CN106428480B - Imitative snake type detector and its movement type of drive under water - Google Patents
Imitative snake type detector and its movement type of drive under water Download PDFInfo
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- CN106428480B CN106428480B CN201610406582.2A CN201610406582A CN106428480B CN 106428480 B CN106428480 B CN 106428480B CN 201610406582 A CN201610406582 A CN 201610406582A CN 106428480 B CN106428480 B CN 106428480B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Ocean & Marine Engineering (AREA)
- Transducers For Ultrasonic Waves (AREA)
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Abstract
The invention discloses a kind of snake type detectors imitative under water comprising crossbeam, bridge-type amplifier mechanism, elastic plate, sensitive detection parts and covering.The crossbeam is the cuboid of hollow equal wall thickness；Five bridge-type amplifier mechanisms and elastic plate are fitted on each side of the crossbeam；The each group of Piezoelectric Intelligent Beams mechanism is made of at least five bridge-type amplifier mechanism and one piece of elastic plate；Bridge-type amplifier mechanism is a kind of Complete compliant mechanism comprising one piece of bottom plate, a piezoelectric driving module and a displacement amplifying mechanism；The piezoelectric driving module is piezoelectric stack module；The covering is a kind of bionical skin, and the elastic plate surface for being bonded in four groups of Piezoelectric Intelligent Beams mechanisms forms complete snake type surface shape；The sensitive detection parts are fixedly mounted on the front end face of crossbeam, and the covering is also bonded on sensitive detection parts surface.By generating the control of traveling wave situation to the elastic plate in every group of Piezoelectric Intelligent Beams mechanism, make to imitate gait of march there are two types of snake type detectors under water.
Description
Technical field
The present invention relates to a kind of underwater detectoscope robot, specifically a kind of imitative snake type detector under water and its movement driving
Mode.
Background technology
Snake is the general name for the reptile that four limbs are degenerated, the walking of snake is in different poses and with different expressions straight line moving or it is winding and
Advance.Sinuous formula is one of them known snakelike mobile means, that is, the wave way to get there of serpentine.This mobile hand
Method is most to class（Land type and water row type are as the same）Used, they can be first since neck location, regularly folding and unfolding
The muscle of whole body, gently body, monkey moves forward, allows body to form a smoothly streamline model, achievees the effect that advance.
This mode allows water snake class convenient for moving in water, because its muscular movement can be played such as the effect as slurry, web, at one's side
The fulcrum that water is had an effect as it accelerates the trip of body into effect.
The walking manner of snake in water explores unknown Sea World for the mankind has important reference and Guiding Significance.
The present invention imitates the walking manner of snake in water and advances forward by the winding active force between water based on snake itself
Mode, a kind of method for proposing to form traveling wave transmission on axially symmetric structure designs a kind of snake type detector imitative under water.
Invention content
The present invention is directed to invent a kind of snake type detector imitative under water, can be advanced under water, be retreated, being turned to and into
The operations such as the switching of two kinds of gait of march of row.This imitates snake type detector with simple in structure, noise is low, light-weight, stealthy under water
The features such as effect is good, efficient, movement is flexible.
In order to achieve the above objectives, the technical solution adopted by the present invention is：
A kind of snake type detector imitative under water, including a crossbeam, 20 bridge-type amplifier mechanisms（Divide four groups）, four pieces of elasticity
Plate, a sensitive detection parts and covering.The crossbeam is the cuboid of a hollow equal wall thickness；On each side of the crossbeam
Five bridge-type amplifier mechanisms and one piece of elastic plate are fitted with, the five bridge-type amplifier mechanisms that will be installed on each side of crossbeam
It is defined as one group of Piezoelectric Intelligent Beams mechanism with one piece of elastic plate；The covering is a kind of bionical skin, for being bonded in elastic plate table
On face, complete snake type surface shape is formed；The sensitive detection parts are fixedly mounted on the front end face of crossbeam；The covering also glues
It is connected on the surface of sensitive detection parts and is connect with the covering being bonded in elastic plate surface, make entire snake type detector shape imitative under water
At a closed state；The each group of Piezoelectric Intelligent Beams mechanism is by least five bridge-type amplifier mechanism and one piece of elastic plate structure
At；Bridge-type amplifier mechanism includes one piece of bottom plate, a piezoelectric driving module and a displacement amplifying mechanism；The bottom plate is logical
Fixing bolt is crossed on the side of crossbeam, respectively there is upward convex block in the front and back end of bottom plate, and one is screwed on its preceding convex block
Front end precompressed of the pretightning force screw to piezoelectric driving module；The displacement amplifying mechanism is arranged in piezoelectric driving module and bottom plate
It is connected in a manner of flexible hinge between the convex block of rear end, the middle part of displacement amplifying mechanism connects elastic plate by a fixing bolt.
Apply specific exchange letter respectively by the piezoelectric driving module in each bridge-type amplifier mechanism to being arranged in the every one side of crossbeam
Number, different traveling waves can be inspired on elastic plate, the traveling wave and water that every one side of imitative snake type detector generates under water in this way
Between act, to push under water imitative snake type detector the operations such as advanced under water, retreat and turn to.Pass through
The control of traveling wave situation is generated to the elastic plate in every one side, moreover it is possible to detector be made to carry out the switching of two kinds of gait of march.
The structure of above-mentioned bridge-type amplifier mechanism is as shown in Figure 3 comprising displacement equations structure, piezoelectric driving module, bottom plate.
Bridge-type amplifier mechanism（The bridge-type amplifier mechanism installed on each side of crossbeam is no less than 5）It is arranged in elastic plate with fixing bolt
Between crossbeam, the wherein top of bridge-type amplifier mechanism（That is the middle part of displacement amplifying mechanism）It is fixed on elastic plate with fixing bolt
On, the bottom end of bridge-type amplifier mechanism（That is bottom plate）It is fixed on the side of crossbeam with fixing bolt, and bridge-type amplifier mechanism is in one
Line arranged.
Above-mentioned crossbeam is the cuboid of hollow equal wall thickness, its length is set according to the number of bridge-type amplifier mechanism.
Sensitive detection parts are mounted on the front end face of crossbeam, and sensitive detection parts include its functional device and several feelers, functional device installation
There are driver, detector and controller；And feeler is arranged in functional device front end, includes several sensors of work requirements.It is horizontal
The structure arranged on four sides of beam is identical.
Will imitate under water each Standard of snake type detector it is good after, be bonded in elastic plate and the table of sensitive detection parts with covering
Underwater imitative snake type detector is packaged into a closed state by face.
To the piezoelectric driving module in bridge-type amplifier mechanism on each group of Piezoelectric Intelligent Beams apply frequency is identical, phase difference according to
The secondary drive signal for increasing or decreasing 90 ° makes to stack generation deformation, is generated by the displacement amplifying mechanism in bridge-type amplifier mechanism
Vertical movement with input direction and by displacement equations, vertical displacement is acted on elastic plate to be formed and be advanced towards specific direction
Traveling wave.It interacts between the traveling wave that elastic plate generates and water, pushes imitative snake type detector traveling under water.If only to the faces A and the faces C
Apply above-mentioned drive signal, and when the traveling wave direction of travel that is formed of two faces is identical, imitative snake type detector tool is there are one before under water
Into speed V1；It, also can shape on the faces B and the faces D if also apply identical drive signal to the piezoelectric stack in the faces B and the faces D again at this time
Imitative snake type detector advance under water is pushed at traveling wave identical with the faces A, the faces C direction of travel, at this point, imitative snake type detects utensil under water
Some forward speeds are V2(V2=2V1)。
If only applying different driving signal to the faces A and the faces C, and when the traveling wave direction of travel difference of two faces formation, under water
Imitative snake type detector will be turned to around OY axis；Similarly, if only applying above-mentioned drive signal, and two face shapes to the faces B and the faces D
At traveling wave direction of travel difference when, imitative snake type detector will be turned to around OZ axis under water；If only applying to the faces A and the faces B
Identical drive signal, and when the traveling wave that is formed of two faces is identical into line direction, imitative snake type detector will be along two faces under water
Between 45 ° to traveling；Similarly, if only applying identical drive signal to imitating any two adjacent faces of snake type detector under water,
And the traveling wave that is formed of two faces it is identical into line direction when, imitative snake type detector will be along 45 ° of direction rows between the two faces under water
It sails.
The present invention compared with prior art, have following obvious prominent substantive distinguishing features and notable technology into
Step：
Invention is applied specific respectively by the piezoelectric driving module to each bridge-type amplifier mechanism on the every one side of crossbeam
AC signal, different traveling waves can be inspired on elastic plate, then under water every one side traveling wave of imitative snake type detector and water it
Between act, to push its move ahead, retreat or turn to.The configuration of the present invention is simple, noise are low, light-weight, stealth effect is good,
Effect is high, and movement is flexible.
Description of the drawings
Fig. 1 is the overall schematic of underwater imitative snake type detector；
Fig. 2 is that underwater imitative snake type detector hides the front view after one piece of elastic plate；
Fig. 3 is the schematic diagram of bridge-type amplifier mechanism；
Fig. 4 is that elastic plate forms showing for traveling wave when applying exchange varying signal to the piezoelectric driving module in bridge-type amplifier mechanism
It is intended to；
Fig. 5 is elastic plate 4 status diagrams during a cycle；
Fig. 6 is the two kinds of speed schematic diagrames of underwater imitative snake type detector when driving；
Fig. 7 is that imitative snake type detector changes nyctitropic schematic diagram in the process of moving under water.
Wherein：1. sensitive detection parts, 2. pretightning force bolts, 3. bridge-type amplifier mechanisms, 3a. bottom plates, 3b. Piezoelectric Driving moulds
Block, 3c. displacement equations structures, 3d. flexible hinges, 4. elastic plates, it is 5. hollow, etc. wall thickness cuboid crossbeam, 6. feelers, 7. is solid
Determine bolt, 8. fixing bolts.
Specific implementation mode
Below in conjunction with the accompanying drawings to a preferred embodiment of the present invention will be described in detail：
Embodiment one：
Referring to Fig. 1~Fig. 4, under water imitative snake type detector, an including crossbeam（5）, 20 bridge-type amplifier mechanisms（3）（Point
Four groups）, four pieces of elastic plates（4）, a sensitive detection parts（1）And covering.The crossbeam is the cuboid of a hollow equal wall thickness；
The crossbeam（5）Each side on be fitted with five bridge-type amplifier mechanisms（3）With one piece of elastic plate（4）, by crossbeam（5）'s
The five bridge-type amplifier mechanisms installed on each side（3）With one piece of elastic plate（4）It is defined as one group of Piezoelectric Intelligent Beams mechanism；Institute
It states covering and is bonded in four pieces of elastic plates（4）Surface on, form complete snake type surface shape；The sensitive detection parts（1）It is fixed
Mounted on crossbeam（5）Front end face on, the covering is also bonded in sensitive detection parts（1）On surface.
Embodiment two：
This implementation and embodiment one are essentially identical, and special feature is：
The each group of Piezoelectric Intelligent Beams mechanism is identical, and each group of Piezoelectric Intelligent Beams mechanism is by least five bridge-type
Amplifier mechanism（3）With one piece of elastic plate（4）It constitutes, bridge-type amplifier mechanism（3）It is a kind of Complete compliant mechanism comprising one piece
Bottom plate（3a）, a piezoelectric driving module（3b）With a displacement amplifying mechanism（3c）；The bottom plate passes through fixing bolt（7）Peace
Mounted in crossbeam（5）Side on, bottom plate（3a）Front and back end have upward convex block, a pretightning force screw is screwed on its convex block
（2）To piezoelectric driving module（3b）Front end precompressed；The displacement amplifying mechanism（3）Mounted on piezoelectric driving module（3b）The bottom of with
Plate（3a）Rear end convex block between, in displacement amplifying mechanism（3c）Middle part pass through a fixing bolt（8）Connect elastic plate
（4）.The covering is by sensitive detection parts（1）It wraps up, is bonded in sensitive detection parts（1）Covering on surface and it is pasted onto four pieces of bullets
Property plate（4）Covering on surface forms closed state；The sensitive detection parts（1）Including its functional device and several feelers（6）, should
Functional device is equipped with driver, detector and controller；And feeler（6）It is arranged in functional device front end, including work requirements
Several sensors.Crossbeam（5）Every one side on the bridge-type amplifier mechanism installed（3）Installation direction it is consistent.
Bridge-type amplifier mechanism（3）As shown in figure 3, its operation principle is：When to piezoelectric driving module（3b）Apply specific
After signal, piezoelectric stack generates the deformation of horizontal direction, by containing flexible hinge（3d）The displacement amplifying mechanism of function（3c）
Generate the movement vertical with input direction and by displacement equations.By to each bridge-type amplifier in every group of Piezoelectric Intelligent Beams mechanism
Mechanism（3）Piezoelectric stack module apply different alternating current drive signals, piezoelectric stack will produce corresponding deflection, this change
Shape amount passes through displacement amplifying mechanism（3c）Amplify and is transmitted to elastic plate（4）On, force elastic plate（4）Corresponding deformation is generated,
To make elastic plate（4）Surface forms traveling wave；By controlling each piece of elastic plate（4）The case where generating traveling wave, thus it is possible to vary water
Travel speed and the direction of snake type detector are imitated down.
Embodiment three：
Referring to Fig. 1~Fig. 7, the type of drive of above-mentioned underwater imitative snake type detector.Definition：Due to imitating snake type detector under water
Structure be in rectangular parallelepiped structure, by 4 pieces of elastic plates therein（4）It is respectively defined as tetra- faces A, B, C, D；In cuboid crossbeam
（5）Front end face position setting YOZ coordinate systems in, the faces A are located in the faces XOY, and the faces B are located in the faces XOZ, and the faces C are parallel with the faces A, the faces D
It is parallel with the faces B；Driving process is as follows：
To above-mentioned crossbeam（5）Bridge-type amplifier mechanism on upper either side（3）Apply drive signal respectively, wherein applying
Bridge-type amplifier mechanism in the Piezoelectric Intelligent Beams mechanism of face one by one in office（3）On piezoelectric driving module（3b）On AC signal frequency
Rate is identical, and phase difference successively increases or reduce 90 °, then can form traveling wave on the face；
As shown in figure 4, by taking the faces A as an example, pass through each bridge-type amplifier mechanism on opposite（3）On 5 Piezoelectric Driving moulds
Block（3b）The alternating current drive signal for applying sin, cos ,-sin ,-cos, sin respectively, under piezoelectric effect effect, piezoelectric stack meeting
Corresponding deflection Asinwt, Acoswt ,-Asinwt ,-Acoswt, Asinwt are generated, A is amplitude in formula, and w is signal frequency,
This deflection passes through displacement amplifying mechanism（3c）Amplify and is transmitted to elastic plate（4）On, force elastic plate（4）It generates corresponding
Deformation makes elastic plate to form traveling wave shown in Fig. 4（4）It generates and is acted between traveling-wave waveform and water, to push water
Snake type detector is imitated down to move forward.The movement feelings for illustrating traveling wave in a cycle of I, II, III, IV figure elephant in Fig. 5
Condition and travel direction.
It is the agent structure schematic diagram of underwater imitative snake type detector shown in Fig. 6.Four pieces of elastic plates in detector（4）It can be with
It is defined as the four sides A, B, C, D.When only to two groups of bridge-type amplifier mechanisms on the faces A and the faces C（3）Apply identical sin, cos ,-
When sin ,-cos, sin alternating current drive signal, the only faces A and two pieces of the faces C elastic plate at this time（4）Generate identical traveling-wave waveform with
It is acted between water, imitative snake type detector will parade forward under water, to which there are one speed V for tool1；When to giving four groups respectively
4 groups of bridge-type amplifier mechanisms in Piezoelectric Intelligent Beams mechanism（3）Apply identical sin, cos ,-sin ,-cos, sin exchange driving letter
Number when, four pieces of elastic plates at this time（4）It will generate and be acted between identical traveling-wave waveform and water, to make to imitate snake type under water
Detector is just provided with another parade speed V2（V2=2V1）.
In as shown in Figure 7, the speed in YOZ coordinate systems only represents the direction of detector traveling, and the figure shows only to the faces A
With two groups of bridge-type amplifier mechanisms on the faces B（3）When applying identical sin, cos ,-sin ,-cos, sin alternating current drive signal, the faces A
And the faces B form identical traveling wave and are acted between water respectively, then the speed by the way that the two sides A, B is generated is synthesized, and is closed
Speed after makes to imitate snake type detector under water towards 45 ° between the faces A and the faces B of direction running；Similarly, if thinking to imitate snake under water
Type detector changes direction during traveling, as needed, at this moment only to imitating tetra- faces snake type detector A, B, C, D under water
In a face or adjacent two faces apply identical alternating current drive signal and can change imitative snake type detector row under water
The direction sailed.Another method for changing the travel direction of underwater imitative snake type detector is：If only to the faces A apply sin,
The alternating current drive signal of cos ,-sin ,-cos, sin, while to the faces C（The parallel surface in the faces A）Application-sin, cos, sin ,-cos ,-
When cos drive signals, detector can be dynamic around OY shaft rotations at this time；Similarly, if only to the faces B apply sin, cos ,-sin ,-cos,
The alternating current drive signal of sin, while to the faces D（The parallel surface in the faces B）When application-sin, cos, sin ,-cos ,-cos drive signals,
Detector can be dynamic around OZ shaft rotations at this time；
The present invention under water imitate snake type detector have the characteristics that it is following：
1. providing driving power using piezoelectric driving module, the dilatation amount of piezoelectric stack is made full use of, energy is improved
Transformation efficiency is measured, piezoelectric stack can be made to be operated in supersonic range by adjusting driving frequency in addition, vibration is thoroughly eliminated and makes an uproar
Sound；
2. all structural members of couple composition present invention are all made of nonmetallic materials.
3. passing through the control for generating traveling wave situation to the elastic plate in every one side, moreover it is possible to make to imitate under water snake type detector into
The switching of two kinds of gait of march of row.I.e.：Since the mechanism being arranged on four sides of crossbeam is identical, when only wherein one
When generating traveling wave to parallel two elastic plates, under water imitative snake type detector can low speed move ahead；When four pieces of elastic plates are same
When generate traveling wave and between when acting on, imitative snake type detector being capable of high forward under water.
4. imitative snake type detector under water can be controlled the operations such as to be advanced under water, retreat and turn to.Such as when right
A face or adjacent two faces in underwater imitative tetra- faces snake type detector A, B, C, D, which apply signal, can change under water
The direction of imitative snake type detector traveling.
Claims (5)
1. a kind of snake type detector imitative under water, it is characterised in that：Including a crossbeam (5), 20 bridge-type amplifier mechanisms (3) point
Four groups, four pieces of elastic plates (4), a sensitive detection parts (1) and covering；The crossbeam (5) is the cuboid of a hollow equal wall thickness
Shape；Bridge-type amplifier mechanism (3) includes one piece of bottom plate, a piezoelectric driving module and a displacement amplifying mechanism；The cross
Five bridge-type amplifier mechanisms (3) and one piece of elastic plate (4), wherein bridge-type amplifier mechanism are fitted on each side of beam (5)
(3) it is mounted between crossbeam (5) and elastic plate (4)；The covering is bonded on the surface of four pieces of elastic plates (4), is formed complete
Snake type surface shape；The sensitive detection parts (1) are fixedly mounted on the front end face of crossbeam (5), and the covering is also bonded in spy
It surveys on device (1) surface.
2. snake type detector imitative under water according to claim 1, it is characterised in that：It will pacify on each side of crossbeam (5)
The five bridge-type amplifier mechanisms (3) and one piece of elastic plate (4) of dress are defined as one group of Piezoelectric Intelligent Beams mechanism；The each group of piezoelectricity
Intelligent Beam mechanism is identical, and each group of Piezoelectric Intelligent Beams mechanism is by least five bridge-type amplifier mechanism (3) and one piece of elastic plate
(4) it constitutes；Bridge-type amplifier mechanism (3) is a kind of Complete compliant mechanism comprising one piece of bottom plate (3a), a Piezoelectric Driving mould
Block (3b) and a displacement amplifying mechanism (3c)；The piezoelectric driving module (3b) is piezoelectric stack module；The bottom plate (3a)
It is mounted on by fixing bolt on the side of crossbeam (5), there is upward convex block in the front and back end of bottom plate (3a), is screwed on its convex block
Front end precompressed of one pretightning force screw (2) to piezoelectric driving module (3b)；The displacement amplifying mechanism (3c) is mounted on piezoelectricity
It is connect in a manner of flexible hinge (3d) between drive module (3b) and the rear end convex block of bottom plate (3a), in displacement amplifying mechanism
The middle part of (3c) connects elastic plate (4) by a fixing bolt (5).
3. snake type detector imitative under water according to claim 1, it is characterised in that：It is installed on every one side of crossbeam (5)
Bridge-type amplifier mechanism (3) installation direction it is consistent and arranged along straight line；The covering is a kind of bionical skin, for bonding
On the surface of entire underwater imitative snake type detector, make to imitate snake type detector one closed state of formation under water.
4. snake type detector imitative under water according to claim 1, it is characterised in that：By to every group of Piezoelectric Intelligent Beams mechanism
In each bridge-type amplifier mechanism (3) in piezoelectric driving module (3b) apply different alternating current drive signal, piezoelectric stack meeting
Corresponding deflection is generated, this deflection is amplified by displacement amplifying mechanism (3c) and is transmitted on elastic plate (4), and bullet is forced
Property plate (4) generate corresponding deformation, to make elastic plate (4) surface form traveling wave；It is generated by controlling each piece of elastic plate (4)
The case where traveling wave, thus it is possible to vary the travel speed of underwater imitative snake type detector and direction.
5. a kind of driving method of underwater imitative snake type detector according to claim 1, feature includes following procedure：
Definition：Structure due to imitating snake type detector under water is in rectangular parallelepiped structure, and 4 pieces of elastic plates (4) therein are defined respectively
For tetra- faces A, B, C, D；YOZ coordinate systems are set in the front end face position of cuboid crossbeam (5), the faces A are located in the faces XOY, the faces B position
In in the faces XOZ, the faces C are parallel with the faces A, and the faces D are parallel with the faces B；Here tetra- faces A, B, C, D also respectively refer to 4 pieces of elastic plates (4) of generation
Four groups of corresponding Piezoelectric Intelligent Beams mechanisms, driving process are as follows：
Drive signal is applied respectively to the bridge-type amplifier mechanism (3) in any of the above-described one group of Piezoelectric Intelligent Beams mechanism, wherein applying
The AC signal frequency in the piezoelectric driving module (3b) in bridge-type amplifier mechanism (3) in the mechanism of group Piezoelectric Intelligent Beams one by one in office
Rate is identical, and phase difference successively increases or reduce 90 °, then can form traveling wave on the face；
If only applying above-mentioned drive signal to the faces A and the faces C, and when the traveling wave direction of travel that is formed of two faces is identical, snake is imitated under water
There are one forward speed V for type detector tool1；If also apply identical drive signal to the piezoelectric stack in the faces B and the faces D at this time, B
Also traveling wave identical with the faces A, the faces C direction of travel can be formed on face and the faces D and pushes imitative snake type detector advance under water, at this point, water
It is V to imitate the forward speed that snake type detector has down2(V2=2V1)；
If only applying different driving signal to the faces A and the faces C, and when the traveling wave direction of travel difference of two faces formation, snake is imitated under water
Type detector will be turned to around OY axis；Similarly, if only applying above-mentioned drive signal to the faces B and the faces D, and two faces are formed
When traveling wave direction of travel difference, imitative snake type detector will be turned to around OZ axis under water；If only applying to the faces A and the faces B identical
Drive signal, and when the traveling wave that is formed of two faces is identical into line direction, imitative snake type detector will be along between two faces under water
45 ° to traveling；Similarly, if only applying identical drive signal, and two to imitating any two adjacent faces of snake type detector under water
When the traveling wave direction of travel that a face is formed is identical, imitative snake type detector will be along 45 ° of direction runnings between the two faces under water.
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| CN101746237A (en) * | 2008-12-19 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Amphibious snake-like robot |
| CN102700694B (en) * | 2012-06-05 | 2014-12-10 | 南京航空航天大学 | Inkfish-like underwater detector |
| CN102837307A (en) * | 2012-09-13 | 2012-12-26 | 南京航空航天大学 | Amphibious S-shaped robot on basis of MDOF (Multiple Degree of Freedom) flexible motion units |
| CN104972457A (en) * | 2014-04-10 | 2015-10-14 | 中国科学院沈阳自动化研究所 | Modular reconstructed snakelike robot |
| CN205131418U (en) * | 2015-11-17 | 2016-04-06 | 深圳市博铭维智能科技有限公司 | Snakelike amphibious robot |
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