CN106988953A - A kind of fluid kinetic energy collecting device for submarine navigation device - Google Patents
A kind of fluid kinetic energy collecting device for submarine navigation device Download PDFInfo
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- CN106988953A CN106988953A CN201710218259.7A CN201710218259A CN106988953A CN 106988953 A CN106988953 A CN 106988953A CN 201710218259 A CN201710218259 A CN 201710218259A CN 106988953 A CN106988953 A CN 106988953A
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- navigation device
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- submarine navigation
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- 239000012530 fluid Substances 0.000 title claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 59
- 239000000463 material Substances 0.000 claims abstract description 27
- 238000006243 chemical reaction Methods 0.000 claims description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 2
- 238000005260 corrosion Methods 0.000 claims description 2
- 230000007797 corrosion Effects 0.000 claims description 2
- 239000010935 stainless steel Substances 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
- 238000007600 charging Methods 0.000 abstract description 6
- 108010066057 cabin-1 Proteins 0.000 description 22
- 230000005611 electricity Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000004146 energy storage Methods 0.000 description 4
- 238000010248 power generation Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B11/00—Parts or details not provided for in, or of interest apart from, the preceding groups, e.g. wear-protection couplings, between turbine and generator
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/18—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing electrical output from mechanical input, e.g. generators
- H02N2/186—Vibration harvesters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The present invention relates to a kind of fluid kinetic energy collecting device for submarine navigation device.Body including tubulose, the body is alternately composed in series by more than two vibration cabins and more than one water wheels cabin；The diameter for vibrating cabin is more than the diameter in water wheels cabin；Interior be provided with bellows, bellows in each vibration cabin is provided with flexible piezoelectric material；Water wheels are provided with by rotating shaft in each water wheels cabin, the two ends of rotating shaft are extended outside the both sides in water wheels cabin；Two overhanging ends of rotating shaft respectively connected the input of electromagnetic generator；During work, current are flowed into by one end of the body, the ripple tube vibration out of other end outflow, induced vibration cabin, realize that piezoelectric energy is changed, and realize that electric energy is exported；Current drive the water wheels in water wheels cabin to rotate simultaneously, and then drive electromagnetic generator to carry out Electromagnetic generation.The present apparatus is installed in submarine navigation device, the electric energy of generation can be directly stored in the battery of submarine navigation device, real time charging can be carried out for submarine navigation device.
Description
Technical field
The invention belongs to technical field of energy recovery, and in particular to a kind of fluid kinetic energy collecting for submarine navigation device is filled
Put.
Background technology
Marine resources are huge and abundant, but undersea detection is difficult, and many difficulties for being difficult to capture are still suffered from so far.Navigate under water
The exploitation for developing into marine resources of row device provides strong technical conditions.Submarine navigation device is used as a kind of high-tech hand
Section, plays vital effect, the meaning of development submarine navigation device is obvious in marine exploration.At present in the world
Submarine navigation device up to hundreds of, submarine navigation device is active in Marine Sciences, ocean engineering, security and fought under water under water
Etc. multiple fields.
Submarine navigation device mainly supplies energy by battery, and the cruising time of battery is limited, and this seriously constrains water
The development and application of lower ROV, the speed of a ship or plane and load capacity of submarine navigation device are limited by the available energy.In order to extend under water
In the cruising time of ROV, energy recharge need to be carried out to submarine navigation device, existing a variety of methods are carried out to submarine navigation device at present
Energy recharge.Such as a kind of submarine navigation device induction charging system generated electricity based on wave-light energy complementary, including ocean surface floating mould
Block, seawave power generation module, optical energy power module, energy-storage module and non-contact charge module under water；Seawave power generation module passes through forever
Wave energy is converted into electric energy output by magnetic linear electric motors；Optical energy power module is converted solar energy into electrical energy defeated by photovoltaic reaction
Go out；The AC rectification that energy-storage module exports seawave power generation module and optical energy power module is direct current and is stored in storing
In battery；Under water non-contact charge module by the DC inverter in battery into high-frequency alternating current, by electromagnetic induction to water
Lithium battery on lower ROV carries out induction charging.Although the device employs electromagnetism, photoelectricity double effect and is generated electricity, still
Whole power generation system structure is complicated, module is various, and cost of manufacture is higher；Electricity generation module is floating across the sea, and energy-storage module is with filling
Electric module is located under water, needs to connect by cable in longer water between each module, whole device is installed and is inconvenient, real
It is poor with property；Device is immersed among seawater for a long time, has high requirement to the water resistance and decay resistance of structure, because
This arrangement works stability is relatively low；Device could be by electricity by multiple links such as generating, energy storage, AC-DC conversion, induction chargings
It can be transferred in submarine navigation device, energy transfer losses rate is higher；Package unit can be only installed at a certain fixed position so that water
Lower ROV can not realize the real time charging of optional position in navigation way；Apparatus structure is limited by length of cable, can only be set
Installed in neritic province domain, it is impossible to perform the submarine navigation device supplement energy of task in deep-sea.
Working condition of the submarine navigation device in water mainly has two kinds：Seaway and fixed point monitoring.Submarine navigation device navigates
When row advances, ROV and current have larger speed of related movement, the vibration of aircraft power device and rushing for external water stream
The effect of hitting can all trigger the body vibration of ROV；Submarine navigation device anchor lie in seabed carry out fixed point monitoring when also can be by sea
Wave, tide etc. influence, and the moment is in vibrating state.
The content of the invention
For two kind working conditions of the submarine navigation device in water, ROV vibrational energy can be both collected in order to realize,
Water flow dynamic energy can be collected again, and is converted into electric energy, and the present invention provides a kind of fluid kinetic energy collecting device for submarine navigation device.
A kind of fluid kinetic energy collecting device for submarine navigation device includes the body of tubulose, and the body is by two or more
Tubulose vibration cabin 1 and more than one tubulose water wheels cabin 3 alternately be composed in series；The diameter in the vibration cabin 1 is more than water
Take turns the diameter in cabin 3；
The interior of each vibration cabin 1 is provided with bellows 2, and the tube wall internal layer of the bellows 2 is provided with flexible piezoelectric material, bellows 2
The space of abundance is left between the inwall in vibration cabin 1, to ensure that bellows 2 possesses enough oscillation spaces in vibration cabin 1；
Water wheels 4 are provided with by rotating shaft 5 inside each water wheels cabin 3, and rotating shaft 5, perpendicular to the axis of body, the two ends of rotating shaft 5 are extended
Outside the both sides in water wheels cabin 3；Two overhanging ends of rotating shaft 5 respectively connected the input of electromagnetic generator；
During work, current are flowed into by one end of the body, from other end outflow, and the bellows 2 in induced vibration cabin 1 vibrates,
Vibration piezoelectric energy conversion is realized, and realizes that electric energy is exported；Current drive the water wheels 4 in water wheels cabin 3 to rotate simultaneously, and then drive
Electromagnetic generator 6 carries out Electromagnetic generation.
The technical scheme further limited is as follows：
The two-port diameter in each vibration cabin 1 is less than the diameter of middle part nacelle, and the two-port in vibration cabin 1 respectively connected bellows
2 two-port.
The bellows 2 is flexible pipe, and tube wall is made up of trilaminate material, and the materials of two outside layers is silica gel or rubber, interior
The material of layer is flexible piezoelectric material, and electrode is set on flexible piezoelectric material and constitutes piezoelectric element.
The flexible piezoelectric material is Kynoar.
A diameter of 120-1000 ㎜ in the vibration cabin 1, the diameter of bellows 2 is no more than the 7/ of the diameter of vibration cabin 1
10。
The electrode of the flexible piezoelectric material of the tube wall internal layer of electromagnetic generator 6 and bellows 2 passes through serial or parallel connection
Mode realizes that electric energy is exported.
The material in the vibration cabin 1 and water wheels cabin 3 is stainless steel or corrosion resistant alloy material.
The water wheels hit formula water wheels to cut.
The advantageous effects of the present invention embody in the following areas：
1st, apparatus of the present invention are simple in construction, and cost of manufacture is relatively low, and environmental suitability is strong.The device is built in submarine navigation device
In nacelle, the electric energy of generation can be directly stored in the battery of submarine navigation device, and energy stores transmission loss rate is low and can
Real time charging is carried out for submarine navigation device.
2nd, the present invention is practical, and vibration piezoelectric energy conversion, profit are carried out using the flexible bellow of embedded piezoelectric
Drive water wheels and generator to rotate with current and carry out electromagnetic energy conversion, can both collect ROV vibrational energy, and can collect
Water flow dynamic energy.The electric energy being collected into is exported and stored, energy supplement is provided for submarine navigation device, can effectively extend underwater navigation
Cruising time of the device in sea-bottom survey task.
3rd, vibration energy harvesting is carried out present invention employs flexible bellow, because the symmetrical structure of flexible bellow makes it
It is easy to all directions vibration both axially and radially, thus multidirectional vibrational energy can be collected by bellows, for sea
Flexible bellow in foreign environment in the arbitrary excitation of different directions, apparatus of the present invention has good adaptability.Profit of the invention
With current, flow-induction bellows produces vortex-induced vibration in bellows.When current flow through the bellows in vibration cabin, meeting
Whirlpool is constantly produced at crest and trough is shedded into, when the frequency and certain rank axial natural frequency of bellows of vortex shedding
When consistent, Dynamic Coupling is realized in generation and come off process of the bellows structure with fluid whirlpool, final to trigger the strong of bellows
Vibration, increases the generated energy of piezoelectric element.
Brief description of the drawings
Fig. 1 is the overall appearance structure chart of apparatus of the present invention.
Fig. 2 is the longitudinal section of apparatus of the present invention.
Fig. 3 is the sectional elevation of apparatus of the present invention.
Fig. 4 produces the principle schematic of vortex-induced vibration for the bellows in apparatus of the present invention.
Sequence number in upper figure：Vibrate cabin 1, bellows 2, water wheels cabin 3, water wheels 4, rotating shaft 5, electromagnetic generator 6.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is further described by embodiment.
Referring to Fig. 1, a kind of fluid kinetic energy collecting device for submarine navigation device includes the body of tubulose, and body is by three
The vibration cabin 1 of tubulose and the water wheels cabin 3 of two tubuloses are alternately composed in series；It is stainless to vibrate the material in cabin 1 and water wheels cabin 3
Steel.The diameter for vibrating cabin 1 is more than the diameter in water wheels cabin 3, vibrates a diameter of 644 ㎜, a diameter of 400 ㎜ in water wheels cabin 3 in cabin 1.
Referring to Fig. 2, Fig. 3, bellows 2 is installed in each vibration cabin 1；Bellows 2 is flexible pipe, and tube wall is by three layers of material
Material composition, the material of two outside layers is silica gel, and the material of internal layer is flexible piezoelectric material, and electrode is installed on flexible piezoelectric material
Piezoelectric element is constituted, flexible piezoelectric material is Kynoar.
At the trough of bellows 2 at a diameter of 400 ㎜, the crest of bellows 2 vibrate cabin 1 inwall between spacing be
194 ㎜, leave the space of abundance, to ensure that bellows 2 possesses enough oscillation spaces in vibration cabin 1.
The two-port diameter in each vibration cabin 1 is less than the diameter of middle part nacelle, and the two-port in vibration cabin 1 respectively connected ripple
The two-port of line pipe 2, and it is connected to the two-port in water wheels cabin 3.
Water wheels 4 are provided with by rotating shaft 5 inside each water wheels cabin 3, and rotating shaft 5 is perpendicular to the axis of body, the two of rotating shaft 5
End is extended outside the both sides in water wheels cabin 3；Water wheels 4 hit formula water wheels to cut；Two overhanging ends of rotating shaft 5 respectively connected Electromagnetic generation
The input of machine 6.
Referring to Fig. 4, when submarine navigation device seaway, ROV and current have larger speed of related movement v, current
Flowed into by one end of body, from other end outflow, the bellows 2 in induced vibration cabin 1 vibrates, carry out vibration piezoelectric energy and turn
Change, realize that electric energy is exported by piezoelectric element；When current flow through bellows 2, whirlpool can be constantly produced at crest and is taken off
Drop into trough, when the frequency of vortex shedding and consistent certain rank axial natural frequency of bellows 2, the structure of bellows 2 with
The generation in fluid whirlpool and the process of coming off realize Dynamic Coupling, the judder of final initiation bellows 2, increase the hair of piezoelectric element
Electricity.Current drive the water wheels 4 in water wheels cabin 3 to rotate simultaneously, and then drive electromagnetic generator 6 to carry out Electromagnetic generation.Electromagnetism is sent out
The output electrode of the flexible piezoelectric material of motor 6 and bellows 2 realizes that electric energy is exported by way of serial or parallel connection.
When submarine navigation device anchor, which lies in seabed, carries out fixed point monitoring, due to being influenceed by wave, tide etc., at the moment
In vibrating state.Under the common activation that the fuselage shaking and bellows maritime interior waters of ROV flow, piezoelectricity bellows 2 also can
The vibration of low frequency is produced, causes the piezoelectric element of its internal layer to produce electric charge and export.
Claims (8)
1. a kind of fluid kinetic energy collecting device for submarine navigation device, it is characterised in that：Body including tubulose, the body
Alternately it is composed in series by the vibration cabin of more than two tubuloses and the water wheels cabin of more than one tubulose；The diameter in the vibration cabin
More than the diameter in water wheels cabin；
The interior of each vibration cabin is provided with bellows, and the tube wall internal layer of the bellows is provided with flexible piezoelectric material, bellows and shakes
The space of abundance is left between the inwall in dynamic cabin, to ensure that bellows possesses enough oscillation spaces in vibration cabin；
Water wheels are provided with by rotating shaft inside each water wheels cabin, and rotating shaft, perpendicular to the axis of body, the two ends of rotating shaft extend water wheels
Outside the both sides in cabin；Two overhanging ends of rotating shaft respectively connected the input of electromagnetic generator；
During work, current are flowed into by one end of the body, the ripple tube vibration out of other end outflow, induced vibration cabin, real
Now vibration piezoelectric energy conversion, and realize that electric energy is exported；Current drive the water wheels in water wheels cabin to rotate simultaneously, and then drive electromagnetism
Generator carries out Electromagnetic generation.
2. a kind of fluid kinetic energy collecting device for submarine navigation device according to claim 1, it is characterised in that：Each
The two-port diameter for vibrating cabin is less than the diameter of middle part nacelle, and the two-port in vibration cabin respectively connected the two-port of bellows.
3. a kind of fluid kinetic energy collecting device for submarine navigation device according to claim 1, it is characterised in that：It is described
Bellows is flexible pipe, and tube wall is made up of trilaminate material, and the material of two outside layers is silica gel or rubber, and the material of internal layer is flexibility
Piezoelectric, electrode is set on flexible piezoelectric material and constitutes piezoelectric element.
4. a kind of fluid kinetic energy collecting device for submarine navigation device according to claim 3, it is characterised in that：It is described
Flexible piezoelectric material is Kynoar.
5. a kind of fluid kinetic energy collecting device for submarine navigation device according to claim 1, it is characterised in that：It is described
A diameter of 120-1000 ㎜ in cabin are vibrated, the diameter of bellows is no more than the 7/10 of vibration cabin diameter.
6. a kind of fluid kinetic energy collecting device for submarine navigation device according to claim 1, it is characterised in that：It is described
The electrode of the flexible piezoelectric material of electromagnetic generator and ripple tube wall internal layer realizes that electric energy is defeated by way of serial or parallel connection
Go out.
7. a kind of fluid kinetic energy collecting device for submarine navigation device according to claim 1, it is characterised in that：It is described
The material for vibrating cabin and water wheels cabin is stainless steel or corrosion resistant alloy material.
8. a kind of fluid kinetic energy collecting device for submarine navigation device according to claim 1, it is characterised in that：It is described
Water wheels hit formula water wheels to cut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710218259.7A CN106988953B (en) | 2017-04-05 | 2017-04-05 | A kind of fluid kinetic energy collecting device for submarine navigation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710218259.7A CN106988953B (en) | 2017-04-05 | 2017-04-05 | A kind of fluid kinetic energy collecting device for submarine navigation device |
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| Publication Number | Publication Date |
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| CN106988953A true CN106988953A (en) | 2017-07-28 |
| CN106988953B CN106988953B (en) | 2018-11-02 |
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| CN201710218259.7A Active CN106988953B (en) | 2017-04-05 | 2017-04-05 | A kind of fluid kinetic energy collecting device for submarine navigation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110086315A (en) * | 2018-01-25 | 2019-08-02 | 合肥工业大学 | A kind of full working scope energy gathering apparatus |
| WO2020241901A1 (en) * | 2019-05-31 | 2020-12-03 | 株式会社昭和螺旋管製作所 | Conduit line information collection apparatus |
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| JP2010075038A (en) * | 2008-07-16 | 2010-04-02 | Ask:Kk | Electric power generator |
| CN102700694A (en) * | 2012-06-05 | 2012-10-03 | 南京航空航天大学 | Inkfish-like underwater detector |
| CN103312216A (en) * | 2013-06-06 | 2013-09-18 | 中山大学 | Fluid piezoelectric power generation assembly and assembly set |
| DE102012223153A1 (en) * | 2012-12-14 | 2014-06-18 | Aktiebolaget Skf | Electrical energy generating device e.g. wave energy converter has stator that is connected to generator housing, when variable force is smaller than restoring force, and rope-like component is rolled opposite to rolling direction |
| CN106050541A (en) * | 2016-07-15 | 2016-10-26 | 同济大学 | Micro piezoelectric energy in-situ collection device used for seabed instrument |
-
2017
- 2017-04-05 CN CN201710218259.7A patent/CN106988953B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010075038A (en) * | 2008-07-16 | 2010-04-02 | Ask:Kk | Electric power generator |
| CN102700694A (en) * | 2012-06-05 | 2012-10-03 | 南京航空航天大学 | Inkfish-like underwater detector |
| DE102012223153A1 (en) * | 2012-12-14 | 2014-06-18 | Aktiebolaget Skf | Electrical energy generating device e.g. wave energy converter has stator that is connected to generator housing, when variable force is smaller than restoring force, and rope-like component is rolled opposite to rolling direction |
| CN103312216A (en) * | 2013-06-06 | 2013-09-18 | 中山大学 | Fluid piezoelectric power generation assembly and assembly set |
| CN106050541A (en) * | 2016-07-15 | 2016-10-26 | 同济大学 | Micro piezoelectric energy in-situ collection device used for seabed instrument |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110086315A (en) * | 2018-01-25 | 2019-08-02 | 合肥工业大学 | A kind of full working scope energy gathering apparatus |
| CN110086315B (en) * | 2018-01-25 | 2021-12-28 | 合肥工业大学 | Full-working-condition vibration energy collecting device |
| WO2020241901A1 (en) * | 2019-05-31 | 2020-12-03 | 株式会社昭和螺旋管製作所 | Conduit line information collection apparatus |
| JPWO2020241901A1 (en) * | 2019-05-31 | 2021-09-13 | 株式会社昭和螺旋管製作所 | Pipeline information collection device |
| CN113924439A (en) * | 2019-05-31 | 2022-01-11 | 株式会社昭和螺旋管制作所 | Pipeline information acquisition device |
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| Publication number | Publication date |
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| CN106988953B (en) | 2018-11-02 |
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