CN106516059A - Multi-fin propulsion device based on reciprocal lead screw mechanism - Google Patents
Multi-fin propulsion device based on reciprocal lead screw mechanism Download PDFInfo
- Publication number
- CN106516059A CN106516059A CN201611044658.8A CN201611044658A CN106516059A CN 106516059 A CN106516059 A CN 106516059A CN 201611044658 A CN201611044658 A CN 201611044658A CN 106516059 A CN106516059 A CN 106516059A
- Authority
- CN
- China
- Prior art keywords
- fin
- pectoral
- tail
- tail fin
- lead screw
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H23/04—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing the main transmitting element, e.g. shaft, being substantially vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H23/06—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from a single propulsion power unit
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a multi-fin propulsion device based on a reciprocal lead screw mechanism. The multi-fin propulsion device comprises a shell; two sides of the front portion of the shell are each provided with a pectoral fin, the pectoral fins increase the maneuverability and flexibility of the propulsion device at the time of swimming, but the pectoral fins are just auxiliary mechanisms not indispensable mechanisms; a tail fin rotating support is fixed at the tail of the shell; a plurality of tail fin fixing shafts are hinged to the tail fin rotating support; every tail fin fixing shaft is connected with a tail fin; a motor, a pectoral fin steering engine support and a reciprocal lead screw shaft are fixed in the shell; two sides of the pectoral fin steering engine support are each provided with a pectoral support; the pectoral supports are connected with the pectoral fins; an output shaft of the motor is connected with the reciprocal lead screw shaft; the reciprocal lead screw shaft meshes with a thread sliding block; and the thread sliding block is connected with the multiple tail fin fixing shafts through a thread sliding block connecting rod and a transmission rod. According to the multi-fin propulsion device based on the reciprocal lead screw mechanism, a simple and effective transmission mechanism is utilized to design the multi-fin propulsion device, the advantages of undulating propulsion and jet current propulsion are combined, therefore the propulsion speed of a bionic propulsion device is enhanced effectively and the swimming performance of the bionic propulsion device is improved.
Description
Technical field
The present invention relates to a kind of underwater biomimetic robotic fish, more particularly to a kind of many fin propulsions based on reciprocal screw mechanism
Device.
Background technology
Aquatic organism is survived in water environment complicated and changeable, experienced very long differentiation and evolves and differed from one another
Motor capacity.Such as fish swimming efficiency has generally exceeded 80%, and tuna is most swum speed soon and can reach per hour 160,000
Rice, in 60-80 kms, about 10-15 times body length is per second for average speed per hour.And traditional underwater propeller, such as propeller or water spray dress
Put often less efficient, performance is not enough.Therefore, in recent years, the research of underwater bionic robot causes researcher at home and abroad
Great interest, is expected that by simulating the superb travelling technical ability of aquatic organism, and the various underwater units for mankind's design provide performance
Excellent propeller.Make it have efficient propulsion, high maneuverability, low noise, microvariations and high stealthy characteristic.Examine in water quality
Survey, Underwater resources exploration, under water search and rescue and military field in have important application prospect.
Aquatic organism species is various, and each tool advantage characteristic, therefore, researcher institute different with purpose according to the method for research
The bionical object chosen will be not quite similar.For example want to obtain the underwater propulsion unit of high maneuverability, it is imitative that can choose ray
Raw object；Want to obtain propelled at high velocity performance, optional depletion marlin is bionical object.Bionic field, has been achieved for being permitted under water
More outstanding achievement in research, but it is designed go out bionic coatings device can not still match in excellence or beauty real Fish in nature, also exist
A difficult problem needs to capture, and is mainly manifested in the particularly travelling speed of travelling performance of bionic coatings device at present apart from true Fish
Still difference is very big.
The content of the invention
The purpose of the present invention is with reference to undulatory propulsion and flux driving mechanism, there is provided a kind of fltting speed is fast, travelling performance
The good many fin propulsion plants based on reciprocal screw mechanism.
The purpose of the present invention is achieved through the following technical solutions：
The present invention is many fin propulsion plants based on reciprocal screw mechanism, including shell, and the afterbody of the shell is fixed
There is tail fin runing rest, on the tail fin runing rest, be hinged with multiple tail fin fixing axles, each tail fin fixing axle connects one
Tail fin, the inside the shell are fixed with motor and reciprocal lead screw shaft；
The output shaft of the motor is connected by shaft coupling with the reciprocal lead screw shaft, and the reciprocal lead screw shaft is engaged with spiral shell
Stricture of vagina slide block, the thread slider passes through thread slider connecting rod and kinematic link is connected with multiple tail fin fixing axles.
As seen from the above technical solution provided by the invention, the embodiment of the present invention be based on reciprocal screw mechanism, and
Using simple and effective drive mechanism, a kind of many fin propulsion plants designed.Which combines undulatory propulsion and flux driving
Advantage, can effectively improve the fltting speed of bionic coatings device, improve the travelling performance of bionic coatings device.
Description of the drawings
Fig. 1 a are that total assembling structure of many fin propulsion plants based on reciprocal screw mechanism provided in an embodiment of the present invention shows
It is intended to.
Fig. 1 b are that the general assembly of many fin propulsion plants based on reciprocal screw mechanism provided in an embodiment of the present invention (hides outer
Shell) structural representation.
Fig. 2 a are tail fin drive mechanism figure (visual angle one) in the embodiment of the present invention.
Fig. 2 b are tail fin driver composition (visual angle two) in the embodiment of the present invention.
Fig. 2 c are tail fin drive mechanism partial schematic diagram in the embodiment of the present invention.
Fig. 2 d are tail fin drive mechanism schematic partial diagram in the embodiment of the present invention.
Fig. 3 a, Fig. 3 b are respectively the travelling change shape figure of bionic coatings device in the embodiment of the present invention.
In figure：
1 is shell, and 2 is pectoral fin, and 3 to support fixed plate, and 4 is motor, and 5,11 is bearing, and 6 is thread slider, and 7 is screw thread
Slide block connecting rod, 8 is tail fin runing rest, and 9 is tail fin, and 10 is tail fin fixing axle, and 12 is reciprocal lead screw shaft, and 13 is shaft coupling,
14 is pectoral fin steering wheel support, and 15 is pectoral fin support, and 16 is tail fin pivot link, and 17 is turning block, and 18 is slide block base, and 19 are
Kinematic link, 20 connecting pin for positioning.
Specific embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description.Obviously, described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.Based on this
Inventive embodiment, the every other enforcement obtained under the premise of creative work is not made by those of ordinary skill in the art
Example, belongs to protection scope of the present invention.
Many fin propulsion plants based on reciprocal screw mechanism of the present invention, its preferably specific embodiment is：
Including shell, the afterbody of the shell is fixed with tail fin runing rest, is hinged with many on the tail fin runing rest
Individual tail fin fixing axle, each tail fin fixing axle connect a tail fin, and the inside the shell is fixed with motor and reciprocal lead screw shaft；
The output shaft of the motor is connected by shaft coupling with the reciprocal lead screw shaft, and the reciprocal lead screw shaft is engaged with spiral shell
Stricture of vagina slide block, the thread slider passes through thread slider connecting rod and kinematic link is connected with multiple tail fin fixing axles.
The kinematic link is provided with multiple ends, and each end is connected with a tail fin fixing axle respectively.
The end of the kinematic link passes through slide block base, connecting pin for positioning, turning block and tail fin pivot link and institute
State the connection of tail fin fixing axle.
The output shaft of the motor is installed by shaft coupling coaxial line with the reciprocal lead screw shaft, or is passed by tapered gear
Install in motivation structure vertical axis direction.
Many fin propulsion plants are Pisces fin structure or three fin structures or four fin structures or six fin structures or eight
Fin structure.
The front portion of the shell is respectively provided on two sides with pectoral fin, and the inside the shell is fixed with pectoral fin steering wheel support, the breast
Fin steering wheel support is respectively provided on two sides with pectoral fin support, and the pectoral fin support is connected with the pectoral fin.
Pectoral fin increased the travelling mobility of propulsion plant and motility, but which is only used as auxiliary body and is not required.
Performance characteristics of the present invention according to bionic coatings device, for the complex structure of current bionic coatings device, performance
Not excellent shortcoming, devises a kind of many fin propulsion plants based on reciprocal screw mechanism using simple and effective drive mechanism.
Which combines the advantage of undulatory propulsion and flux driving, can effectively improve the fltting speed of bionic coatings device, improves bionical pushing away
Enter the travelling performance of device.
Reciprocal leading screw is a kind of secondary form of solid cam, and its performance is identical, the oppositely oriented thread groove of two pitch.
Two ends are connected with transition curve.By the rotation of leading screw, helicla flute side is made to promote the slide block being placed in helicla flute to make axially past
It is multiple to move.Reciprocal leading screw have the advantages that little friction loss, transmission efficiency, be active in one's movements, low speed is without creeping phenomenon.So will
The drive mechanism which is selected as bionic coatings device is simply effective.
Aquatic organism Promoting Form is varied, for example undulatory propulsion, flux driving, hybrid propulsion etc..Wherein, jet is pushed away
Enter mode and have the advantages that instantaneous acceleration is high and environmental suitability is strong.Predation, escape, opposing environment for aquatic organism
The survival activities such as cataclysm are of great importance.Many tail fin bionic coatings are combined with undulatory propulsion and both propulsion sides of flux driving
Formula.
Meanwhile, theoretical and experiment proves that many fin push structure of the design can effectively eliminate fin, i.e., originally setting
The side force that tail fin in meter is produced in swing process, so as to improve stability when bionic coatings device moves about, while
Also possesses good acceleration.
Beneficial effects of the present invention (realize process)：
Present invention incorporates reciprocal screw mechanism and many fin bionic coatings modes, obtain simple structure, superior performance
Bionic coatings device.In the design, many fins show as the knot of many tail fin forms, many tail fin undulatory propulsions and flux driving
It is combined into machine fish and the power for advancing is provided.
Specific embodiment：
As shown in Figure 1 a, 1 b, in the design, the pectoral fin of bionic coatings device can be overturn and be flapped by servos control, increased
The mobility for having added propulsion plant travelling and motility, but which is only used as auxiliary body, illustrates no longer to describe in detail in figure.The present invention
Emphasis and bright spot be by single Motor drive, with many fin bionic coatings devices gone out designed by reciprocal screw mechanism.
In the design, many fins show as many tail fin forms.
In Fig. 1 a, Fig. 1 b, motor 4 is fixed by support fixed plate 3, and supports fixed plate 3 to be connected in shell 1 by screw
On.The output shaft of motor 4 connects reciprocal lead screw shaft 12 by shaft coupling 13, and shaft coupling 13 is arranged on bearing 5, then by supporting
Fixed plate is connected on shell 1, so prevents its insufficient rigidity, the drawbacks of cause transmission accuracy to reduce.Thread slider 6 with it is reciprocal
Lead screw shaft 12 coordinates to be installed, and is fixed together with thread slider connecting rod 7.The end connection bearing 11 of reciprocal lead screw shaft 12,
It is arranged on again and supports in fixed plate, so makes transmission accuracy be guaranteed.Tail fin fixing axle 10 is arranged on tail fin runing rest 8
On, tail fin 9 is fixed in tail fin fixing axle 10, together can be rotated around tail fin runing rest 8.
In the tail fin drive mechanism Local map of Fig. 2 c bionic coatings devices, thread slider connecting rod 7 is fixed through support
Aperture and kinematic link 19 on plate and tail fin runing rest 8 is affixed.In the same manner, remaining slide block base 18 also with kinematic link 19
It is affixed by connecting pin for positioning 20.Tail fin pivot link 16 and tail fin fixing axle 10 are affixed, and turning block 17 is enclosed within tail fin rotation
On connecting rod 16, and it is connected on slide block base 18 by connecting pin for positioning 20, wherein, turning block 17 can be around connecting pin for positioning 20
Rotate, it is possible to slide on tail fin pivot link 16.
The integral cycle rotating of motor 4 drives reciprocal lead screw shaft 12 to rotate by shaft coupling 13, and the rotation of reciprocal lead screw shaft 12 can
The straight reciprocating motion of the thread slider 6 coordinated with which is converted to, so as to drive the thread slider connecting rod 7 affixed with which to make directly
Line is moved back and forth.Because kinematic link 19 and thread slider connecting rod 7 are affixed, therefore kinematic link 19 also can be along propulsion dress
Put axis direction and make straight reciprocating motion.Slide block base 18 and kinematic link 19 are affixed again, and by connecting pin for positioning 20 and turn
Movable slider 17 connects, so can drive turning block when straight reciprocating motion is made along propulsion plant axis in kinematic link 19
17 make straight reciprocating motion and along with rotating, and now tail fin pivot link 16 stretches in turning block 17.So that tail fin
Fixing axle 10 is rotated around tail fin runing rest 8, is ultimately converted to back and forth flapping for tail fin 9.
The principle of propeller of many fin bionic structure propulsion plants：Drive reciprocal leading screw to rotate by motor, make to match somebody with somebody with which
The thread slider of conjunction makees straight reciprocating motion, drives tail fin linkage, is reconverted into the reciprocating rotation of tail fin fixing axle, finally
Realize back and forth flapping for tail fin.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (6)
1. a kind of many fin propulsion plants based on reciprocal screw mechanism, it is characterised in that including shell, the afterbody of the shell
Tail fin runing rest is fixed with, multiple tail fin fixing axles on the tail fin runing rest, are hinged with, each tail fin fixing axle connects
One tail fin, the inside the shell are fixed with motor and reciprocal lead screw shaft；
The output shaft of the motor is connected by shaft coupling with the reciprocal lead screw shaft, and the reciprocal lead screw shaft is engaged with screw thread cunning
Block, the thread slider passes through thread slider connecting rod and kinematic link is connected with multiple tail fin fixing axles.
2. many fin propulsion plants based on reciprocal screw mechanism according to claim 1, it is characterised in that the transmission
Connecting rod is provided with multiple ends, and each end is connected with a tail fin fixing axle respectively.
3. many fin propulsion plants based on reciprocal screw mechanism according to claim 2, it is characterised in that the transmission
The end of connecting rod is connected with the tail fin fixing axle by slide block base, connecting pin for positioning, turning block and tail fin pivot link.
4. many fin propulsion plants based on reciprocal screw mechanism according to claim 3, it is characterised in that the motor
Output shaft installed by shaft coupling coaxial line with the reciprocal lead screw shaft, or pass through tapered gear drive vertical axis side
To installation.
5. many fin propulsion plants based on reciprocal screw mechanism according to any one of Claims 1-4, its feature exist
In many fin propulsion plants are Pisces fin structure or three fin structures or four fin structures or six fin structures or eight fins knot
Structure.
6. many fin propulsion plants based on reciprocal screw mechanism according to claim 5, it is characterised in that the shell
Front portion be respectively provided on two sides with pectoral fin, the inside the shell is fixed with pectoral fin steering wheel support, the both sides of the pectoral fin steering wheel support
Pectoral fin support is respectively equipped with, the pectoral fin support is connected with the pectoral fin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611044658.8A CN106516059B (en) | 2016-11-24 | 2016-11-24 | A kind of more fin propulsion devices based on reciprocal screw mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611044658.8A CN106516059B (en) | 2016-11-24 | 2016-11-24 | A kind of more fin propulsion devices based on reciprocal screw mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106516059A true CN106516059A (en) | 2017-03-22 |
| CN106516059B CN106516059B (en) | 2018-08-03 |
Family
ID=58356890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611044658.8A Active CN106516059B (en) | 2016-11-24 | 2016-11-24 | A kind of more fin propulsion devices based on reciprocal screw mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106516059B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933870A (en) * | 2017-11-20 | 2018-04-20 | 上海海事大学 | Helm gear under a kind of integrated water |
| CN111439359A (en) * | 2020-04-09 | 2020-07-24 | 浙江大学 | Submarine rudder with double-cam structure |
| CN113039121A (en) * | 2018-11-12 | 2021-06-25 | 多普若普工业公司 | Method and system for tail fin drive |
| CN113277049A (en) * | 2021-06-25 | 2021-08-20 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1974320A (en) * | 2006-12-19 | 2007-06-06 | 北京航空航天大学 | Bionic underwater robot propelled by flexible flapping wings |
| CN101157381A (en) * | 2007-10-26 | 2008-04-09 | 哈尔滨工程大学 | Double bodies machinery fish |
| CN101643113A (en) * | 2009-07-31 | 2010-02-10 | 中国科学技术大学 | Underwater vehicle |
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN203283372U (en) * | 2013-04-18 | 2013-11-13 | 浙江工业大学 | Electronic bionic submergence device based on PIC singlechip and infrared sensor |
| CN106005323A (en) * | 2016-06-30 | 2016-10-12 | 深圳乐智机器人有限公司 | Bionic underwater glider and propelling method thereof |
| CN206278247U (en) * | 2016-11-24 | 2017-06-27 | 中国科学技术大学 | A kind of many fin propulsion plants based on reciprocal screw mechanism |
-
2016
- 2016-11-24 CN CN201611044658.8A patent/CN106516059B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1974320A (en) * | 2006-12-19 | 2007-06-06 | 北京航空航天大学 | Bionic underwater robot propelled by flexible flapping wings |
| CN101157381A (en) * | 2007-10-26 | 2008-04-09 | 哈尔滨工程大学 | Double bodies machinery fish |
| CN101643113A (en) * | 2009-07-31 | 2010-02-10 | 中国科学技术大学 | Underwater vehicle |
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN203283372U (en) * | 2013-04-18 | 2013-11-13 | 浙江工业大学 | Electronic bionic submergence device based on PIC singlechip and infrared sensor |
| CN106005323A (en) * | 2016-06-30 | 2016-10-12 | 深圳乐智机器人有限公司 | Bionic underwater glider and propelling method thereof |
| CN206278247U (en) * | 2016-11-24 | 2017-06-27 | 中国科学技术大学 | A kind of many fin propulsion plants based on reciprocal screw mechanism |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933870A (en) * | 2017-11-20 | 2018-04-20 | 上海海事大学 | Helm gear under a kind of integrated water |
| CN107933870B (en) * | 2017-11-20 | 2019-06-18 | 上海海事大学 | Helm gear under a kind of integrated water |
| CN113039121A (en) * | 2018-11-12 | 2021-06-25 | 多普若普工业公司 | Method and system for tail fin drive |
| CN113039121B (en) * | 2018-11-12 | 2024-02-06 | 多普若普工业公司 | Method and system for tail fin driving |
| CN111439359A (en) * | 2020-04-09 | 2020-07-24 | 浙江大学 | Submarine rudder with double-cam structure |
| CN111439359B (en) * | 2020-04-09 | 2023-10-31 | 浙江大学 | Double cam structure diving device rudder |
| CN113277049A (en) * | 2021-06-25 | 2021-08-20 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
| CN113277049B (en) * | 2021-06-25 | 2022-09-23 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106516059B (en) | 2018-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205273823U (en) | Bionical machine fish based on drive of simple joint tail fin | |
| CN104527352B (en) | A kind of novel ball amphibious robot and its method of work | |
| CN106516059A (en) | Multi-fin propulsion device based on reciprocal lead screw mechanism | |
| CN206278247U (en) | A kind of many fin propulsion plants based on reciprocal screw mechanism | |
| CN203186566U (en) | Mechanical pectoral fin biomimetic robot fish | |
| CN108622356B (en) | A kind of aquatic bionic Computation of Flexible Flapping-Wing propulsion device | |
| CN110077566B (en) | Multi-joint connecting rod type tail mechanism and bionic robot fish propelled by same | |
| CN109533249B (en) | Bionic flapping wing propulsion device of underwater vehicle | |
| CN110127015A (en) | It is a kind of singly to drive fluctuation fin propulsion device and bionic underwater vehicle | |
| CN108058799B (en) | Novel bionic mechanical fish | |
| CN109760810B (en) | Dolphin pectoral fin butterfly stroke type flapping mechanism capable of realizing elliptic orbit | |
| CN100340452C (en) | Pectoral fin structure of bionic mechanical fish | |
| CN111688894B (en) | Motion transformation type fluctuation propelling device | |
| CN109334932B (en) | Series-parallel driving mechanism for underwater bionic propulsion system | |
| CN107639649A (en) | A kind of robot permanent magnetism variation rigidity flexible joint | |
| CN106364648A (en) | Underwater bionic propelling device with controllable rigidity | |
| CN103241354A (en) | Robotic fish with power fins and method for realizing swimming action | |
| CN108945360B (en) | Hybrid drive imitation gold jellyfish marine organism observation monitoring robot | |
| CN207670636U (en) | A kind of novel bionic mechanical fish | |
| CN109720526A (en) | A kind of pendulous device of imitative whale tail | |
| CN108622355B (en) | One kind being based on the bionical underwater flapping wing propulsion device of devil ray | |
| CN104260864B (en) | A kind of imitative tail fin propulsion plant | |
| CN105173042A (en) | Underwater propelling device based on planetary gear train and synchronous belt transmission mechanism | |
| CN209719883U (en) | A kind of pendulous device of imitative whale tail | |
| CN109911155B (en) | Bionic fin unit capable of realizing elliptical trajectory and underwater robot propelled by bionic fin unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230724 Address after: No. 443, Mount Huangshan Road, Hefei, Anhui 230026 Patentee after: Zhang Shiwu Address before: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee before: University of Science and Technology of China Patentee before: Zhang Shiwu Effective date of registration: 20230724 Address after: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee after: University of Science and Technology of China Patentee after: Zhang Shiwu Address before: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee before: University of Science and Technology of China Effective date of registration: 20230724 Address after: 1406, Floor 14, Building A1, Zhong'an Chuanggu Science Park, No. 900, Wangjiang West Road, High tech Zone, Hefei, Anhui 230088 Patentee after: Zhongke Bote Intelligent Technology (Anhui) Co.,Ltd. Address before: No. 443, Mount Huangshan Road, Hefei, Anhui 230026 Patentee before: Zhang Shiwu |