CN109319075A - A kind of bionic machine shark - Google Patents
A kind of bionic machine shark Download PDFInfo
- Publication number
- CN109319075A CN109319075A CN201811265157.1A CN201811265157A CN109319075A CN 109319075 A CN109319075 A CN 109319075A CN 201811265157 A CN201811265157 A CN 201811265157A CN 109319075 A CN109319075 A CN 109319075A
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- Prior art keywords
- fish
- steering engine
- head
- fin
- pectoral fin
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Classifications
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- 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
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/20—Steering equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
A kind of bionic machine shark is related to bionical underwater hiding-machine field, including fish head, pectoral fin system, dorsal fin, fish body skeleton, equipment compartment and fish tail drive system；The fish head is connect with fish body skeleton by head steering engine, and head steering engine is fixed on fish body skeleton front, be can control fish head and is swung left and right；The pectoral fin system is by changing the floating dive in the realization machine shark movement of pectoral fin angle；Dorsal fin is fixed on fish body skeleton, place apparatus cabin in fish body skeleton, screw hole is provided on fish body skeleton, to connect steering engine and other expansion equipments；Single-chip microcontroller and battery etc. are placed in equipment compartment；Fish tail drive system is drawn by STATEMENT OF FEDERALLY SPONSORED realizes that main rudder machine drives entire tail portion flexibility to swing, the last one caudal articular process has tail fin steering engine, individually controls tail fin and swings.The configuration of the present invention is simple, bionical effect is true to nature, and scalability is strong, it can be achieved that underwater 3 D moves.
Description
Technical field
The present invention relates to bionical underwater hiding-machine field more particularly to a kind of bionic machine sharks.
Background technique
Emulation fish can be more true to nature simulation fish travelling principle, make underwater robot motion more meet hydrodynamics original
It manages, there is preferably acceleration and steering capability, ocean can be detected using them, find and detect in sea area contaminatedly
Side can also be used to exploration landform；Shark selects as predator outstanding in ocean, whole synthesis performance by long-term naturally
It selects and is slightly eliminated with winning, be evolved to brilliance.Such as unique drag reduction structures of sharkskin, attract many people to study.Shark is soft
Bone fish mainly leans on body cooperation tail fin to push ahead as the same swing of sculling when travelling, stablizes and control is mainly with carrying on the back
The body of fin and pectoral fin, slender softness is suitable for realizing driving method flexible just.
Major part machine fish uses joint series driving method at present, i.e. one joint of a motor driven passes through control
The movement of each motor is made to control the swing angle and speed of every section fish body, the body curvature of fish swimming is fitted with this.This
Posture when kind mode is substantially close to fish swimming, but when joint is less, travelling is more stiff, with increasing for amount of articulation
Control get up it is also more complicated, power consumption is higher.These factors cause bionic machine fish to be difficult to realize advancing movement flexible, promote
Effect is difficult to match in excellence or beauty with fish.
Summary of the invention
It is an object of the invention to solve the above problem in the prior art, a kind of bionic machine shark is provided, shark is utilized
The body of the slender softness of fish, and overcome the non-flexible driving of more steering engines, it can be achieved that underwater three using single steering engine and steel wire traction
Maintenance and operation is dynamic.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A kind of bionic machine shark, including fish head, pectoral fin system, fish body skeleton, dorsal fin, equipment compartment and fish tail driving system
System；
The fish head includes fish head shell and head steering engine, and the fish head shell is connected with head steering engine, the head rudder
Machine is set to the front of fish body skeleton；
The pectoral fin system includes pectoral fin steering engine and the pectoral fin that is connected on pectoral fin steering engine；The pectoral fin steering engine is secured to fish
The side of body skeleton front；
The dorsal fin is fixed on fish body skeleton；
The equipment compartment is installed in fish body skeleton, and equipment compartment is provided with single-chip microcontroller and battery；
The fish tail drive system includes caudal articular process, main rudder machine, main rudder disk, STATEMENT OF FEDERALLY SPONSORED and elastic component；The main rudder machine
Set on the rear portion of fish body skeleton, main rudder machine connects main rudder disk；The caudal articular process is connect by STATEMENT OF FEDERALLY SPONSORED with main rudder disk；The bullet
Property part be set to caudal articular process in and run through caudal articular process.
The invention also includes holder,head, head steering engine bracket and equipment compartment brackets；Holder,head is fixed with head steering engine
Connection, fish head shell are fixed on holder,head；Head steering engine bracket is fixed on the front of fish body skeleton, and head steering engine is fixed on
On the steering engine bracket of head；The equipment compartment is mounted in fish body skeleton by equipment compartment bracket.
The pectoral fin system further includes pectoral fin steering engine bracket and round steering wheel；The pectoral fin steering engine passes through pectoral fin steering engine bracket
It is connect with fish body skeleton；The pectoral fin is connect with pectoral fin steering engine by round steering wheel.
The pectoral fin includes upper pectoral fin piece, lower breast fin and rubber pectoral fin piece, rubber pectoral fin piece be held on pectoral fin piece and
The centre of lower breast fin, upper pectoral fin piece, lower breast fin are fixedly connected with rubber pectoral fin piece.
The fish body skeleton includes that horizontal fish-bone, vertical fish-bone and annular fish-bone, the vertical fish-bone are set to horizontal fish-bone
Upper and lower, and pass through annular fish-bone connection between horizontal fish-bone and vertical fish-bone.
The fish tail drive system further includes tail fin steering engine and the tail fin that connect with tail fin steering engine, and the tail fin steering engine is set to
Behind caudal articular process.
The STATEMENT OF FEDERALLY SPONSORED is steel wire, and one end of steel wire is fixed on main rudder disk, and the other end of steel wire is fixed on caudal articular process
On.
The number of the caudal articular process is at least 2, is connected by hinge between caudal articular process.
Screw hole is offered on the holder,head, fish body skeleton and caudal articular process.
Compared with the existing technology, the beneficial effect that technical solution of the present invention obtains is:
1, the configuration of the present invention is simple has bionical effect true to nature, promotes effect preferable, and underwater 3 D fortune may be implemented
It is dynamic.
2, it is rotated by pectoral fin steering engine, drives the pectoral fin rotation being connected on pectoral fin steering engine, exist to control machine shark
Floating dive in traveling.
3, the present invention can drive entire fish head to rotate by the rotation of head steering engine.
4, the equipment compartment is connected in fish body skeleton by equipment compartment bracket, and equipment compartment is provided with single-chip microcontroller and battery
Deng can control the movement of bionic machine shark by single-chip microcontroller in equipment compartment.
5, the main rudder machine is by driving the rotation of main rudder disk to pull the entire fish tail flexibility of steel wire traction to swing, tail fin rudder
Machine individually controls tail fin swing, to realize fish tail flexibility, neatly move.
6, screw hole is offered on the holder,head, fish body skeleton and caudal articular process, screw hole can be used for installing fish-skin
And other expansion equipments, scalability are strong.
Detailed description of the invention
Fig. 1 is one of schematic perspective view of the invention；
Fig. 2 is the two of schematic perspective view of the invention；
Fig. 3 is the structural schematic diagram that fish head and fish body front remove pectoral fin and part fish body skeleton；
Fig. 4 is the structural schematic diagram of fish body skeleton front and pectoral fin system；
Fig. 5 is the structural schematic diagram of fish body skeleton；
Fig. 6 is the structural schematic diagram of fish tail drive system.
Detailed description of the invention: fish head 1, fish head shell 11, holder,head 12, head steering engine 13, head steering engine bracket 14, pectoral fin system
System 2, pectoral fin 21, pectoral fin steering engine 22, round steering wheel 23, pectoral fin steering engine bracket 24, upper pectoral fin piece 25, lower breast fin 26, rubber chest
Fin 27, fish body skeleton 3, horizontal fish-bone 31, annular fish-bone 32, vertical fish-bone 33, fish body skeleton connector 34, fish body skeleton branch
Support member 35, dorsal fin 41, equipment compartment 42, equipment compartment bracket 43；Fish tail drive system 5, main rudder machine 51, main rudder machine support 52, main rudder
Disk 53, steel wire 54, the first caudal articular process 61, the second caudal articular process 62, third caudal articular process 63, the 4th caudal articular process 64, the 5th
Caudal articular process 65, tail fin steering engine 66, tail fin 67, hinge 68, elastic rod 69, connector 610.
Specific embodiment
In order to be clearer and more clear technical problems, technical solutions and advantages to be solved, tie below
Drawings and examples are closed, the present invention is described in further details.
As shown in Fig. 1~2, a kind of bionic machine shark of the invention, moulding is shark, including fish head 1, pectoral fin system 2,
Fish body skeleton 3, dorsal fin 31, equipment compartment 32 and fish tail drive system 4.
Referring to Fig. 3, in the present embodiment, the fish head 1 includes fish head shell 11, holder,head 12,13 and of head steering engine
Head steering engine bracket 14.Fish head shell 11 is the shell that a shape is shark head, is fixed by screws on holder,head 12, head
Portion's bracket 12 offers multiple screw holes, and screw hole is for fixing other expansion equipments, such as camera and searchlight.Head branch
Frame 12 and head steering engine 13 are by screw connection, and head steering engine 13 is fixed on head steering engine bracket 14 by screw nut, head
Portion's steering engine bracket 14 is fixed on 3 front of fish body skeleton by screw nut；Entire fish head is driven to turn when head steering engine 13 rotates
It is dynamic.
Referring to Fig.1,2 and 4, pectoral fin system respectively symmetrically is located at the left and right sides of fish body skeleton front.In the present embodiment
In, the pectoral fin system 2 includes pectoral fin 21, pectoral fin steering engine 22, round steering wheel 23 and pectoral fin steering engine bracket 24.Specifically, upper chest
26 sandwich rubber pectoral fin piece 27 of fin 25 and lower breast fin, and fixed by screw nut, pectoral fin 21 is formed, similarly, back
Fin 41 also uses similar structure with tail fin 67.Pectoral fin 21 is screwed with round steering wheel 23, then passes through round steering wheel 23
It is fixed with pectoral fin steering engine 22.Pectoral fin steering engine 22 is fixed on pectoral fin steering engine bracket 24 by screw nut, pectoral fin steering engine bracket 24
The side of fish body skeleton front is fixed on by screw nut.Pectoral fin system 2 is rotated by pectoral fin steering engine 22, and drive is connected to chest
Pectoral fin 21 on fin steering engine 22 rotates, to control floating dive of the machine shark in traveling.
Referring to Fig.1~2, multiple screw holes, the head steering engine bracket 14, pectoral fin steering engine branch are offered on fish body skeleton 3
Frame 24, dorsal fin 41, equipment compartment bracket 43, main rudder machine support 52 and the first caudal articular process 61 are mounted on fish body bone by screw hole
On frame 3, extra screw hole can be used for installing fish-skin and other expansion equipments.
Referring to Fig. 5, fish body skeleton 3 is by horizontal fish-bone 31, annular fish-bone 32, vertical fish-bone 33, fish body skeleton connector 34
It is formed with fish body skeletal supports 35.Vertical fish-bone 32 is set to the upper and lower of horizontal fish-bone 31, and annular fish-bone 32 passes through screw spiral shell
Cap is connect with horizontal fish-bone 31, vertical fish-bone 33, forms entire fish body skeleton 3.In the present embodiment, horizontal fish-bone 31 is using segmentation
Structure is simultaneously formed by connecting by fish body skeleton connector 34, and equally, vertical fish-bone 33 also uses similar structure, on the make,
According to the difference of actual fabrication technique, integrated molding or sectionally smooth join may be selected.The vertical fish-bone 33 of bottom is in two groups side by side, fish
Body skeletal supports 35 are installed between two groups of vertical fish-bones 33 as support, are not easy bionic machine shark when placing on the table
Rollover, and can according to need quantity and position that fish body changes skeletal supports 35.
Equipment compartment 42 is connected in fish body skeleton 3 by equipment compartment bracket 43, the equipment compartment 42 be provided with single-chip microcontroller and
Battery etc. can control the movement of bionic machine shark by the single-chip microcontroller in equipment compartment 42.
STATEMENT OF FEDERALLY SPONSORED uses steel wire in the present embodiment, and elastic component uses elastic rod, and the number of caudal articular process is 5.Reference Fig. 6,
The fish tail drive system 5 includes main rudder machine 51, main rudder machine support 52, main rudder disk 53, steel wire 54, the first caudal articular process 61, the
Two caudal articular processes 62, third caudal articular process 63, the 4th caudal articular process 64, the 5th caudal articular process 65, tail fin steering engine 66, tail fin 67,
Hinge 68, elastic rod 69 and connector 610.
Main rudder machine support 52 is fixed on 3 rear portion of fish body skeleton by screw nut, and main rudder machine 51 is fixed by screw nut
On main rudder machine support 52, main rudder disk 53 is fixed by screws on main rudder machine 51.One end of steel wire 54 is fixed on main rudder disk 53
On, the other end of steel wire is fixed on the 5th caudal articular process, 54 bilateral symmetry of steel wire.First caudal articular process 61 passes through screw nut
It is fixed on the rear portion of fish body skeleton 3, the second caudal articular process 62, third caudal articular process 63, the 4th caudal articular process 64 and the 5th tail portion
Joint 65 is sequentially connected by hinge 68, and elastic rod 69 passes through this five caudal articular processes, plays a part of to support and provide restoring force.
Tail fin steering engine 66 is fixed on the 5th caudal articular process 65 by screw nut, and is connected by connector 610 with tail fin 67.
In the present embodiment, the first to the 5th caudal articular process is closed up by left and right two halves screw nut, according to reality
The difference of border manufacture craft can choose integrated molding.Multiple screw holes are provided on caudal articular process, for fix fish-skin and other
Expansion equipment.Main rudder machine 51 pulls steel wire 54 to draw entire fish tail flexibility swing, tail fin steering engine by driving main rudder disk 53 to rotate
66 individually control tail fin 67 swings, to realize fish tail flexibility, flexible movement.
The structure of bionic machine shark of the invention is simple, has bionical effect true to nature, and underwater 3 D fortune may be implemented
It is dynamic.
Claims (10)
1. a kind of bionic machine shark, it is characterised in that: driven including fish head, pectoral fin system, fish body skeleton, equipment compartment and fish tail
System；
The fish head includes fish head shell and head steering engine, and the fish head shell is connected with head steering engine, and the head steering engine is set
In the front of fish body skeleton；
The pectoral fin system includes pectoral fin steering engine and the pectoral fin that is connected on pectoral fin steering engine；The pectoral fin steering engine is secured to fish body bone
The side of frame front；
The equipment compartment is installed in fish body skeleton, and equipment compartment is provided with single-chip microcontroller and battery；
The fish tail drive system includes caudal articular process, main rudder machine, main rudder disk, STATEMENT OF FEDERALLY SPONSORED and elastic component；The main rudder machine is set to
The rear portion of fish body skeleton, main rudder machine connect main rudder disk；The caudal articular process is connect by STATEMENT OF FEDERALLY SPONSORED with main rudder disk；The elastic component
In caudal articular process and run through caudal articular process.
2. a kind of bionic machine shark as described in claim 1, it is characterised in that: further include dorsal fin, the dorsal fin is fixed on
On fish body skeleton.
3. a kind of bionic machine shark as described in claim 1, it is characterised in that: further include holder,head, head steering engine branch
Frame and equipment compartment bracket；Holder,head is fixedly connected with head steering engine, and fish head shell is fixed on holder,head；Head steering engine branch
Frame is fixed on the front of fish body skeleton, and head steering engine is fixed on the steering engine bracket of head；The equipment compartment passes through equipment compartment bracket
It is mounted in fish body skeleton.
4. a kind of bionic machine shark as described in claim 1, it is characterised in that: the pectoral fin system further includes pectoral fin steering engine
Bracket and round steering wheel；The pectoral fin steering engine is connect by pectoral fin steering engine bracket with fish body skeleton；The pectoral fin and pectoral fin steering engine
It is connected by round steering wheel.
5. a kind of bionic machine shark as described in claim 1, it is characterised in that: the pectoral fin includes upper pectoral fin piece, lower breast
Fin and rubber pectoral fin piece, rubber pectoral fin piece are held on the centre of pectoral fin piece and lower breast fin, upper pectoral fin piece, lower breast fin and
Rubber pectoral fin piece is fixedly connected.
6. a kind of bionic machine shark as described in claim 1, it is characterised in that: the fish body skeleton include horizontal fish-bone,
Vertical fish-bone and annular fish-bone, the vertical fish-bone are set to the upper and lower of horizontal fish-bone, and between horizontal fish-bone and vertical fish-bone
It is connected by annular fish-bone.
7. a kind of bionic machine shark as described in claim 1, it is characterised in that: the fish tail drive system further includes tail fin
Steering engine and the tail fin connecting with tail fin steering engine, the tail fin steering engine are set to behind caudal articular process.
8. a kind of bionic machine shark as described in claim 1, it is characterised in that: the STATEMENT OF FEDERALLY SPONSORED is steel wire, the one of steel wire
End is fixed on main rudder disk, and the other end of steel wire is fixed on caudal articular process.
9. a kind of bionic machine shark as described in claim 1, it is characterised in that: the number of the caudal articular process is at least 2,
It is connected by hinge between caudal articular process.
10. a kind of bionic machine shark as claimed in claim 3, it is characterised in that: the holder,head, fish body skeleton and tail
Portion offers screw hole on joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811265157.1A CN109319075A (en) | 2018-10-29 | 2018-10-29 | A kind of bionic machine shark |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811265157.1A CN109319075A (en) | 2018-10-29 | 2018-10-29 | A kind of bionic machine shark |
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| CN201811265157.1A Pending CN109319075A (en) | 2018-10-29 | 2018-10-29 | A kind of bionic machine shark |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795657A (en) * | 2019-02-20 | 2019-05-24 | 博雅工道（北京）机器人科技有限公司 | A kind of bionic machine fish |
| CN110027691A (en) * | 2019-05-15 | 2019-07-19 | 彭爽 | A kind of bionic mechanical fish |
| CN110304223A (en) * | 2019-07-04 | 2019-10-08 | 中国科学院自动化研究所 | Bionic machine devil ray |
| CN110316342A (en) * | 2019-07-22 | 2019-10-11 | 吉林大学 | One kind is surged flexible bionic fish and its working method |
| CN110435856A (en) * | 2019-08-09 | 2019-11-12 | 五邑大学 | A kind of more driving bionic machine fish control systems |
| CN111959725A (en) * | 2020-09-17 | 2020-11-20 | 厦门大学 | Bionic elastic coating machine fish |
| CN112027035A (en) * | 2020-09-12 | 2020-12-04 | 哈尔滨工业大学 | Flexible bionic eel |
| CN112319753A (en) * | 2020-11-16 | 2021-02-05 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
| CN112870737A (en) * | 2021-03-16 | 2021-06-01 | 上海海洋大学 | Ornamental underwater bionic golden dragon fish |
| CN112937820A (en) * | 2021-04-27 | 2021-06-11 | 中国科学院自动化研究所 | Bionic machine tuna |
| CN113148087A (en) * | 2021-05-06 | 2021-07-23 | 李云飞 | Linkage type detection robot fish |
| CN113184149A (en) * | 2021-06-04 | 2021-07-30 | 海南热带海洋学院 | Bionic robotic fish with tail pectoral fin propelled cooperatively |
| CN114394219A (en) * | 2022-01-14 | 2022-04-26 | 中国科学院深圳先进技术研究院 | Intelligent bionic robot fish based on head and multi-fin cooperative motion |
| CN114537629A (en) * | 2022-02-28 | 2022-05-27 | 武汉大学 | Tail fin propulsion self-swimming bionic robot fish based on composite link mechanism |
| CN114771785A (en) * | 2022-04-30 | 2022-07-22 | 深圳大学 | Underwater bionic fish |
| CN114834618A (en) * | 2022-04-12 | 2022-08-02 | 浙江理工大学 | Rigid-flexible coupling type bionic fish robot |
| CN115158617A (en) * | 2022-06-29 | 2022-10-11 | 中国科学院自动化研究所 | Bionic robot fish |
| CN115447736A (en) * | 2022-09-13 | 2022-12-09 | 燕山大学 | Multi-drive high-strength flexible bionic robotic fish |
| CN118634499A (en) * | 2024-08-14 | 2024-09-13 | 诺心达(厦门)科技有限公司 | Bionic animal toy |
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| CN109795657B (en) * | 2019-02-20 | 2024-03-01 | 博雅工道（北京）机器人科技有限公司 | Bionic robot fish |
| CN109795657A (en) * | 2019-02-20 | 2019-05-24 | 博雅工道（北京）机器人科技有限公司 | A kind of bionic machine fish |
| CN110027691A (en) * | 2019-05-15 | 2019-07-19 | 彭爽 | A kind of bionic mechanical fish |
| US11161578B2 (en) | 2019-07-04 | 2021-11-02 | Institute Of Automation, Chinese Academy Of Sciences | Biomimetic robotic manta ray |
| CN110304223A (en) * | 2019-07-04 | 2019-10-08 | 中国科学院自动化研究所 | Bionic machine devil ray |
| CN110304223B (en) * | 2019-07-04 | 2020-09-29 | 中国科学院自动化研究所 | Bionic machine bat ray |
| CN110316342A (en) * | 2019-07-22 | 2019-10-11 | 吉林大学 | One kind is surged flexible bionic fish and its working method |
| CN110316342B (en) * | 2019-07-22 | 2023-05-16 | 吉林大学 | Hydraulic flexible bionic fish and working method thereof |
| CN110435856A (en) * | 2019-08-09 | 2019-11-12 | 五邑大学 | A kind of more driving bionic machine fish control systems |
| CN112027035B (en) * | 2020-09-12 | 2022-02-01 | 哈尔滨工业大学 | Flexible bionic eel |
| CN112027035A (en) * | 2020-09-12 | 2020-12-04 | 哈尔滨工业大学 | Flexible bionic eel |
| CN111959725A (en) * | 2020-09-17 | 2020-11-20 | 厦门大学 | Bionic elastic coating machine fish |
| CN112319753A (en) * | 2020-11-16 | 2021-02-05 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
| CN112870737A (en) * | 2021-03-16 | 2021-06-01 | 上海海洋大学 | Ornamental underwater bionic golden dragon fish |
| CN112937820A (en) * | 2021-04-27 | 2021-06-11 | 中国科学院自动化研究所 | Bionic machine tuna |
| CN113148087A (en) * | 2021-05-06 | 2021-07-23 | 李云飞 | Linkage type detection robot fish |
| CN113148087B (en) * | 2021-05-06 | 2024-02-06 | 李云飞 | Linkage type detection robot fish |
| CN113184149B (en) * | 2021-06-04 | 2022-11-25 | 海南热带海洋学院 | Bionic robotic fish with tail pectoral fin propelled cooperatively |
| CN113184149A (en) * | 2021-06-04 | 2021-07-30 | 海南热带海洋学院 | Bionic robotic fish with tail pectoral fin propelled cooperatively |
| CN114394219A (en) * | 2022-01-14 | 2022-04-26 | 中国科学院深圳先进技术研究院 | Intelligent bionic robot fish based on head and multi-fin cooperative motion |
| CN114537629B (en) * | 2022-02-28 | 2023-03-10 | 武汉大学 | Tail fin propulsion self-swimming bionic robot fish based on composite link mechanism |
| CN114537629A (en) * | 2022-02-28 | 2022-05-27 | 武汉大学 | Tail fin propulsion self-swimming bionic robot fish based on composite link mechanism |
| CN114834618A (en) * | 2022-04-12 | 2022-08-02 | 浙江理工大学 | Rigid-flexible coupling type bionic fish robot |
| CN114771785A (en) * | 2022-04-30 | 2022-07-22 | 深圳大学 | Underwater bionic fish |
| CN114771785B (en) * | 2022-04-30 | 2024-02-27 | 深圳大学 | Underwater bionic fish |
| CN115158617A (en) * | 2022-06-29 | 2022-10-11 | 中国科学院自动化研究所 | Bionic robot fish |
| CN115158617B (en) * | 2022-06-29 | 2024-05-24 | 中国科学院自动化研究所 | Bionic Robot Fish |
| CN115447736A (en) * | 2022-09-13 | 2022-12-09 | 燕山大学 | Multi-drive high-strength flexible bionic robotic fish |
| CN115447736B (en) * | 2022-09-13 | 2024-08-20 | 燕山大学 | Multi-drive high-strength flexible bionic robot fish |
| CN118634499A (en) * | 2024-08-14 | 2024-09-13 | 诺心达(厦门)科技有限公司 | Bionic animal toy |
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Application publication date: 20190212 |