CN208803934U - A kind of fluid pressure type double freedom float Wave energy electric generator - Google Patents
A kind of fluid pressure type double freedom float Wave energy electric generator Download PDFInfo
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- CN208803934U CN208803934U CN201821669603.0U CN201821669603U CN208803934U CN 208803934 U CN208803934 U CN 208803934U CN 201821669603 U CN201821669603 U CN 201821669603U CN 208803934 U CN208803934 U CN 208803934U
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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 utility model discloses a kind of fluid pressure type double freedom float Wave energy electric generators, the power generator includes four and is fixed on seabed and stretches out the vertical pile on sea, hydraulic system platform is installed on a transverse connection wherein, four threeways are installed on hydraulic system platform, each unidirectional delivery valve passes through high-pressure oil pipe respectively and is connected with the oil inlet of the same accumulator, the oil outlet of accumulator then passes through pipeline and Solenoid ball valve and is connected with the oil inlet of hydraulic motor, the oil outlet of hydraulic motor is connected by pipeline with above-mentioned fuel tank, its power output end is then connected with the power intake of generator.Power generator disclosed in the utility model, with vertical bar, lateral connection component and heaving capture double acting hydraulic cylinder composition heaving wave energy capture systems come trans-utilization float vertical direction movement (heaving)；With horizontal steelframe and surging capture double acting hydraulic cylinder composition surging wave energy capture systems come trans-utilization float movement (surging) in the horizontal direction, to wave energy using more abundant.
Description
Technical field
The utility model belongs to wave-energy power generation field, in particular to one of field fluid pressure type double freedom float
Wave energy electric generator.
Background technique
The increasingly exhausted and whole world with petroleum and other fossil energies causes climate change to be asked greenhouse gas emission
The concern of topic, low-carbon, energy conservation and development and utilization renewable energy are becoming the theme of world energy sources development.Ocean wave energy is made
For a kind of free of contamination renewable energy of Novel clean, since its reserves is big, energy density is high, widely distributed, and energy is easy to turn
Change and become the emphasis of novel research.Domestic float power generator is mostly single-degree-of-freedom power generation at present, to float level direction
The capture of kinergety be related to it is less, it is also less using the research in terms of hydraulic electricity generation for multiple degrees of freedom.
Utility model content
Technical problem to be solved in the utility model is just to provide a kind of horizontal and vertical double freedom float of fluid pressure type
Wave energy electric generator.
The utility model adopts the following technical solution:
A kind of fluid pressure type double freedom float Wave energy electric generator, thes improvement is that: the power generator includes
Four are fixed on seabed and stretch out the vertical pile on sea, and four vertical piles are divided into two rows, every row two, with two of a line
It is connected between vertical pile by transverse connection, hydraulic system platform is installed on a transverse connection wherein,
Four threeways are installed, installation unidirectionally enters oil valve, unidirectional delivery valve, one are installed in one end in one end of each threeway on hydraulic system platform
End installation hydraulic oil pipeline, each unidirectionally to enter oil valve and pass through low pressure pipe respectively and be connected with same fuel tank, each unidirectional delivery valve divides
It is not connected by high-pressure oil pipe with the oil inlet of the same accumulator, the oil outlet of accumulator then passes through pipeline and Solenoid ball valve
It is connected with the oil inlet of hydraulic motor, the oil outlet of hydraulic motor is connected by pipeline with above-mentioned fuel tank, power output
End is then connected with the power intake of generator；Then it is connected by lateral supports between two transverse connections,
Two horizontal guide rails on sustained height, a level for being higher than horizontal guide rail are set along the longitudinal direction in lateral supports
Guard bar and a surging capture double acting hydraulic cylinder, are respectively disposed with a resonant springs at the both ends of horizontal guard bar, horizontal
The bottom of steelframe is worn on the horizontal guide rail, and top is through between two resonant springs on horizontal guard bar, makes horizontal steelframe can
It is slided in the longitudinal direction along horizontal guide rail, the piston rod of above-mentioned surging capture double acting hydraulic cylinder is fixedly mounted on horizontal steelframe
On, rear and front end is then connected with the hydraulic oil pipeline in above-mentioned two threeway respectively；One is respectively opened in the two sides of horizontal steelframe
A hole respectively penetrates a vertical bar in each aperture, and the vertical bar can pass through aperture and slide up and down, vertical at each
The both ends of bar are respectively disposed with a resonant springs, are connected between the top of two vertical bars by lateral connection component, bottom end
It is then all fixedly installed on the float for swimming in sea, heaving capture double cropping is additionally set on horizontal steelframe along the vertical direction
It is fixedly mounted on lateral connection component with the piston rod of hydraulic cylinder, heaving capture double acting hydraulic cylinder, upper and lower ends are then
It is connected respectively with the hydraulic oil pipeline in other two above-mentioned threeway.
Further, the tip height of four vertical piles is identical, constitutes four vertex of same rectangle.
Further, the mounting platform ladder on the vertical pile adjacent with hydraulic system platform.
Further, pressure gauge is installed on high-pressure oil pipe, the pipeline between Solenoid ball valve and hydraulic motor oil inlet
Upper installation pressure gauge.
Further, one piece of vertical square plate relative to each other, horizontal guard bar are respectively installed on two lateral connection components
It is mounted between two pieces of vertical square plates, surging capture double acting hydraulic cylinder is fixedly mounted in one of vertical square plate.
Further, vertical fixing piece is also equipped between vertical bar and horizontal steelframe, the vertical fixing piece includes
Three slanting fixed links, the bottom of each fixed link are fixed on horizontal steelframe, and top is fixedly connected with a horizontal block, vertically
Bar penetrates horizontal block and can slide up and down along it.
Further, in the fixed bracket of the two sides of float setting float, the bottom end of vertical bar is fixedly mounted on float and fixes
On bracket.
A kind of electricity-generating method is theed improvement is that using above-mentioned power generator: power generator installation is in place and enables
Afterwards, with the heave of waves heaving and front and back surging up and down occur for the float floated across the sea, and heaving can drive vertically float up and down
Bar and lateral connection component pump, to pull the heaving capture double acting being fixedly mounted on lateral connection component
The piston rod of hydraulic cylinder pumps, and when piston rod moves upwards, the low pressure oil in fuel tank by low pressure pipe and is hung down
It swings and unidirectionally enters oil valve and hydraulic oil pipeline sucking heaving capture double acting in the capture corresponding threeway in double acting hydraulic cylinder lower end
The lower end of hydraulic cylinder, high pressure oil from the upper end of heaving capture double acting hydraulic cylinder by being captured on double acting hydraulic cylinder with heaving
The hydraulic oil pipeline in corresponding threeway, unidirectional delivery valve and high-pressure oil pipe is held to squeeze into accumulator, when piston rod moves downward,
The low pressure oil in fuel tank by unidirectionally entering oil in low pressure pipe, threeway corresponding with heaving capture double acting hydraulic cylinder upper end
High pressure oil, is captured double acting hydraulic cylinder from heaving by the upper end of valve and hydraulic oil pipeline sucking heaving capture double acting hydraulic cylinder
Lower end passes through hydraulic oil pipeline, unidirectional delivery valve and the high pressure oil in threeway corresponding with heaving capture double acting hydraulic cylinder lower end
Pipe is squeezed into accumulator；Surging can drive vertical bar and horizontal steelframe front-rear reciprocation movement before and after float, to pull fixed peace
The piston rod front-rear reciprocation movement of surging capture double acting hydraulic cylinder in lateral supports, piston rod travel forward
When, the low pressure oil in fuel tank is passed through unidirectional in low pressure pipe, threeway corresponding with surging capture double acting hydraulic cylinder rear end
High pressure oil, is captured double-action hydraulic from surging by the rear end for entering oil valve and hydraulic oil pipeline sucking surging capture double acting hydraulic cylinder
The front end of cylinder passes through hydraulic oil pipeline, unidirectional delivery valve and the height in threeway corresponding with surging capture double acting hydraulic cylinder front end
Pressuring oil pipe is squeezed into accumulator, when piston rod moves backward, the low pressure oil in fuel tank is double by low pressure pipe and surging capture
Unidirectionally enter oil valve and hydraulic oil pipeline sucking surging capture double acting hydraulic cylinder in the corresponding threeway in acting cylinder front end
Front end, high pressure oil is corresponding by capturing double acting hydraulic cylinder rear end with surging from the rear end of surging capture double acting hydraulic cylinder
Hydraulic oil pipeline, unidirectional delivery valve and high-pressure oil pipe in threeway are squeezed into accumulator；The increase of high pressure oil makes to store in accumulator
The energy continuous accumulation energy of device opens Solenoid ball valve when high pressure oil rises to certain pressure value in accumulator and releases energy, high pressure oil
Become low pressure oil after entering hydraulic motor and it is driven to rotate, hydraulic motor rotation can drive electrical power generators, low pressure oil
Fuel tank then is flowed out to from the oil outlet of hydraulic motor, closes Solenoid ball valve when high pressure oil is down to certain pressure value in accumulator,
Continue growing high pressure oil in accumulator with accumulation energy again.
The beneficial effects of the utility model are:
Power generator disclosed in the utility model and electricity-generating method are captured with vertical bar, lateral connection component and heaving
Double acting hydraulic cylinder composition heaving wave energy capture systems carry out trans-utilization float in the movement (heaving) of vertical direction；With level
Steelframe and surging capture double acting hydraulic cylinder composition surging wave energy capture systems carry out trans-utilization float fortune in the horizontal direction
Dynamic (surging), it is more abundant to the utilization of wave energy.
Power generator disclosed in the utility model and electricity-generating method form hydraulic electricity generation using two groups of double acting hydraulic cylinders
System realizes accumulation of energy control, energy conversion efficiency and output power amplitude greatly improved, enhance the stabilization of power output
Property.
Power generator disclosed in the utility model arranges resonant springs at the both ends of horizontal guard bar and vertical bar, both
Collision impact can be reduced, and facilitates float return motion.Vertical fixing piece is installed between vertical bar and horizontal steelframe,
Both vertical bar can be positioned, and guaranteed that it was moved in vertical direction, and can reduce vertical bar and double acting is captured to heaving
The active force of hydraulic cylinder and its piston rod guarantees device stable operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of power generator disclosed in the utility model embodiment 1；
Fig. 2 is heaving wave energy capture systems and surging wave energy in power generator disclosed in the utility model embodiment 1
Joining relation schematic diagram between capture systems；
Fig. 3 is the connection relationship diagram of hydraulic pressure generating system in power generator disclosed in the utility model embodiment 1；
Fig. 4 is the structural schematic diagram of power generator pile foundation support system disclosed in the utility model embodiment 1.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Embodiment 1, as shown in Figs 1-4, present embodiment discloses a kind of fluid pressure type double freedom float Wave energy electric generator,
The power generator includes four and is fixed on seabed and stretches out the vertical pile 401 on sea, and four vertical piles are divided into two rows,
Every row two is connected, in a transverse connection wherein by transverse connection between two vertical piles of a line
Upper installation hydraulic system platform 403 installs four threeways on hydraulic system platform, and in one end of each threeway, installation unidirectionally enters oil
Valve 320,321,322,323, the unidirectional delivery valve 307,308,309,310 of one end installation, one end installation hydraulic oil pipeline 303,
304,305,306, each unidirectionally to enter oil valve and pass through low pressure pipe 319 respectively and be connected with same fuel tank 318, each unidirectional delivery valve divides
It is not connected by high-pressure oil pipe 311 with the oil inlet of the same accumulator 313, the oil outlet of accumulator then passes through pipeline and electricity
Magnetic ball valve 314 is connected with the oil inlet of hydraulic motor 316, and the oil outlet of hydraulic motor is connected by pipeline with above-mentioned fuel tank
Logical, power output end is then connected with the power intake of generator 317；Then pass through laterally branch between two transverse connections
Support component 402 is connected, be arranged along the longitudinal direction in lateral supports two horizontal guide rails 102 on sustained height,
A piece horizontal guard bar for being higher than horizontal guide rail and a surging capture double acting hydraulic cylinder 302, at the both ends of horizontal guard bar
A resonant springs 103 are respectively disposed with, the bottom of horizontal steelframe 101 is worn on the horizontal guide rail, and top is through on horizontal guard bar
Two resonant springs between, slide horizontal steelframe can along horizontal guide rail in the longitudinal direction, above-mentioned surging captures double acting
The piston rod of hydraulic cylinder is fixedly mounted on horizontal steelframe, rear and front end then respectively with the hydraulic oil transportation in above-mentioned two threeway
Pipe 303,304 is connected；A hole is respectively opened in the two sides of horizontal steelframe, a vertical bar 201, institute are respectively penetrated in each aperture
The vertical bar stated can pass through aperture and slide up and down, and respectively be disposed with a resonant springs 203 at the both ends of each vertical bar, and two
It is connected between the top of vertical bar by lateral connection component 202, bottom end is then all fixedly installed to the float for swimming in sea
On 206, heaving capture double acting hydraulic cylinder 301 is additionally set along the vertical direction on horizontal steelframe, which captures double cropping
It is fixedly mounted on lateral connection component with the piston rod of hydraulic cylinder, upper and lower ends are then respectively and in other two above-mentioned threeway
Hydraulic oil pipeline 305,306 be connected.
Specifically, in the present embodiment, the both ends of double acting hydraulic cylinder are corresponding with a threeway respectively, due to double cropping
With there are two hydraulic cylinders, so it is provided with four threeways.
In the present embodiment, the tip height of four vertical piles is identical, constitutes four vertex of same rectangle.With liquid
Mounting platform ladder 404 on the vertical pile for pressing system platform adjacent.Pressure gauge 312 is installed on high-pressure oil pipe, in electromagnetic ball
Pressure gauge 315 is installed on the pipeline between valve and hydraulic motor oil inlet.Respectively installed on two lateral connection components one piece that
This opposite vertical square plate, horizontal guard bar are mounted between two pieces of vertical square plates, and surging captures the fixed peace of double acting hydraulic cylinder
It is installed therein in one piece of vertical square plate.Vertical fixing piece 204 is also equipped between vertical bar and horizontal steelframe, it is described vertical solid
Determining part includes three slanting fixed links, and the bottom of each fixed link is fixed on horizontal steelframe, and top is fixed with a horizontal block
Connection, vertical bar penetrate horizontal block and can slide up and down along it.In the fixed bracket 205 of the two sides of float setting float, vertical bar
Bottom end be fixedly mounted on the fixed bracket of float.
The present embodiment also discloses a kind of electricity-generating method, and using above-mentioned power generator, power generator installation is in place and opens
With rear, float float across the sea with the heave of waves and occur heaving and front and back surging up and down, float up and down heaving can drive it is perpendicular
It pumps to bar and lateral connection component, to pull the heaving capture double cropping being fixedly mounted on lateral connection component
Pumped with the piston rod of hydraulic cylinder, when piston rod moves upwards, the low pressure oil in fuel tank by low pressure pipe, with
Heaving, which captures, unidirectionally enters oil valve and hydraulic oil pipeline sucking heaving capture double cropping in the corresponding threeway in double acting hydraulic cylinder lower end
With the lower end of hydraulic cylinder, high pressure oil is captured the upper end of double acting hydraulic cylinder by capturing double acting hydraulic cylinder with heaving from heaving
Hydraulic oil pipeline, unidirectional delivery valve and high-pressure oil pipe in the corresponding threeway in upper end are squeezed into accumulator, and piston rod moves downward
When, the low pressure oil in fuel tank is passed through unidirectional in low pressure pipe, threeway corresponding with heaving capture double acting hydraulic cylinder upper end
High pressure oil, is captured double-action hydraulic from heaving by the upper end for entering oil valve and hydraulic oil pipeline sucking heaving capture double acting hydraulic cylinder
The lower end of cylinder passes through hydraulic oil pipeline, unidirectional delivery valve and the height in threeway corresponding with heaving capture double acting hydraulic cylinder lower end
Pressuring oil pipe is squeezed into accumulator；Surging can drive vertical bar and horizontal steelframe front-rear reciprocation movement before and after float, to pull solid
The piston rod front-rear reciprocation movement of surging capture double acting hydraulic cylinder of the Dingan County in lateral supports, piston rod are transported forward
When dynamic, the low pressure oil in fuel tank is passed through the list in low pressure pipe, threeway corresponding with surging capture double acting hydraulic cylinder rear end
To the rear end for entering oil valve and hydraulic oil pipeline sucking surging capture double acting hydraulic cylinder, high pressure oil is captured double acting liquid from surging
The front end of cylinder pressure by captured with surging the hydraulic oil pipeline in the corresponding threeway in double acting hydraulic cylinder front end, unidirectional delivery valve and
High-pressure oil pipe is squeezed into accumulator, and when piston rod moves backward, the low pressure oil in fuel tank is captured by low pressure pipe, with surging
Unidirectionally enter oil valve and hydraulic oil pipeline sucking surging capture double acting hydraulic cylinder in the corresponding threeway in double acting hydraulic cylinder front end
Front end, high pressure oil from surging capture double acting hydraulic cylinder rear end pass through with surging capture double acting hydraulic cylinder rear end it is opposite
The hydraulic oil pipeline in threeway, unidirectional delivery valve and high-pressure oil pipe is answered to squeeze into accumulator；The increase of high pressure oil makes in accumulator
The continuous accumulation energy of accumulator opens Solenoid ball valve when high pressure oil rises to certain pressure value in accumulator and releases energy, high pressure
Oil becomes low pressure oil after entering hydraulic motor and it is driven to rotate, and hydraulic motor rotation can drive electrical power generators, low pressure
It is oily then flow out to fuel tank from the oil outlet of hydraulic motor, electromagnetic ball is closed when high pressure oil is down to certain pressure value in accumulator
Valve continues growing high pressure oil in accumulator with accumulation energy again.
Claims (7)
1. a kind of fluid pressure type double freedom float Wave energy electric generator, it is characterised in that: the power generator includes four solid
It is scheduled on seabed and stretches out the vertical pile on sea, four vertical piles are divided into two rows, every row two, with two Vertical Piles of a line
It is connected between column by transverse connection, hydraulic system platform is installed on a transverse connection wherein, in hydraulic pressure system
Four threeways are installed on system platform, installation unidirectionally enters oil valve, unidirectional delivery valve is installed in one end in one end of each threeway, one end installation
Hydraulic oil pipeline, each unidirectionally to enter oil valve and pass through low pressure pipe respectively and be connected with same fuel tank, each unidirectional delivery valve passes through respectively
High-pressure oil pipe is connected with the oil inlet of the same accumulator, the oil outlet of accumulator then pass through pipeline and Solenoid ball valve with it is hydraulic
The oil inlet of motor is connected, and the oil outlet of hydraulic motor is connected by pipeline with above-mentioned fuel tank, power output end then with
The power intake of generator is connected；Then it is connected by lateral supports between two transverse connections, in lateral branch
Two horizontal guide rail, the horizontal guard bars higher than horizontal guide rail on sustained height are set along the longitudinal direction on support component
Double acting hydraulic cylinder is captured with a surging, is respectively disposed with a resonant springs at the both ends of horizontal guard bar, horizontal steelframe
Bottom is worn on the horizontal guide rail, and top is through between two resonant springs on horizontal guard bar, makes horizontal steelframe can be along level
Guide rail slides in the longitudinal direction, and the piston rod of above-mentioned surging capture double acting hydraulic cylinder is fixedly mounted on horizontal steelframe,
Rear and front end is then connected with the hydraulic oil pipeline in above-mentioned two threeway respectively；A hole is respectively opened in the two sides of horizontal steelframe,
Respectively penetrate a vertical bar in each aperture, the vertical bar can pass through aperture and slide up and down, in each vertical bar
Both ends are respectively disposed with a resonant springs, are connected between the top of two vertical bars by lateral connection component, and bottom end is then all
It is fixedly installed on the float for swimming in sea, heaving capture double acting liquid is additionally set on horizontal steelframe along the vertical direction
The piston rod of cylinder pressure, heaving capture double acting hydraulic cylinder is fixedly mounted on lateral connection component, and upper and lower ends are then distinguished
It is connected with the hydraulic oil pipeline in other two above-mentioned threeway.
2. fluid pressure type double freedom float Wave energy electric generator according to claim 1, it is characterised in that: four Vertical Piles
The tip height of column is identical, constitutes four vertex of same rectangle.
3. fluid pressure type double freedom float Wave energy electric generator according to claim 1, it is characterised in that: with hydraulic pressure system
Mounting platform ladder on the adjacent vertical pile of system platform.
4. fluid pressure type double freedom float Wave energy electric generator according to claim 1, it is characterised in that: in high-pressure oil pipe
Upper installation pressure gauge installs pressure gauge on the pipeline between Solenoid ball valve and hydraulic motor oil inlet.
5. fluid pressure type double freedom float Wave energy electric generator according to claim 1, it is characterised in that: in two transverse directions
One piece of vertical square plate relative to each other is respectively installed, horizontal guard bar is mounted between two pieces of vertical square plates, surging on connecting elements
Capture double acting hydraulic cylinder is fixedly mounted in one of vertical square plate.
6. fluid pressure type double freedom float Wave energy electric generator according to claim 1, it is characterised in that: in vertical bar and
Vertical fixing piece is also equipped between horizontal steelframe, the vertical fixing piece includes three slanting fixed links, each fixed link
Bottom is fixed on horizontal steelframe, and top is fixedly connected with a horizontal block, and vertical bar penetrates horizontal block and can glide along thereon
It is dynamic.
7. fluid pressure type double freedom float Wave energy electric generator according to claim 1, it is characterised in that: the two of float
The fixed bracket of float is arranged in side, and the bottom end of vertical bar is fixedly mounted on the fixed bracket of float.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821669603.0U CN208803934U (en) | 2018-10-16 | 2018-10-16 | A kind of fluid pressure type double freedom float Wave energy electric generator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821669603.0U CN208803934U (en) | 2018-10-16 | 2018-10-16 | A kind of fluid pressure type double freedom float Wave energy electric generator |
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| CN208803934U true CN208803934U (en) | 2019-04-30 |
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| CN201821669603.0U Active CN208803934U (en) | 2018-10-16 | 2018-10-16 | A kind of fluid pressure type double freedom float Wave energy electric generator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109162860A (en) * | 2018-10-16 | 2019-01-08 | 中国海洋大学 | A kind of fluid pressure type double freedom float Wave energy electric generator and electricity-generating method |
| CN115901174A (en) * | 2022-12-05 | 2023-04-04 | 华南理工大学 | Floating body experiment platform capable of realizing multi-degree-of-freedom movement of floating body |
-
2018
- 2018-10-16 CN CN201821669603.0U patent/CN208803934U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109162860A (en) * | 2018-10-16 | 2019-01-08 | 中国海洋大学 | A kind of fluid pressure type double freedom float Wave energy electric generator and electricity-generating method |
| CN109162860B (en) * | 2018-10-16 | 2024-05-03 | 中国海洋大学 | Hydraulic double-degree-of-freedom float wave energy power generation device and power generation method |
| CN115901174A (en) * | 2022-12-05 | 2023-04-04 | 华南理工大学 | Floating body experiment platform capable of realizing multi-degree-of-freedom movement of floating body |
| CN115901174B (en) * | 2022-12-05 | 2023-08-22 | 华南理工大学 | Floating body experimental platform capable of realizing multi-degree-of-freedom motion of floating body |
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