CN110979609A - Temperature difference energy driving device of underwater glider - Google Patents
Temperature difference energy driving device of underwater glider Download PDFInfo
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- CN110979609A CN110979609A CN201911295338.3A CN201911295338A CN110979609A CN 110979609 A CN110979609 A CN 110979609A CN 201911295338 A CN201911295338 A CN 201911295338A CN 110979609 A CN110979609 A CN 110979609A
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- heat exchanger
- way
- cover
- rear end
- temperature difference
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- 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
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/04—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using pressure differences or thermal differences occurring in nature
- F03G7/05—Ocean thermal energy conversion, i.e. OTEC
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- 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
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
Abstract
According to the temperature difference energy driving device for the underwater glider, disclosed by the invention, the characteristic that the external water temperature changes along with the depth in the working process of the glider is reasonably utilized through the phase change working medium in the heat exchanger, and the heat energy in the environment is collected to complete the conversion of mechanical energy; the heavy buoyancy of the glider is changed through water feeding and discharging, long-time cruising driving force is provided for the underwater glider, and stability and hydrodynamic characteristics of the glider in the sailing process are guaranteed. The main casing body is a revolving body structure, two end parts are sealed through sealing flanges, the tail part is provided with a buoyancy adjusting mechanism, and the inside is arranged in a cylindrical mode. The heat exchanger adopts the heat transfer enhancement structure, installs the heat transfer copper sheet additional in inside, improves the heat transfer efficiency of heat exchanger and the volume change rate of phase change working medium, can utilize ocean temperature difference energy more efficiently. The driving device has good expansibility, and can be popularized and applied to underwater temperature difference energy buoys and underwater temperature difference energy sinking and floating detection devices besides being applied to underwater gliders.
Description
Technical Field
The invention relates to an ocean temperature difference energy buoyancy adjusting device, in particular to a driving device for adjusting the heavy buoyancy of an underwater glider.
Background
The underwater glider is a novel underwater vehicle combining a buoy technology and an underwater vehicle technology, has the biggest characteristic of long endurance, and is suitable for carrying a specific sensor to comprehensively monitor and measure a water area. Compared with the traditional underwater vehicle, the underwater glider is not provided with a propeller, obtains propelling force by utilizing net buoyancy and posture adjustment, has extremely low energy consumption, and has the characteristics of high efficiency and strong cruising ability.
The temperature difference energy underwater glider is a novel underwater vehicle using renewable clean energy, acquires power energy for propelling the glider to sail by absorbing the temperature difference between an underwater surface layer and a deep layer, has the characteristics of long-time cruising, wide cruising range, low cost and high self-control performance, and can efficiently complete underwater environment monitoring and information acquisition tasks. The temperature difference energy driving device is the only driving device of the temperature difference energy glider, uses the heat engine principle of solid-liquid phase state change, and utilizes the pressure generated by volume expansion of the solid when the liquid is solidified and the volume is reduced when the solid is melted to store energy, so as to convert the heat energy in the environment into mechanical energy for providing the driving force of the glider.
The phase change working medium is a substance which changes the state of the substance along with the temperature change and can provide latent heat, can absorb or release a large amount of latent heat, and can become an optimal green environment-friendly carrier with energy conservation and environmental protection. When the underwater glider sails in water, the ambient temperature changes from 5 ℃ to 25 ℃ along with the change of sailing depth, and when the melting point of the phase-change working medium is in the temperature range, the phase-change working medium realizes the transformation between solid and liquid states and realizes the volume change.
The invention patent CN107697251A discloses a hybrid drive buoyancy adjusting device for an underwater glider, which simultaneously utilizes temperature difference energy and a bidirectional gear pump as drive to widen the working range and working duration of the glider. The heat exchanger used in the adjusting device adopts a rubber tube double-tube structure, flowing liquid is filled in the rubber tube, and the expansion and contraction of the rubber tube are utilized to realize the circulation of the fluid. The adjusting device has higher requirements on structural design, increases the complex control of the bidirectional gear pump, and is not high in the heat transfer efficiency of the phase change working medium.
Disclosure of Invention
In order to avoid the defects in the prior art, the invention provides a temperature difference energy driving device of an underwater glider; this difference in temperature can drive arrangement passes through phase transition working medium, and reasonable utilization glider is outside temperature along with the characteristics of degree of depth change in the course of the work, and the conversion of mechanical energy is accomplished to the heat energy of gathering in the environment, for the glider provides the drive power of long-time continuation of the journey under water, guarantees stability and the hydrodynamic characteristic of glider in the process of sailing.
The invention solves the technical problem by adopting the technical scheme that the heat exchanger comprises a three-way pipe joint, a heat exchanger front end connecting plate, a hydraulic pipe joint, a front end cover, a front stud, a shell, a front end longitudinal rib plate, a rear stud, an inner bag fixing plate, an inner bag, a rear end cover, an outer bag, a water immersion cabin cover, a heat exchanger rear end connecting plate, an outer bag sealing cover, a rear end longitudinal rib plate, a three-way electromagnetic control valve, an energy accumulator fixing plate, a heat exchanger and a main shell, and is characterized in that the shell, the front end cover and the rear end cover are combined into a sealed cabin, the energy accumulator fixing plate is positioned in the middle of the sealed cabin, the front end cover and the energy accumulator fixing plate are connected through the front stud and the two front end longitudinal rib plates, an energy accumulator is positioned between the front end; the rear end cover is connected with the energy accumulator fixing plate through a rear stud and a rear end longitudinal rib plate, the three-way electromagnetic control valve is fixed on the rear end longitudinal rib plate, and the inner bag is connected with the inner bag fixing plate and fixedly connected with the rear end longitudinal rib plate; the outlet of the inner bag is connected with a three-way joint, one path of the outlet is connected with the three-way joint on the front end cover, and the other path of the outlet is connected with the three-way joint on the outer bag; the outer bag is fixed on the rear end cover and is sealed with the outer bag sealing cover through nut fastening, and the three-way joint on the outer bag is respectively connected with the three-way joint of the inner bag and the outlet of the three-way electromagnetic control valve; the immersion hatch cover is connected with the shell and used for protecting the outer bag;
the heat exchangers are two parts with the same structure, the two heat exchangers are symmetrically arranged below the side of the sealed cabin body, and the heat exchangers are connected with the end part of the sealed cabin body and the water immersion cabin cover through a heat exchanger front end connecting plate and a heat exchanger rear end connecting plate; the heat exchanger is connected with a three-way joint in the front end cover through a three-way joint and a hydraulic hose joint at the end part to form a closed hydraulic pipeline; the heat exchanger comprises a rear sealing cover, a sealing ring, a pressure-resistant cylinder, a heat transfer copper sheet, a nut, a two-way joint, a front sealing cover and an aluminum column, wherein two ends of the pressure-resistant cylinder are respectively connected with the front sealing cover and the rear sealing cover through bolts, and the joint is sealed by the sealing ring; a heat exchanger liquid outlet is formed in the middle of the front sealing cover, the two-way connector is fastened with the front sealing cover through a nut, and the two-way connector is externally connected with a hydraulic hose and is connected with a hydraulic system in the device; the heat transfer copper sheet is fixedly connected with the aluminum column and is positioned inside the pressure-resistant cylinder;
the main shell comprises a hydraulic hose, a buoyancy adjusting mechanism, an energy accumulator, a phase change working medium, an isolating membrane, hydraulic oil, a first one-way valve, a second one-way valve and a third one-way valve; the main shell is a hollow revolving body structure, two ends of the main shell are sealed by sealing flanges, and the tail part of the main shell is provided with a buoyancy adjusting mechanism; one-way valves are respectively arranged between the inner bag and the heat exchanger, between the energy accumulator and the electromagnetic control valve and between the heat exchanger and the energy accumulator to prevent the backflow of hydraulic oil, the phase change working medium is positioned at the rear end part in the heat exchanger, the phase change working medium is isolated from the hydraulic oil at the front part by adopting an isolating membrane and water in the middle, and when the phase change working medium is subjected to phase change, the volume of the hydraulic oil in the heat exchanger can be changed, so that the volume of the outer bag of the water immersion cabin is changed, and the buoyancy of the main shell is changed.
The heat transfer copper sheet is of a four-blade structure, the heat transfer copper sheet is welded with the aluminum column, and the end part of the aluminum column is in interference fit with the rear sealing cover.
The phase change material is n-hexadecane; the internal circulating liquid is hydraulic oil; the middle isolation material is an isolation film and water.
The outer bag, the inner bag and the energy accumulator are all made of pressure-resistant rubber materials, the oil bag is a variable-volume pressure oil bag, and the inner part and the outer part are fixedly connected through pressure-resistant rubber hoses with joints for liquid circulation.
Advantageous effects
The temperature difference energy driving device for the underwater glider adopts a revolving body structure, internal components are tightly distributed, the underwater glider can better adapt to the appearance of the revolving body, and the deepwater pressure can be borne. The use of longitudinal ribs inside, on the one hand, acts as a support structure and, on the other hand, enables the fixing of internal components.
The driving device uses the phase-change working medium, reasonably utilizes the characteristic that the external water temperature changes along with the depth of the glider in the working process, collects the heat energy in the environment to complete the conversion of mechanical energy, and provides continuous driving force for the underwater glider.
The driving device strengthens the design of heat transfer efficiency on the structure of the heat exchanger, adopts the heat transfer copper sheet to better transfer the heat absorbed by the surface of the shell of the heat exchanger to the phase change working medium positioned in the center of the heat exchanger, solves the problem of insufficient phase change of the phase change working medium, improves the volume change quantity and the change rate of the heat exchanger, and improves the stability and the maneuverability of the driving device.
The liquid part in the heat exchanger of the driving device uses water and an isolating membrane to isolate hydraulic oil and phase change working medium n-hexadecane, compared with a rubber tube double-tube structure, the heat transfer efficiency is improved well, and compared with a piston structure, the friction resistance generated in the volume change process is reduced.
The driving device has good expansibility, and can be applied to underwater temperature difference energy buoys and underwater temperature difference energy sinking and floating detection devices besides underwater gliders.
Drawings
The temperature difference energy driving device of the underwater glider is further described in detail with reference to the accompanying drawings and the embodiment.
FIG. 1 is an isometric view of the temperature differential energy drive of the underwater glider of the present invention.
FIG. 2 is a schematic view of a heat exchanger structure of the temperature difference energy driving device of the underwater glider.
FIG. 3 is a schematic cross-sectional view of a heat exchanger of the temperature differential energy driving apparatus of the underwater glider of the present invention.
FIG. 4 is a schematic view of the operating principle of the temperature difference energy driving device of the underwater glider.
In the drawings
1. The three-way pipe joint comprises a three-way pipe joint 2, a connecting plate 3 at the front end of a heat exchanger, a hydraulic pipe joint 4, a front end cover 5, a front stud 6, a shell 7, a longitudinal rib plate 8 at the front end, a rear stud 9, an inner bag fixing plate 10, an inner bag 11, a rear end cover 12, an outer bag 13, a water immersion cabin cover 14, a connecting plate 15 at the rear end of the heat exchanger, an outer bag sealing cover 16, a longitudinal rib plate 17 at the rear end, a three-way electromagnetic control valve 18, an energy accumulator fixing plate 19, a heat exchanger 20, an energy accumulator 21, a rear sealing cover 22, a sealing ring 23, a pressure-resistant cylinder 24, a heat transfer copper sheet 25, a nut 26, a two-way joint 27, a front sealing cover 28, an aluminum column 29, a first one-way valve 30, a hydraulic hose 31, a buoyancy adjusting mechanism 32.
Detailed Description
This embodiment is a glider difference in temperature can drive arrangement under water.
Referring to fig. 1-4, the temperature difference energy driving device of the underwater glider of the embodiment is composed of a three-way pipe joint 1, a heat exchanger front end connecting plate 2, a hydraulic pipe joint 3, a front end cover 4, a front stud 5, a shell 6, a front end longitudinal rib plate 7, a rear stud 8, an inner bag fixing plate 9, an inner bag 10, a rear end cover 11, an outer bag 12, a water immersion cabin cover 13, a heat exchanger rear end connecting plate 14, an outer bag sealing cover 15, a rear end longitudinal rib plate 16, a three-way electromagnetic control valve 17, an energy accumulator fixing plate 18, a heat exchanger 19 and a main shell 37. Wherein, the shell 6, the front end cover 4 and the rear end cover 11 form a sealed cabin. The housing is connected with the front end cover 4 through bolts, and is radially sealed by double O-shaped rings. The energy storage fixing plate 18 is positioned in the middle of the sealed cabin, the front end cover 4 and the energy storage fixing plate 18 are connected with the two front end longitudinal rib plates 7 through the front stud 5, the energy storage 20 is positioned between the front end cover 4 and the energy storage fixing plate 18, and the front end longitudinal rib plates 7 simultaneously play a role in supporting the energy storage 20; the rear end cover 11 is connected with the energy accumulator fixing plate 18 through a rear stud 8 and a rear end longitudinal rib plate 16, a three-way electromagnetic control valve 17 is fixed on the rear end longitudinal rib plate 16, and the inner bag 10 is connected with the inner bag fixing plate 9 and fixedly connected with the rear end longitudinal rib plate 16; the outlet of the inner bag 10 is connected with a three-way joint, one path of the outlet is connected with the three-way joint on the front end cover 4, and the other path of the outlet is connected with the three-way joint on the outer bag 12; the outer bag 12 is fixed on the rear end cover 11 and is sealed with an outer bag sealing cover 15 through nut fastening, and a three-way joint on the outer bag is respectively connected with an inner bag three-way joint and an outlet of a three-way electromagnetic control valve 17; the immersion hatch 13 is bolted to the housing 6 for protection of the outer bladder.
The heat exchanger 19 is two parts with the same structure, the two heat exchangers are symmetrically arranged below the side of the sealed cabin body, and the heat exchanger is connected with the two ends of the shell 6 through a heat exchanger front-end connecting plate 2 and a heat exchanger rear-end connecting plate 14; the heat exchanger 19 is connected with a three-way joint in the front end cover through a three-way joint 1 and a hydraulic hose joint 3 at the end part to form a closed hydraulic pipeline. The heat exchanger 19 comprises a rear sealing cover 21, a sealing ring 22, a pressure-resistant cylinder 23, a heat transfer copper sheet 24, a nut 25, a double-way joint 26, a front sealing cover 27 and an aluminum column 28, wherein two ends of the pressure-resistant cylinder 23 are respectively connected with the front sealing cover 27 and the rear sealing cover 21 through bolts, and the joint is sealed by the sealing ring 22. The middle of the front sealing cover 27 is provided with a heat exchanger liquid outlet, the two-way joint 26 and the front sealing cover 27 are fastened through a nut 25, and the two-way joint is externally connected with a hydraulic hose 6 and is connected with a hydraulic system in the device. The heat transfer copper sheet 24 is fixedly connected with the aluminum column 28 and is positioned inside the pressure-resistant cylinder 23. Four-leaf heat transfer copper sheets 24 are additionally arranged in the heat exchanger, so that surface heat can be better transferred to a phase change working medium in the center of the heat exchanger. The heat transfer copper sheet is of a four-leaf structure, the heat transfer copper sheet 24 and the aluminum column 28 are fixedly connected in a welding mode and are located inside the pressure-resistant cylinder 23, and the aluminum column is in interference fit with the rear sealing cover 21.
The main shell 37 comprises a hydraulic hose 30, a buoyancy adjusting mechanism 31, an energy storage device 20, a phase change working medium 33, an isolating membrane 35, hydraulic oil 36, a first check valve 29, a second check valve 32 and a third check valve 34; the main shell 37 is a hollow revolving body structure, two ends of the main shell are sealed by sealing flanges, and the tail part of the main shell is provided with a buoyancy adjusting mechanism 31; a first one-way valve 29 is used between the inner bag and the heat exchanger, a second one-way valve 32 is used between the energy accumulator and the electromagnetic control valve, a third one-way valve 34 is used between the heat exchanger and the energy accumulator to prevent the backflow of hydraulic oil, a phase change working medium 33 is positioned at the rear end part in the heat exchanger, the phase change working medium is isolated from the front hydraulic oil 36 by an isolation film 35 and water 35 in the middle, and when the phase change working medium 33 changes in phase state, the volume of the hydraulic oil in the heat exchanger can be changed, so that the volume of the outer bag of the water immersion cabin is changed, and the buoyancy of the main shell.
The outer bag 12, the inner bag 10 and the energy accumulator 20 are made of pressure-resistant rubber materials, the oil bag is a variable-volume pressure oil bag, and the inner part and the outer part are used for liquid circulation through pressure-resistant rubber hoses with joints.
In the beginning sinking stage, the three-way electromagnetic control valve is opened, the outer bag is communicated with the inner bag, hydraulic oil flows into the inner bag, the outer bag contracts, and the drainage volume of the driving device is reduced. In the phase change working medium solidification stage of the driving device, the temperature of the external environment is reduced, the phase change working medium in the heat exchanger is changed from a liquid state to a solid state, and hydraulic oil flows into the heat exchanger from the inner bag. The driving device is at the stage of beginning the come-up, and the solenoid valve is opened, and accumulator and outer bag switch-on, accumulator internal pressure are greater than the maximum pressure of setting for the navigation depth of water, and hydraulic oil flows into outer bag after, the outer bag inflation, and the buoyancy of glider this moment is greater than gravity, and the glider begins the come-up. In the phase change working medium melting stage of the driving device, the temperature of the external environment rises, the heat exchanger absorbs heat, the material starts to melt, hydraulic oil in the heat exchanger flows into the energy accumulator under the action of pressure, and the phase change working medium in the heat exchanger is restored to be in a liquid state.
The phase change working medium used by the underwater glider temperature difference energy driving device is n-hexadecane, the freezing point of the material is 18 ℃, the volume change rate in the phase change process is 8-10%, and in the sailing process of the glider, the phase change of the n-hexadecane can be met because the temperature of a deep water area is only 5-10 ℃ and the temperature of a warm water layer is within the range of 25-30 ℃. As the weight and buoyancy adjustment required in the sailing process of the glider needs 400mL, and the volume of the phase change material in the heat exchanger is 4L by combining the volume change rate of the phase change material, the designed single heat exchanger has the size of 600mm in length, 70mm in inner diameter and 5mm in wall thickness and can bear 1000 m underwater pressure.
Claims (4)
1. A temperature difference energy driving device of an underwater glider comprises a three-way pipe joint, a heat exchanger front end connecting plate, a hydraulic pipe joint, a front end cover, a front stud, a shell, a front end longitudinal rib plate, a rear stud, an inner bag fixing plate, an inner bag, a rear end cover, an outer bag, a submerged cabin cover, a heat exchanger rear end connecting plate, an outer bag sealing cover, a rear end longitudinal rib plate, a three-way electromagnetic control valve, an energy accumulator fixing plate, a heat exchanger and a main shell, and is characterized in that the shell, the front end cover and the rear end cover are combined into a sealed cabin, the energy accumulator fixing plate is positioned in the middle of the sealed cabin, the front end cover and the energy accumulator fixing plate are connected through the front stud and the two front end longitudinal rib plates, an energy accumulator is positioned between the front end cover and the energy; the rear end cover is connected with the energy accumulator fixing plate through a rear stud and a rear end longitudinal rib plate, the three-way electromagnetic control valve is fixed on the rear end longitudinal rib plate, and the inner bag is connected with the inner bag fixing plate and fixedly connected with the rear end longitudinal rib plate; the outlet of the inner bag is connected with a three-way joint, one path of the outlet is connected with the three-way joint on the front end cover, and the other path of the outlet is connected with the three-way joint on the outer bag; the outer bag is fixed on the rear end cover and is sealed with the outer bag sealing cover through nut fastening, and the three-way joint on the outer bag is respectively connected with the three-way joint of the inner bag and the outlet of the three-way electromagnetic control valve; the immersion hatch cover is connected with the shell and used for protecting the outer bag;
the heat exchangers are two parts with the same structure, the two heat exchangers are symmetrically arranged below the side of the sealed cabin body, and the heat exchangers are connected with the end part of the sealed cabin body and the water immersion cabin cover through a heat exchanger front end connecting plate and a heat exchanger rear end connecting plate; the heat exchanger is connected with a three-way joint in the front end cover through a three-way joint and a hydraulic hose joint at the end part to form a closed hydraulic pipeline; the heat exchanger comprises a rear sealing cover, a sealing ring, a pressure-resistant cylinder, a heat transfer copper sheet, a nut, a two-way joint, a front sealing cover and an aluminum column, wherein two ends of the pressure-resistant cylinder are respectively connected with the front sealing cover and the rear sealing cover through bolts, and the joint is sealed by the sealing ring; a heat exchanger liquid outlet is formed in the middle of the front sealing cover, the two-way connector is fastened with the front sealing cover through a nut, and the two-way connector is externally connected with a hydraulic hose and is connected with a hydraulic system in the device; the heat transfer copper sheet is fixedly connected with the aluminum column and is positioned inside the pressure-resistant cylinder;
the main shell comprises a hydraulic hose, a buoyancy adjusting mechanism, an energy accumulator, a phase change working medium, an isolating membrane, hydraulic oil, a first one-way valve, a second one-way valve and a third one-way valve; the main shell is a hollow revolving body structure, two ends of the main shell are sealed by sealing flanges, and the tail part of the main shell is provided with a buoyancy adjusting mechanism; one-way valves are respectively arranged between the inner bag and the heat exchanger, between the energy accumulator and the electromagnetic control valve and between the heat exchanger and the energy accumulator to prevent the backflow of hydraulic oil, the phase change working medium is positioned at the rear end part in the heat exchanger, the phase change working medium is isolated from the hydraulic oil at the front part by adopting an isolating membrane and water in the middle, and when the phase change working medium is subjected to phase change, the volume of the hydraulic oil in the heat exchanger can be changed, so that the volume of the outer bag of the water immersion cabin is changed, and the buoyancy of the main shell is changed.
2. The underwater glider temperature difference energy driving device according to claim 1, wherein the heat transfer copper sheet is of a four-blade structure, the heat transfer copper sheet is welded with the aluminum column, and the end part of the aluminum column is in interference fit with the rear sealing cover.
3. The underwater glider temperature difference energy driving device according to claim 1, wherein the phase change material is n-hexadecane; the internal circulating liquid is hydraulic oil; the middle isolation material is an isolation film and water.
4. The underwater glider temperature difference energy driving device according to claim 1, wherein the outer bag, the inner bag and the energy accumulator are made of pressure-resistant rubber, the oil bag is a variable-volume pressure oil bag, and the inner part and the outer part are fixedly connected through a pressure-resistant rubber hose with a joint for liquid circulation.
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| CN201911295338.3A CN110979609B (en) | 2019-12-16 | 2019-12-16 | Temperature difference energy driving device of underwater glider |
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| CN201911295338.3A CN110979609B (en) | 2019-12-16 | 2019-12-16 | Temperature difference energy driving device of underwater glider |
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| CN112728982A (en) * | 2020-12-23 | 2021-04-30 | 中国船舶重工集团有限公司第七一0研究所 | Temperature difference energy absorption and conversion device and system for ocean profile detection equipment |
| CN114604396A (en) * | 2022-05-12 | 2022-06-10 | 天津大学 | Driving method of lifting device suitable for underwater surveying system |
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| US11794867B1 (en) | 2022-05-12 | 2023-10-24 | Tianjin University | Driving method of lifting device of underwater survey system |
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| CN110979609B (en) | 2022-04-15 |
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