Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
  • F03D—WIND MOTORS
  • F03D3/00—Wind motors with rotation axis substantially perpendicular to the air flow entering the rotor 
  • F03D3/06—Rotors
  • F03D3/062—Rotors characterised by their construction elements
  • F03D3/066—Rotors characterised by their construction elements the wind engaging parts being movable relative to the rotor
  • F03D3/067—Cyclic movements
  • F03D3/068—Cyclic movements mechanically controlled by the rotor structure
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63H—MARINE PROPULSION OR STEERING
  • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
  • B63H5/02—Arrangements on vessels of propulsion elements directly acting on water of paddle wheels, e.g. of stern wheels
  • B63H2005/025—Arrangements on vessels of propulsion elements directly acting on water of paddle wheels, e.g. of stern wheels of Voith Schneider type
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
  • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
  • F05B2260/00—Function
  • F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
  • F05B2260/72—Adjusting of angle of incidence or attack of rotating blades by turning around an axis parallel to the rotor centre line
• • 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
  • Y02E10/70—Wind energy
  • Y02E10/74—Wind turbines with rotation axis perpendicular to the wind direction

Definitions

• the present invention relates generally to fluidic rotors, in particular rotors with blade movement of the trochoidal type.
• Such rotors are known from documents WO2014006603A1, WO2016067251A1 and WO2017168359A1.
• the present memorandum aims to bring a certain number of improvements to these rotors.
• a rotor with orientable blades comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blade axes parallel to the main axis and defined by said structure. rotating, and a mechanism associated with each blade and configured to control the variations in inclination of the associated blade as a function of the angular position of the rotating structure, this mechanism comprising a first element carrying a finger and a second element eccentric relative to the first and configured to channel the movements of the finger along an imposed trajectory, rotor characterized in that said trajectory is imposed by the translational movements of a carriage on one or more guides provided on the second element (PART 6).
• the carriage is mounted on two rods. Also advantageously, the carriage is mounted on the guide or guides by means of sliding elements without play, in particular ball bushings.
• a rotor with orientable blades comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blade axes parallel to the main axis and defined by said structure.
• said mechanism comprising for each blade a transmission in generally radial direction between a driving element rotating with the rotor and an element driven at eccentric at the level of the blade, characterized in that it comprises a means for varying the timing law by means of a central control comprising a control element able to move along the main axis and a set of return elements capable of generating a displacement of the driven elements respectively associated with each blade (PART 1).
• Said displacement may in particular be a radial displacement with sequential control or a circumferential displacement with continuous control.
• a nautical vehicle comprising a pair of main thrusters comprising counter-rotating rotors, each rotor with orientable blades comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blades. axes of blades parallel to the main axis and defined by said rotating structure, and a mechanism for controlling the variations in inclination of said rotating structure as a function of its angular position so as to exert a thrust on the water in a determined direction , characterized in that means are provided for directing the thrusts of the two rotors in two generally opposite lateral directions in order to ensure braking of the vehicle (PART 2).
• the machine may also optionally include at least one bow thruster and / or at least one secondary thruster.
• a nautical vehicle comprising a pair of thrusters comprising counter-rotating rotors, each rotor comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of axes of parallel blades. to the main axis and defined by said rotating structure, and a mechanism for controlling the variations in inclination of said rotating structure as a function of its angular position so as to exert a thrust on the water in a determined direction, characterized in that there are provided thrust correction means capable of adjusting the direction thrust of each rotor on either side of a direction located along the main axis of the machine (PART 3).
• a rotor with orientable blades comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blade axes parallel to the main axis and defined by said blade. rotating structure, and a mechanism for controlling the variations in inclination of said rotating structure as a function of its angular position, characterized in that each blade is at least partially elastically deformable (PART 4).
• each blade comprises a substantially non-deformable leading part and an elastically deformable trailing part.
• a rotor with orientable blades comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blade axes parallel to the main axis and defined by said structure.
• a mechanism for controlling the variations in inclination of said rotating structure as a function of its angular position comprising in association with each blade a driven element synchronized with a corresponding driving element located on the axis of the rotor via a link closed on itself such as a toothed belt or a chain, characterized in that one of the elements is circular, and the other element is non-circular, with a number of notches or teeth identical to that of the circular element, so as to directly ensure the variations in angular position of the blades during the rotation of the rotating structure (PART 5).
• the other element is elliptical.
• the rotor may optionally include a tensioning device for the link.
• the rotor may also optionally include a set of non-circular members of different aspect ratios, and a device for passing the link from one non-circular member to another.
• This rotor can in particular equip a wind turbine or propel a nautical vehicle, individually or in pairs.
• a rotor with orientable blades comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blade axes parallel to the main axis and defined by said blade.
• rotating structure and a mechanism associated with each blade for controlling the variations in inclination of said blade as a function of the angular position of said rotating structure, said mechanism comprising a set of generally radial transmissions between driving elements disposed adjacent to the level of the rotor axis and each of said mechanisms, characterized in that it further comprises a disengaging and resetting mechanism comprising a key capable of moving along the axis of the rotor relative to said driving elements (PART 7).
• said disengaging mechanism comprises a key capable of selectively engaging directly with each of the driving elements and biased by elastic means acting along the axis of rotation of the rotor to sequentially engage with each of said driving elements. when they are rotated.
• said disengaging mechanism comprises a primary key capable of selectively applying a set of secondary keys which are themselves resiliently biased in a direction transverse to the axis of the rotor and to come into engagement with the drive elements respectively. respective.
• a rotor with orientable blades comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blade axes parallel to the main axis and defined by said rotating structure, and means for controlling the variations in inclination of each blade as a function of the angular position of the rotor, characterized in that that said means comprise a set of individual actuators controlled not mechanically from the rotor to vary individually in a potentially adjustable and potentially program manner the variations in inclination of the associated blade (PART 8).
• a rotor with orientable blades comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blade axes parallel to the main axis and defined by said structure. rotating, and a mechanism for controlling the variations in inclination of said rotating structure as a function of its angular position, said mechanism comprising in association with each blade a driven element synchronized with a corresponding driving element located on the axis of the rotor via a link closed on itself such as a toothed belt or a chain, characterized in that it comprises a mechanism for maintaining the tension of each link (PARTS 9 AND 10).
• said tension maintenance mechanism comprises a movable element in contact with said link and subjected to the centrifugal force generated by the rotation of the rotor (PART 9).
• the tension maintenance mechanism comprises a movable element in contact with said link and subject to a movable member aimed at varying the maximum amplitude of the inclination variations of the associated blade (PART 10).
• a nautical vehicle in particular a sailboat, comprising a motor coupled to a submerged steerable blade rotor, said rotor comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blades.
• blade axes parallel to the main axis and defined by said rotating structure, and a mechanism for controlling variations in inclination of said structure rotating as a function of its angular position, characterized in that the rotor has a first operating mode as a thruster while being driven by the engine, and a second operating mode as a drift or rudder (PART 11).
• a rotor with orientable blades comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blade axes parallel to the main axis and defined by said blade.
• rotating structure and a mechanism for controlling the variations in inclination of each blade as a function of the angular position of said rotating structure, each blade being mounted cantilever on said rotating structure, characterized in that it is provided devices for rapid mounting of the blades on rotating supports subject to said mechanism (PART 12).
• each blade comprises a frame of non-circular cross section extending over a substantial part of its extent, said frame projecting from a longitudinal end of the blade for its mounting on a respective rotating support.
• a rotor with orientable blades comprising a structure rotating around a main axis and comprising a set of blades rotating around a series of blade axes parallel to the main axis and defined by said blade.
• rotating structure and a mechanism for controlling the variations in inclination of said rotating structure as a function of its angular position, said mechanism comprising in association with each blade a driven element synchronized with a driving element located on the axis of the rotor via a link closed on itself such as a toothed belt or a chain, characterized in that a single link is provided between a single driving element located on the axis of the rotor and said driven elements (PART 13).
• FIG. 1A is a perspective view of a mechanism according to a first improvement
• FIG. 1 B and 1C are perspective views from two different angles of a mechanism according to another embodiment of this first improvement
• Fig. 2 is a schematic top view of a nautical vehicle comprising a second improvement
• FIG. 3A and 3B are schematic top views of thrusters illustrating a third improvement
• FIG. 4A and 4B are perspective views of a blade with a fourth improvement
• FIG. 5 is a schematic plan view of a motion transmission according to a fifth improvement
• Figs. 6A to 6C are respectively a front view, a profile view and a perspective view of a mechanism according to a sixth improvement
• FIG. 7 A and 7B are perspective views of a mechanism according to a seventh improvement
• FIGS. 7C and 7D are views in axial section of a mechanism according to another embodiment of this seventh improvement.
• FIG. 8 is a schematic elevational view illustrating an eighth improvement
• FIG. 9 is a perspective view of a mechanism according to a ninth improvement.
• Figs. 10A to 10C are respectively an elevation view in a first state, an elevation view in a second state and a perspective view of a mechanism according to a tenth improvement
• - Fig. 11 is a schematic side view of a boat with a thruster according to an eleventh improvement
• - Fig. 12 is a perspective view of a base according to a twelfth improvement
• - Fig. 13 is a front view of a transmission according to a thirteenth improvement.
• forward speed 1 this is defined as the speed of the ship in relation to the speed seen by the blade in its rotation.
• forward speed 1 this means that the ship is going twice as fast as the blade: in other words in these conditions the thruster turns very slowly to move the boat forward, resulting in reduced cavitation and a very low acoustic signature.
• a thruster of 3m20 in diameter would turn at only 31 revolutions / min to move a ship at 25 knots (Nb: forward speed of 2.5).
• Nb forward speed of 2.5.
• This can be done manually or more advantageously with an automaton which will take as input: speed of the vessel, RPM of the thruster (s), consumption (power or couple).
• the difficulty arises from the manner used to transmit the movement to the slit disc from the central axis of the control of the rotor. If belts or chains are used, it is necessary to be able to maintain an optimal tension which requires a servo-control of the tension system. In the case of gears, it is necessary to vary the position of the intermediate gear. In the case of an angular drive, it is possible to use a pinion with splines which can slide along the transmission shaft (see also later at the end of PART 10).
• the second solution is simpler because by varying in an arc of a circle, we do not change the distance between the axis of rotation of the slit disc relative to the center of the thruster. It is therefore the latter solution that will be preferred.
• a control axis 11 extending along the axis of the rotor is actuated in translation by an actuator (electrical, mechanical, pneumatic, hydraulic) not shown in this drawing.
• the control axis is fixed in rotation and therefore does not rotate with the rotor. It adopts one of three defined positions: one neutral, one for raising the control law one notch, one for lowering the control law one notch.
• This mechanism is designed in such a way that when the law of kinematics is adjusted, no force is exerted by this control axis.
• the control shaft 11 is linked to a part 12, for example by means of bearings or thrust ball bearings.
• This part 12 rotates at the same time as the rotor.
• it actuates via a pallet 12a a fork 13 via a pair of rollers 13a.
• This fork 13 drives, via a link 14, a lever 15.
• This lever 15 actuates a ratchet wheel 16a integral in rotation with a stabilization disc 16b provided with peripheral hollows and on which a wheel 17a rests. carried by a plate 17 and maintained under pressure by a spring 18.
• the function of this latter element is to stabilize the angular position of an axis 19 without reaction to the upstream control.
• the axis 19 ends with a ball screw 19a which makes it possible to move in translation a plate 19b on which the various members at the end of the arm are fixed (slotted disc in the case of document WO2017168359A1). To raise or lower the control law from a maximum angle to a minimum angle, the control axis 11 must be moved several times in the appropriate direction.
• FIG. 1A illustrates the case of a single-arm rotor, but the mechanism could be reused in a cassette rotor.
• this mechanism is inspired by the mechanical control systems for the pitch of helicopter anti-torque rotors.
• a fork 151 actuated by an actuator via a link 152.
• the fork 151 allows through rollers 153a to translate a control shaft 153 which rotates with the rotor.
• a part 154 At the end of this control pin 153 is fixed a part 154 on which are fixed the ends of two rods 155. The other ends of these rods are fixed to "L" shaped references 156 pivoting on integral axes 156a. of the rotor.
• part 156 assumes an oblique orientation, thereby shortening the distance in the circumferential direction between the clip on link 155 and finger 157a.
• the shaft 156a attached to the rotor passes through an oblong slot in the cassette 158 to allow this movement.
• FIG. 3B thus illustrates an optimum setting for a given operating point which shows a slight pinching (of a few degrees) of the timing laws so as to optimally direct the flows generated by the thrusters, compared to the case of FIG. 3A where there is no pinch.
• divergent directions can be provided for slow speeds, and convergent directions for high speeds.
• the angle of convergence / divergence can also be adjusted depending on the level of disturbance acceptable to the aquatic environment, or the maneuverability of the vessel.
• the rotor blades have at least part of their extent an elastic deformability in bending so that their profile can be deformed. This makes it easier to unhook the trickles of water and significantly increase the aero- or hydrodynamic performance of the blades.
• This deformability can be achieved by using a homogeneous elastically deformable material for the blades, in which case their thinner thickness as one approaches the trailing edge makes them more easily deformable in this region.
• This arrangement improves the fluidity of operation, limits the mechanical stresses applied to the blades and improves efficiency.
• Figs. 4A and 4B illustrate (the view of FIG. 4B being in semi-transparency) an exemplary embodiment of a semi-deformable blade P: only the region of the trailing edge PF of the blade is made of a deformable material (eg. : rubber, reinforced or not).
• this flexible part can be threaded via a dovetail 41 in an additional forge 42 provided at the rear of the leading part PA of the blade, which is rigid. Bonding can also be considered if the materials allow it.
• the location of the transition zone between these two parts can be chosen depending on the application, and will typically be between 1/3 and 2/3 of the length of the blade between the leading edge and the trailing edge.
• Reference 43 designates an armature of the blade, embedded in the attack part PA. PART 5 - All applications - maximum blade angle control without eccentric
• FIG. 5 there is illustrated a control of the tilting of the satellite or nacelle associated with each blade no longer by an eccentric movement, but by a non-slip transmission (chain, toothed belt, etc., designated by the reference 51) in which one of the pinions 52 is circular, and the other pinion 53 is non-circular - for example ovoid or elliptical, with a number of teeth or notches identical to that of the circular pinion.
• One of the pinions is on the main axis of the rotor, without the possibility of rotation, while the other pinion (satellite) is directly in mesh with the axis of the blade.
• a chain or belt tensioner is provided to compensate for variations in the development of the chain / belt in its area of contact with the non-circular pinion when the latter rotates.
• the non-circular pinion 53 can either be on the axis of the rotor or be the satellite.
• each finger may be provided with a play compensation function, for example by comprising a series of elements held together by a cage and elastically urged outwards by an elastic means such as a spring. .
• the groove or slot C described in document WO2017168359A1 is replaced by a carriage 62 with linear movement on which the finger 64, equivalent to the finger D of WO2017168359A1, is pivotally mounted.
• This carriage 62 is here slidably mounted on two rods 61 preferably by means of elements 63 with little or no play such as bearings or ball bushings.
• the finger 64 is mounted eccentrically on a crank pin 65 functionally corresponding to the disk B of document WO2017168359A1.
• the finger 64 is guided along a rectilinear path.
• a different path can be provided by changing the shape of the guide rods 61.
• a linear actuator such as an electric actuator acts on a rod which allows the key to be disengaged, as will be seen in detail below.
• the actuator When reset is decided, the actuator returns to its initial position. It does not pull on the central rod directly but through a spring which allows the key to exert pressure on the first pulley to be re-engaged.
• a cam roller or any other sliding element promoting the sliding of the key on the surface of the pulley.
• the pulley of the first blade can be reset according to the wind, but it may be preferable to activate the mechanism for controlling the orientation of the rotor according to the orientation of the wind (yaw actuator) to make the central yaw control (pulley support part) several successive turns and thus ensure the passage of the key in the groove of the respective pulley.
• This rearming procedure implies that there is a sufficient level of wind to keep each blade, and therefore its associated axial pulley, in a given position while the central part supporting the key rotates thanks to the yaw actuator).
• the control spring is calibrated in such a way that the successive rearming of the various axial pulleys is carried out until the machine is completely rearmed.
• Figs. 7A and 7B illustrate a particular embodiment of this security and reset system.
• An actuator 71 controls in translation the assembly an assembly E consisting of parts 72, 73 and 74.
• the assembly E is locked in rotation by a part 75 which slides in a slot connected to the body of the base of the rotor (not shown). here).
• the assembly E drives in translation a safety rod 76 which forms at its free end a key 77 which is housed in or out of housings made in the axial pulleys of the rotor and which allows or not to block them in rotation.
• the mechanisms are disengaged, the pulleys are free to rotate and the blades also become free to rotate, which allows in particular feathering in the event of excessive wind.
• the assembly E acts on the rod 76 by means of a compression spring 74.
• the actuator yaw rotates a central piece 78 of the rotor which holds the pulleys until the key is sequentially aligned with the associated pulley housings.
• the key is then shifted step by step, by a step equal to a pulley thickness, and this successively until all the pulleys are reset in rotation.
• Figs. 7C and 7D illustrate another system for blocking the pulleys.
• This mechanism is similar to a clutch system with indexing of the elements to be blocked, here the pulleys.
• It includes a primary key 701 having here three housings 701a which make it possible to release or retain three indexing fingers 702 forming secondary keys. These are arranged to be able to be housed in grooves formed in the respective pulleys P.
• Fig. 7C it removes the fingers 702 from the pulley housings
• Fig. 7D it frees the fingers 702 which tend to press thanks to the respective springs 704 towards the inside of the pulleys.
• friction elements such as washers made of material of the type used for vehicle brake pads.
• This control can be electromechanical, with an actuator individually controlling, for example, the position of the axis of the slot element in relation to the axis of the finger element according to the mechanism of WO2017168359A1.
• the power supply of such an actuator, as well as the control instructions which can be implemented by carrier currents, can be conveyed (reference 83) by means of sliding contacts at the level of the main axis 84 of the rotor.
• a toothed belt transmission between central pinion and satellite pinion is advantageous in particular from the point of view of simplicity and cost, and on large rotor dimensions.
• This increase in tension can be achieved, for example, by a weight device subjected to centrifugal force and exerting on a tensioning member a displacement that is all the greater as the speed of rotation is high.
• Fig. 9 illustrates an example of this mechanism.
• a tension maintaining pulley 91 is applied to the belt 96 while being mounted on a plate 92 which pivots on a pin 93 fixed on an arm 94 of the rotor.
• a weight 95 At the end of the plate 92 is mounted a weight 95. It is understood that with the increase in the rotational speed of the rotor, the weight formed by this weight 95 generates a force directed towards the outside of the rotor under the effect of centrifugal force, which makes it possible to increase the pressure of the tension pulley 91 on the belt 96.
• the various parameters are determined so as to ensure a satisfactory level of tensioning.
• the slotted disc is fixed on the pulley 101 located at the end of the arm, in engagement with the belt 101a.
• This pulley 101 is mounted via ball bearings on an eccentric 102. It is understood that by rotating this eccentric, the distance from the axis of rotation of the slotted disc to the axis of the blade represented by the slotted disc is modified.
• a control rod 104 actuated by a mechanism as described in the present application or in one of the documents WO2014006603A1, WO2016067251 A1 and WO2017168359A1, can be moved in translation. This control rod 104 makes it possible, via a link 105, to adjust the angular position of the eccentric.
• a second link 106 which according to this embodiment is fixed on the same axis as the link 105, to rotate a plate 107 which pivots about an axis 108 and which maintains a tensioner roller 109.
• the geometry of the various members is determined so that the roller 109 maintains a satisfactory tension of the belt 101a whatever the angular adjustment of the eccentric.
• the translational offset of the slotted disc should ideally be do on a spoke of the rotor.
• the connecting pin between the central bevel gear and the bevel gear on the planet gear side is then splined on the planet gear side at the meshing of the slotted disc. This allows the translational movement, along a radius of the rotor, of the plate supporting the slotted disc and the bevel pinion by sliding on the spline of the connecting shaft.
• Document WO2016067251 A1 describes the use of a rotor in propulsion mode to propel a drone or marine craft, and in generator mode when the craft is moored, to generate electricity on board by exploiting sea currents.
• the blades 111 can be either free so as to immediately adapt to the orientation of the aquatic flow while minimizing the drag, or kept fixed and preferably in the axis of the boat 112, with their leading edge towards the bow, so as to generate a keel or centreboard effect.
• Another possibility is to orient the blades by slaving them on the rudder (in the case where the rotor is towards the rear of the boat) so as to assist the boat during tacking to give them an auxiliary rudder function. .
• a mechanism can be provided allowing easy replacement of a broken or damaged blade.
• each blade structure thus comprises an axis forming an overhanging frame (not shown) which is inserted into a sleeve 123 formed in a plate 122 associated with the respective blade, the plates being rotatably mounted in a support structure 121.
• connection in translation in the direction of the axis can be carried out by any mechanical means such as keying, clipping, screwing, or any combination of these solutions.
• the rotational connection is here achieved by giving the axis of the armature of the blade and its housing a non-circular cross section, here oblong.
• the angular position of the rotor is adjusted to its neutral position (pitch angle at 0 °) so that the axes of the blades are aligned with the axes of the slotted discs.
• FIG. 13 there is illustrated an embodiment where a set of three belts respectively connecting three central pulleys integral in rotation with the axis of the rotor (except disarming) to three satellite pulleys, is replaced by a single belt 131 ensuring the engagement a single axial pulley 132 with three satellite pulleys 133 respectively associated with the tilt variation mechanisms of three blades (not shown).
• a rotor according to one of the documents WO2014006603A1, WO2016067251 A1 and WO2017168359A1 or according to one of the improvements of this specification can be used for a manned vehicle or not, submerged or not.
• a submerged vehicle of generally tapered shape it is possible to provide several rotors having axes of rotation arranged in a star in a plane transverse to the direction of movement.

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• Engineering & Computer Science (AREA)
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• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Mechanical Engineering (AREA)
• General Engineering & Computer Science (AREA)
• Wind Motors (AREA)
• Structures Of Non-Positive Displacement Pumps (AREA)
• Accommodation For Nursing Or Treatment Tables (AREA)
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• 2020
  • 2020-04-10 FR FR2003668A patent/FR3109187B1/fr active Active
• 2021
  • 2021-04-12 US US17/995,726 patent/US20230065477A1/en active Pending
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• 2022
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