Symmetrical cam piezoelectric electromagnetic wave energy collector and wave energy collecting method thereof

Abstract

The invention discloses a symmetrical cam piezoelectric electromagnetic wave energy collector and a wave energy collecting method thereof, and relates to the technical field of wave energy power generation, the symmetrical cam piezoelectric electromagnetic wave energy collector comprises a light fixed shell, and a forced rotation unit, a piezoelectric unit, a crankshaft connecting rod unit and an electromagnetic unit are arranged in the light fixed shell. The forced rotation unit comprises a cylindrical cam, a connecting rod and a mass pendulum ball, and the top of the mass pendulum ball protrudes out of the light fixed shell; the piezoelectric unit comprises two groups of driven piece sleeves, two sets of piezoelectric plate groups and two groups of fixed collision teeth; the crankshaft connecting rod unit comprises two groups of connecting rods and crankshafts; the electromagnetic unit comprises two neodymium iron boron permanent magnet sets and two coils. The two symmetrically-arranged cam followers can impact each other to cross the dead point position of the slider-crank mechanism when driving the crankshaft connecting rod. Due to the design of the double-cam follower, the space utilization efficiency of the mechanism and the energy collection efficiency of the piezoelectric unit and the electromagnetic unit are improved, and the ocean robot achieves self-energy supply.

Description

Technical Field

[0001] The present invention relates to the technical field of wave energy power generation, and in particular to a symmetrical cam piezoelectric electromagnetic wave energy collector. Background Art

[0002] As marine robots are widely used in ocean exploration and ecological monitoring, people have put forward requirements for their endurance. At present, the power supply method of marine robots includes using batteries to provide electricity, but marine robots using this method need to be recycled and charged in time. Solar energy is used to power marine robots, but the collection of solar energy will be affected by the weather, making the power supply effect unstable when powering marine robots.

[0003] The work place of marine robots is in the ocean, which occupies two-thirds of the earth's area. The energy contained in the ocean is very considerable, including tidal energy, wave energy, temperature difference energy, salinity difference energy, etc. Among them, wave energy is the ocean energy with the greatest theoretical and practical development potential. The theoretically usable amount of wave energy is 3×10 12 W, the actual exploitable volume is 3×10 11 W, and as a green and clean energy, it will not affect the ecological environment. In addition, wave energy, as a kind of energy that exists in the ocean all the time, can be unaffected by time and space. Therefore, collecting wave energy to power marine robots is an effective way to solve the problem of marine robot endurance.

[0004] Providing an electromagnetic piezoelectric wave energy collector that can power marine robots without affecting the ecological environment is an urgent problem that needs to be solved. Summary of the invention

[0005] The present invention provides an electromagnetic piezoelectric wave energy collector, the main purpose of which is to solve the problem of energy supply and endurance of marine robots in related technologies.

[0006] According to a first aspect of the present disclosure, there is provided a symmetrical cam piezoelectric electromagnetic wave energy collector, comprising a hollow box-shaped lightweight fixed shell, wherein a forced rotation unit, a piezoelectric unit, a crankshaft connecting rod unit and an electromagnetic unit are arranged inside the lightweight fixed shell;

[0007] The forced rotation unit comprises a cylindrical cam, the lower end of which is rotatably mounted inside the light fixed housing, the upper end of which is rigidly connected to a connecting rod, the other end of which protrudes from the light fixed housing and is rigidly connected to a mass pendulum ball located directly above the light fixed housing;

[0008] The piezoelectric unit comprises a follower column I adjacent to one side of the cylindrical cam, the follower column I is vertically fixed inside the lightweight fixed housing, a follower sleeve I is sleeved on the follower column I, and a cam follower I is rotatably mounted on the outer surface of the follower sleeve I;

[0009] A follower column II adjacent to the other side of the cylindrical cam, wherein the follower column II is vertically fixed inside the lightweight fixed housing, a follower sleeve II is sleeved on the follower column II, and a cam follower II is rotatably mounted on the outer surface of the follower sleeve II;

[0010] A first top is vertically arranged on the outer circumferential surface of the cam follower I, a closed curved groove is arranged on the outer circumferential surface of the cylindrical cam around the outer circumference of the cylindrical cam, the first top is embedded in the curved groove, a second top is vertically arranged on the outer circumferential surface of the cam follower II, the second top is embedded in the curved groove, the difference between the strokes of the first top and the second top in the curved groove corresponds to the phase difference in the curve function, the phase difference is 180 degrees, the cylindrical cam rotates to drive the cam follower I and the follower sleeve I to reciprocate along the height direction of the follower column I, and the cylindrical cam rotates to drive the cam follower II and the follower sleeve II to reciprocate along the height direction of the follower column II5, the first center of the projection of the cam follower I in the vertical direction, the second center of the projection of the cam follower II in the vertical direction and the third center of the projection of the cylindrical cam in the vertical direction are on the same straight line;

[0011] The driven member sleeve I is provided with a piezoelectric sheet group I, and the piezoelectric sheet group I moves with the movement of the driven member sleeve I. A rectangular protrusion fixed collision tooth group I adapted to the piezoelectric sheet group I is provided inside the lightweight fixed shell. The rectangular protrusion fixed collision tooth group I collides with the piezoelectric sheet group I and deforms it, thereby utilizing the positive piezoelectric effect to convert mechanical energy into electrical energy. The driven member sleeve II is provided with a piezoelectric sheet group II, and the piezoelectric sheet group II moves with the movement of the driven member sleeve II. A rectangular protrusion fixed collision tooth group II adapted to the piezoelectric sheet group II is provided inside the lightweight fixed shell. The rectangular protrusion fixed collision tooth group II collides with the piezoelectric sheet group II and deforms it, thereby utilizing the positive piezoelectric effect to convert mechanical energy into electrical energy. The piezoelectric sheet group II and the piezoelectric sheet group I are both constructed based on piezoelectric sheets. The piezoelectric sheet is a series dual-chip structure. The upper piezoelectric ceramic and the lower piezoelectric ceramic are respectively bonded to the upper and lower surfaces of the copper substrate with conductive glue;

[0012] The crankshaft connecting rod unit comprises a connecting rod I, a connecting rod II, and a crankshaft, one end of the connecting rod I is connected to the driven piece sleeve I through a cylindrical pin, the other end of the connecting rod I is movably connected to a connecting rod journal of the crankshaft, one end of the connecting rod II is connected to the driven piece sleeve II through a cylindrical pin, the other end of the connecting rod II is movably connected to another connecting rod journal of the crankshaft, two first balancing blocks are arranged at the bottom of the lightweight fixed housing, the two first balancing blocks jointly limit the axial displacement of the connecting rod I, the connecting rod II and the crankshaft, the main journal of the crankshaft is rotatably mounted on the two first balancing blocks, the phase angles of the two groups of second balancing blocks of the crankshaft differ by 180 degrees, so that when one of the connecting rods I and II is at the highest point, the other connecting rod is at the lowest point, and each of the two groups of second balancing blocks comprises two second balancing blocks;

[0013] The electromagnetic unit includes a NdFeB permanent magnet group I, a coil I, a NdFeB permanent magnet group II and a coil II. Two forks are arranged at the main journal end of the crankshaft 17. The NdFeB permanent magnet group I is arranged on one of the two forks, and the NdFeB permanent magnet group II is arranged on the other of the two forks. The coil I is installed inside the lightweight fixed shell according to the position of the one fork, and the coil II is installed inside the lightweight fixed shell according to the position of the other fork. When the NdFeB permanent magnet group I rotates, the coil I will cut the magnetic flux lines and convert the mechanical energy into electrical energy. When the NdFeB permanent magnet group II rotates, the coil II will cut the magnetic flux lines and convert the mechanical energy into electrical energy.

[0014] Optionally, the lightweight fixed shell 6 is made of polymethyl methacrylate.

[0015] Optionally, a first extension rod is vertically arranged on the outer circumferential surface of the follower sleeve I, one end of the first extension rod is connected to the connecting rod I through a cylindrical pin, and a second extension rod is vertically arranged on the outer circumferential surface of the follower sleeve II, one end of the second extension rod is connected to the connecting rod II through a cylindrical pin.

[0016] Optionally, the end of the piezoelectric sheet group I penetrates into the gap of the fixed collision tooth group I but does not touch the edge of the lightweight fixed shell, and makes a linear reciprocating motion together with the driven member set I, and the end of the piezoelectric sheet group II penetrates into the gap of the fixed collision tooth group II but does not touch the edge of the lightweight fixed shell, and makes a linear reciprocating motion together with the driven member set II.

[0017] Optionally, relative rotation may occur between the cam follower I and the follower sleeve I, and relative rotation may occur between the cam follower II and the follower sleeve II.

[0018] Optionally, the curved groove on the cylindrical cam can achieve a frequency-upgrading effect by designing the period of the curved function.

[0019] Optionally, the magnetic poles of the permanent magnets in the NdFeB permanent magnet group I facing the coil I and the magnetic poles of the permanent magnets in the NdFeB permanent magnet group II facing the coil II are placed in the order of one south and one north.

[0020] Optionally, it also includes an energy storage unit installed on the inner wall of the lightweight fixed shell.

[0021] Optionally, the energy storage unit includes a full-wave rectifier, a filter capacitor, a voltage-stabilizing resistor, a voltage-stabilizing diode and a battery; after the electric energy of the piezoelectric unit and the electromagnetic unit is generated, it is rectified, filtered and stabilized and then stored in the energy storage unit.

[0022] According to a second aspect of the present disclosure, there is provided a wave energy collection method, which is applied to the symmetrical cam piezoelectric electromagnetic wave energy collector described in the first aspect, comprising:

[0023] When waves hit the wave energy collector, the whole structure tilts and the mass pendulum deflects due to gravity;

[0024] When the mass pendulum deflects, the cylindrical cam is driven to rotate through the connecting rod. The two cam followers matched with the cylindrical cam convert the rotational motion into linear reciprocating motion, and drive the piezoelectric sheet groups installed on the follower sleeves to perform linear reciprocating motion. The movement directions and speeds of the two are opposite. When one cam follower moves to the highest point, the other cam follower just moves to the lowest point. During the movement of the cam follower, it will collide with the fixed collision tooth group, causing the piezoelectric sheet to undergo elastic deformation, triggering the positive piezoelectric effect and generating alternating current. The phase difference between the two alternating currents is 180°. The generated alternating current passes through the energy storage circuit and is converted into pulsating direct current through a full-wave rectifier. After passing through the filter capacitor and the zener diode, it is stabilized at the reverse breakdown voltage position of the zener diode and charged into the battery for storage, completing the wave energy collection of the piezoelectric unit.

[0025] The driven member sleeve transmits its own linear reciprocating motion to the crankshaft through its corresponding connecting rod. The phase angle of the two connecting rod journals of the crankshaft is 180°. When one of the connecting rod journals is at the highest position, the other connecting rod journal is just at the lowest position. The two connecting rod journals drive the crankshaft to perform fixed-axis rotation under the drive of their respective driven member sleeves. The NdFeB permanent magnet groups respectively installed on the two end forks of the crankshaft move relative to their corresponding coil windings, cutting the magnetic flux lines to generate alternating current. The alternating current passes through the energy storage circuit and stores the electrical energy in the battery, completing the wave energy collection of the electromagnetic unit;

[0026] The two cam followers are symmetrically arranged and move in opposite directions. When one cam follower moves upward, the other cam follower moves downward. The two cam followers impact each other to make the crank slider mechanism cross its own dead point, achieving unidirectional rotation of the crankshaft and improving the efficiency of electromagnetic energy collection.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The solution of the present application utilizes a cylindrical cam, a crankshaft connecting rod mechanism and two energy conversion excitations to achieve an effective combination of piezoelectric power generation and electromagnetic power generation, and cleverly integrates a frequency-increasing mechanism and a unidirectional mechanism therein, thereby realizing the collection and storage of wave energy, effectively solving the power supply and endurance problems of the marine robot, and the compact design structure controls the volume and weight of the entire wave energy collector, laying the foundation for reducing the size of the marine robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is one of the structural schematic diagrams (axonometric diagrams) of the symmetrical cam piezoelectric electromagnetic wave energy collector provided by an embodiment of the present invention after the side plates and the top plate are removed;

[0030] Figure 2 This is one of the structural schematic diagrams (front view) of the symmetrical cam piezoelectric electromagnetic wave energy collector provided by the embodiment of the present invention after the side plates and the top plate are removed;

[0031] Figure 3 is a schematic structural diagram of a forced rotation unit provided by an embodiment of the present invention;

[0032] Figure 4 is a schematic structural diagram of a multi-pendulum ball forced rotation unit provided by an embodiment of the present invention;

[0033] Figure 5 is a schematic structural diagram of a crankshaft provided by an embodiment of the present invention;

[0034] Figure 6 It is a structural schematic diagram of the arrangement of magnetic poles in a NdFeB magnet group provided in an embodiment of the present invention;

[0035] Figure 7 is a schematic structural diagram of an energy storage unit provided in an embodiment of the present invention;

[0036] Figure 8 is a schematic diagram of the rotational motion of the mechanism provided by an embodiment of the present invention;

[0037] Fig. 9 It is a schematic diagram of the structure of the piezoelectric sheet group provided in an embodiment of the present invention.

[0038] Wherein: 1-mass pendulum ball; 2-connecting rod; 3-cylindrical cam; 4-follower column Ⅰ; 5-follower column Ⅱ; 6-lightweight fixed shell; 7-piezoelectric sheet group Ⅱ; 8-piezoelectric sheet group Ⅰ; 9-follower sleeve Ⅱ; 10-follower sleeve Ⅰ; 11-cam follower Ⅱ; 12-cam follower Ⅰ; 13-fixed collision tooth group Ⅰ; 14-fixed collision tooth group Ⅱ; 15-connecting rod Ⅱ; 16-connecting rod Ⅰ; 17-crankshaft; 18-NdFeB permanent magnet group Ⅱ; 19-NdFeB permanent magnet group Ⅰ; 20-coil Ⅰ; 21-coil Ⅱ; 22-full-wave rectifier; 23-filter capacitor; 24-voltage-stabilizing resistor; 25-voltage-stabilizing diode; 26-battery; 27-upper piezoelectric ceramic; 28-copper substrate; 29-lower piezoelectric ceramic. DETAILED DESCRIPTION

[0039] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0040] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Please refer to Figure 1-9 As shown, Figure 2 Used to supplement Figure 1 To more fully demonstrate a symmetrical cam piezoelectric electromagnetic wave energy collector involved in the present disclosure, comprising a hollow box-shaped lightweight fixed shell 6, inside of which a forced rotation unit, a piezoelectric unit, a crankshaft connecting rod unit and an electromagnetic unit are arranged;

[0043] The forced rotation unit comprises a cylindrical cam 3, the lower end of which is rotatably mounted inside a light fixed housing 6, a connecting rod 2 is rigidly connected to the upper end of the cylindrical cam 3, the other end of the connecting rod 2 protrudes from the light fixed housing 6 and is rigidly connected to a mass pendulum ball 1 located just above the light fixed housing;

[0044] The piezoelectric unit includes a follower column Ⅰ4 adjacent to one side of the cylindrical cam 3, the follower column Ⅰ4 is vertically fixed inside the lightweight fixed housing 6, a follower sleeve Ⅰ10 is sleeved on the follower column Ⅰ4, and a cam follower Ⅰ12 is rotatably mounted on the outer surface of the follower sleeve Ⅰ10;

[0045] A follower column II5 adjacent to the other side of the cylindrical cam 3, the follower column II5 is vertically fixed inside the lightweight fixed housing 6, a follower sleeve II9 is ​​sleeved on the follower column II5, and a cam follower II11 is rotatably mounted on the outer surface of the follower sleeve II9;

[0046] A first top is vertically arranged on the outer circumferential surface of the cam follower I12, a closed curved groove is arranged on the outer circumferential surface of the cylindrical cam 3 around the outer circumference of the cylindrical cam 3, the first top is embedded in the curved groove, a second top is vertically arranged on the outer circumferential surface of the cam follower II11, the second top is embedded in the curved groove, the difference between the strokes of the first top and the second top in the curved groove corresponds to the phase difference in the curve function, the phase difference is 180 degrees, the cylindrical cam 3 rotates to drive the cam follower I12 and the follower sleeve I10 to reciprocate along the height direction of the follower column I4, and the cylindrical cam 3 rotates to drive the cam follower II11 and the follower sleeve II9 to reciprocate along the height direction of the follower column II5, the first center of the projection of the cam follower I12 in the vertical direction, the second center of the projection of the cam follower II11 in the vertical direction and the third center of the projection of the cylindrical cam 3 in the vertical direction are on the same straight line and the included angle is 180 degrees;

[0047] The driven member sleeve Ⅰ10 is equipped with a piezoelectric sheet group Ⅰ8, and the piezoelectric sheet group Ⅰ8 moves with the movement of the driven member sleeve Ⅰ10. The piezoelectric sheet group Ⅰ8 is composed of 4 piezoelectric sheets. A rectangular protrusion fixed collision tooth group Ⅰ13 adapted to the piezoelectric sheet group Ⅰ8 is arranged inside the lightweight fixed shell 6. The rectangular protrusion fixed collision tooth group Ⅰ13 collides with the piezoelectric sheet group Ⅰ8 and deforms it, thereby utilizing the positive piezoelectric effect to convert mechanical energy into electrical energy. The driven member sleeve Ⅱ9 is equipped with a piezoelectric sheet group Ⅱ7, and the piezoelectric sheet group Ⅱ7 moves with the movement of the driven member sleeve Ⅱ9. The piezoelectric sheet group II7 is composed of 4 piezoelectric sheets. A rectangular protruding fixed collision tooth group II14 matched with the piezoelectric sheet group II7 is arranged inside the lightweight fixed shell 6. The rectangular protruding fixed collision tooth group II14 collides with the piezoelectric sheet group II7 and deforms it, thereby utilizing the positive piezoelectric effect to convert mechanical energy into electrical energy. The piezoelectric sheet is a series dual-chip structure. The upper and lower surfaces of the copper substrate 28 are respectively bonded with the upper piezoelectric ceramic 27 and the lower piezoelectric ceramic 29 with conductive glue; the piezoelectric unit has the advantages of high sensitivity, fast response speed, and easy integration. In addition, the piezoelectric structure also has high stability and reliability, and can work for a long time in various environments. It should be understood that the structure of the piezoelectric sheet group I8 and the piezoelectric sheet group II7 are the same, both are Fig. 9 The piezoelectric piece group structure is shown.

[0048] The crankshaft connecting rod unit includes a connecting rod Ⅰ16, a connecting rod Ⅱ15, and a crankshaft 17. One end of the connecting rod Ⅰ16 is connected to the driven member sleeve Ⅰ10 through a cylindrical pin, and the other end of the connecting rod Ⅰ16 is movably connected to a connecting rod journal of the crankshaft 17. One end of the connecting rod Ⅱ15 is connected to the driven member sleeve Ⅱ9 through a cylindrical pin, and the other end of the connecting rod Ⅱ15 is movably connected to another connecting rod journal of the crankshaft 17. Two first balancing blocks are provided at the bottom of the lightweight fixed housing 6. The two first balancing blocks jointly limit the axial displacement of the connecting rod Ⅰ16, the connecting rod Ⅱ15 and the crankshaft 17. The main journal of the crankshaft 17 is rotatably mounted on the two first balancing blocks. The phase angles of the two groups of second balancing blocks of the crankshaft 17 differ by 180 degrees, so that when one of the connecting rods I 16 and II 15 is at the highest point, the other connecting rod is at the lowest point. Each group of the two groups of second balancing blocks includes two second balancing blocks. The bottom of the lightweight fixed housing 6 is provided with openings respectively adapted to the shapes of the one connecting rod journal and the other connecting rod journal. The crankshaft connecting rod unit can efficiently transmit energy through a simple structure, and has stability and reliability.

[0049] The electromagnetic unit includes a NdFeB permanent magnet group I19, a coil I20, a NdFeB permanent magnet group II18 and a coil II21. Two forks are arranged at the main journal end of the crankshaft 17, and the two forks are claw-type forks. The NdFeB permanent magnet group I19 is arranged on one of the two forks, and the NdFeB permanent magnet group II18 is arranged on the other of the two forks. The coil I20 is installed inside the lightweight fixed shell 6 according to the position of the one fork, and the coil II21 is installed inside the lightweight fixed shell 6 according to the position of the other fork. When the NdFeB permanent magnet group I19 rotates, the coil I20 will cut the magnetic flux lines and convert mechanical energy into electrical energy. When the NdFeB permanent magnet group II18 rotates, the coil II21 will cut the magnetic flux lines and convert mechanical energy into electrical energy. The electromagnetic unit can achieve voltage conversion and current adjustment by adjusting the turns ratio of coil I 20 and coil II 21, thereby achieving the conversion and transmission of mechanical energy and electromagnetic energy and reducing energy loss.

[0050] As a refinement of the above embodiment, the lightweight fixed shell 6 is made of polymethyl methacrylate.

[0051] As a refinement of the above embodiment, a first extension rod is vertically arranged on the outer circumferential surface of the follower sleeve I10, and one end of the first extension rod is connected to the connecting rod I16 through a cylindrical pin. A second extension rod is vertically arranged on the outer circumferential surface of the follower sleeve II9, and one end of the second extension rod is connected to the connecting rod II15 through a cylindrical pin.

[0052] As a refinement of the above embodiment, the end of the piezoelectric sheet group I8 penetrates into the gap of the fixed collision tooth group I13, but does not touch the edge of the lightweight fixed shell 6, and makes a linear reciprocating motion together with the driven member sleeve I10, and the end of the piezoelectric sheet group II7 penetrates into the gap of the fixed collision tooth group II14, but does not touch the edge of the lightweight fixed shell 6, and makes a linear reciprocating motion together with the driven member sleeve II9.

[0053] As a refinement of the above embodiment, relative rotation may occur between the cam follower Ⅰ12 and the follower sleeve Ⅰ10, and relative rotation may occur between the cam follower Ⅱ11 and the follower sleeve Ⅱ9.

[0054] As a refinement of the above embodiment, the curved groove on the cylindrical cam 3 can achieve a frequency-up effect by designing the period of the curved function.

[0055] As a refinement of the above embodiment, the magnetic poles of the permanent magnets in the NdFeB permanent magnet group I 19 facing the coil I 20 and the magnetic poles of the permanent magnets in the NdFeB permanent magnet group II 18 facing the coil II 21 are placed in a south-to-north order.

[0056] In order to more intuitively show the magnetic pole arrangement of each permanent magnet in the NdFeB permanent magnet group I 19 and the NdFeB permanent magnet group II 18, please refer to Figure 6 The magnetic pole arrangement of the NdFeB permanent magnet group I 19 is the same as that of the NdFeB permanent magnet group II 18. Figure 6 For the sake of clarity and simplicity, this embodiment only takes the magnetic pole arrangement of the NdFeB permanent magnet group II 18 as an example. Figure 6 ,from Figure 6 It can be seen from the figure that the NdFeB permanent magnet group II 18 is a six-claw fork, and the magnetic poles on each claw fork are arranged alternately with north and south magnetic poles. Similarly, the magnetic pole arrangement of the NdFeB permanent magnet group I 19 is also arranged alternately with north and south magnetic poles.

[0057] As a refinement of the above embodiment, it also includes an energy storage unit installed on the inner wall of the lightweight fixed shell 6.

[0058] As a refinement of the above embodiment, the energy storage unit includes a full-wave rectifier 22, a filter capacitor 23, a voltage-stabilizing resistor 24, a voltage-stabilizing diode 25 and a battery 26; after the electric energy of the piezoelectric unit and the electromagnetic unit is generated, it is rectified, filtered and stabilized and then stored in the energy storage unit.

[0059] As a refinement of the above embodiment, the full-wave rectifier 22 includes but is not limited to a bridge full-wave rectifier.

[0060] This embodiment provides a forced rotation unit, the specific structure of which is as follows Figure 3 As shown, the forced rotation unit includes the cylindrical cam 3, the lower end of the cylindrical cam 3 is rotatably mounted inside the lightweight fixed shell 6, a connecting rod 2 is rigidly connected to the upper end of the cylindrical cam 3, the other end of the connecting rod 2 protrudes from the lightweight fixed shell 6 and is rigidly connected to a mass pendulum ball 1 located directly above the lightweight fixed shell, and the connecting rod 2 is an L-shaped connecting rod.

[0061] This embodiment provides a multi-pendulum ball forced rotation unit, the specific structure is as follows Figure 4 As shown, it includes the cylindrical cam 3, the lower end of the cylindrical cam 3 is rotatably mounted inside the light fixed housing 6, the upper end of the cylindrical cam 3 is rigidly connected to a connecting rod 2, the other end of the connecting rod 2 protrudes from the light fixed housing 6 and is rigidly connected to four mass pendulum balls 1 located just above the light fixed housing, and the connecting rod 2 is a multi-forked connecting rod, that is, the other end of the connecting rod 2 has four forks to connect the four mass pendulum balls 1 respectively. It should be understood that Figure 3 The forced rotation unit shown in Figure 4 Any one of the multiple pendulum ball forced rotation units shown in the figure can be applied to the symmetrical cam piezoelectric electromagnetic wave energy collector proposed in the present disclosure, and Figure 3The forced rotation unit shown in Figure 4 The multiple pendulum ball forced rotation units shown in the figure can be used interchangeably.

[0062] In order to facilitate the understanding of the above embodiment, this embodiment provides an exemplary description, including: when the mass pendulum 1 deflects, the cylindrical cam 3 is driven to rotate through the connecting rod 2, and the cam follower Ⅰ12 and the cam follower Ⅱ11 matched therewith convert the rotational motion into linear reciprocating motion. The cam working profile covered on the cylindrical cam 3 is unfolded on the plane as a cosine function, that is, the curve function, and there is neither rigid impact nor flexible impact during operation, and its expression is:

[0063]

[0064] Among them, x is a coefficient variable, which drives the piezoelectric sheet group Ⅰ8 and the piezoelectric sheet group Ⅱ7 on the driven piece set Ⅰ10 and the driven piece set Ⅱ9 to collide with the fixed collision tooth group Ⅰ13 and the fixed collision tooth group Ⅱ14, so that the piezoelectric sheet generates an alternating current. After the alternating current passes through the full-wave rectifier 22, the filter capacitor 23 and the voltage-stabilizing diode 25, the output terminal voltage is stabilized at the reverse breakdown voltage position of the voltage-stabilizing diode 25, charging the battery, and completing the wave energy collection of the piezoelectric unit;

[0065] It should be noted that the piezoelectric effect can be described by the piezoelectric constitutive equation:

[0066]

[0067] Where: σ and δ are strain vectors and stress vectors; E and D are electric field vectors and electric displacement vectors, respectively; s is the elastic coefficient under constant electric field, ε is the dielectric constant under constant stress, t is the forward and inverse piezoelectric effect constant force matrix, the superscript t represents the transpose, and the superscripts E and T represent constants under constant electric field and constant stress.

[0068] The driven piece set Ⅰ10 and the driven piece set Ⅱ9 transmit their own linear reciprocating motion to the crankshaft 17 through the connecting rod Ⅰ16 and the connecting rod Ⅱ15 respectively. The crankshaft 17 rotates, and the NdFeB permanent magnet group Ⅱ18 and the NdFeB permanent magnet group Ⅰ19 on the claw-shaped fork move relative to the coil Ⅱ20 and the coil Ⅰ21, cutting the magnetic flux lines to generate alternating current. Similarly, the energy collected by the electromagnetic unit is stored in the battery through the above-mentioned energy storage circuit. It should be noted that the induced electromotive force can be expressed by the following formula:

[0069]

[0070] Where: E is the induced electromotive force generated by cutting the magnetic flux lines, N is the number of coil turns, is the flux change, and Δt is the flux change time.

[0071] NdFeB permanent magnet group II 18 and NdFeB permanent magnet group I 19 also play the role of flywheel in the mechanism, and can help the crankshaft 17 to cross the dead point through inertia, so that the crankshaft 17 can rotate unidirectionally, thereby improving the efficiency of electromagnetic energy collection.

[0072] Please see attached Figure 5 The small symmetrical cam piezoelectric electromagnetic wave energy collector disclosed in the present invention also includes an energy storage unit installed on the inner wall of a lightweight fixed shell 6, wherein the energy storage unit includes a full-wave rectifier 22, one end of the full-wave rectifier 22 is two input ends, and the other end is a positive output end and a negative output end; a filter capacitor 23 is connected in parallel to the output end to smooth the rectified DC voltage and reduce pulsating ripples; a stabilizing resistor 24 is connected in series to the positive output end of the full-wave rectifier 22 to limit current or divide voltage; a stabilizing diode 25 is connected in parallel to the stabilizing resistor 24 to achieve a more stable voltage output; the positive output end and the negative output end are respectively connected to the positive and negative electrodes of a battery 26 for energy storage.

[0073] After the electric energy generated by the piezoelectric unit and the electromagnetic unit is rectified, filtered and stabilized, it is stored in the energy storage unit. When there is excess power supply, the energy storage unit can store electric energy; when there is a peak in power demand or a power outage, the electric energy is released to meet the demand, thereby ensuring the stable operation of the power system and improving the quality of power.

[0074] Corresponding to the above-mentioned symmetrical cam piezoelectric electromagnetic wave energy collector, the present invention also proposes a wave energy collection method. Since the method embodiment of the present invention corresponds to the above-mentioned device embodiment, the details not disclosed in the method embodiment can be referred to the above-mentioned device embodiment, and will not be repeated in the present invention.

[0075] The present invention provides a wave energy collection method, which is applied to the aforementioned symmetrical cam piezoelectric electromagnetic wave energy collector, comprising:

[0076] When waves hit the wave energy collector, the whole structure tilts and the mass pendulum deflects due to gravity;

[0077] When the mass pendulum deflects, the cylindrical cam is driven to rotate through the connecting rod. The two cam followers matched with the cylindrical cam convert the rotational motion into linear reciprocating motion, and drive the piezoelectric sheet groups installed on the follower sleeves to perform linear reciprocating motion. The movement directions and speeds of the two are opposite. When one cam follower moves to the highest point, the other cam follower just moves to the lowest point. During the movement of the cam follower, it will collide with the fixed collision tooth group, causing the piezoelectric sheet to undergo elastic deformation, triggering the positive piezoelectric effect and generating alternating current. The phase difference between the two alternating currents is 180°. The generated alternating current passes through the energy storage circuit and is converted into pulsating direct current through a full-wave rectifier. After passing through the filter capacitor and the zener diode, it is stabilized at the reverse breakdown voltage position of the zener diode and charged into the battery for storage, completing the wave energy collection of the piezoelectric unit.

[0078] The driven member sleeve transmits its own linear reciprocating motion to the crankshaft through its corresponding connecting rod. The phase angle of the two connecting rod journals of the crankshaft is 180°. When one of the connecting rod journals is at the highest position, the other connecting rod journal is just at the lowest position. The two connecting rod journals drive the crankshaft to perform fixed-axis rotation under the drive of their respective driven member sleeves. The NdFeB permanent magnet groups respectively installed on the two end forks of the crankshaft move relative to their corresponding coil windings, cutting the magnetic flux lines to generate alternating current. The alternating current passes through the energy storage circuit and stores the electrical energy in the battery, completing the wave energy collection of the electromagnetic unit;

[0079] The two cam followers are symmetrically arranged and move in opposite directions. When one cam follower moves upward, the other cam follower moves downward. The two cam followers impact each other to make the crank slider mechanism cross its own dead point, achieving unidirectional rotation of the crankshaft and improving the efficiency of electromagnetic energy collection.

[0080] The angle between the two sets of symmetrical mechanisms in the wave energy collector is 180°. The symmetrical mechanisms include a cam follower, a follower sleeve, a follower column and a fixed collision tooth group. Compared with a single set of structures, the two sets of symmetrical structures significantly improve the wave energy collection efficiency of the piezoelectric unit and the electromagnetic unit and the space utilization of the entire wave energy collector.

[0081] In practical applications, the device is mounted on a robot. As the robot works underwater, the device tilts, triggering the power generation device, and the robot can directly obtain energy from the waves, thereby achieving self-sufficiency. Therefore, the present invention greatly prolongs the robot's endurance and operating range, and its small size and efficient energy conversion reduce the robot's dependence on external energy, thereby reducing costs.

[0082] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. Symmetrical cam piezoelectric electromagnetic wave energy collector, characterized in that: It comprises a hollow box-shaped lightweight fixed shell (6), wherein a forced rotation unit, a piezoelectric unit, a crankshaft connecting rod unit and an electromagnetic unit are arranged inside the lightweight fixed shell; The forced rotation unit comprises a cylindrical cam (3), the lower end of which is rotatably mounted inside a light fixed housing (6), a connecting rod (2) is rigidly connected to the upper end of the cylindrical cam (3), the other end of the connecting rod (2) protrudes from the light fixed housing (6) and is rigidly connected to a mass pendulum ball (1) located directly above the light fixed housing; The piezoelectric unit comprises a follower column I (4) adjacent to one side of the cylindrical cam (3), the follower column I (4) being vertically fixed inside the lightweight fixed housing (6), a follower sleeve I (10) being sleeved on the follower column I (4), and a cam follower I (12) being rotatably mounted on the outer surface of the follower sleeve I (10); A follower column II (5) adjacent to the other side of the cylindrical cam (3), the follower column II (5) being vertically fixed inside the lightweight fixed housing (6), a follower sleeve II (9) being sleeved on the follower column II (5), and a cam follower II (11) being rotatably mounted on the outer surface of the follower sleeve II (9); A first top is vertically arranged on the outer circumferential surface of the cam follower I (12); a closed curved groove is arranged on the outer circumferential surface of the cylindrical cam (3) around the outer circumference of the cylindrical cam (3); the first top is embedded in the curved groove; a second top is vertically arranged on the outer circumferential surface of the cam follower II (11); the second top is embedded in the curved groove; the difference between the strokes of the first top and the second top in the curved groove corresponds to the phase difference in the curve function; the phase difference is 180 degrees; the cylindrical cam (3 ) rotates to drive the cam follower I (12) and the follower sleeve I (10) to reciprocate along the height direction of the follower column I (4), and the cylindrical cam (3) rotates to drive the cam follower II (11) and the follower sleeve II (9) to reciprocate along the height direction of the follower column II (5), and the first center of the projection of the cam follower I (12) in the vertical direction, the second center of the projection of the cam follower II (11) in the vertical direction, and the third center of the projection of the cylindrical cam (3) in the vertical direction are located on the same straight line; The driven member sleeve I (10) is provided with a piezoelectric sheet group I (8), and the piezoelectric sheet group I (8) moves with the movement of the driven member sleeve I (10). A rectangular protruding fixed collision tooth group I (13) adapted to the piezoelectric sheet group I (8) is arranged inside the lightweight fixed housing (6). The rectangular protruding fixed collision tooth group I (13) collides with the piezoelectric sheet group I (8) and deforms it, thereby utilizing the positive piezoelectric effect to convert mechanical energy into electrical energy. The driven member sleeve II (9) is provided with a piezoelectric sheet group II (7), and the piezoelectric sheet group II (7) moves with the driven member sleeve II (9). The piezoelectric plate group II (7) is adapted to move with the movement of the piezoelectric plate group II (7), and a rectangular protrusion fixed collision tooth group II (14) is arranged inside the light fixed shell (6). The rectangular protrusion fixed collision tooth group II (14) collides with the piezoelectric plate group II (7) and deforms it, thereby utilizing the positive piezoelectric effect to convert mechanical energy into electrical energy. The piezoelectric plate group II (7) and the piezoelectric plate group I (8) are both constructed based on piezoelectric plates. The piezoelectric plates are of a series dual-chip structure. The upper and lower surfaces of the copper substrate (28) are respectively bonded with an upper piezoelectric ceramic (27) and a lower piezoelectric ceramic (29) by conductive adhesive. The crankshaft connecting rod unit comprises a connecting rod I (16), a connecting rod II (15), and a crankshaft (17). One end of the connecting rod I (16) is connected to the driven member sleeve I (10) via a cylindrical pin, and the other end of the connecting rod I (16) is movably connected to a connecting rod journal of the crankshaft (17). One end of the connecting rod II (15) is connected to the driven member sleeve II (9) via a cylindrical pin, and the other end of the connecting rod II (15) is movably connected to another connecting rod journal of the crankshaft (17). Two connecting rods are provided at the bottom of the lightweight fixed housing (6). a first balancing block, wherein the two first balancing blocks jointly limit the axial displacement of the connecting rod I (16), the connecting rod II (15) and the crankshaft (17), the main journal of the crankshaft (17) is rotatably mounted on the two first balancing blocks, the phase angles of the two groups of second balancing blocks of the crankshaft (17) differ by 180 degrees, so that when one of the connecting rods I (16) and the connecting rod II (15) is at the highest point, the other connecting rod is at the lowest point, and each of the two groups of second balancing blocks includes two second balancing blocks; The electromagnetic unit comprises a NdFeB permanent magnet group I (19), a coil I (20), a NdFeB permanent magnet group II (18) and a coil II (21). Two forks are arranged at the main journal end of the crankshaft (17). The NdFeB permanent magnet group I (19) is arranged on one of the two forks, and the NdFeB permanent magnet group II (18) is arranged on the other of the two forks. The coil I (20) is installed inside the lightweight fixed housing (6) according to the position of the one fork, and the coil II (21) is installed inside the lightweight fixed housing (6) according to the position of the other fork. When the NdFeB permanent magnet group I (19) rotates, the coil I (20) cuts the magnetic flux lines and converts mechanical energy into electrical energy. When the NdFeB permanent magnet group II (18) rotates, the coil II (21) cuts the magnetic flux lines and converts mechanical energy into electrical energy.

2. The symmetrical cam piezoelectric electromagnetic wave energy collector according to claim 1 is characterized in that: The lightweight fixed shell (6) is made of polymethyl methacrylate.

3. The symmetrical cam piezoelectric electromagnetic wave energy collector according to claim 1 is characterized in that: A first extension rod is vertically arranged on the outer circumferential surface of the follower sleeve I (10), and one end of the first extension rod is connected to the connecting rod I (16) through a cylindrical pin. A second extension rod is vertically arranged on the outer circumferential surface of the follower sleeve II (9), and one end of the second extension rod is connected to the connecting rod II (15) through a cylindrical pin.

4. The symmetrical cam piezoelectric electromagnetic wave energy collector according to claim 1 is characterized in that: The end of the piezoelectric sheet group I (8) penetrates into the gap of the fixed collision tooth group I (13) but does not touch the edge of the lightweight fixed housing (6), and makes linear reciprocating motion together with the driven member sleeve I (10). The end of the piezoelectric sheet group II (7) penetrates into the gap of the fixed collision tooth group II (14) but does not touch the edge of the lightweight fixed housing (6), and makes linear reciprocating motion together with the driven member sleeve II (9).

5. The symmetrical cam piezoelectric electromagnetic wave energy collector according to claim 1 is characterized in that: The cam follower I (12) and the follower sleeve I (10) can rotate relative to each other, and the cam follower II (11) and the follower sleeve II (9) can rotate relative to each other.

6. The symmetrical cam piezoelectric electromagnetic wave energy collector according to claim 1 is characterized in that: The curved groove on the cylindrical cam (3) can achieve a frequency-increasing effect by designing the period of the curved function.

7. The symmetrical cam piezoelectric electromagnetic wave energy collector according to claim 1 is characterized in that: The magnetic poles of the permanent magnets in the NdFeB permanent magnet group I (19) facing the coil I (20) and the magnetic poles of the permanent magnets in the NdFeB permanent magnet group II (18) facing the coil II (21) are placed in a south-north order.

8. The symmetrical cam piezoelectric electromagnetic wave energy collector according to claim 1 is characterized in that: It also includes an energy storage unit installed on the inner wall of the lightweight fixed shell (6).

9. The symmetrical cam piezoelectric electromagnetic wave energy collector according to claim 8 is characterized in that: The energy storage unit comprises a full-wave rectifier (22), a filter capacitor (23), a voltage-stabilizing resistor (24), a voltage-stabilizing diode (25) and a battery (26); after the electric energy generated by the piezoelectric unit and the electromagnetic unit is rectified, filtered and voltage-stabilized, the electric energy is stored in the energy storage unit.

10. A wave energy collection method, applied to the symmetrical cam piezoelectric electromagnetic wave energy collector according to any one of claims 1 to 9, characterized in that: include: When waves hit the wave energy collector, the whole structure tilts and the mass pendulum deflects due to gravity; When the mass pendulum deflects, the cylindrical cam is driven to rotate through the connecting rod. The two cam followers matched with the cylindrical cam convert the rotational motion into linear reciprocating motion, and drive the piezoelectric sheet groups installed on the follower sleeves to perform linear reciprocating motion. The movement directions and speeds of the two are opposite. When one cam follower moves to the highest point, the other cam follower just moves to the lowest point. During the movement of the cam follower, it will collide with the fixed collision tooth group, causing the piezoelectric sheet to undergo elastic deformation, triggering the positive piezoelectric effect and generating alternating current. The phase difference between the two alternating currents is 180°. The generated alternating current passes through the energy storage circuit and is converted into pulsating direct current through a full-wave rectifier. After passing through the filter capacitor and the zener diode, it is stabilized at the reverse breakdown voltage position of the zener diode and charged into the battery for storage, completing the wave energy collection of the piezoelectric unit. The driven member sleeve transmits its own linear reciprocating motion to the crankshaft through its corresponding connecting rod. The phase angle of the two connecting rod journals of the crankshaft is 180°. When one of the connecting rod journals is at the highest position, the other connecting rod journal is just at the lowest position. The two connecting rod journals drive the crankshaft to perform fixed-axis rotation under the drive of their respective driven member sleeves. The NdFeB permanent magnet groups respectively installed on the two end forks of the crankshaft move relative to their corresponding coil windings, cutting the magnetic flux lines to generate alternating current. The alternating current passes through the energy storage circuit and stores the electrical energy in the battery, completing the wave energy collection of the electromagnetic unit; The two cam followers are symmetrically arranged and move in opposite directions. When one cam follower moves upward, the other cam follower moves downward. The two cam followers impact each other to make the crank slider mechanism cross its own dead point, achieving unidirectional rotation of the crankshaft and improving the efficiency of electromagnetic energy collection.

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