CN104773271A - Remote control type machine sea turtle - Google Patents
Remote control type machine sea turtle Download PDFInfo
- Publication number
- CN104773271A CN104773271A CN201510164546.5A CN201510164546A CN104773271A CN 104773271 A CN104773271 A CN 104773271A CN 201510164546 A CN201510164546 A CN 201510164546A CN 104773271 A CN104773271 A CN 104773271A
- Authority
- CN
- China
- Prior art keywords
- turtle
- rod member
- sink
- aluminium sheet
- steering wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Toys (AREA)
Abstract
The invention discloses a remote control type machine sea turtle. The remote control type machine sea turtle comprises a cuboidal plastic box as a machine sea turtle body, wherein a sinking-floating mechanism for enabling the machine sea turtle body to sink and float is arranged in the cuboidal plastic box; a plurality of water pumps which are distributed along three surfaces of the plastic box are consolidated on the outer wall of the cuboidal plastic box, drainage of the water pumps can push the sea turtle to move forward or move left and right; a garbage filter is designed below the cuboidal plastic box, the garbage filter comprises a water flow box, a propeller device for sucking water flow into a water flow box is consolidated before the water flow box, and a garbage filter mesh is arranged behind the water flow box; a limb action driving mechanism is consolidated on the garbage filter and can drive four limbs of the sea turtle to move; and a designed control mechanism is used for controlling the sinking-floating mechanism, the water pumps, the limb action driving mechanism and the propeller to work. The remote control type machine sea turtle disclosed by the invention has novel and reasonable structure, and compared with other bionic sea turtles, the cost is low, and the remote control type machine sea turtle integrates the functions of entertainment and cleaning into a whole and further has potential market value in aquariums, swimming pools and other places.
Description
The application is the divisional application of application number 201310113224.9, the applying date: 2013-04-03, title " Turtle robot ".
Technical field
The present invention relates to a kind of based on the clean underwater combined with amusement, is a kind of Turtle robot.
Background technology
At present, similar form has: aquatic bionic green turtle diving robot, bionic machine green turtle etc.
Aquatic bionic green turtle robot current situation
1. a bionic type Turtle robot of Peking University.This bionic machine green turtle has two-stage freedom degree Qi Zhi mechanism, and can realize complicated three-dimensional motion, this is a Turtle robot based on bionic coatings, and it is simple by butter layer sealing mechanism, reliable and stable at underwater exercise, and flexibly, manoevreability is good in motion.The aquatic fish of main analog and whale globefish class bionical wave propulsion mode, can be applicable to underwater unmanned detector.
2. the researcher of Swiss Federal Institute of Technology is prototype with green turtle, has made one " green turtle " and to have dived under water robot.Two fins of its front end have quite high mechanical reduction degree, arbitrarily can rotate at three dimensional space, allow its trip speed reach 2 meter per seconds.In addition, robot further provided with some equipment for scientific research, helps scientist easily to finish the work under the marine environment of complexity.
3. Northwestern Polytechnical University imitates green turtle flapping wing under-water robot.This robot is that a kind of imitative green turtle advances, adopts flapping wing advance and be with gliding function, have high maneuverability, efficiently, low-resistance low noise, low-power consumption, oceangoing voyage journey Multi-purpose underwater robot.It has flapping wing and advances and glide two kinds of mode of operations.When flapping wing advances, flutter water by the main wing of robot both sides and produce thrust, promote robot and advance, then adjust navigation attitude by the rear rudder of both sides, and by being combined by the various mode of operations of the direction of propulsion of two flapping wings and rudder, the various simple or complicated motion of robot can be realized.During glide, flapping wing quits work, and by regulating gravity and the center-of-gravity position of robot, can realize the underwater gliding of robot.By carrying various specialized equipment on this robot, the application of the aspects such as marine resources exploration, marine environment investigation also can be carried out.
Mainly for scientific research, there is cost high in above-mentioned aquatic bionic green turtle, design is complicated, is unfavorable for the problem promoted to masses.On the other hand, integrate practical also very rare with the bionic machine fish of amusement, on market, aquarium, swimming pool etc. almost do not have similar amusement and have the imitative green turtle machine appearance of certain function, and wherein cleaning function helps to extend exchange water cycle, saving water resource.While bringing entertainment effect, also reaffirm the importance of environmental protection, saving water resource, promote that youngsters and children understands sea, understanding marine creature, help to increase experience.Recently the appearance of some bionic machine fishs becomes a large attraction, by means of the sense of reality that it brings, has attracted the eyeball of a lot of spectators, has even been difficult to distinguish truth from false.The appearance of these Biomimetic Fishs also represents amusement, and to view and admire machinery extensively welcomed by the people, has very large market development space.Turtle robot changes spectators and only possesses to bionic machine fish the understanding that amusement function and underwater cleaning tool can only realize cleansing action, the theory of electric-mechanic control system, practical and amusement complementation has been set forth again to modern, simultaneously also for the development person of vast machine fish provide more wide thinking, allow them as inspiration, the installations integrating practicality and amusement can be designed more.Therefore these works have larger market outlook and promotional value.
Summary of the invention
The object of the present invention is to provide a kind of rational in infrastructure, serviceability is novel, can be used for the Turtle robot of clearing up rubbish in water.
Technical solution of the present invention is:
A kind of Turtle robot, is characterized in that: comprise the spam filters below as the cuboid plastic casing of Turtle robot health and cuboid plastic casing; The sink-float mechanism that Turtle robot health is risen and fallen is set in cuboid plastic casing, the multiple water pump along plastic casing three EDS maps of consolidation on cuboid plastic casing outer wall, the drainage direction of multiple water pump comprise left and right, after; In spam filters, consolidation drives the limb action driver train of quadruped locomotion; Spam filters comprises current box, and before current box, current are sucked the propeller arrangement in current box by consolidation, arrange rubbish filtering net after current box; Control system controls the work of sink-float mechanism, water pump, limb action driver train and screw propeller.
Described sink-float mechanism comprises head and stretches out the syringe that plastic casing carries out discharging water, injector cartridge is fixed on fixing aluminium sheet, fixing aluminium sheet is fixedly mounted with sink-float drive motor, the piston rod of syringe is fixedly connected with mobile aluminium sheet, mobile aluminium sheet is fixedly connected with tooth bar, and the output shaft gear of sink-float drive motor engages with tooth bar.
Fixing aluminium sheet fills guidepost, and the slide block of guidepost is fixedly connected on mobile aluminium sheet by aluminum corner brace.
Plastic casing tank top plate blocks a plastic grid, injector cartridge is fixed on fixing aluminium sheet, and fixing aluminium sheet is fixed on plastic grid by bolt and nut, and syringe card within a grid, realizes horizontal location.
Described limb action driver train comprises the guide rail be fixed in spam filters, four limbs drive steering wheel to be fixedly connected on guide rail, four limbs drive the output shaft of steering wheel to be connected with steering wheel, the structure that two ends of steering wheel connect to drive centered by the output shaft of steering wheel symmetrically structure by four limbs, this symmetrical structure comprises the first rod member that one end is connected turnably with steering wheel, the other end of the first rod member is connected turnably with slide block, slide block is connected turnably with one end of the second rod member, the other end of the second rod member is connected turnably with the 3rd rod member, 3rd rod member is being connected with the 4th rod member turnably near the second rod member junction, 4th rod member is fixed on guide rail perpendicular to guide rail direction.Described slide block can in slide on rails or rolling.
The box that the base plate that rubbish filtering net is converted into by soft glass is with holes and the filter cloth be contained on hole form, and this filtering net is arranged on the water export place of current box by hasp; Current deflecting plate is provided with in current box.
Described control system is distance type control system, comprises main control module, and main control module is connected with wireless receiving module, and main control module is connected with motor drive module.
Novel and reasonable structure of the present invention, with low cost compared to other bionical green turtles, double amusement and cleaning function, in one, have market potential and are worth in the place such as aquarium, swimming pool.Can promote that youngsters and children understands sea, understanding marine creature, help to increase experience, while bringing entertainment effect, in its clean water, the function of rubbish can reduce water circulation, thus saving water resource.The present invention uses cuboid plastic casing and spam filters as the health of green turtle, devises the four limbs of the Turtle robot that can move; Devise kinematic mechanism and the sink-float mechanism in left and right, first three direction; Devise water is processed, the filter for installation of junk-free; Remote controller is combined with micro controller system, achieves the control to Turtle robot.
Main innovate point of the present invention
Function innovation:
In the face of current submarine mechanical function is single-minded, towards scientific research, cost of manufacture is high, the present situation that on market, games for play is few under water simultaneously, we simulate the feature of green turtle in ocean, avoid excessively bionical the brought high cost of pursuit, devise a with low cost, gathered the Turtle robot that garbage-cleaning and amusement be integrated, have enrich recreational while have certain practicality.This Turtle robot forward and side-to-side movement, can realize the filtration to water source.Not having relevant report at present, is an innovation substantially of the present invention.
Structure innovation:
1. about the motion of four limbs, based on the feature of slider-crank mechanism, carry out the positive and negative combination of slider-crank mechanism, devised the structure of symmetrical expression simultaneously, by the positive and negative motion control with certain angle of steering wheel, the motion of green turtle four limbs is made to reach conformability dexterously.
2. adopt the propulsive effort that external pumping drainage moves as green turtle, save the space in green turtle body on the one hand, the high cost that this water pump of another aspect can avoid imitative fin class device to advance, and water flow jet ability is strong, ensure that enough propelling thrusts, be conducive to the resistance overcoming water, guide the motion of green turtle in water.
3. adopt the refuse collector of the detachable filtering net of propeller type, by the drive of screw propeller, improve clean efficiency, the guiding of current deflecting plate and the feature of current is utilized to carry out the filtration of water, conveniently collect rubbish, the water entering filtering installation is drained to filtering net, leaches impurity wherein, rubbish is taken away in the backflow of anti-sealing simultaneously and impact.
4. the design of green turtle sink-float avoid adopt in the exploitation of other Turtle robot by four limbs multivariant motion realization, and adopt some syringes to enter water and draining, realize the sink-float of green turtle.Be fixedly connected with fixing aluminium sheet especially by syringe cylinder, mobile aluminium sheet is fixedly connected with syringe piston rod, drives mobile aluminium sheet to realize moving back and forth of syringe piston rod, carry out draining and enter water, reaching the object of sink-float by sink-float drive motor.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the agent structure schematic diagram of one embodiment of the invention
Fig. 2 is sink-float structural scheme of mechanism
Fig. 3 is limb action driver train schematic diagram
Fig. 4 is the lateral plan of Fig. 3.
Fig. 5 is the physical construction sketch of Fig. 3.
Fig. 6 is spam filters structural representation
Fig. 7 is water pump distribution schematic diagram
Fig. 8 is control system control flow chart of the present invention.
Fig. 9 is Control system architecture block diagram.
Figure 10 is single chip circuit figure.
Detailed description of the invention
A kind of Turtle robot, comprises the spam filters of cuboid plastic casing 1 as Turtle robot health and cuboid plastic casing lower end; The sink-float mechanism that Turtle robot health is risen and fallen is set in cuboid plastic casing, the multiple water pump 8 along plastic casing three EDS maps of consolidation on cuboid plastic casing outer wall, the drainage direction of multiple water pump comprise left and right, after; In spam filters, consolidation drives the limb action driver train of quadruped locomotion; Spam filters comprises current box, and before current box, current are sucked the propeller arrangement 12 in current box by consolidation, arrange rubbish filtering net 10 after current box; Control system controls the work of sink-float mechanism, water pump, limb action driver train and screw propeller.
Described sink-float mechanism comprises head and stretches out the syringe 2 that plastic casing 1 carries out discharging water, injector cartridge is fixed on fixing aluminium sheet 4, fixing aluminium sheet 4 is fixedly mounted with sink-float drive motor 3, the piston rod of syringe is fixedly connected with mobile aluminium sheet 7, mobile aluminium sheet is fixedly connected with tooth bar 5, and the output shaft gear of sink-float drive motor 3 engages with tooth bar 5.
Fixing aluminium sheet 4 fills guidepost 8, and the slide block 6 of guidepost is fixedly connected on mobile aluminium sheet 7 by aluminum corner brace.
Plastic casing tank top plate blocks a plastic grid 21, injector cartridge is fixed on fixing aluminium sheet 4, and fixing aluminium sheet 4 is fixed on plastic grid 21 by bolt and nut, and syringe is stuck in plastic grid 21, realizes horizontal location.
Described limb action driver train comprises the guide rail be fixed in spam filters, four limbs drive steering wheel to be fixedly connected on guide rail, four limbs drive the output shaft of steering wheel to be connected with steering wheel, the structure that two ends of steering wheel connect to drive centered by the output shaft of steering wheel symmetrically structure by four limbs, this symmetrical structure comprises the first rod member 17 that one end is connected turnably with steering wheel 16, the other end of the first rod member 17 is connected turnably with slide block 13, slide block 13 is connected turnably with one end of the second rod member 18, the other end of the second rod member 18 is connected turnably with the 3rd rod member 20, 3rd rod member is being connected with the 4th rod member 19 turnably near the second rod member junction, 4th rod member 19 is fixed on guide rail 14 perpendicular to guide rail direction.Described symmetrical structure, as Fig. 3, refers to: steering wheel 16, two, left and right the first rod member 17 and two, left and right slide block 13 are centrosymmetric; Two, left and right the second rod member 18, two, left and right the 3rd rod member 20, two, left and right the 4th rod member 19 are axisymmetricly.
As shown in Figure 3, profile is circular to described slide block 13, can slide on guide rail 14 or roll.
The box that the base plate that rubbish filtering net is converted into by soft glass is with holes and the filter cloth be contained on hole form, and this filtering net is arranged on the water export place of current box by hasp; Current deflecting plate is provided with in current box.
Described control system is distance type control system, comprises main control module, and main control module is connected with wireless receiving module, and main control module is connected with motor drive module.
Sink-float mechanical work principle
Plunging motion controls sink-float drive motor 3 by remote controller, motor output shaft pinion rotation, make tooth bar 5 crank motion be fixed on mobile aluminium sheet, and then drive the crank motion of mobile aluminium sheet and syringe piston rod entirety, crooked in order to prevent mobile aluminium sheet on the go from producing, devise mobile alignment guidepost 8, make syringe complete discharging water action smoothly.During syringe water suction, Turtle robot overall weight increases, and overall weight is greater than buoyancy of water, and green turtle sinks; During syringe draining, the water in syringe reduces, and the overall weight of Turtle robot alleviates, and is less than buoyancy of water, and green turtle floats.
Limb motion mechanical work principle
The motion of four limbs, based on the feature of slider-crank mechanism, has been carried out the positive and negative combination of slider-crank mechanism, has been devised the structure of symmetrical expression simultaneously.Steering wheel has positive and negative rotation drive two slide block 13 symmetrical expression sway of certain angle, thus the 3rd rod member 20 symmetrical expression as four limbs is swung, and make the motion of green turtle four limbs reach conformability and bionical effect dexterously, concrete mechanism is as Fig. 3.
The motion of four limbs is in water runs completely, need work problem in the water of solution steering wheel, the steering wheel that the present invention adopts structure less and compact, larger in the surface tension of Shui Zhongshui, butter layer is filled with in steering wheel inside, make the gap of steering wheel inside be full of butter, that in water, avoids water enters the stable operation keeping steering wheel, solves the problem of water proof sealing as far as possible.
Spam filters principle of work
Garbage filtering device takes full advantage of the feature of current, and some the current direction filtering installation when green turtle moves, blows in filtration with the clean screw propeller 12 be fixed on current box by water simultaneously, add the flow velocity of current in filtering installation.Be provided with current deflecting plate 11 in current box, water flows through from current box, has current deflecting plate to guide the flow direction of water, rubbish filtering net 10 is set after current box, water directly flows to rubbish filtering net through the guiding of current deflecting plate, and impurity can, by current band in box, prevent excessive.Rubbish filtering net is arranged on current box by hasp, can artificial unloading.
Direction control mechanism principle of work
At the affixed multiple external water pump of green turtle external bonding, water pump, along three EDS maps of plastic casing surrounding, realizes motion that is left and right, first three direction respectively.Consider that green turtle body interior finite volume and water pump are electromagnetic type water pumps, the circuit part of water pump seals completely, and rotor adopts magnetic rotor, the magnetic field of exporting change makes rotor turns, can work be soaked in water, therefore water pump is cemented in external, control with remote controller equally.When controlling one of them pumping drainage, its opposition produced can promote whole Turtle robot counter motion, and after green turtle, consolidation two water pumps, can provide enough onward impulses.Multiple water pump completes motion that is left and right, first three direction respectively.
The control system of Turtle robot
Based on the relevant control requirement of Turtle robot, devise and there is distant control function wireless controller.Based on SCM program control, micro controller system accepts the instruction that remote controller sends, and completes corresponding action request, realizes the mode that remote control combines with micro controller system.The rotating of sink-float drive motor is controlled, to realize the sink-float of Turtle robot by remote controller; Control by remote controller the rotation that four limbs drive steering wheel, realize the consistent swing of green turtle four limbs.Controlled the rotation of clean screw propeller by remote controller, carry out the filter cleaning action at water source.
The hardware system of robot controlling is primarily of remote controller wireless receiving module, supply module, main control module, motor drive module, and relay module, power plant module etc., wherein power plant module comprises DC machine, steering wheel etc.Its structured flowchart and relevant controlling flow process are as Fig. 7.
Turtle robot main control module adopts MCS-51 series STC89C52 micro controller system.This micro controller system is a kind of low-power consumption, performance-oriented 8 CMOS type micro controller systems.Single-chip minimum system figure is as Fig. 8.
Claims (1)
1. a drone version Turtle robot, is characterized in that: comprise the spam filters below as the cuboid plastic casing of Turtle robot health and cuboid plastic casing, the sink-float mechanism that Turtle robot health is risen and fallen is set in cuboid plastic casing, the multiple water pump along plastic casing three EDS maps of consolidation on cuboid plastic casing outer wall, the drainage direction of multiple water pump comprise left and right, after, in spam filters, consolidation drives the limb action driver train of quadruped locomotion, spam filters comprises current box, and before current box, current are sucked the propeller arrangement in current box by consolidation, arrange rubbish filtering net after current box, control system controls the work of sink-float mechanism, water pump, limb action driver train and screw propeller, described limb action driver train comprises the guide rail be fixed in spam filters, four limbs drive steering wheel to be fixedly connected on guide rail, four limbs drive the output shaft of steering wheel to be connected with steering wheel, the structure that two ends of steering wheel connect to drive centered by the output shaft of steering wheel symmetrically structure by four limbs, this symmetrical structure comprises the first rod member that one end is connected turnably with steering wheel, the other end of the first rod member is connected turnably with slide block, slide block is connected turnably with one end of the second rod member, the other end of the second rod member is connected turnably with the 3rd rod member, 3rd rod member is being connected with the 4th rod member turnably near the second rod member junction, 4th rod member is fixed on guide rail perpendicular to guide rail direction, described slide block can in slide on rails or rolling, described sink-float mechanism comprises head and stretches out the syringe that plastic casing carries out discharging water, injector cartridge is fixed on fixing aluminium sheet, fixing aluminium sheet is fixedly mounted with sink-float drive motor, the piston rod of syringe is fixedly connected with mobile aluminium sheet, mobile aluminium sheet is fixedly connected with tooth bar, and the output shaft gear of sink-float drive motor engages with tooth bar, fixing aluminium sheet fills guidepost, and the slide block of guidepost is fixedly connected on mobile aluminium sheet by aluminum corner brace, plastic casing tank top plate blocks a plastic grid, injector cartridge is fixed on fixing aluminium sheet, and fixing aluminium sheet is fixed on plastic grid by bolt and nut, and syringe card within a grid, realizes horizontal location, the box that the base plate that rubbish filtering net is converted into by soft glass is with holes and the filter cloth be contained on hole form, and this filtering net is arranged on the water export place of current box by hasp, current deflecting plate is provided with in current box, described control system is distance type control system, comprises main control module, and main control module is connected with wireless receiving module, and main control module is connected with motor drive module, micro controller system accepts the instruction that remote controller sends, and completes corresponding action request, realizes the mode that remote control combines with micro controller system, the rotating of sink-float drive motor is controlled, to realize the sink-float of Turtle robot by remote controller, control by remote controller the rotation that four limbs drive steering wheel, realize the consistent swing of green turtle four limbs, controlled the rotation of clean screw propeller by remote controller, carry out the filter cleaning action at water source, Turtle robot main control module adopts MCS-51 series STC89C52 micro controller system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164546.5A CN104773271B (en) | 2013-04-03 | 2013-04-03 | Drone version Turtle robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164546.5A CN104773271B (en) | 2013-04-03 | 2013-04-03 | Drone version Turtle robot |
| CN201310113224.9A CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310113224.9A Division CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104773271A true CN104773271A (en) | 2015-07-15 |
| CN104773271B CN104773271B (en) | 2017-01-04 |
Family
ID=48715824
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510164525.3A Expired - Fee Related CN104773270B (en) | 2013-04-03 | 2013-04-03 | Machine sea turtle for clearing garbage in water |
| CN201310113224.9A Expired - Fee Related CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
| CN201510164546.5A Expired - Fee Related CN104773271B (en) | 2013-04-03 | 2013-04-03 | Drone version Turtle robot |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510164525.3A Expired - Fee Related CN104773270B (en) | 2013-04-03 | 2013-04-03 | Machine sea turtle for clearing garbage in water |
| CN201310113224.9A Expired - Fee Related CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN104773270B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112185230A (en) * | 2020-09-21 | 2021-01-05 | 山东工业职业学院 | Rack transmission swing arm mechanism |
| CN112726535A (en) * | 2019-10-28 | 2021-04-30 | 昆山市久旺通智能工程有限公司 | Urban inland river intelligent cleaning robot based on internet of things control |
| CN114747525A (en) * | 2022-04-11 | 2022-07-15 | 华南农业大学 | Free-moving feeding bionic turtle |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106759197A (en) * | 2017-01-25 | 2017-05-31 | 山西省水利水电科学研究院 | Cleaning machine for garbage on water |
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN115123502B (en) * | 2022-07-22 | 2023-06-09 | 深圳技术大学 | Turtle fin driving device and bionic turtle |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3835581A (en) * | 1972-09-25 | 1974-09-17 | C Grieder | Swimming turtle |
| US6790119B1 (en) * | 2003-06-27 | 2004-09-14 | Francis See Chong Chia | Swimming toy animal |
| CN1537703A (en) * | 2003-10-23 | 2004-10-20 | 上海交通大学 | Amphibious biotic robot fortoise |
| CN2762850Y (en) * | 2004-12-10 | 2006-03-08 | 李嘉奇 | Mechanical tortoise |
| CN101016081A (en) * | 2007-03-01 | 2007-08-15 | 北京大学 | Bionic machinery chelonian with two-stage freedom degree flipper mechanism |
| CN201002714Y (en) * | 2007-01-19 | 2008-01-09 | 哈尔滨工程大学 | Underwater hydrofoil imitation propulsion unit |
| CN101134500A (en) * | 2007-04-30 | 2008-03-05 | 哈尔滨工程大学 | Bionic underwater chelonian robot |
| CN101890888A (en) * | 2010-07-12 | 2010-11-24 | 华中科技大学 | Amphibious bionic turtle robot |
| CN202320733U (en) * | 2011-11-25 | 2012-07-11 | 刘杰 | Turbine rotation rubbish collection ship |
| CN102631786A (en) * | 2012-04-20 | 2012-08-15 | 南通大学 | Robot octopus |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000140454A (en) * | 1998-11-09 | 2000-05-23 | Toybox:Kk | Water toy for flickering light |
| CN202783717U (en) * | 2012-09-02 | 2013-03-13 | 侯圣春 | Vessel for cleaning garbage on water surface |
-
2013
- 2013-04-03 CN CN201510164525.3A patent/CN104773270B/en not_active Expired - Fee Related
- 2013-04-03 CN CN201310113224.9A patent/CN103192966B/en not_active Expired - Fee Related
- 2013-04-03 CN CN201510164546.5A patent/CN104773271B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3835581A (en) * | 1972-09-25 | 1974-09-17 | C Grieder | Swimming turtle |
| US6790119B1 (en) * | 2003-06-27 | 2004-09-14 | Francis See Chong Chia | Swimming toy animal |
| CN1537703A (en) * | 2003-10-23 | 2004-10-20 | 上海交通大学 | Amphibious biotic robot fortoise |
| CN2762850Y (en) * | 2004-12-10 | 2006-03-08 | 李嘉奇 | Mechanical tortoise |
| CN201002714Y (en) * | 2007-01-19 | 2008-01-09 | 哈尔滨工程大学 | Underwater hydrofoil imitation propulsion unit |
| CN101016081A (en) * | 2007-03-01 | 2007-08-15 | 北京大学 | Bionic machinery chelonian with two-stage freedom degree flipper mechanism |
| CN101134500A (en) * | 2007-04-30 | 2008-03-05 | 哈尔滨工程大学 | Bionic underwater chelonian robot |
| CN101890888A (en) * | 2010-07-12 | 2010-11-24 | 华中科技大学 | Amphibious bionic turtle robot |
| CN202320733U (en) * | 2011-11-25 | 2012-07-11 | 刘杰 | Turbine rotation rubbish collection ship |
| CN102631786A (en) * | 2012-04-20 | 2012-08-15 | 南通大学 | Robot octopus |
Non-Patent Citations (3)
| Title |
|---|
| 孙安等: "四足两栖仿生机器龟的研究", 《机械》 * |
| 朱崎峰等: "一种仿海龟扑翼推进机构设计", 《机械设计》 * |
| 李德胜等: "ICPF驱动的柔性微型机器龟腿的动力学分析", 《传感技术学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112726535A (en) * | 2019-10-28 | 2021-04-30 | 昆山市久旺通智能工程有限公司 | Urban inland river intelligent cleaning robot based on internet of things control |
| CN112185230A (en) * | 2020-09-21 | 2021-01-05 | 山东工业职业学院 | Rack transmission swing arm mechanism |
| CN112185230B (en) * | 2020-09-21 | 2022-04-26 | 山东工业职业学院 | Rack transmission swing arm mechanism |
| CN114747525A (en) * | 2022-04-11 | 2022-07-15 | 华南农业大学 | Free-moving feeding bionic turtle |
| CN114747525B (en) * | 2022-04-11 | 2023-04-18 | 华南农业大学 | Free-moving feeding bionic turtle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104773270A (en) | 2015-07-15 |
| CN104773271B (en) | 2017-01-04 |
| CN103192966A (en) | 2013-07-10 |
| CN103192966B (en) | 2015-08-12 |
| CN104773270B (en) | 2017-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103192966B (en) | Turtle robot | |
| CN104527352B (en) | A kind of novel ball amphibious robot and its method of work | |
| CN110304223A (en) | Bionic machine devil ray | |
| CN100540397C (en) | Bionic mechanical jellyfish | |
| CN103318287B (en) | Bionical lizard amphibious robot | |
| CN201002714Y (en) | Underwater hydrofoil imitation propulsion unit | |
| CN102079371B (en) | Bionic robofish propelled by vibration of lateral fins | |
| CN102079382B (en) | Underwater mechanical bionic flapping wing thruster | |
| CN102180249B (en) | Intelligent biomimetic robotic dolphin | |
| CN108839783B (en) | Flexible submerged bionic robot fish and control method thereof | |
| CN210597238U (en) | Intelligent water surface floating garbage collection device | |
| CN102631786B (en) | Robot octopus | |
| CN108058799A (en) | A kind of novel bionic mechanical fish | |
| CN207670636U (en) | A kind of novel bionic mechanical fish | |
| CN108116641A (en) | A kind of gas control gliding type underwater robot | |
| CN108945360B (en) | Hybrid drive imitation gold jellyfish marine organism observation monitoring robot | |
| CN114655405A (en) | Underwater multi-degree-of-freedom motion mechanism for bionic cuttlefish | |
| CN107458566B (en) | Bionic robot fish | |
| CN205707258U (en) | The bionic fish tail structure of eccentric transmission | |
| CN108839784A (en) | tuna robot | |
| CN203996849U (en) | A kind of underwater camera Biomimetic Fish | |
| CN115140284A (en) | Underwater robot of bionic frog | |
| CN100418892C (en) | Multifunctional combined energy saving water area resource environment protection device | |
| CN211810153U (en) | Bionic small-skinned shrimp underwater rowing device based on motor drive | |
| CN114671000A (en) | Bionic devil fish robot based on sine-swinging wave fin structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170104 Termination date: 20180403 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |