CN117212034A - Deformable multi-degree-of-freedom multistable wave energy power generation device - Google Patents
Deformable multi-degree-of-freedom multistable wave energy power generation device Download PDFInfo
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- CN117212034A CN117212034A CN202311173187.0A CN202311173187A CN117212034A CN 117212034 A CN117212034 A CN 117212034A CN 202311173187 A CN202311173187 A CN 202311173187A CN 117212034 A CN117212034 A CN 117212034A
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- 238000010248 power generation Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000005096 rolling process Methods 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000009826 distribution Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000005389 magnetism Effects 0.000 claims description 2
- 230000009467 reduction Effects 0.000 claims description 2
- 230000005284 excitation Effects 0.000 abstract description 6
- 239000013535 sea water Substances 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 238000007667 floating Methods 0.000 description 3
- 238000003306 harvesting Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
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Abstract
The invention discloses a deformable multi-degree-of-freedom multistable wave energy power generation device. According to the cross orthogonal double-shaft structure, wave vibration excitation in the pitch and roll directions of the AUV is fully captured. Aiming at the problem of limited internal space of the AUV, the device can be externally expanded through the foldable swing mechanism, the working state swing length of the device is increased, and the low-frequency resonance frequency similar to the sea water fluctuation frequency is realized. The flexible rope led out by the pulling disc motor with the spring tension spring is matched with the foldable swing mechanism to capture wave vibration excitation in the AUV heave direction, so that the capturing capacity of wave energy is improved. The multistable magnetic disk structure arranged at the top of the device and the multistable guide rail multistable structure arranged at the top of the foldable pendulum widen the working frequency range of the device and enhance the adaptability to the wave vibration frequency. The invention can improve the wave energy capturing capability of the electromagnetic pendulum energy collector and realize the effective utilization of the AUV cabin space.
Description
Technical Field
The invention relates to the technical field of vibration energy collection, in particular to an omnidirectional vibration energy collection device with a multistable mechanism, which converts wave vibration energy into electric energy.
Background
The development of ocean resources drives the development and application of autonomous underwater robots (AUVs), the endurance time and the working range of the AUVs are constrained by the battery capacity, and the long-time operation requirement is hardly met by pure battery energy storage. Currently, researchers have designed energy harvesting devices, such as electromagnetic pendulum devices and piezoelectric devices, which are applied to AUVs and convert vibration energy in the environment into electric energy, wherein the piezoelectric energy harvesting device has the problem of low output power and can only realize the energy supply of low-power consumption sensors. The existing electromagnetic pendulum device has the problems that the occupied space is large, the electromagnetic pendulum device cannot be integrally built in an autonomous underwater robot, the degree of freedom is single, the working frequency band is narrow, the environmental adaptability is poor, and the energy utilization rate is low.
The prior Chinese patent publication No. CN115596596A discloses a multi-degree-of-freedom combined pendulum type wave energy device, which mainly comprises a horizontal pendulum energy obtaining unit, a vertical pendulum energy storage unit and a steering support unit for adjusting the motion direction of the vertical pendulum. The horizontal pendulum and the vertical pendulum are combined through the combined pendulum design, so that the cooperation energy obtaining of the vertical pendulum and the horizontal pendulum is realized, and the starting damping of the generator is reduced. However, because the three simple pendulums are coupled through the gear box, wave excitation in all directions cannot be fully utilized at the same time, and in addition, because the horizontal simple pendulum motion needs a larger motion space, the horizontal simple pendulum is difficult to be arranged in the AUV, if the horizontal simple pendulum arm length is reduced, the low-frequency resonance frequency similar to that of waves is difficult to realize, and the power generation efficiency of the device can be obviously reduced.
In addition, chinese patent publication No. CN112943510a discloses a multiple degree of freedom swinging wave energy power generation device, which includes a multiple degree of freedom main body frame, a hydraulic power generation assembly and a heave energy harvesting assembly. The hydraulic power generation of the frame driven by the pendulum body and the direct-drive power generation with the permanent magnet stator floating body can be realized. However, because the swing arm is not adjustable, a longer swing arm is difficult to be built in the AUV; and secondly, according to the characteristics of the floating body, the hydraulic driving oil tank is difficult to apply to an underwater environment, and in addition, the hydraulic driving oil tank is easy to leak and other faults, so that environmental pollution can be caused, and frequent maintenance is needed.
In addition, chinese patent publication No. CN109572968A discloses a flap type wave energy autonomous underwater vehicle power generation device, which mainly comprises a multi-degree-of-freedom power generation system box body arranged in a main shell of the autonomous underwater vehicle, and hydrofoil devices arranged at the side edges of the shell of the autonomous underwater vehicle, wherein swing hydrofoils are horizontally arranged in a direction orthogonal to the axis direction of the vehicle, rotate around the axis of the hydrofoil devices under the action of up-and-down floating of waves, and capture wave energy. However, the structure mainly captures wave excitation in the heave direction, other vibration energy parallel to the swing wing direction is not fully utilized, horizontal swing wings at two sides of the device cannot be recovered, and resistance influence can be caused on navigation of the aircraft when the device is in a non-power generation working state.
Disclosure of Invention
Aiming at the defects of the prior art, the invention designs a deformable multi-degree-of-freedom multistable wave energy power generation device.
The invention is configured in an AUV and comprises a foldable swing mechanism, wherein the foldable swing mechanism comprises a plurality of strip-shaped plates with the same length, and shaft holes are formed at two ends of each strip-shaped plate and are connected with adjacent strip-shaped plates; the middle is provided with a through hole which is connected with the annular earring; the annular earring is provided with a wide hole, and two sides of the annular earring are respectively penetrated by a flexible rope.
The lower end of the flexible rope is connected with a pull rope hanging lug fixed on the cabin body shell-shaped counterweight body, the upper end of the flexible rope is connected with a pull disc, and an annular spring tension spring structure is arranged inside the pull disc.
The uppermost ends of the foldable swing mechanisms are respectively connected with two slidable cylindrical permanent magnets; the two slidable cylindrical permanent magnets are embedded in the cross bar guide rail, the cross bar guide rail is fixedly connected with the top swing column, and the top swing column is provided with a through hole with a key groove and is vertically locked and connected with the swing arm cross shaft.
Two ends of the swing arm cross shaft are respectively provided with a bearing corresponding to rotation in the rolling direction in a crossing way and are connected with first couplings at two sides, and the bearings corresponding to rotation in the rolling direction are fixed at two sides of the rectangular hollow ring buckle; the first coupler is connected with a first gear motor corresponding to the rotation in the rolling direction; the counterweight body and the AUV can rotate in a pitching direction relative to each other so as to drive the first gear motor corresponding to the rotation of the two symmetrically distributed pitching directions; thereby converting wave energy in the pitch direction into electromagnetic energy.
The rectangular hollow ring buckles are provided with outwards protruding short rods at the other two sides, the short rods respectively transversely penetrate through bearings corresponding to rotation in the pitching direction and are connected with the second couplings at the two sides, and the counterweight body and the AUV can rotate relatively in the rolling direction to drive the second gear motors corresponding to rotation in the rolling direction in two symmetrical distribution, so that wave energy in the rolling direction is converted into electromagnetic energy.
The counterweight body and the AUV move relatively in the heave direction to drive the rope and the pulling disc to move; thereby driving a third gear motor connected with the pull disc to rotate, and converting wave energy in the heave direction into electromagnetic energy.
Compared with the background technology, the invention has the beneficial effects that:
1) According to the cross orthogonal double-shaft structure, wave vibration excitation in the pitch and roll directions of the AUV can be fully captured.
2) Aiming at the problem of limited internal space of the AUV, the device can be externally expanded through the foldable swing mechanism, the working state swing length of the device is increased, and the low-frequency resonance frequency similar to the sea water fluctuation frequency is realized.
3) The flexible rope led out by the pulling disc motor with the spring tension spring is matched with the foldable swing mechanism, so that the device can capture wave vibration excitation in the AUV heave direction, and the capturing capacity of wave energy is improved.
4) The multistable magnetic disk structure arranged at the top of the device and the multistable guide rail multistable structure arranged at the top of the foldable pendulum widen the working frequency range of the device and enhance the adaptability to the wave vibration frequency.
Through the structural design, the wave energy capturing capacity of the electromagnetic pendulum energy collector can be improved, and the effective utilization of the AUV cabin space can be realized.
Drawings
Fig. 1 is a front half-sectional view of the device of the present invention.
Fig. 2 is a side half-sectional view of the device of the present invention.
Figure 3 is a left and right isometric view of the device of the present invention.
FIG. 4 is an exploded view of the internal mechanism of the pull cup assembly of the apparatus of the present invention.
FIG. 5 is an exploded view of a multistable disk and multistable rail configuration in the apparatus of the invention.
FIG. 6 is an exploded view of a cross-shaped orthogonal biaxial structure in the device of the present invention.
Fig. 7 is a schematic diagram of the initial state of operation of the device of the present invention in an AUV.
Fig. 8 is a schematic view of the device of the present invention in an AUV in pitch rotation.
Fig. 9 is a schematic view of the inventive device in an AUV in a roll rotation motion.
In the figure: 1. the device is characterized by comprising an arched bearing frame, 2, a magnet fixing disc, 3, a bearing earring, 4, a coupler, 5, a gear motor corresponding to a pull disc, 6, a gear motor corresponding to rotation in a pitching direction, 7, a flexible rope, 8, a scissor-type strip-shaped plate, 9, an annular earring, 10, a pull rope hanging lug, 11, an annular permanent magnet, 12, a hemispherical permanent magnet, 13, a pull disc, 14, a one-way bearing, 15, a top swing column, 16, a rectangular hollow ring buckle, 17, a bearing corresponding to rotation in the pitching direction, 18, a pulley, 19, a central fixed cylindrical permanent magnet, 20, a cabin shell-shaped weight body, 21, a cross bar guide rail, 22, a gear motor corresponding to rotation in a rolling direction, 23, a swing arm cross shaft, 24, a bearing corresponding to rotation in the rolling direction, 25, an L-shaped motor fixing piece, 26, a slidable cylindrical permanent magnet, 27, a spring tension spring, 28 and an AUV intermediate cabin shell.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, in the embodiment of the present invention, the foldable swing mechanism includes a plurality of scissor-type strip-shaped plates 8 with the same length, two ends of the strip-shaped plates are provided with shaft holes, which are connected with adjacent strip-shaped plates, and a through hole is provided in the middle, which is connected with an annular ear clip 9. The annular earring 9 is provided with a wide hole, and flexible ropes 7 respectively penetrate through the two sides of the annular earring; the lower end of the flexible rope 7 is connected with a pull rope hanging lug 10 fixed on a cabin shell-shaped counterweight body 20, and a hanging lug is arranged in the middle of the cabin shell-shaped counterweight body and connected with the lowest end of the foldable strip-shaped plate. Through the foldable swing mechanism, the device can be expanded externally, the working state swing length of the device is increased, and the low-frequency resonance frequency similar to the sea water fluctuation frequency is realized.
As shown in fig. 5, the uppermost foldable strip-shaped plate 8 is respectively connected with two slidable cylindrical permanent magnets 26; in this embodiment, the two slidable cylindrical permanent magnets are embedded in the rail 21 according to the manner of "left N-right S", a fixed cylindrical permanent magnet is disposed in the center of the rail, and the two slidable cylindrical permanent magnets are distributed on two sides of the central fixed cylindrical permanent magnet 19 according to the manner of "left S-right N". The cross bar guide rail 21 is fixedly connected with the top swing column 15, and the top swing column 15 is provided with a through hole with a key slot and is vertically and fixedly locked with the swing arm cross shaft 23.
The top of the swing column is connected with a hemispherical permanent magnet 12, and the outer arc surface of the hemispherical permanent magnet is an S pole. Two ends of a swing arm cross shaft 23 are respectively transversely provided with a bearing 24 corresponding to the rotation in the rolling direction and are connected with the couplings 4 at two sides, and the bearings 24 are fixed at two sides of the rectangular hollow ring buckle 16; the coupler is connected with a speed reduction motor 22 corresponding to the rotation in the rolling direction; the gear motor 22 is fixed on an L-shaped motor fixing member 25, and the fixing member 25 is assembled on both sides of the rectangular hollow ring 16.
As shown in fig. 6, the other two sides of the rectangular hollow ring buckle 16 are provided with short rods protruding outwards to form a cross orthogonal double-shaft structure, and the short rods are respectively provided with a bearing 17 corresponding to rotation in a pitching direction in a crossing way and are connected with two side couplings, and are connected with a gear motor 6 corresponding to rotation in the pitching direction on the two side bearing earbuckles 3 through the couplings; the bearing 17 and the gear motor 6 are respectively fixed in the inner wall surface and the outer wall surface of the bearing ear buckle 3.
The upper end of the flexible rope 7 is penetrated with a pulley 18; pulleys 18 are fixed on both sides of the top swing post 15; the upper end of the flexible rope 7 is connected with a pull disc 13, and the pull disc 13 is fixed on the side surface of the bearing earring 3 through a threaded hole; an annular spring tension spring structure 27 is arranged in the pull disc 13, and the outer side of the spring tension spring is in locking connection with the outer ring of the unidirectional bearing 14 with a key slot through a pull disc structure; the inner ring of the one-way bearing 14 is in locking connection with the stub shaft by a key-way fit, see fig. 4.
The short shaft is connected with a speed reducing motor 5 corresponding to the pulling disc through a coupler 4; the gear motor 5 is fixed on the outer side wall of the bearing earring 3. The upper part of the bearing earring 3 is fixed with the arch bearing frame 1 of the device above the bearing earring through a threaded hole; a through hole with a larger diameter is formed in the center of the interior of the bearing frame 1, and the top 15 of the swing column and the hemispherical permanent magnet 12 penetrate through the through hole; the bearing frame 1 is internally connected with the hollow magnet fixing disc 2 through a threaded hole; three annular permanent magnets 11 with staggered magnetism are fixed in the magnet fixing disc 2, and the polarity distribution of the three annular permanent magnets from inside to outside is respectively as follows: "lower N pole-upper S pole", "lower S pole-upper N pole", "lower N pole-upper S pole".
The working principle of the invention is as follows:
(1) The foldable swing mechanism consists of a scissor type swing arm mechanism and a counterweight body with a part of cabin shell at the lower end, wherein the scissor type swing arm mechanism is formed by a plurality of strip-shaped plates with the same length in a crossed fit mode, the geometrical relationship is known, and the included angles of the upper strip-shaped plate and the lower strip-shaped plate are kept equal in the compression and extension processes of the scissor type swing arm mechanism, so that the uniform expansion of the swing arm is ensured.
(2) The pulley and the annular earring in the device have the functions of keeping the rope at a proper distance from the scissor-type swing arm and reducing friction with other structures in the rope movement process; the hull-shaped counterweight may be used as a pendulum weight for capturing wave energy, or may be complementary in shape to the AUV intermediate hull housing 28 as part of the AUV housing.
(3) In the non-power generation state of the device, the motor corresponding to the pull disc is used as a motor, the cabin shell-shaped counterweight body is recovered and is locked and sealed with the middle cabin shell, and then the motor corresponding to the pull disc is powered off and locked, so that energy loss is reduced, and the structure is shown in fig. 7; under the working state of the device, the relative motion of the counterweight body and the AUV in the heave direction drives the pull-disc rope to move. The specific process is as follows:
when the distance between the counterweight body and the AUV is increased, the length of the rope is driven to be prolonged, and the one-way bearing connected with the pull disc is in a locking state, so that the two speed reducing motors connected with the pull disc are driven to rotate.
When the distance between the counterweight body and the autonomous underwater robot is reduced, the length of the rope is shortened due to the restoring force of the spring tension spring in the pull disc, and the wave energy in the heave direction is converted into electromagnetic energy in the whole process.
The extension length of the scissor type swing arm is determined by the weight of the counterweight body and the rigidity of the spring tension spring in the pulling disc under the condition that no environmental vibration is excited.
(4) After being excited by waves, as shown in fig. 8, the counterweight body and the AUV can rotate relatively in the pitching direction so as to drive the corresponding gear motors in the pitching direction which are symmetrically distributed to rotate, so that wave energy in the pitching direction is converted into electromagnetic energy; as shown in fig. 9, the relative rotation of the counterweight body and the AUV in the roll direction can drive the rotation of the corresponding gear motors in the roll direction with two symmetrical distributions, so that the wave energy in the roll direction is converted into electromagnetic energy;
(5) When the device is excited by waves, the counterweight body and the AUV perform relative movement in the heave direction, so that the scissor type swing arm mechanism is driven to fold and stretch, the cylindrical permanent magnets at the two sides in the rail of the cross bar are further driven to horizontally move, and the cylindrical permanent magnets at the two sides and the cylindrical permanent magnet fixed in the middle have nonlinear repulsive force relation, so that the relative movement in the heave direction between the counterweight body and the AUV has multistable vibration effect, and the multistable effect is mainly reflected in the working frequency range of vibration of the device, and the adaptability to the vibration frequency in the heave direction of the waves is enhanced;
(6) When the vibration-absorbing device is excited by waves, the counterweight body and the AUV generate relative motion in pitching and rolling directions, so that the hemispherical permanent magnet with polarity at the top of the bearing column where the scissor-type swing arm is positioned and the three layers of permanent magnet rings with staggered polarities are driven to generate relative motion.
The energy collection device mainly comprises four motors distributed on bearing lugs on two sides and two motors fixed on two sides of a rectangular hollow ring buckle structure, and in the practical process, after the device is excited by multidirectional waves, the motions of heave, pitch and roll directions are superimposed together in a vector manner, and the energy collection process of converting wave energy into electromagnetic energy through the motors is carried out simultaneously.
Finally, it should also be noted that the above list is only one specific embodiment of the present invention. Obviously, the invention is not limited to the above embodiments, but many variations are possible. All modifications directly derived or suggested to one skilled in the art from the present disclosure should be considered as being within the scope of the present invention.
Claims (6)
1. The utility model provides a multi freedom multistable wave energy power generation facility of flexible disposes in AUV, includes collapsible pendulum mechanism, its characterized in that:
the foldable swing mechanism comprises a plurality of strip-shaped plates with the same length, and shaft holes are formed at two ends of each strip-shaped plate and are connected with adjacent strip-shaped plates; the middle is provided with a through hole which is connected with the annular earring; the annular earring is provided with a wide hole, and two sides of the annular earring are respectively penetrated by a flexible rope;
the lower end of the flexible rope is connected with a pull rope hanging lug fixed on a cabin body shell-shaped counterweight body, the upper end of the flexible rope is connected with a pull disc, and an annular spring tension spring structure is arranged in the pull disc;
the uppermost ends of the foldable swing mechanisms are respectively connected with two slidable cylindrical permanent magnets; the two slidable cylindrical permanent magnets are embedded in the cross bar guide rail, the cross bar guide rail is fixedly connected with the top swing column, the top swing column is provided with a through hole with a key slot, and the through hole is vertically and fixedly connected with the swing arm cross shaft;
two ends of the swing arm cross shaft are respectively provided with a bearing corresponding to rotation in the rolling direction in a crossing way and are connected with first couplings at two sides, and the bearings corresponding to rotation in the rolling direction are fixed at two sides of the rectangular hollow ring buckle; the first coupler is connected with a first gear motor corresponding to the rotation in the rolling direction; the counterweight body and the AUV can rotate in a pitching direction relative to each other so as to drive the first gear motor corresponding to the rotation of the two symmetrically distributed pitching directions; thereby converting wave energy in the pitch direction into electromagnetic energy;
the other two sides of the rectangular hollow ring buckle are provided with outwards protruding short rods, the short rods respectively transversely penetrate through bearings corresponding to rotation in the pitching direction and are connected with second couplings at the two sides, and the counterweight body and the AUV can rotate relatively in the rolling direction to drive second gear motors corresponding to rotation in the rolling direction in two symmetrical distribution, so that wave energy in the rolling direction is converted into electromagnetic energy;
the counterweight body and the AUV move relatively in the heave direction to drive the rope and the pulling disc to move; thereby driving a third gear motor connected with the pull disc to rotate, and converting wave energy in the heave direction into electromagnetic energy.
2. The deformable multiple degree of freedom multistable wave energy power generation device of claim 1 wherein: the two slidable cylindrical permanent magnets are embedded in the transverse rod guide rail in a left-side N-side S-pole mode, a fixed cylindrical permanent magnet is arranged in the center of the transverse rod guide rail, and is arranged in a left-side S-pole and right-side N-pole mode, and the slidable cylindrical permanent magnets are distributed on two sides of the central fixed cylindrical permanent magnet, so that multistable vibration effect exists in relative motion in a heave direction between the counterweight body and the AUV.
3. The deformable multiple degree of freedom multistable wave energy power generation device of claim 1 wherein: the top of the swing column is connected with the hemispherical permanent magnet, and the outer arc surface of the hemispherical permanent magnet is an S pole.
4. A deformable multiple degree of freedom multistable wave energy generating apparatus according to claim 3 wherein: the outer side of the spring tension spring structure is in locking connection with an outer ring of the one-way bearing with a key slot; the inner ring of the unidirectional bearing is in locking connection with the short shaft through key slot matching; the short shaft is connected with a third speed reduction motor corresponding to the pulling disc through a third coupling; the third gear motor is fixed on the outer side wall of the bearing ear buckle.
5. The deformable multiple degree of freedom multistable wave energy generating apparatus according to claim 4 wherein: the upper part of the bearing ear buckle is fixed with an arch bearing frame of the device above the bearing ear buckle through a threaded hole; a through hole is formed in the center of the inside of the arched bearing frame of the device, and the top of the swing column and the hemispherical permanent magnet penetrate through the through hole; the arch bearing frame is connected with the hollow magnet fixing disc through a threaded hole.
6. The deformable multiple degree of freedom multistable wave energy generating apparatus according to claim 5, wherein: three annular permanent magnets with staggered magnetism are fixed in the magnet fixing disc, and the polarity distribution of the three annular permanent magnets from inside to outside is respectively as follows: the lower N pole-upper S pole, the lower S pole-upper N pole and the lower N pole-upper S pole enable the relative motion between the counterweight body and the AUV in the pitching and rolling directions to have multistable vibration effect.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311173187.0A CN117212034B (en) | 2023-09-12 | 2023-09-12 | Deformable multi-degree-of-freedom multistable wave energy power generation device |
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| CN202311173187.0A CN117212034B (en) | 2023-09-12 | 2023-09-12 | Deformable multi-degree-of-freedom multistable wave energy power generation device |
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| CN117212034B CN117212034B (en) | 2024-07-05 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013030359A2 (en) * | 2011-09-02 | 2013-03-07 | Wavebob Limited | A wave energy conversion system |
| CN114268191A (en) * | 2021-12-15 | 2022-04-01 | 浙江大学 | Double-shaft multistable wave vibration energy collecting device |
| CN114738171A (en) * | 2022-04-14 | 2022-07-12 | 浙江大学 | Foldable wave energy collecting device for autonomous underwater robot |
| CN218467748U (en) * | 2022-10-17 | 2023-02-10 | 南京瓦亮科技有限责任公司 | Multi-degree-of-freedom wave power generation device |
| CN116292052A (en) * | 2023-04-26 | 2023-06-23 | 浙江大学 | Wave energy collection device for cylindrical autonomous underwater robot |
-
2023
- 2023-09-12 CN CN202311173187.0A patent/CN117212034B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013030359A2 (en) * | 2011-09-02 | 2013-03-07 | Wavebob Limited | A wave energy conversion system |
| CN114268191A (en) * | 2021-12-15 | 2022-04-01 | 浙江大学 | Double-shaft multistable wave vibration energy collecting device |
| CN114738171A (en) * | 2022-04-14 | 2022-07-12 | 浙江大学 | Foldable wave energy collecting device for autonomous underwater robot |
| CN218467748U (en) * | 2022-10-17 | 2023-02-10 | 南京瓦亮科技有限责任公司 | Multi-degree-of-freedom wave power generation device |
| CN116292052A (en) * | 2023-04-26 | 2023-06-23 | 浙江大学 | Wave energy collection device for cylindrical autonomous underwater robot |
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