CN110001893A - A kind of amphibious underwater robot of imitative devil ray - Google Patents
A kind of amphibious underwater robot of imitative devil ray Download PDFInfo
- Publication number
- CN110001893A CN110001893A CN201910363631.2A CN201910363631A CN110001893A CN 110001893 A CN110001893 A CN 110001893A CN 201910363631 A CN201910363631 A CN 201910363631A CN 110001893 A CN110001893 A CN 110001893A
- Authority
- CN
- China
- Prior art keywords
- rack
- underwater robot
- sensor
- amphibious
- image
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 229910001385 heavy metal Inorganic materials 0.000 claims abstract description 16
- 229920001971 elastomer Polymers 0.000 claims abstract description 9
- 239000005060 rubber Substances 0.000 claims abstract description 9
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000004297 night vision Effects 0.000 claims description 9
- 238000013528 artificial neural network Methods 0.000 claims description 7
- 229920000459 Nitrile rubber Polymers 0.000 claims description 6
- 239000003292 glue Substances 0.000 claims description 3
- 230000001537 neural effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 22
- 230000033001 locomotion Effects 0.000 description 12
- 238000012544 monitoring process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 239000011521 glass Substances 0.000 description 3
- 241000270607 Chelonia mydas Species 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 239000011551 heat transfer agent Substances 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of amphibious underwater robots of imitative devil ray, including rack, the flapping wing wabbler mechanism for being symmetrically mounted on rack two sides, the turbidity transducer for being mounted on rack rear and front end, the heavy metal sensor for being mounted on rack rear and front end, the PH sensor for being mounted on rear end of rack, the image acquisition units for being mounted on front end of rack, controller；The wing wabbler mechanism includes multiple crank and rocker mechanisms in the arrangement of " one " word array, and multiple crank and rocker mechanisms share a crankshaft and a shaft, the rocking bar of each crank and rocker mechanism are connected to form pectoral fin by flexible rubber；The turbidity transducer, heavy metal sensor, PH sensor and flapping wing wabbler mechanism waterproof machine be electrically connected with the controller.Using the ingenious combination of crankshaft, connecting rod, rocking bar and flexible rubber, the final amphibious characteristic for realizing underwater robot, so that there is preferable adaptability in robot under complex environment.
Description
Technical field
The invention belongs to bio-robot technical fields, are related to amphibious robot, and in particular to a kind of imitative devil ray
Amphibious underwater robot.
Background technique
Underwater robot is to assist the mankind to survey sub-marine situations and monitor the important tool of water quality.As China is to Ecology
The attention of environment, water environment supervision and monitoring become particularly important.Due to underwater environment is complicated, underwater topography is changeable, ground with
There is very big difficulty in the factors such as waters junction situation complexity, comprehensive supervision and monitoring, it is therefore desirable to underwater robot auxiliary
Monitoring water environment is completed, underwater robot type is also more at present, but most of underwater robot is driven using propeller, environment
Adaptability is poor, is easy the underwater sandstone of disturbance, mud etc., and in having water plant environment, propeller is easy winding water plant.With driving machine
Structure classification, underwater robot can be mainly divided into screw drives and biomimetic features driving at present, specific as follows:
(1) propeller-driven underwater robot.Publication No. is that the patent of invention of CN206930281U is by two water
Divide the motor of cloth and four propellers of motor control of two vertical distributions equally, to realize the sub-aqua sport of robot；Main function
It can be that sub-marine situations are shot using the high definition underwater camera and Self-stabilization holder of robot.It can preferably realize detection water
Lower environment, but propeller driving structure is easy to lead to robot motion's obstacle by the winding of the sundries such as water plant under water, and passes through spiral shell
It revolves paddle driving robot to float, stability is lower.Publication No. is that the patent of invention of CN107697249A is a kind of to use two
A horizontally disposed motor realizes the horizontal movement and steering of robot, is realized in water by the drainage of more cabin structures
Floating sink.Such structure is compared more stable with propeller control floating sinking.But its structure is complex, and promotes
Mechanism still utilizes propeller mechanism, and underwater robot effect is still primarily used for underwater photograph technical, it is difficult to realize water environment
Monitoring in all directions, and if encountering complicated land and water Cross-environment, motion planning and robot control stability is poor.
(2) bionics underwater robot.The application for a patent for invention that publication No. is CN107140163A is a kind of imitative green turtle
Underwater robot, robot control the hydrofoil of four imitation green turtle fins by steering engine, shaft etc., by realizing that the flapping wing of hydrofoil is transported
The dynamic movement to realize robot.But the suitable movement slow in water of the structure, but be not suitable in ground motion.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of amphibious underwater robot of imitative devil ray to the present invention, mentions
The fin push structure for having supplied imitative devil ray passes through waterproof machine using the ingenious combination of crankshaft, connecting rod, rocking bar and flexible rubber
Rotation, movement is transmitted to nitrile rubber, in this, as sub-aqua sport propeller, realizes under robot can float in water
Heavy, forward-reverse and steering, movement and steering are flexibly, downward by transformation fin, are swung by rocking bar, realize robot
The crawling exercises of ground environment.The final amphibious characteristic for realizing underwater robot, so that robot has under complex environment
Preferable adaptability.The present invention passes through control using turbidity transducer, the multi-sensor data fusion of heavy metal sensor and PH sensor
Device processed compares calculating to each orientation heat transfer agent, and control robot advances from the high direction of trend pollution concentration, not only achievable
To the relatively comprehensive monitoring of water quality, moreover it is possible to realize the blow-off line and pollution sources in automatic searching water.
The technical solution adopted in the present invention is as follows: a kind of amphibious underwater robot of imitative devil ray, including rack, right
Claim the flapping wing wabbler mechanism for being mounted on rack two sides, the turbidity transducer for being mounted on rack rear and front end, be mounted on before and after rack
The heavy metal sensor at both ends, the PH sensor for being mounted on rear end of rack, the image acquisition units for being mounted on front end of rack, control
Device；The wing wabbler mechanism includes multiple crank and rocker mechanisms in the arrangement of " one " word array, and multiple crank and rocker mechanisms share
One crankshaft and a shaft, the rocking bar of each crank and rocker mechanism are connected to form pectoral fin by nitrile rubber；The turbidity passes
Sensor, heavy metal sensor, PH sensor and flapping wing wabbler mechanism waterproof machine be electrically connected with the controller.
Further, described image acquisition unit is mainly made of night vision cam, image transmission module, holder, night vision
Camera is mounted on holder, is externally transmitted after obtaining image information by image transmission module.
Further, described image acquisition unit is mainly passed by night vision cam, neural network image identification chip, image
Defeated module, holder are constituted, and night vision cam is mounted on holder, pass to neural network image identification core after obtaining image information
Piece is externally transmitted original image and recognition result by image transmission module after neural computing.
Further, the angle of the crank of two neighboring crank and rocker mechanism is 180 degree.
Further, the crankshaft is driven by waterproof machine and is rotated, and waterproof machine is controlled by controller.
Further, the turbidity transducer has four pieces, is distributed in the quadrangle of rack.
Further, the heavy metal sensor has four pieces, is distributed in the quadrangle of rack.
Further, the PH sensor is distributed in the middle position of rack.
Further, the flexible rubber uses the product of the kind attributes such as nitrile rubber.
Beneficial effects of the present invention are as follows: the present invention dexterously utilizes waterproof machine, crankshaft, connecting rod, rocking bar and flexible rubber
Glue is combined into bionical driving mechanism (i.e. flapping wing wabbler mechanism) and keeps away instead of the propeller propulsive mechanism of common underwater robot
Underwater robot movement is exempted to underwater sandstone, mud and the interference of aquatic organism.It is downward by adjusting bionical fin angle, pass through fin
It swings, underwater robot is adapted to the movement of the different operatings environment such as underwater and ground.On realizing robot in water
It is floating sink, forward-reverse and steering, while can flexible motion in other environments.The present invention utilizes turbidity transducer, a huge sum of money
The multi-sensor data fusion for belonging to sensor and PH sensor compares calculating to each orientation heat transfer agent by controller, controls machine
Device people advances to the high direction of pollution concentration, not only the achievable relatively comprehensive monitoring to water quality, moreover it is possible to realize in automatic searching water
Blow-off line and pollution sources.Propulsive mechanism of the present invention is bionical drive mode, belongs to environmentally friendly underwater robot, is water
ECOLOGICAL ENVIRONMENTAL MONITORING work is brought compared with convenience.
Detailed description of the invention
Fig. 1 is robot overall structure diagram；
Fig. 2 is flapping wing wabbler mechanism detailed schematic；
Fig. 3 is all kinds of sensing installation distribution schematic diagrams；
Fig. 4 is that pollution is originated from search schematic diagram；
Fig. 5 is that ground is creeped schematic diagram
In figure: 1. waterproof machines, 2. crankshafts, 3. connecting rods, 4. rocking bars, 5. shafts, 6. nitrile rubbers, 7. glass upper cover plates,
8,12,16,19. turbidity transducer, 9,13,15,18. heavy metal sensors, 10. hoods, 11.PH sensor, 14. transparent heads
Cover, 17. front shrouds, 20. rear fixed plates, 21. front shoes, 22. controllers and image acquisition units.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, 2, the present invention provides a kind of amphibious underwater robot of imitative devil ray, including rack, symmetrical peace
Mounted in rack two sides flapping wing wabbler mechanism, be mounted on rack rear and front end turbidity transducer, be mounted on rack rear and front end
Heavy metal sensor, be mounted on rear end of rack PH sensor, be mounted on front end of rack image acquisition units, controller；
The wing wabbler mechanism includes multiple crank and rocker mechanisms in the arrangement of " one " word array, and multiple crank and rocker mechanisms share one
Crankshaft 2 and a shaft 5, the rocking bar of each crank and rocker mechanism is by flexible rubber (using kind attributes such as nitrile rubbers
Product) it is connected to form pectoral fin；The waterproof of the turbidity transducer, heavy metal sensor, PH sensor and flapping wing wabbler mechanism
Motor is electrically connected with the controller.
The rack includes rear fixed plate 20, front shoe 21, the connecting column for being connected and fixed plate 20 and front shoe 21, preceding
Cover 17 is mounted on front shoe 21, and 17 front end of front shroud is transparent head-shield 14, and controller and image acquisition units 22 are mounted on
Bright 14 the inside of head-shield；Hood 10 is mounted on rear fixed plate 20, and glass upper cover plate 7 covers on flapping wing wabbler mechanism.Waterproof machine 1
It is fixed on rear fixed plate 20, crankshaft 2 is mounted between rear fixed plate 20 and front shoe 21 by bearing, crank and rocker mechanism
Connecting rod 3 one end and crankshaft 2 it is hinged, the rocking bar 4 and shaft 5 of crank and rocker mechanism pass through bearing hinge connection, the other end of connecting rod 3
Hinged with rocking bar 4, waterproof machine 1 drives crankshaft 2 to rotate, and under the effect of connecting rod 3, rocking bar 4 is driven to swing up and down, drives the fine rubber of fourth
Glue 6 imitates fish swing.
Described image acquisition unit can be mainly made of high-definition night-viewing camera, image transmission module, holder, the high stillness of night
It is mounted on holder depending on camera, is externally transmitted after obtaining image information by image transmission module.
Described image acquisition unit can also be mainly by high-definition night-viewing camera, neural network image identification chip, image
Transmission module, holder are constituted, and high-definition night-viewing camera is mounted on holder, pass to neural network image after obtaining image information
Identification chip is externally transmitted original image and recognition result by image transmission module after neural computing.
The night vision cam uses high-definition night-viewing camera, and clarity, can be using sea at least more than 2,000,000 pixels
Kang Wei regards the product of company KBA127B model, but not limited to this；Neural network image identification chip can use Yan Yang company UP
The product of AI Care X-type number, but not limited to this；Image transmission module can use the production of Zhi Xun company cineEye 5G model
Product, but not limited to this；Holder can use the product of FPV company Gopro3 model, but not limited to this；Controller can be using crowd
The product of clever company STM32 model, but not limited to this.
Fig. 3 show the sensor distributing position of robot water quality detection system.Turbidity transducer has four pieces, and four pieces turbid
Degree sensor is distributed in four angles of robot (see the serial number 8,12,16,19 in Fig. 3), and heavy metal sensor has four pieces, four pieces
Heavy metal sensor is distributed in four angles of robot (see the serial number 9,13,15,18 in Fig. 3).PH sensor 11 is distributed in machine
People middle position is connected through a screw thread on the correspondence vacancy for being fixed on glass upper cover plate 7.Turbidity transducer 8,12,16,19 and again
9,13,15,18 signal line of metal sensor is linked on controller, and corresponding data will pass in real time ground control back by cable
Terminal processed.
Fig. 4 show underwater robot automatic searching schematic diagram, 8,12,16,19 and of turbidity transducer of underwater robot
Contents of heavy metal elements and turbidity where 9,13,15,18 signal of heavy metal sensor while monitoring robot in waters pass through
Controller real time contrast's calculation processing controls the revolving speed and steering of waterproof machine 1, and robot will be from trend concentration highest
Biography sensor side advance, automatic searching high density pollution source may be implemented.
The present invention also may be implemented to manually control, using ground remote control terminal, may be implemented forward-reverse, float,
The movement such as steering.The waterproof machine 1 of the waterproof machine 1 of left side flapping wing wabbler mechanism flapping wing wabbler mechanism clockwise, right is counterclockwise
Rotation, robot travel forward.The waterproof machine 1 of left side flapping wing wabbler mechanism is counterclockwise, the anti-water power of right flapping wing wabbler mechanism
Machine 1 rotates clockwise, and robot moves backward, and 1 revolving speed of waterproof machine of left and right sides flapping wing wabbler mechanism is revolved by sinusoidal rule
Turn, robot sinks；1 revolving speed of waterproof machine of left and right sides flapping wing wabbler mechanism is rotated by cosine rule, and robot floats；It is left
The waterproof machine 1 of right two sides flapping wing wabbler mechanism rotates clockwise simultaneously, and robot moves right；Left and right sides flapping wing wobbler
Rotation, robot move downward the waterproof machine 1 of structure counterclockwise simultaneously.
As shown in figure 5, when robot provided by the invention disembarkation, left side flapping wing wabbler mechanism and right side flapping wing wobbler
The downward swinging support ground of rocking bar 4 of structure, leaves ground so that entire rack be supported, then passes through left side flapping wing wobbler
4 alternatively swinging of rocking bar of structure and right side flapping wing wabbler mechanism realizes creeping in land, creep direction and the underwater traveling
Direction is mutually perpendicular to.
Above-mentioned specific embodiment is used to illustrate the present invention, rather than limits the invention, of the invention
In spirit and scope of protection of the claims, to any modifications and changes that the present invention makes, protection model of the invention is both fallen within
It encloses.
Claims (9)
1. a kind of amphibious underwater robot of imitative devil ray, which is characterized in that including rack, be symmetrically mounted on rack two sides
Flapping wing wabbler mechanism, the turbidity transducer for being mounted on rack rear and front end, the heavy metal sensor for being mounted on rack rear and front end,
It is mounted on the PH sensor of rear end of rack, the image acquisition units for being mounted on front end of rack, controller etc.；
The wing wabbler mechanism includes multiple crank and rocker mechanisms in the arrangement of " one " word array, and multiple crank and rocker mechanisms share
One crankshaft and a shaft, the rocking bar of each crank and rocker mechanism are connected to form pectoral fin by flexible rubber；
The turbidity transducer, heavy metal sensor, PH sensor and flapping wing wabbler mechanism waterproof machine and controller
Electrical connection.
2. a kind of amphibious underwater robot of imitative devil ray according to claim 1, which is characterized in that described image is adopted
Collection unit is mainly made of night vision cam, image transmission module, holder, and night vision cam is mounted on holder, obtains image
It is externally transmitted after information by image transmission module.
3. a kind of amphibious underwater robot of imitative devil ray according to claim 1, which is characterized in that described image is adopted
Collection unit is mainly made of night vision cam, neural network image identification chip, image transmission module, holder, night vision cam
It is mounted on holder, passes to neural network image identification chip after obtaining image information, it will be former after neural computing
Beginning image and recognition result are externally transmitted by image transmission module.
4. a kind of amphibious underwater robot of imitative devil ray according to claim 2 or 3, which is characterized in that adjacent two
The angle of the crank of a crank and rocker mechanism is 180 degree.
5. a kind of amphibious underwater robot of imitative devil ray according to claim 4, which is characterized in that the crankshaft by
Waterproof machine driving rotation, waterproof machine are controlled by controller.
6. a kind of amphibious underwater robot of imitative devil ray according to claim 5, which is characterized in that the turbidity passes
Sensor has four pieces, is distributed in the quadrangle of rack.
7. a kind of amphibious underwater robot of imitative devil ray according to claim 6, which is characterized in that the heavy metal
Sensor has four pieces, is distributed in the quadrangle of rack.
8. a kind of amphibious underwater robot of imitative devil ray according to claim 7, which is characterized in that the PH sensing
Device is distributed in the middle position of rack.
9. a kind of amphibious underwater robot of imitative devil ray according to claim 8, which is characterized in that the flexibility rubber
Glue uses nitrile rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910363631.2A CN110001893A (en) | 2019-04-30 | 2019-04-30 | A kind of amphibious underwater robot of imitative devil ray |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910363631.2A CN110001893A (en) | 2019-04-30 | 2019-04-30 | A kind of amphibious underwater robot of imitative devil ray |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110001893A true CN110001893A (en) | 2019-07-12 |
Family
ID=67175361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910363631.2A Pending CN110001893A (en) | 2019-04-30 | 2019-04-30 | A kind of amphibious underwater robot of imitative devil ray |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110001893A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110626132A (en) * | 2019-09-30 | 2019-12-31 | 安徽建筑大学 | Amphibious robot |
| CN111993849A (en) * | 2020-07-09 | 2020-11-27 | 中国人民解放军国防科技大学 | Bionic propulsion device for longitudinal and transverse compound waves |
| CN112406431A (en) * | 2020-11-30 | 2021-02-26 | 哈尔滨工程大学 | Flexible fin fluctuation propulsion type amphibious bionic robot |
| CN113022242A (en) * | 2021-04-14 | 2021-06-25 | 哈尔滨工程大学 | Amphibious bionic propeller with controllable waveform |
| CN113232805A (en) * | 2021-04-19 | 2021-08-10 | 合肥工业大学 | Novel bionical machine fish is propelled to fin to fluctuation |
| CN113619759A (en) * | 2021-08-17 | 2021-11-09 | 昆山泰仑合机器人科技有限公司 | Novel bionic amphibious robot propelled by wave fin |
| 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 |
| CN114802660A (en) * | 2022-04-08 | 2022-07-29 | 中国科学院深圳先进技术研究院 | Underwater robot |
| WO2023102775A1 (en) * | 2021-12-08 | 2023-06-15 | 西湖大学 | Underwater vehicle |
| CN116353799A (en) * | 2023-06-01 | 2023-06-30 | 山东科技大学 | Deep sea exploration bionic robot |
Citations (10)
| 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 |
| CN102923286A (en) * | 2012-10-30 | 2013-02-13 | 北京航空航天大学 | Intelligent material IMPC-based manta ray-simulated underwater vehicle |
| CN103950527A (en) * | 2014-05-09 | 2014-07-30 | 兰州交通大学 | Ray pectoral fin-imitated piezoelectric coupling propulsive mechanism |
| CN105235837A (en) * | 2015-07-01 | 2016-01-13 | 西北工业大学 | Underwater propelling device based on opposite long fin fluctuation |
| WO2018130295A1 (en) * | 2017-01-13 | 2018-07-19 | MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. | Method of actuating a shape changeable member, shape changeable member and actuating system |
| CN108298046A (en) * | 2017-12-20 | 2018-07-20 | 成都正光恒电子科技有限责任公司 | A kind of flapping wing type bionic underwater robot |
| CN108656884A (en) * | 2018-06-27 | 2018-10-16 | 西北工业大学 | A kind of Amphibious bionics robot |
| CN109131807A (en) * | 2018-10-24 | 2019-01-04 | 上海海洋大学 | A kind of bionical Bluepoint ray underwater propeller |
| CN109591990A (en) * | 2018-12-21 | 2019-04-09 | 张家港江苏科技大学产业技术研究院 | A kind of habitata Biomimetic Fish |
| CN209905021U (en) * | 2019-04-30 | 2020-01-07 | 浙江水利水电学院 | Amphibious underwater robot imitating bat ray |
-
2019
- 2019-04-30 CN CN201910363631.2A patent/CN110001893A/en active Pending
Patent Citations (10)
| 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 |
| CN102923286A (en) * | 2012-10-30 | 2013-02-13 | 北京航空航天大学 | Intelligent material IMPC-based manta ray-simulated underwater vehicle |
| CN103950527A (en) * | 2014-05-09 | 2014-07-30 | 兰州交通大学 | Ray pectoral fin-imitated piezoelectric coupling propulsive mechanism |
| CN105235837A (en) * | 2015-07-01 | 2016-01-13 | 西北工业大学 | Underwater propelling device based on opposite long fin fluctuation |
| WO2018130295A1 (en) * | 2017-01-13 | 2018-07-19 | MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. | Method of actuating a shape changeable member, shape changeable member and actuating system |
| CN108298046A (en) * | 2017-12-20 | 2018-07-20 | 成都正光恒电子科技有限责任公司 | A kind of flapping wing type bionic underwater robot |
| CN108656884A (en) * | 2018-06-27 | 2018-10-16 | 西北工业大学 | A kind of Amphibious bionics robot |
| CN109131807A (en) * | 2018-10-24 | 2019-01-04 | 上海海洋大学 | A kind of bionical Bluepoint ray underwater propeller |
| CN109591990A (en) * | 2018-12-21 | 2019-04-09 | 张家港江苏科技大学产业技术研究院 | A kind of habitata Biomimetic Fish |
| CN209905021U (en) * | 2019-04-30 | 2020-01-07 | 浙江水利水电学院 | Amphibious underwater robot imitating bat ray |
Non-Patent Citations (3)
| Title |
|---|
| 云忠;蒋毅;李静;: "仿蝠鲼胸鳍推进执行机构水动力特性分析", 合肥工业大学学报(自然科学版), no. 01 * |
| 孙檀;邵千钧;梁冬泰;梁丹;: "仿生鳐鱼水下机器人的设计与仿真分析", 机械制造, vol. 56, no. 649, pages 45 - 49 * |
| 蔡月日;毕树生;: "胸鳍摆动推进模式仿生鱼研究进展", 机械工程学报, no. 19 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110626132A (en) * | 2019-09-30 | 2019-12-31 | 安徽建筑大学 | Amphibious robot |
| CN111993849A (en) * | 2020-07-09 | 2020-11-27 | 中国人民解放军国防科技大学 | Bionic propulsion device for longitudinal and transverse compound waves |
| CN111993849B (en) * | 2020-07-09 | 2022-04-26 | 中国人民解放军国防科技大学 | Bionic propulsion device for longitudinal and transverse compound waves |
| CN112406431B (en) * | 2020-11-30 | 2022-02-15 | 哈尔滨工程大学 | Flexible fin fluctuation propulsion type amphibious bionic robot |
| CN112406431A (en) * | 2020-11-30 | 2021-02-26 | 哈尔滨工程大学 | Flexible fin fluctuation propulsion type amphibious bionic robot |
| CN113022242A (en) * | 2021-04-14 | 2021-06-25 | 哈尔滨工程大学 | Amphibious bionic propeller with controllable waveform |
| CN113232805A (en) * | 2021-04-19 | 2021-08-10 | 合肥工业大学 | Novel bionical machine fish is propelled to fin to fluctuation |
| CN113232805B (en) * | 2021-04-19 | 2022-09-09 | 合肥工业大学 | Novel bionic robotic fish propelled by fins through fluctuation |
| CN113619759A (en) * | 2021-08-17 | 2021-11-09 | 昆山泰仑合机器人科技有限公司 | Novel bionic amphibious robot propelled by wave fin |
| 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 |
| CN114802660A (en) * | 2022-04-08 | 2022-07-29 | 中国科学院深圳先进技术研究院 | Underwater robot |
| CN114802660B (en) * | 2022-04-08 | 2024-01-12 | 中国科学院深圳先进技术研究院 | Underwater robot |
| CN116353799A (en) * | 2023-06-01 | 2023-06-30 | 山东科技大学 | Deep sea exploration bionic robot |
| CN116353799B (en) * | 2023-06-01 | 2023-08-11 | 山东科技大学 | Deep sea exploration bionic robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110001893A (en) | A kind of amphibious underwater robot of imitative devil ray | |
| WO2021000628A1 (en) | Bionic robotic manta ray | |
| CN209905021U (en) | Amphibious underwater robot imitating bat ray | |
| CN112406431B (en) | Flexible fin fluctuation propulsion type amphibious bionic robot | |
| CN110588931B (en) | Underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion | |
| CN110588932B (en) | Underwater bionic aircraft based on swinging pectoral fins and dorsoventral tail fin combined propulsion | |
| CN107225924A (en) | A kind of amphibious robot and its control method for taking turns oar leg one | |
| CN206243415U (en) | A kind of underwater remote-control robot | |
| CN112810782A (en) | Underwater bionic robot and motion control system thereof | |
| CN102039994A (en) | Bionic ribbonfish for exploration | |
| CN109591990B (en) | Seabed detection bionic fish | |
| CN110316337A (en) | A kind of multifunction changable pitch master and slave type underwater robot | |
| CN106741762B (en) | A kind of machine fish and its Method for Underwater Target Tracking | |
| CN109491407A (en) | A kind of intelligent bionic fish that realizing images match and its multi-agent synergy work system | |
| CN114604395A (en) | Amphibious bionic monitoring turtle | |
| CN105501420B (en) | Bionic robot fish based on double tail fin drive | |
| CN105150787B (en) | Amphibious multi-environment Work robot | |
| Ji et al. | Design and realization of a novel hybrid-drive robotic fish for aquaculture water quality monitoring | |
| CN211943686U (en) | Underwater bionic robot and motion control system thereof | |
| CN114132466B (en) | Dual-drive bionic robotic fish system and multi-mode redundancy control method | |
| CN206654179U (en) | A kind of bionic machine fish control system and underwater robot | |
| CN115122838A (en) | Amphibious light material recycling intelligent vehicle | |
| CN209215941U (en) | A kind of intelligent bionic fish that realizing images match and its multi-agent synergy work system | |
| CN209719880U (en) | Wireless underwater detection robot | |
| CN218489877U (en) | Mechanical fish for ocean exploration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |