid,
particle and aggregate mixing, in a similar manner as shown in
FIG. 9.
[0054] In another embodiment, the actuators 9 are
electromagnetic and/or other transducers capable of energy
harnessing. In such an embodiment, when the harnessing fixture
22 is attached to an immovable object or substrate 23 , ambient
fluid with directional motion may cause the deformations of the
crenated strips 3 to move in a traveling wave in the direction
of fluid motion. Kinetic energy from the moving fluid is
transferred to the crenated strip 3 and may be converted into
electrical energy via the actuators 9 . In one embodiment the
energy may be stored in a battery 11 , FIGS. 9, 13, 14.
[0055] In another embodiment the common member 10 is a
chassis-like structure 29 to which the actuators 9 are fixed,
FIG. 14. In one implementation the chassis-like structure 29
passes contiguously through slots 30 in vertebra plates 7 , 24
to make them slotted vertebra plates 31 allowing the actuators 9
to rotate the slotted vertebra plates 31 without colliding with
the chassis-like structure 29 .
[0056] In one implementation the transmission assembly 33 , FIG.
15 for this embodiment accommodates three degrees of freedom and
may consist of a shaft 8 powered by an actuator 9 , first
couplings 5 , rotation-enabling component 6 and slotted vertebra
plate 31 . In one implementation the inner area 34 of the
slotted vertebra plate 31 is thicker or stiffer or wider than
the regions 35 nearer the point of attachment to the bearing
component, to allow torque transmission from the shaft 8 while
also allowing the portion 35 of the slotted vertebra plate 31
near the rotation-enabling component 6 to bend and shift along
an axis 15 parallel to that of the shaft 8 .
[0057] In one embodiment, FIG. 16 and FIG. 19, two or more
transmission assemblies 13 powered by actuators 9 , fixed to a
common member 10 , powered by a battery 11 or other power
source, and controlled by a central controller 12 , may be
shared by two or more crenated strip fins 3 , FIG. 19. The
common member 10 is fixed to a harnessing fixture 22 which is
fixed to an immovable object or substrate 23 or the body of a
vessel 20 in a similar manner as described in the embodiments
above. Clockwise and counter-clockwise rotation of the
transmission assemblies 13 may cause the sinusoidal deformations
of both crenated strip fins 3 to travel in the same direction as
each other along the axis of the shafts 8 .
[0058] In another embodiment with two crenated strip fins 3 ,
FIG. 17 and FIG. 20, one crenated strip fin 3 , 36 is attached
to one set of transmission assemblies 13 , 37 and the other
crenated strip fin 3 , 38 is connected to a second set of
transmission assemblies 13 , 39 , FIG. 20. This allows one
crenated strip fin 3 , 36 to operate independently of the other
crenated strip fin 3 , 38 under control of the central
controller 12 . This in turn allows in one implementation the
deformations of one crenated strip fin 3 , 36 to travel in the
opposite direction to the other crenated strip fin 3 , 38 . The
degree of transmission assembly 13 rotation may vary between
sets of transmission assemblies as well as within a set of
transmission assemblies. For a craft utilizing such an
embodiment, thrust vectoring is therefore facilitated to control
the vessel's pitch, yaw, roll, direction, turning, and other
controlled movements which may be executed via the central
controller 12 . (FIGS. 19-21, for example). Sensors such as
accelerometers, gyroscopes, inertial measurement units, compass,
optic flow sensors, sonar, lidar, and fluid motion sensors such
as pressure and velocity sensors, and/or the like, may feed into
the central controller 12 to achieve desired behavior of the
vessel, vehicle or mechanism.
[0059] Another implementation utilizes two pairs of crenated
strip fins 3 , FIG. 18 and FIG. 21. A first pair 40 is connected
to one set of transmission assemblies 13 , 37 and a second pair
42 is connected to a second set of transmission assemblies 13 ,
39 , FIG. 21 which may allow the implementation to exert more
thrust without adding actuators 9 . For a craft utilizing such
an embodiment, thrust vectoring may be facilitated to control
the vessel's pitch, yaw, roll, direction, turning, and other
controlled movements which may be executed via the central
controller 12 , such as described above.
[0060] In another embodiment FIGS. 22-23, a single actuator 43
may be used to drive more than one transmission assembly 13 , 44
simultaneously through the use of a crank shaft, Scotch Yoke,
cam shaft and/or the like. An example is shown in FIG. 22 using
a shaft with conjugate cams, and where a battery or other power
source 11 powers at least one actuator 43 attached to a common
member 10 . Two or more transmission assemblies 13 , 44 , FIG.
23, are mounted to the common member 10 with transmission
assembly mounts 46 . Rotation 46 a of the cam shaft 47 causes
the vertebra plates 7 , 48 of two or more transmission
assemblies 13 , 44 to rotate clockwise and counterclockwise 14
in a similar manner as described in embodiments above. The
transmission assemblies 13 , 44 are coupled to the crenated
strip fin 3 in a similar manner as described in embodiments
above. The common member 10 may be attached to an immovable
object or substrate 23 or the body of a vessel 20 , FIG. 22, in
a similar manner and for similar purposes as described in
embodiments and implementations above.
[0061] In another embodiment, the transmission assembly 13 , 44
may be coupled to two or more crenated strip fins 3 via a lobed
vertebra plate 49 with more than one crenated strip fin 3
attachment to the same lobed vertebra plate 49 , to create a
lobed transmission assembly 50 with more than one fin attached,
FIG. 24. At least one lobed transmission assembly 50 mounted to
a common member 10 may be actuated via an actuator 43 such as an
electric motor and a central controller 12 , and powered by a
battery 11 or other power source to create a mechanism that may
be free-swimming, and which may have a gear box 51 between the
actuator and cam shaft 47 , FIG. 25.
[0062] In another embodiment, the mechanism may be attached via
one or more harnessing fixtures 22 to a body 20 , to provide
thrust to the body 20 . The body may be a sub-sea vessel,
surface craft, or the body part of a person swimming or diving
in water, or the body 20 may be attached to equipment worn by a
person swimming or diving, FIG. 26.
[0063] In one generator implementation, the common member 10 ,
25 may be fixed to a harnessing fixture 22 which is fixed to an
immovable object or substrate 23 , FIG. 27. Moving fluid 52 may
exert loads on the fins 3 which may induce the strained
deformations in the fins 3 to travel 54 in the direction of the
moving fluid 52 to induce rotation of the shaft 47 via
transmission assemblies 13 , 44 , 50 . The shaft 47 may be
rotationally coupled to a gear box 51 coupled to an
electromagnetic generator 53 or other transducer capable of
turning rotational action into electrical energy. Electricity
from the electromagnetic generator 53 or other transducer may be
sent to a battery 11 or an electrical grid.
[0064] It is to be understood that the implementations described
herein facilitate significant flexibility and that many changes,
modifications, variations and other uses and applications of the
described implementations are possible. All such changes,
modifications, variations and other uses and applications which
do not depart from the spirit and scope of the invention are
deemed to be covered by the implementations described herein and
variants thereof.
[0065] In another embodiment, an arched blade 55 is added to one
edge of the arc-like flexible sheet-like material 2 , FIG. 28.
The arched blade 55 may, for example, be made from a hard,
flexible material having high resilience such as stainless
steel, a hard polymer, and/or the like. The arched blade 55 may,
e.g., be attached to the side of one edge of the flexible
sheet-like material 2 , or it may be inserted into a slot 56 in
one edge of the flexible sheet-like material 2 , FIGS. 28-29.
FIG. 30 shows a cross section through the edge of the flexible
sheet-like material 2 in which the arched blade 55 is inserted
into a slot 56 and fixed via a rivet, bolt, grommet, or similar
coupling component 57 that passes through a hole in the flexible
sheet-like material and the arched blade 55 . FIG. 31 shows a
cross section of an implementation in which the arched blade 55
has a thickening or flange along the edge that is inserted into
the slot 56 , and where the slot 56 has a widening that
accommodates the cross-sectional profile of the arched blade 55
to mechanically hold the arched blade 55 in the slot 56 . In
addition to or instead of these mechanical means of fixing the
arched blade 55 to the flexible sheet-like material 2 , glue, or
another bonding agent may be applied to secure the arched blade
55 to the flexible sheet-like material 2 .
[0066] In another implementation of the arched blade 55 , the
outer radius edge of the arched blade 55 forms a continuous arc
but its inner edge is comprised of a series of narrow tabs 58 to
reduce in-plane bending loads on the arced blade 55 , and a
series of eyelets 59 contiguous with the arched blade 55 , FIG.
32. In examples of this implementation, the coupling components
57 that pass through the flexible sheet-like material may pass
through the eyelets.
[0067] Once the arched blade 55 has been installed in the
flexible sheet-like material 2 , force or forces 1 are applied
to the flexible sheet-like material 2 to which the arched blade
55 has been fixed to create a deformed crenated strip composite
fin 60 with strained-deformations. In one propulsion embodiment,
two or more composite fins 60 are each coupled to two or more
transmission assemblies 13 , 13 a , 13 b powered by motors that
are coupled to a common member 10 , to create a vehicle capable
of “skating” over ice, FIG. 33. A central controller 12 and
battery or other power source to power the transmission
assemblies 13 a , 13 b and may be located inside the common
member 10 .
[0068] In another embodiment, two or more composite fins 60 are
each coupled to two or more transmission assemblies 13 , 44 that
are coupled to a common member 10 , 25 to yield a vehicle that
can skate over ice. The transmission assemblies 13 , 44 of each
fin may be actuated by a motor 43 that operates a crank shaft,
Scotch Yoke, cam shaft and/or the like. An example is shown in
FIG. 34 using a shaft 47 with conjugate cams for each composite
fin 60 whereby a central controller 12 and battery 11 or other
power source power a motor for each composite fin 60 , allowing
independent control of the speed and direction of
undulation-travel for each composite fin 60 . Independent
control of each composite fin 60 allows for direction change and
maneuverability of the vehicle over the ice. In alternative
implementations, a single motor and/or coupled control for both
composite fins may be provided.
Traveling
wave propeller, pump and generator apparatuses, methods and
systems
US10190570
[0001] This application is a Non-Provisional of and claims
priority under 35 U.S.C. § to prior U.S. provisional application
Ser. No. 62/357,318 filed Jun. 30, 2016 entitled, “Traveling
Wave Propeller, Pump and Generator Apparatuses, Methods and
Systems”. The entire contents of the aforementioned application
are incorporated in their entirety herein by reference.
[0002] This application for letters patent disclosure document
describes inventive aspects that include various novel
innovations (hereinafter “disclosure”) and contains material
that is subject to copyright, mask work, and/or other
intellectual property protection. The respective owners of such
intellectual property have no objection to the facsimile
reproduction of the disclosure by anyone as it appears in
published Patent Office file/records, but otherwise reserve all
rights.
FIELD
[0003] The present innovations generally address energy
conversion, and more particularly, include TRAVELING WAVE
PROPELLER, PUMP AND GENERATOR APPARATUSES, METHODS AND SYSTEMS.
BACKGROUND
[0004] Mechanical devices actuated to perform prescribed motions
for a variety of purposes are ubiquitous. Such devices may be
configured to effectuate automated movements in or on a variety
of media, such as on land, underwater, or in the air. In some
cases, sensors may be employed to provide data about device
motion, device orientation, environmental factors, and the like.
Sensor data may then be used to control actuation of motors to
produce the prescribed motions for a particular device
configuration or environment,
SUMMARY
[0005] Aspects of the disclosed apparatuses, methods and systems
include devices which create repetitive or undulating motion, or
effect, to produce useful work, such as for a propulsion system
or other system, including energy-harnessing systems.
[0006] In one embodiment force or forces are applied to an
arc-like flexible sheet-like material to create a deformed
crenated strip fin with strained-deformations. The
strained-deformations take on a sinusoid-like form that express
the internal energy state of the flexible sheet-like material
after it has been configured into a crenated strip fin. After
being incorporated into a mechanism with couplings that prevent
the crenated strip fin from returning to its un-strained state,
the strained-deformations persist. Actuators may be used to
sequentially rotate vertebrae attached to the fins causing the
travel of sinusoid-like deformations along the fins. In a fluid
medium, the traveling waves of sinusoidal deformations may exert
force on the fluid causing the fluid to move and/or creating
thrust. In some land-based embodiments, the fins may be
configured and the actuators operated to create a crawling
action. Some examples of applications in various embodiments
include propulsion systems for sub-sea vessels, personal
propulsion systems attachable to the body of a swimmer or diver,
surface vessels, amphibious vehicles, lighter-than-air craft,
and the pumping, mixing and transportation of fluids, powders,
and aggregates. Components and assemblies are described.
[0007] Where the actuators are of a type that are capable of
harnessing energy, such as electromagnetic motors or dielectric
elastomers, the mechanisms may also harness energy when fixed in
an environment with moving fluid.
Efficient
power conversion apparatuses, methods and systems
US9257917
The EFFICIENT POWER
CONVERSION APPARATUSES, METHODS AND SYSTEMS include circuits for
efficiently converting electrical energy to mechanical energy
and vice-versa, such as within a multitude of ElectroActive
Polymer (EAP) transducers. Embodiment may support a multitude of
EAP transducers while also being capable of directing the
movement of energy between electrical and mechanical forms in
either direction. In another aspect, an efficient mode of
transferring mechanical energy is discussed, via one or more
strained and paired elastic transducers coupled to a potential
energy reservoir.
[0001] This application is a Non-Provisional of, and claims
priority under 35 U.S.C. §119(e) to, prior U.S. Provisional
Patent Application Ser. No. 61/583,488, filed Jan. 5, 2012,
entitled, “EFFICIENT POWER CONVERSION APPARATUSES, METHODS AND
SYSTEMS”. The entire contents of the aforementioned application
are expressly incorporated herein by reference.
[0002] This application for letters patent disclosure document
describes inventive aspects that include various novel
innovations (hereinafter “disclosure”) and contains material
that is subject to copyright, mask work, and/or other
intellectual property protection. The respective owners of such
intellectual property have no objection to the facsimile
reproduction of the disclosure by anyone as it appears in
published Patent Office file/records, but otherwise reserve all
rights.
FIELD
[0003] Embodiments of the present innovations pertain to
circuits for efficiently converting electrical energy to
mechanical energy and vice-versa, such as within a multitude of
ElectroActive Polymer (EAP) transducers, or paired EAP
transducers, and more particularly include EFFICIENT POWER
CONVERSION APPARATUSES, METHODS AND SYSTEMS (“EPC”).
BACKGROUND
[0004] Devices that transfer electrical and/or mechanical energy
to perform work or to harness energy have been developed.
Transducers are commonly used to convert electrical energy into
mechanical energy for actuator devices and to convert mechanical
energy into electrical energy for generator devices.
SUMMARY
[0005] In one aspect, the present invention comprises electronic
topologies for energy conversion between an electrical energy
within a storage device such as a battery or a capacitor and
electromechanical energy within a multitude of electroactive
polymer transducers. The transducers may store electrical
energy, such as in a capacitance that varies with elastic
deformation, and store mechanical energy, such as in elastic
deformations that alter electrical capacitance. The transducers
are, in various implementations, capable as both mechanical
actuators and electrical generators.
[0006] In some embodiments, the electronic topologies may be
configured with an electronic inductive element to accommodate
efficient energy conversion. The topologies may further be
configured to transfer energy efficiently in either direction
between transducer and storage device.
[0007] In some embodiments, the topologies may further be
configured to employ only one inductive element in servicing
energy transfer between the storage device and a multitude of
transducers. The topologies may further be configured to allow
controlled energy transfer timing, for example such that
actuation and/or generation waveforms may be created.
[0008] In another aspect, the EPC may be configured for
efficient transferring of mechanical energy via one or more
strained and paired elastic transducers coupled to a potential
energy reservoir. The system may be configured so that increased
strain in one transducer of the pair will be proportional or
near proportional to decreased strain in the other transducer of
the pair.
[0009] In actuation mode, the paired transducers may convert
electrical energy into mechanical energy. In generator mode, the
paired transducers may convert mechanical energy into electrical
energy. In one implementation, the potential energy reservoir
comprises an elastically deformed member which imparts some of
its potential energy onto the paired transducers during
assembly, such as may cause them to become of unequal length. In
generator mode, changes to the configuration of the deformed
member, or potential energy reservoir, may translate into
changes (e.g., of the length) of the paired transducers, strain
increasing in one as it decreases in the other. In actuation
mode, the timed application of electrical energy may cause a
first transducer of the pair to lengthen, decreasing its
“pulling power” and so giving a “pulling advantage” to the
second, uncharged transducer of the pair...
Ribbon
Transducer and Pump Apparatuses, Methods and Systems
US2015369227
/ WO2014043276
[ PDF ]
The RIBBON TRANSDUCER AND PUMP APPARATUSES, METHODS AND SYSTEMS
include, in various embodiments, a variety of mechanisms
comprised of components that include flexible elements with
persistently strained deformations. Under operation, the
deformations may be reconfigured via actuation to produce useful
work, or may be reconfigured when subjected to external forces,
such as from flowing fluid. The external energy input used to
reconfigure these deformations may be harnessed and converted
into electrical energy or may be converted into useful
mechanical work, such as pumping.
Pliant
Mechanisms for Extracting Power from Moving Fluid
US7839007
[ US2010084871 ]
[0001] This
application claims benefit of U.S. patent application Ser. No.
12/150,910, filed on May 1, 2008, now abandoned, which claims
benefit of Provisional Application No. 60/926,984, filed on
May1, 2007.
[0002] The present application relates generally to extracting
power from a moving current of fluid with flexible mechanisms,
and more specifically provides a power generator for converting
the kinetic energy of fluid motion into useable mechanical
energy and/or electrical energy.
BACKGROUND
[0003] The kinetic energy of moving water has been utilized by
man for thousands of years, and has been harnessed to generate
electricity since the 19th century. Today hydroelectric power
supplies 20% of global electricity demand and is by far the
largest source of renewable energy. Electricity from a typical
hydroelectric mechanism is generated by harnessing the forces of
moving water via kinetic-energy-receiving turbine-blades, which
transfer these forces into the rotational movement of a shaft,
which turns an electro-magnetic dynamo.
[0004] Progress in the field of materials science is seeing the
emergence of novel materials capable of converting mechanical
strain within a material into electrical energy without a
rotating mechanism, and therefore, without a turbine and
electro-magnetic dynamo. The potential advantages of
turbine-free power generation include simplicity of design with
fewer or no articulated moving parts and potentially greater
efficiency. This invention embodies a range of mechanisms that
share common principles for the creation of scalable
hydro-electric generators, employing these novel materials and
designed to anticipate the utilization of novel materials yet to
be discovered or invented.
[0005] One important but not exclusive application of this
invention is in the field of so-called “free-flow” or
“run-of-the-river” hydroelectric power generation, where the
kinetic energy of rivers, streams or tidal currents is harnessed
without the need for dams. A dam built in the path of flowing
water creates a high energy potential differential above and
below the dam, allowing water to pass through turbines at high
speed and pressure. However, dams are expensive to construct and
have a high environmental impact.
[0006] Efforts to harness the low-speed-high-volume flow of
naturally-occurring water-ways have not yet proven viable
largely due to the following: (1.) the high-cost of the
energy-harnessing mechanisms relative to the low quantity of
energy harnessed; and (2.) the physical vulnerability of
existing energy-harnessing mechanisms. With this invention,
problem 1 is solved with the utilization of large “capture”
surface-areas that collectively harness a significant quantity
of energy using a potentially cheap mass-produced material.
Problem 2 is solved because the mechanism primarily includes
flexible and elastic components which are more capable of
deflecting or absorbing shocks such as an impacting log or tree
branch. A further and related advantage is a more gentle
physical interaction with fish and other aquatic animals.
[0007] The advantages of this invention for free-flow hydropower
generation notwithstanding, the mechanisms of this invention are
also applicable as an alternative to conventional turbines in
dammed hydropower installations, and certain embodiments of this
invention are designed to power a conventional electromagnetic
dynamo, or other power output device such as a pump.
OVERVIEW
[0008] Embodiments of the present invention utilize a sheet-like
elastic material which may be comprised of a single layer,
multiple layers, a woven mesh or other composite sheet-like
elastic material, and where said sheet-like material has been
deformed and therefore stressed, with an applied first force.
The material may accommodate this applied first force through a
combination of deflection, compression and stretching of the
material. If the material is appropriately restrained prior to
the removal of this applied first force, the energy of this
applied force will remain as potential energy within the
material.
[0009] The shape of this material in its relaxed state prior to
the application the first force is defined by the spatial
arrangement of molecules within the material. After the
application of this first force and the restraining of the
material so that this first force is maintained as potential
energy within the material, the shape of the material is defined
by the spatial arrangement of its molecules but also by its
internal energy state, which, with the introduction of a second
force, can take on a virtually infinite number of
configurations.
[0010] The mechanisms of this invention utilize a plurality of
undulations in said material, where these undulations result
from a first force applied to the material, and where these
undulations are maintained in existence but not in position, by
at least one restraining component. When a length of this
material prepared in this way is then secured in a stream of
fluid, and arranged so that the longitudinal axis of the length
of material is parallel to the direction of the moving fluid,
the upstream-sides of the material's undulations will obliquely
face the direction of the movement of the fluid, and be
subjected to the vector forces of the moving fluid. Therefore,
higher water pressures will result on the upstream-facing
surfaces of the undulations in the material. Conversely, the
downstream surfaces of the undulations will experience lower
water pressures. The pressure differential between the upstream
and downstream surfaces of the undulations causes the positions
of the undulations within the material to move in the direction
of the moving fluid.
[0011] The presence of undulations in the material is an
expression of internal forces held as potential energy within
the material by a restraining component. Therefore, when an
undulation being moved along the length of material moves off
the end of this length of material, a new undulation must take
its place at the upstream end of this length of material,
because the internal energy state of this length of material has
not changed, and the undulations are an expression of restrained
forces within the material.
[0012] The various embodiments of the present invention can be
divided into two categories, or “groups”. The embodiments in the
first group all utilize a single ribbon or a plurality of
ribbons, said ribbons being made of a flexible or elastic sheet
of material as described above. During operation of the
mechanisms, this ribbon maintains a uniform or substantially
uniform width. Said ribbon of material as defined in this way is
referred to hereafter as a “frond”.
[0013] The embodiments of this first group all incorporate
fronds, and are further categorized for convenience by their
visual appearance when viewed from a plane perpendicular to the
direction of fluid movement. Said first group is comprised of: A
parallel array, an asterisk, a polygonal ring, a dodecahedral
honeycomb and an octagonal honeycomb.
[0014] The embodiments of the second group all lack the fronds
common to each embodiment of the first group. The embodiments of
this second group are comprised of a tube of the same material
described above, but do not incorporate fronds into their
structure. The embodiments of this second group are further
categorized for convenience by their visual appearance when
viewed from a plane perpendicular to the direction of fluid
movement. Said second group is comprised of a first hexagonal
honeycomb, second hexagonal honeycomb and concentric rings.
[0015] Embodiments of the first group contain single fronds or
fronds connected to each other along their longitudinal axes in
various ways, including in a manner which forms tubes, and in a
manners whereby said tubes connect laterally to one another to
create honeycomb-like patterns.
[0016] It should be noted that tubes from the first group, being
comprised of fronds, are distinct in form and action from tubes
that comprise the second group. The tubes of the second group
are comprised either of circular tubes of different diameters
arranged concentrically one within another, or of polygonal
tubes connected to each other laterally to create honey-comb
like patterns. The polygonal tubes of this second group are
distinct from the polygonal tubes in the first group because the
sides of the tubes in this second group vary in width during
operation, whereas the widths of fronds, comprising the sides of
tubes in the first group, remain constant or substantially
constant during operation.
[0017] A further distinction can be made between embodiments of
the first group with tubes comprised of fronds, and embodiments
of the second group with no fronds. Specifically, the overall
diameter of tubes without fronds periodically increase and
decrease under operation, whereas the overall diameters of tubes
of the first group comprised of fronds, remain constant or
substantially constant under operation.
[0018] The deformations in material described above will remain
so long as the material is prevented from returning to its
relaxed state by at least one restraining component. Since most
of the embodiments of this invention utilize a plurality of
deformations along a single length of material, another
principal element of the mechanisms is a method for preventing
the wave undulations in said length of material from combining
into one single, larger deformation. Various methods and
configurations are described in the detailed description as to
how this summing together of multiple deformations into a single
deformation is prevented, thereby maintaining a series of wave
undulations along the longitudinal axis of the material.
[0019] Power is harnessed by the mechanisms embodied in the
present invention in two different ways. In the first way, as
the forces of the moving water cause the wave undulations to
move along the fronds, stresses are created within the
sheet-like material or composite sheet-like material that
comprise the fronds or tubes. This sheet-like material consists
in whole or in part of a material which exhibits an electrical
response to strains exerted within the material. As the wave
undulations move along the material in the direction of the
moving fluid, stresses also move through the material in the
direction of the moving fluid, and electrical energy is
generated from these stresses in the material. Existing examples
of such materials include electroactive polymers (EAPs), which
may exhibit electrostrostrictive, electrostatic, piezoelectric,
and/or pyroelectric responses to electrical or mechanical
fields, as well as ionic EAPs, shape memory alloys, and
nano-wires. At least two electrodes are utilized for embodiments
extracting power in this first way.
[0020] The second way that energy is harnessed by the mechanisms
embodied in the present invention is by coupling the mechanical
action of the traveling undulating motions of the material as
described above to a shaft or axle. This axel turns an
electromagnetic dynamo or other output device, such as for
example, a pump.
[0021] This invention does not rely on vortex currents to force
the energy harnessing components of the embodiments into a
morphology that is able to harness energy, distinguishing the
present invention from the “Piezoelectric Eel” U.S. Pat. No.
7,034,432 B1. When subject to the forces of moving fluid, the
morphologies of the energy-harnessing components of the
mechanisms of the present invention fluctuate in a periodic
manner between states that lie within a range of possible
morphology configurations. When not subject to the forces of
moving fluid, the morphologies of the energy harnessing
components of these mechanisms remain fixed in just one
morphology configuration within that range. The mechanisms of
the present invention are capable of receiving the forces of
moving fluid regardless of whether the flow is laminar or
turbulent, and the mechanisms are capable of receiving much
higher loads. An additional advantage that the present invention
has over the Piezoelectric Eel, with its reliance on vortices in
the moving fluid, is scalability because there, are in
principle, no upward limits on the dimensions to which
embodiments of the present invention can be built...
Mechanisms
for creating undulating motion, such as for propulsion, and
for harnessing the energy of moving fluid
US8610304
Mechanisms are described which receive and transfer forces via
transducers having one or more persistent deformations in
changeable locations. Actuator or propulsion embodiments are
powered by elastic or variable length transducers that exert
forces on the deformed members which in turn exert forces onto
ambient fluid such as air or water. Generator embodiments
receive forces from ambient moving fluid via deformed members
which transfer those forces to elastic or variable length
transducers which convert those forces into electrical energy.
[0001] This application is a Non-Provisional of and claims
priority under 35 U.S.C. §119 to prior U.S. provisional patent
application Ser. No. 61/431,412 entitled, “MECHANISMS FOR
CREATING UNDULATING MOTION, SUCH AS PROPULSION, AND FOR
HARNESSING THE ENERGY OF MOVING FLUID,” filed Jan. 10, 2011
(Attorney Docket no. 19861-005PV).
[0002] This application is also a Continuation-In-Part of and
claims priority under 35 U.S.C. §120 to co-pending U.S.
non-provisional patent application Ser. No. 12/617,618 entitled,
“Pliant or Compliant Elements for Harnessing the Forces of
Moving Fluid to Transport Fluid or Generate Electricity,” filed
Nov. 12, 2009 (Attorney Docket no. 19861-003CM which in turn
claims priority under 35 U.S.C. §120 to prior non-provisional
patent application Ser. No. 12/242,144 entitled, “PLIANT
MECHANISMS FOR EXTRACTING POWER FROM MOVING FLUID,” filed Sep.
30, 2008 (Attorney Docket no. 19861-003), which in turn claims
priority under 35 U.S.C. §120 to U.S. non-provisional patent
application Ser. No. 12/150,910 entitled, “Power generator for
extracting power from fluid motion,” filed May 1, 2008 (Attorney
Docket no. FILARDO 202-KFM), which in turn claims priority under
U.S.C. §119 to U.S. provisional patent application Ser. No.
60/926,984 filed May 1, 2007.
[0003] All of the aforementioned applications are expressly
incorporated herein by reference.
TECHNICAL
FIELD
[0004] Disclosed are apparatuses, methods and systems which, in
various embodiments, facilitate the conversion of mechanical
energy into electrical energy and/or facilitate the conversion
of electrical energy into mechanical energy.
BACKGROUND
[0005] Mechanical devices actuated to perform prescribed motions
for a variety of purposes are ubiquitous. Less common are
actuated devices that create a prescribed, repetitive undulating
motion, or effect. A variety of mechanical and/or electrical
devices have come about to either harness the kinetic energy of
moving fluids, or to create the movement of the fluids
themselves. For example, seafaring vessels may employ a
propeller, powered by a mechanical engine, to move through the
water. There are also devices developed to harness the power of
moving fluid, whereby an electromagnetic generator is coupled to
the fluid, such as by a turbine wheel, to produce electrical
energy for distribution and consumption by all manner of
electrical-energy-powered devices.
SUMMARY
[0006] Embodiments of the disclosed apparatuses, methods and
systems may be directed to devices which create repetitive
and/or undulating motion, or effect, to produce useful work,
such as for a propulsion system or other system. These and
alternative embodiments may further be directed to devices which
exhibit this same undulating motion when external forces are
applied, and where this undulating motion is coupled to
electricity generating components. Such uses are a consequence
of a functional symmetry between actuation and energy
harnessing, as between an electromagnetic motor and an
electromagnetic generator.
[0007] In some embodiments, flexible sheet-like members are
deformed with applied force and the resulting deformation or
deformations are maintained through restraining components.
[0008] In one embodiment the restraining components are vertebra
plates to which the deformed, flexible sheet-like members are
attached in such a manner that they are unable to return to
their relaxed state. In some implementations, the vertebrae
plates may be elastically or variably-coupled to a central rigid
tube or member. The elastic or variable coupled components may,
in various implementations, be comprised of electroactive
polymer material, a magnetostrictive material, a metal coil
passing through a magnetic field, hydraulic pistons, pneumatic
pistons, shape memory alloy elements, and/or the like.
[0009] For propulsion embodiments, when the elastic or variable
coupling components are actuated with an input of energy, such
as an excitation, they will change length and impart forces onto
the deformed, flexible sheet-like members, causing their
deformations to shift position. In this manner the elastic or
variably-coupled actuators create undulation motion along the
flexible sheet-like members which may impart force onto ambient
fluid to create thrust.
[0010] For generator embodiments secured in the directional flow
of fluid, the kinetic energy of the fluid imparts force onto the
flexible sheet-like member, causing the positions of the
deformations to shift in the direction of the fluid flow. Back
and forth fluid flow may cause the deformations to move back and
forth. Unidirectional fluid flow may cause the deformations to
travel in one direction until they move off the downstream end
of the flexible sheet-like member.
[0011] Because these deformations result from the internal
energy state of the flexible sheet-like member created during
fabrication, these deformations cannot be eliminated so long as
the restraints remain. Therefore, when a deformation moves off
the downstream end of the flexible sheet-like member, another
one must come into existence at the upstream end. When the
mechanism is anchored in a fluid stream, a series of undulating
deformations may travel continuously along the flexible
sheet-like member in the direction of the fluid stream. In one
generator embodiment, the flexible sheet-like members may be
coupled to vertebra plates so that movement of the deformations
of the flexible sheet-like members powers the movement of the
vertebra plates. The movement of the vertebra plates imparts
force onto the elastic or variable coupling components. The
elastic or variable coupling component may incorporate
transducing components which convert this force into electrical
energy. The elastic coupling components may, in some
implementations, be constructed of and/or incorporate an
electroactive polymer or other electroactive material able to
convert mechanical strain into electrical energy. The elastic
coupling component may also, in some implementations, be
constructed of a magnetostrictive material, a metal coil passing
through a magnetic field, hydraulic pistons, pneumatic pistons,
shape memory alloy elements, and/or the like.
[0012] The architecture of the system may be the same or similar
for certain propulsion and pump embodiments. For example, the
difference between some pump and propulsion embodiments is that
the elastic or variable coupling components of the propulsion
and pump embodiments are actuators rather than generators. In
other words, in propulsion embodiments the elastic or variable
coupling components convert electrical energy into mechanical
action FIG. 1 whereas in the generator embodiments the elastic
or variable coupling components convert mechanical action into
electrical energy, FIG. 2.
[0013] The mechanisms, including apparatuses, methods and
systems, discussed herein are not dependent on any particular
actuator technology nor on any particular generator technology...
APPARATUSES,
METHODS AND SYSTEMS FOR HARNESSING FLUID FLOW WITH FLEXIBLE
MECHANICAL TRANSDUCERS
WO2017015147
The apparatuses,
methods and systems for harnessing fluid flow with flexible
mechanical transducers include mechanisms that include flexible
elements with strained deformations. In some implementations,
oscillations of strained deformations in fins are excited by a
moving fluid. By coupling the fin structure to an electrical
generator and/or pump, energy from the moving fluid can be
converted into electrical energy or used to perform useful
mechanical work. In some implementations, the fin may be coupled
to a motor or other actuator which causes the strained
deformations to move, thereby imparting force onto the fluid to
move or mix fluid or perform other useful work.
Pliant
or Compliant Elements for Harnessing the Forces of Moving
Fluid to Transport Fluid or Generate Electricity
US8432057