CN108528666A - A kind of bionical ray underwater robot - Google Patents
A kind of bionical ray underwater robot Download PDFInfo
- Publication number
- CN108528666A CN108528666A CN201810249697.4A CN201810249697A CN108528666A CN 108528666 A CN108528666 A CN 108528666A CN 201810249697 A CN201810249697 A CN 201810249697A CN 108528666 A CN108528666 A CN 108528666A
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- Prior art keywords
- differential
- gear
- motor
- driving wheel
- wheel group
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Classifications
-
- 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
- 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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of bionical ray underwater robots, are made of main stand, battery, control module, water pump, rail unit and multipair fluctuation bar；Wherein, motor is located at the head of main stand, and is connected by shaft coupling with first order driving wheel group, differential undulating structure one motor of each correspondence of both sides, motor input power makes structure motion, motor be connect with control module, and bionical differential undulating structure is formed with driving wheel group by differential；Multipair fluctuation bar is connect with mantle, is realized bionic mechanical simulation and is simulated to the shape of ray.Caudal connectors are connect with steering engine fixing piece, and rail unit realizes the function of complementary advance and steering；Plunging motion is realized using carrying water storage cabin and water pump.Bionical ray underwater robot has the characteristics that small, light-weight, stereo-motion ability is strong, flexible movements；Robot can carry out working in the water of various ambient water quality detections and undersea detection activity, is with a wide range of applications.
Description
Technical field
The present invention relates to underwater robot technical fields, specifically, be related to it is a kind of with ray be bionical object it is underwater
Robot.
Background technology
UAV navigation common at present, such as Autonomous Underwater Vehicle (Autonomous Underwater
Vehicle, AUV), remote control submarine navigation device (Remotely Operated Vehicle, ROV) etc. mostly use traditional spiral
Paddle propeller.Propeller Push Technology has irreplaceable advantage in practical applications, and theoretical research and practical application are all
It is more mature；But also Shortcomings are applied if noise is big, kinematic dexterity big to environmental perturbation and concealment are poor for its own
Occasion is restricted.The fish of pattern are promoted to have in terms of concealment, energy saving using ray as the fluctuation fin of representative free from worldly cares
Superiority.And the bionics Study for being directed to ray at present is less, it is very necessary to carry out research with ray for bionical object.
Patent of invention CN201610120449.0 is disclosed " a kind of marine propulsion of imitative ray ".The propulsion device packet
It includes and power actuated motor, rocking bar, connecting rod, pinion gear, gear wheel, transmission shaft, transmission shaft and canine tooth wheel support, electronic is provided
Machine support, long axis frame, pedestal；Device drives transmission shaft rotation, transmission shaft to drive pinion gear and canine tooth rotation by motor
Dynamic, gear wheel drives link motion, connecting rod to drive rocking bar movement by short axle.Since short axle is eccentric solid relative to gear wheel
Fixed, short axle does circular motion under the drive of gear wheel, while driving connecting rod swing, and the swing of connecting rod drives rocking bar to swing.In order to
Rocking bar is set to generate ripple effect, to generate propulsive force, the short axle on the gear wheel different along transmission axis direction is successively with certain
Angle be fixed on gear wheel；And adjacent rocking bar is connected using fexible film.Ripple effect is realized by train.But due to
Wheel train structure is simple, does not simulate the differential surge movement process of ray truly more, and only fluctuation-type pushes away
Into device.
Invention content
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of bionical ray underwater robot；The robot
By the differential bionical differential undulating structure with driving wheel group composition, realizes bionic mechanical simulation and the shape of ray is simulated；
Sink-float function is realized using water storage cabin is carried.Robot is with small, light-weight, stereo-motion ability is strong, flexible movements
Feature；Robot can carry out underwater work and the undersea detection activity of various ambient water quality detections, before having a wide range of applications
Scape.
The technical solution adopted by the present invention to solve the technical problems is:Including main stand, battery, control module, water
Pump, motor, fluctuation bar and rail unit, the main stand include driving wheel group, differential gear group, intermediate plate, upper cover plate, lower cabin
Plate, head, intermediate plate are fixedly connected with upper cover plate, lower deck board, head and rail unit respectively, driving wheel group and differential gear group according to
Head is along the axial fluctuation bar connection corresponding with both sides of intermediate plate；
The driving wheel group includes first gear, second gear, transmission shaft and two rotating disks, driving wheel group be it is multigroup,
It is symmetrically installed along intermediate plate axial centerline, first gear is connected with differential connection axis, and second gear passes through biography with two rotating disks
Moving axis is positioned on every level-one location hole of intermediate plate, and connected first gear coaxial with differential connection axis engage to transmission
The connected first gear input power of axis exports power by two rotating disks；Sliding block company coaxial with each rotating disk location hole
It connects, positioning sliding block connection coaxial with the location hole on intermediate plate；
The differential gear group includes the first sun gear, the second sun gear, the first planetary gear, the second planetary gear, planet carrier, difference
Dynamic connecting shaft, the first sun gear, the second sun gear are axially positioned on by differential connection axis on the location hole of intermediate plate respectively, the
One planetary gear and the second planetary gear are axially positioned on planet carrier both ends, and the main shaft of planet carrier is coaxial with differential connection axis, and it is poor to realize
Dynamic assembly；Each differential driving wheel group is by the first sun gear input power, to the first planetary gear, the second planetary gear and the second sun gear
Engaged transmission realizes differential reducing；The unilateral fluctuation drive mechanism that driving wheel group is constituted with differential gear group；
The fluctuation bar is multipair, and fluctuation bar includes first wave lever, the second fluctuation bar, third fluctuation bar, the 4th fluctuation
Bar, the 5th fluctuation bar, the 6th fluctuation bar, each pair of fluctuation bar are symmetrically installed, and corresponding two locating shaft of fluctuation bar sequentially passes through the biography
Sliding block in driving wheel group and corresponding positioning sliding block, the locating shaft root plane and positioning sliding block outer surface level for fluctuating bar are total to
Face is fixed；
The motor is connected with motor contact positioned at the head of main stand, and head is connected with intermediate plate；Motor and
Primary transmission wheel group is connected by shaft coupling, and differential undulating structure one motor of each correspondence of both sides, motor input power makes knot
Structure moves, and motor is connect with control module by conducting wire；
The battery, control module, water pump are fixed in lower deck board, and pump intake is communicated by hose with outside, water
It pumps out the mouth of a river with the water storage cabin in lower deck board to be connected, water storage cabin inflow is controlled by water pump, realizes floating, sunken caves；Electricity
Pond is connected with motor, control module, water pump power supply respectively；
The rail unit includes Caudal connectors, steering engine fixing piece, steering engine, the U-shaped part of steering engine, tail vane, Caudal connectors
It connect with steering engine fixing piece, and is connected by screw with intermediate plate, steering engine is connected with steering engine fixing piece, and steering engine passes through rudder with tail vane
The U-shaped part connection of machine；Rail unit realizes the function of complementary advance and steering.
Each two driving wheel group is engaged with differential gear group, and wheel group middle gear modulus is 1.
The mantle is connect with multipair fluctuation bar.
Advantageous effect
A kind of bionical ray underwater robot proposed by the present invention, by main stand, battery, control module, water pump, tail portion
Component and multipair fluctuation bar composition；Wherein, motor is located at the head of main stand, and passes through shaft coupling with first order driving wheel group
It is connected, differential undulating structure one motor of each correspondence of both sides, motor input power makes structure motion, motor connect with control module
Connect, by differential gear and driving wheel group at bionical differential undulating structure, multipair fluctuation bar connect with mantle, realization bionic mechanical
It simulates and the shape of ray is simulated.Caudal connectors are connect with steering engine fixing piece, and rail unit is realized complementary advance and turned
To function；Plunging motion is realized using carrying water storage cabin and water pump.Bionical ray underwater robot has small, weight
Gently, the feature that stereo-motion ability is strong, flexible movements are convenient；Robot can carry out working in the water of various ambient water quality detections,
And undersea detection activity, it is with a wide range of applications.
Description of the drawings
A kind of bionical ray underwater robot of the present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the bionical ray underwater robot axonometric drawing of the present invention.
Fig. 2 is the bionical ray underwater robot side view of the present invention.
Fig. 3 is the bionical ray underwater robot vertical view of the present invention.
Fig. 4 is the differential undulating structure schematic diagram of the bionical ray underwater robot of the present invention.
Fig. 5 is the bionical ray underwater robot schematic diagram of the present invention.
In figure
1. 2. upper cover plate of intermediate plate, 3. times deck boards, 4. head, 5. motor, 6. motor contact, 7. shaft coupling 8. is driven
11. positioning sliding block of wheel group 9. differential gear group, 10. sliding block, 12. first wave lever 13. second fluctuates 14. third of bar and fluctuates bar
15. the 4th fluctuation bar 16. the 5th fluctuates bar 17. the 6th and fluctuates 20. water pump of bar 18. battery, 19. control module, 21. tail portion
26. first sun gear of U-shaped 25. tail vane of part of 22. steering engine fixed frame of connector, 23. steering engine, 24. steering engine, 27. second sun gear
28. 33. second gear of the first 32. first gear of planetary gear 29. second planetary gear, 30. planet carrier, 31. differential connection axis
34. 35. rotating disk of transmission shaft, 36. mantle
Specific implementation mode
The present embodiment is a kind of bionical ray underwater robot.
Refering to fig. 1~Fig. 5, the bionical ray underwater robot of the present embodiment, by main stand, battery 18, control module 19,
Water pump 20, motor 5, fluctuation bar and rail unit composition；Wherein, main stand includes driving wheel group 8, differential gear group 9, intermediate plate
1, upper cover plate 2, lower deck board 3, head 4, intermediate plate 1 are fixedly connected with upper cover plate 2, lower deck board 3, head 4 and rail unit respectively,
Driving wheel group 8 is connected according to head 4 along the axial fluctuation bar corresponding with both sides of intermediate plate 1.Intermediate plate 1 is as by 8 He of driving wheel group
The rack for the compound gear train that differential gear group 9 forms, while by being fixedly connected with upper cover plate 2, lower deck board 3, head 4 and rail unit
As robot body.Intermediate plate 1 is symmetrical along robot longitudinal axis, and multiple driving wheel groups 8, each two driving wheel are installed in side
Differential gear 9 is used to be connected successively between group 8, all modules are 1 group in wheel group, realize driving wheel group 8 and differential gear group 9
The bionical fluctuation drive mechanism in unilateral side of composition.
In the present embodiment, driving wheel group 8 includes first gear 32, second gear 33, transmission shaft 34 and two rotating disks 35,
Driving wheel group 8 is multigroup, is symmetrically installed along 1 axial centerline of intermediate plate, and first gear 32 is fixedly connected with differential connection axis 31, the
Two gears 33 and two rotating disks 35 are positioned at by transmission shaft 34 on every level-one location hole of intermediate plate 1, and and differential connection
The coaxial connected first gear 32 of axis 31 engages, and to 32 input power of first gear being connected with transmission shaft 34, is revolved by two
Turntable 35 exports power；The connection coaxial with 35 location hole of rotating disk of sliding block 10, positioning sliding block 11 and the location hole on intermediate plate 1 are total
Axis connection.Differential gear group 9 includes the first sun gear 26, the second sun gear 27, the first planetary gear 28, the second planetary gear 29, planet
Frame 30, differential connection axis 31, the first sun gear 26, the second sun gear 27 are axially positioned on centre by differential connection axis 31 respectively
On the location hole of plate 1, the first planetary gear 28 and the second planetary gear 29 are axially positioned on 30 both ends of planet carrier, the main shaft of planet carrier 30
It is coaxial with differential connection axis 31, realize differential assembly.Each differential driving wheel group passes through engagement by 26 input power of the first sun gear
Differential reducing is realized in transmission to the first planetary gear 28, the second planetary gear 29 and the second sun gear 27.
It is multipair to fluctuate bar, and fluctuation bar includes first wave lever 11, the second fluctuation bar 12, third fluctuation bar 13, the 4th wave
Lever 14, the 5th fluctuation bar 15, the 6th fluctuation bar 16, each pair of fluctuation bar are symmetrically installed, each corresponding two locating shaft of fluctuation bar
The sliding block 10 on driving pulley assemblies 8 at different levels and corresponding positioning sliding blocks 11 at different levels are sequentially passed through, the locating shaft root for fluctuating bar is flat
Face and the coplanar fixation of 11 outer surface level of positioning sliding block；More fluctuation bars are connect with mantle 36.
Motor 5 is connected with motor contact 6 positioned at the head of main stand, and head 4 is connected with intermediate plate 1 by screw；
Motor 5 is connected with first order driving wheel group by shaft coupling 7, differential undulating structure one motor of each correspondence of both sides, and motor is defeated
Entering power makes structure motion, motor 5 be connect by conducting wire with control module 19；It is controlled the control of module 19.Upper cover plate 2 is logical
It crosses screw to be fixedly connected with head 4 and intermediate plate 1, upper cover plate 2 plays the role of the bionical differential undulating structure of protection.Battery 18,
Control module 19, water pump 20 are fixed on inside lower deck board 3, and the water inlet of water pump 20 is connected to by hose with outside, water pump 20
Water outlet is connected with the water storage cabin inside lower deck board 3, and water pump realizes floating, sunken caves by controlling water storage cabin inflow.Water
Pump 20 is connected by control line with control module 19 controlled.Battery 18 and stepper motor 5, control module 19, water pump 20 are connected, into
Row power supply.Caudal connectors 21 are connected with steering engine fixing piece 22 by screw,
Rail unit includes Caudal connectors 21, steering engine fixing piece 22, steering engine 23, the U-shaped part 24 of steering engine, tail vane 25, tail portion
Connector 21 is connect with steering engine fixing piece 22, and is connected by screw with intermediate plate 1, and steering engine 23 is connected with steering engine fixing piece 22,
Steering engine 23 and tail vane 25 are connect by the U-shaped part of steering engine 24；Rail unit realizes the function of complementary advance and steering.
Controlled motion process:
Control module output signal drives two stepper motors and waterproof steering engine and pump working, and then drives bionical difference
Dynamic undulating structure, rail unit movement change with water storage cabin water, realize the stereo-motion of robot in water.
(1) it moves vertically:Robot vertical movement when, water pump works, by into water storage cabin water filling increase it is whole
A robot density, robot realizes sunken caves, by Reduction by Drainage small machine people's density into water storage cabin, on robot realizes
Transportation by driving is dynamic.
(2) forward travel:Robot is in forward travel, two groups of bionical differential undulating structure same-phase setting in motions, and two
A stepper motor is started to work at the same speed, realizes that the identical ripple effect in the left and right sides, rail unit cooperation carry out the left and right amplitude of oscillation one
The forward travel of robot is realized in the movement of sample.
(3) divertical motion:In divertical motion, to turn to the stepper motor speed of side reduces, another side step for robot
Stepper motor speed increases, and realizes that the differential motion of structure on two sides, tie tail component reduce to the amplitude of oscillation of turn side, realizes both sides
By force difference, carry out corresponding divertical motion.
Claims (3)
1. a kind of bionical ray underwater robot, it is characterised in that:Including main stand, battery, control module, water pump, motor,
Fluctuating bar and rail unit, the main stand includes driving wheel group, differential gear group, intermediate plate, upper cover plate, lower deck board, head,
Intermediate plate is fixedly connected with upper cover plate, lower deck board, head and rail unit respectively, and driving wheel group and differential gear group are according to head in
Between board shaft connected to fluctuation bar corresponding with both sides；
The driving wheel group includes first gear, second gear, transmission shaft and two rotating disks, and driving wheel group is multigroup, in
Between board shaft be symmetrically installed to the midline, first gear and differential connection axis are connected, and second gear passes through transmission shaft with two rotating disks
It is positioned on every level-one location hole of intermediate plate, and connected first gear coaxial with differential connection axis is engaged to solid with transmission shaft
First gear input power even exports power by two rotating disks；Sliding block connection coaxial with each rotating disk location hole, it is fixed
Position sliding block connection coaxial with the location hole on intermediate plate；
The differential gear group includes the first sun gear, the second sun gear, the first planetary gear, the second planetary gear, planet carrier, differential company
Spindle, the first sun gear, the second sun gear are axially positioned on by differential connection axis on the location hole of intermediate plate respectively, the first row
Star-wheel and the second planetary gear are axially positioned on planet carrier both ends, and the main shaft of planet carrier is coaxial with differential connection axis, realizes differential dress
Match；Each differential driving wheel group is engaged to the first planetary gear, the second planetary gear with the second sun gear by the first sun gear input power
Differential reducing is realized in transmission；The unilateral fluctuation drive mechanism that driving wheel group is constituted with differential gear group；
The fluctuation bar is multipair, and fluctuation bar includes first wave lever, and the second fluctuation bar, third fluctuation bar, the 4th fluctuates bar, the
Five fluctuation bars, the 6th fluctuation bar, each pair of fluctuation bar are symmetrically installed, and corresponding two locating shaft of fluctuation bar sequentially passes through the driving wheel group
On sliding block and corresponding positioning sliding block, fluctuate bar locating shaft root plane and positioning sliding block outer surface level carry out it is coplanar solid
It is fixed；
The motor is connected with motor contact positioned at the head of main stand, and head is connected with intermediate plate；Motor and the first order
Driving wheel group is connected by shaft coupling, and differential undulating structure one motor of each correspondence of both sides, motor input power makes structure transport
Dynamic, motor is connect with control module by conducting wire；
The battery, control module, water pump are fixed in lower deck board, and pump intake is communicated by hose with outside, and water pumps out
The mouth of a river is connected with the water storage cabin in lower deck board, controls water storage cabin inflow by water pump, realizes floating, sunken caves；Battery point
Be not connected with motor, control module, water pump power supply；
The rail unit includes Caudal connectors, steering engine fixing piece, steering engine, the U-shaped part of steering engine, tail vane, Caudal connectors and rudder
Machine fixing piece connects, and is connected by screw with intermediate plate, and steering engine is connected with steering engine fixing piece, and steering engine passes through steering engine U with tail vane
Type part connects；Rail unit realizes the function of complementary advance and steering.
2. bionical ray underwater robot according to claim 1, it is characterised in that:Each two driving wheel group and differential gear
Group engagement, wheel group middle gear modulus is 1.
3. bionical ray underwater robot according to claim 1, it is characterised in that:The mantle connects with multipair fluctuation bar
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810249697.4A CN108528666B (en) | 2018-03-26 | 2018-03-26 | Ray-imitating underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810249697.4A CN108528666B (en) | 2018-03-26 | 2018-03-26 | Ray-imitating underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108528666A true CN108528666A (en) | 2018-09-14 |
| CN108528666B CN108528666B (en) | 2020-04-03 |
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ID=63484570
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810249697.4A Expired - Fee Related CN108528666B (en) | 2018-03-26 | 2018-03-26 | Ray-imitating underwater robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108528666B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111268086A (en) * | 2020-03-06 | 2020-06-12 | 中国电子科技集团公司第三十八研究所 | Novel bionic airship |
| CN112249286A (en) * | 2020-10-27 | 2021-01-22 | 吕梁学院 | Bionic robot fish with multiple driving systems |
| CN112810782A (en) * | 2019-11-15 | 2021-05-18 | 广州中国科学院先进技术研究所 | Underwater bionic robot and motion control system thereof |
| CN113511318B (en) * | 2021-05-13 | 2022-07-01 | 浙江大学 | Flexible machine ray device |
| CN114701629A (en) * | 2022-03-22 | 2022-07-05 | 上海交通大学 | Flexible shaft drive type bionic robot fish with variable fin wave shape |
| CN115126962A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Bionic unpowered pipeline robot and control method |
| WO2023102775A1 (en) * | 2021-12-08 | 2023-06-15 | 西湖大学 | Underwater vehicle |
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| EP0903288A2 (en) * | 1997-09-18 | 1999-03-24 | Mitsubishi Heavy Industries, Ltd. | Submersible vehicle having swinging wings |
| CN103950527A (en) * | 2014-05-09 | 2014-07-30 | 兰州交通大学 | Ray pectoral fin-imitated piezoelectric coupling propulsive mechanism |
| CN104816808A (en) * | 2015-05-25 | 2015-08-05 | 中国科学院自动化研究所 | Bionic fluctuating long fin underwater propulsor |
| CN104943839A (en) * | 2015-07-16 | 2015-09-30 | 北京航空航天大学 | Novel modular bionic underwater robot based on full-flexible pectoral fins |
| CN105173042A (en) * | 2015-08-28 | 2015-12-23 | 北京航空航天大学 | Underwater propelling device based on planetary gear train and synchronous belt transmission mechanism |
| CN105620704A (en) * | 2016-03-03 | 2016-06-01 | 代林桐 | Ray-imitating propulsion device for ships |
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2018
- 2018-03-26 CN CN201810249697.4A patent/CN108528666B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0903288A2 (en) * | 1997-09-18 | 1999-03-24 | Mitsubishi Heavy Industries, Ltd. | Submersible vehicle having swinging wings |
| CN103950527A (en) * | 2014-05-09 | 2014-07-30 | 兰州交通大学 | Ray pectoral fin-imitated piezoelectric coupling propulsive mechanism |
| CN104816808A (en) * | 2015-05-25 | 2015-08-05 | 中国科学院自动化研究所 | Bionic fluctuating long fin underwater propulsor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112810782A (en) * | 2019-11-15 | 2021-05-18 | 广州中国科学院先进技术研究所 | Underwater bionic robot and motion control system thereof |
| CN111268086A (en) * | 2020-03-06 | 2020-06-12 | 中国电子科技集团公司第三十八研究所 | Novel bionic airship |
| CN112249286A (en) * | 2020-10-27 | 2021-01-22 | 吕梁学院 | Bionic robot fish with multiple driving systems |
| CN113511318B (en) * | 2021-05-13 | 2022-07-01 | 浙江大学 | Flexible machine ray device |
| WO2023102775A1 (en) * | 2021-12-08 | 2023-06-15 | 西湖大学 | Underwater vehicle |
| CN114701629A (en) * | 2022-03-22 | 2022-07-05 | 上海交通大学 | Flexible shaft drive type bionic robot fish with variable fin wave shape |
| CN115126962A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Bionic unpowered pipeline robot and control method |
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| Publication number | Publication date |
|---|---|
| CN108528666B (en) | 2020-04-03 |
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