CN111605685B - Jellyfish-like detector - Google Patents
Jellyfish-like detector Download PDFInfo
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- CN111605685B CN111605685B CN202010377192.3A CN202010377192A CN111605685B CN 111605685 B CN111605685 B CN 111605685B CN 202010377192 A CN202010377192 A CN 202010377192A CN 111605685 B CN111605685 B CN 111605685B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
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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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/52—Parts for steering not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Combustion & Propulsion (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medicinal Chemistry (AREA)
- Food Science & Technology (AREA)
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Abstract
The invention discloses a jellyfish-like detector, which comprises a detection module and is characterized in that: the device also comprises a propelling module and a steering module; the propulsion module comprises a plurality of fan blades which can be expanded or contracted and a propulsion power system for controlling the fan blades to move; the steering module comprises a steering engine unit and a tail fin unit, the top of the steering engine unit is positioned below the propelling module, and the tail fin unit is positioned below the steering engine unit; the detection module is positioned at the upper end of the propelling module. The underwater mobile robot has the characteristics of high underwater movement flexibility, small volume and strong passability.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of bionic robots, in particular to a jellyfish-like detector.
[ background of the invention ]
The detection of water quality of oceans, lakes and the like has important significance for environmental monitoring and scientific research. In the prior art, the instrument and equipment for providing water quality detection usually need to be loaded into diving equipment, and after the diving equipment submerges into a deep water area, the instrument and equipment can perform a detection task, so that the detection equipment is high in cost and high in transportation cost, and the detection equipment is large in size, so that the instrument and equipment cannot freely pass through certain narrow passages in the deep water area, and the detection range is limited.
The bionic technology is developed rapidly in recent years, and the environment adaptability organism structure formed by natural evolution is far superior to the human engineering design structure, so that scientific researchers can actively search inspiration from organisms, and further research the bionic robot which can adapt to special environment and has various functions.
In conclusion, the underwater environment detector with high flexibility, small size and strong passability is researched and developed by combining bionics, so that the underwater environment detector has important significance.
[ summary of the invention ]
The invention aims to solve the problems in the prior art and provides a jellyfish-like detector which has the characteristics of high underwater movement flexibility, small size and high passability.
In order to achieve the purpose, the invention provides a jellyfish-like detector, which comprises a detection module and is characterized in that: the device also comprises a propelling module and a steering module; the propulsion module comprises a plurality of fan blades which can be expanded or contracted and a propulsion power system for controlling the fan blades to move; the steering module comprises a steering engine unit and a tail fin unit, the steering engine unit is positioned below the propelling module, and the tail fin unit is positioned below the steering engine unit; the detection module is positioned at the upper end of the propelling module.
Preferably, the propulsion power system comprises a first cabin, a first motor, a first crank-link unit, a plurality of first supports with the same number as the fan blades, a driving disc, a plurality of second supports with the same number as the fan blades, and a threaded rod; the top of the first cabin body is provided with a first cabin cover, the bottom of the first cabin body is provided with a second cabin cover, the center of the first cabin cover is provided with a piston hole, the piston hole is provided with a sealing ring for preventing liquid from entering the first cabin body, and the outer edge of the first cabin cover is provided with a plurality of first support mounting seats; the first crank connecting rod unit comprises a first crank, a first connecting rod and a piston rod which are sequentially hinged, the front end of the first crank is fixedly connected to an output shaft of the first motor, and the piston rod is slidably inserted into the piston hole; the top of the piston rod is provided with a piston rod connecting hole; the threaded rod comprises an upper end threaded rod, a lower end threaded rod and a threaded rod flange positioned between the upper end threaded rod and the lower end threaded rod; the lower end threaded rod is fixedly connected with the piston rod connecting hole through threads; the center of the driving disc is provided with a through hole, the outer edge of the circumference of the driving disc is provided with a plurality of second bracket mounting seats, and the driving disc penetrates through the upper end threaded rod from the through hole in the center and is fixed on the threaded rod; one end of each second support is hinged with the corresponding second support mounting seat one by one, the other end of each second support is fixedly connected with the end part of the corresponding fan blade one by one, one end of each first support is hinged with the corresponding first support mounting seat one by one, and the other end of each first support is hinged with the middle part of the corresponding second support; the first cabin body is also internally provided with a first control panel and a first battery pack for supplying power to the first motor and the first control panel.
Preferably, the fan blade is in an arc-shaped contour protruding outwards, a plurality of pressure relief holes are formed in the fan blade, and a pressure relief valve cover capable of being opened only in an inwards rotating mode is arranged on each pressure relief hole.
Preferably, one end of the pressure relief valve cover is hinged to one side of the pressure relief hole, the lower end of the other corresponding side of the pressure relief hole is provided with a limiting edge, the upper end face of the pressure relief valve cover is concave inwards to form a pressure groove, and the lower end face of the fan blade are arranged in the same curvature; when the fan blades are folded, the lower end face of the pressure relief valve cover rotates outwards under the resistance of water to close the pressure relief hole, and when the pressure relief valve cover is closed, the free end of the pressure relief valve cover abuts against the limiting edge of the pressure relief hole; when the fan blades are opened, the pressure grooves rotate inwards under the action of front water resistance, so that the pressure relief holes are opened, and the resistance of the fan blades when the fan blades are opened is reduced.
Preferably, the steering engine unit comprises a second cabin body, a second motor, a driving gear fixed on an output shaft of the second motor, a steering wheel and a steering wheel connecting piece; the top of the second cabin body is fixedly connected with a second cabin cover, an output shaft of the second motor faces downwards and is fixedly connected with the inside of the second cabin body through a motor support, the upper end of the steering wheel is provided with an engagement hole corresponding to the driving gear, the lower end of the steering wheel is provided with a steering wheel mounting flange, gear teeth of the driving gear are matched and connected with the engagement hole, and the steering wheel mounting flange of the steering wheel is fixedly connected with a steering wheel connecting piece; and a second control board and a second battery pack for supplying power to the second motor and the second control board are also arranged in the second cabin body.
Preferably, the tail fin unit comprises a third cabin body, a third motor, a third crank-link unit and a tail fin; the top of the third cabin body is fixedly connected with the rudder plate connecting piece, the third motor is fixedly connected inside the third cabin body, the bottom of the third cabin body is semicircular, a driving groove is formed in the middle face of the bottom of the third cabin body, and a fourth connecting rod mounting seat is arranged at the top of the driving groove; the third crank connecting rod unit comprises a rotating disc, a third connecting rod and a fourth connecting rod which are sequentially hinged, the rotating disc is fixedly connected with an output shaft of a third motor, a connecting point is close to the outer edge of the rotating disc, a hinge point of the rotating disc and the third connecting rod is close to the outer edge of the rotating disc, the hinge point of the third connecting rod and the fourth connecting rod is located in the middle of the fourth connecting rod, the upper end of the fourth connecting rod is hinged with a fourth connecting rod mounting seat, and the lower end of the fourth connecting rod is fixedly connected with the tail fin; and a third control plate and a third battery pack for supplying power to the third motor and the third control plate are also arranged in the third cabin body.
Preferably, the first cabin body, the second cabin body and the third cabin body are respectively provided with a cabin door in sealing connection.
The invention has the beneficial effects that: the jellyfish-like detector is designed in a bionic mode by referring to the propelling principle that jellyfishes swim in water to execute the opening and closing actions of the fan blades to form propelling force, has the characteristics of compact size and flexible underwater swimming, is high in passability in an underwater complex environment, and is convenient to store and transport.
The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.
[ description of the drawings ]
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a cross-sectional view of a propulsion module of the present invention;
FIG. 3 is an enlarged view of portion C of FIG. 2;
FIG. 4 is a schematic illustration of a propulsion power system according to the present invention;
fig. 5 is a schematic view of the structure of the steering module of the present invention.
In the figure: 1-detection module, 2-propulsion module, 3-steering engine unit, 4-tail fin unit, 201-first cabin, 202-second cabin cover, 203-first support, 204-first cabin cover, 205-threaded rod, 206-drive disc, 207-second support, 208-fan blade, 209-first crank connecting rod unit, 210-pressure relief valve cover, 211-first motor, 205 a-upper end threaded rod, 205 b-threaded rod flange, 205 c-lower end threaded rod, 208 a-pressure relief hole, 208 b-limit edge, 209 a-first crank, 209 b-first connecting rod, 209 c-piston rod, 209 ca-piston rod connecting hole, 210 a-pressure groove, 301-second cabin, 302-second battery pack, 303-motor support, 304-a second motor, 305-a driving gear, 306-a rudder disc, 307-a rudder disc connecting part, 401-a third cabin body, 401 a-a fourth connecting rod mounting seat, 402-a third crank connecting rod unit, 402 a-a rotating disc, 402 b-a third connecting rod, 402 c-a fourth connecting rod, 403-a tail fin and 404-a third motor.
[ detailed description ] embodiments
Referring to fig. 1 to 5, the jellyfish-like detector of the present invention includes a detection module 1 having different types of sensors and other hardware according to different detection targets, in the present invention, the detection module is suitable for the device in the prior art, and the top of the detection module is configured to be a cambered surface structure for reducing water resistance; the invention is characterized in that: also comprises a propulsion module 2 and a steering module; the propulsion module 2 comprises a plurality of fan blades 208 which can be expanded or contracted and a propulsion power system for controlling the fan blades 208 to move; the steering module comprises a steering engine unit 3 and a tail fin unit 4, the steering engine unit 3 is positioned below the propulsion module 2, and the tail fin unit 4 is positioned below the steering engine unit 3; the detection module 1 is located at the upper end of the propulsion module 2.
The propulsion power system comprises a first cabin body 201, a first motor 211, a first crank-link unit 209, a plurality of first brackets 203 with the same number as the fan blades, a driving disc 206, a plurality of second brackets 207 with the same number as the fan blades 208 and a threaded rod 205; the top of the first cabin body 201 is provided with a first cabin cover 204, the bottom of the first cabin body 201 is provided with a second cabin cover 202, the center of the first cabin cover 204 is provided with a piston hole, the piston hole is provided with a sealing ring for preventing liquid from entering the first cabin body 201, and the outer edge of the first cabin cover is provided with a plurality of first bracket mounting seats; the first crank connecting rod unit comprises a first crank 209a, a first connecting rod 209b and a piston rod 209c which are sequentially hinged, the front end of the first crank 209a is fixedly connected to an output shaft of the first motor 211, and the piston rod 209c is slidably inserted into the piston hole; a piston rod connecting hole 209ca is formed in the top of the piston rod 209 c; the threaded rod 205 comprises an upper end threaded rod 205a, a lower end threaded rod 205c and a threaded rod flange 205b positioned between the upper end threaded rod and the lower end threaded rod; the lower end threaded rod 205c is fixedly connected with the piston rod connecting hole 209ca through threads; the center of the driving disc 206 is provided with a through hole, the outer edge of the circumference is provided with a plurality of second bracket mounting seats, the driving disc 206 passes through the upper end threaded rod 205a through the central through hole and is fixed on the threaded rod 205, and a locking nut which passes through the upper end threaded rod 205a can be additionally arranged at the upper part of the driving disc 206 during fixing; one end of each second support 207 is hinged to the corresponding second support mounting seat, the other end of each second support is fixedly connected to the end of the corresponding fan blade 208, one end of each first support 203 is hinged to the corresponding first support mounting seat, and the other end of each first support is hinged to the middle of the corresponding second support 207; a first control board and a first battery pack for supplying power to the first motor and the first control board are further arranged in the first cabin 201.
The fan blades 208 are in an outward-convex arc-shaped outline, a plurality of pressure relief holes 208a are formed in the fan blades, and a pressure relief valve cover 210 which can only be opened in an inward rotating mode is arranged on each pressure relief hole 208 a.
One end of the pressure relief valve cover 210 is hinged to one side of the pressure relief hole 208a, the lower end of the other corresponding side of the pressure relief hole 208a is provided with a limiting edge 208b, the upper end face of the pressure relief valve cover 210 is concave inwards to form a pressure groove 210a, and the lower end face of the fan blade 208 are arranged in the same curvature; when the fan blades 208 are folded, the lower end surface of the pressure relief valve cover 210 rotates outwards under the resistance of water to close the pressure relief hole 208a, and when the pressure relief valve cover is closed, the free end of the pressure relief valve cover 210 abuts against the limiting edge 208b of the pressure relief hole 208 a; when the fan blades 208 are opened, the pressure groove 210a rotates inward under the action of the front water resistance, so that the pressure relief hole 208a is opened, and the resistance of the fan blades 208 when the fan blades are opened is reduced.
The steering engine unit 3 comprises a second cabin 301, a second motor 304, a driving gear 305 fixed on an output shaft of the second motor, a steering wheel 306 and a steering wheel connecting piece 307; the top of the second cabin 301 is fixedly connected with the second cabin cover 202, an output shaft of the second motor 304 faces downward and is fixedly connected with the inside of the second cabin 301 through a motor support 303, an engagement hole corresponding to the driving gear 305 is formed in the upper end of the rudder disc 306, a rudder disc mounting flange is arranged at the lower end of the rudder disc 306, gear teeth of the driving gear 305 are connected with the engagement hole in a matched manner, and the rudder disc mounting flange of the rudder disc 306 is fixedly connected with a rudder disc connecting part 307; a second control board and a second battery pack 302 for supplying power to the second motor and the second control board are also arranged in the second cabin 301.
The tail fin unit 4 comprises a third cabin body 401, a third motor 404, a third crank connecting rod unit 402 and a tail fin 403; the top of the third cabin 401 is fixedly connected with the rudder plate connecting piece 307, the third motor 404 is fixedly connected inside the third cabin 401, the bottom of the third cabin 401 is semicircular, a driving groove is formed in the middle surface of the bottom of the third cabin, and a fourth connecting rod mounting seat 401a is arranged at the top of the driving groove; the third crank connecting rod unit 402 comprises a rotating disc 402a, a third connecting rod 402b and a fourth connecting rod 402c which are hinged in sequence, the rotating disc 402a is fixedly connected with an output shaft of a third motor 404, the connecting point of the rotating disc 402a and the third connecting rod 402b is close to the outer edge of the rotating disc 402a, the hinge point of the third connecting rod 402b and the fourth connecting rod 402c is located in the middle of the fourth connecting rod 402c, the upper end 403 of the fourth connecting rod 402c is hinged with a fourth connecting rod mounting seat 401a, and the lower end of the fourth connecting rod 402c is fixedly connected with a tail fin; a third control board and a third battery pack for supplying power to the third motor 404 and the third control board are further disposed in the third cabin 401.
The first cabin 201, the second cabin 301 and the third cabin 401 are respectively provided with a cabin door in sealing connection. The detection module is fixed on top of the threaded rod 205.
The invention imitates the working process of jellyfish detector propulsion:
in the working process of the jellyfish-like detector, the first motor 211 drives the first crank connecting rod unit 209 to transmit, so that the piston rod 209c slides up and down in a reciprocating manner, the driving disc 206 is driven to move up and down in a reciprocating manner, the second bracket 207 drives the fan blades 208 connected with the second bracket to expand and furl circularly under the support of the first bracket 203, when the fan blades are expanded, the outer side surfaces of the fan blades protrude outwards, so that the component of the forward resistance with water is small, in addition, due to the existence of the pressure relief holes 208a, after the pressure grooves 210a on the upper surface of the pressure relief valve cover 210 receive the water resistance, the water resistance pushes the pressure relief valve cover 210 to rotate, the pressure relief holes 208a are opened, and the water resistance received by the fan blades is further; on the contrary, when the fan blades are folded, the pressure relief valve cover 210 rotates reversely and abuts against the limiting edge 208b to close the pressure relief hole 208a, and the inner side surface of the fan blades is concave, so that the water resistance force borne by the pressure relief valve cover is far greater than the water resistance force borne by the outer side surface of the fan blades when the pressure relief valve cover is unfolded, and the detector is pushed to move forwards by the aid of the reaction force formed by the water resistance force.
The invention imitates the working process of jellyfish detector turning:
the direct action part of the steering is a tail fin 403, and the propulsion direction of the detector can be changed by changing the pose and the direction of the tail fin; the third motor 404 controls the swinging of the tail fin through the transmission action of the third crank connecting rod unit 402; the second motor 304 in the steering engine unit 3 drives the third cabin 401 of the tail fin unit to rotate through the transmission action of the driving gear 305, the rudder disc 306 and the rudder disc connecting part 307, so that the transmission of the tail fin 403 is controlled, the tail fin obtains any degree of freedom of a half sphere space, and the propelling direction of the detector can be flexibly controlled.
The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are within the scope of the present invention.
Claims (5)
1. The utility model provides an imitative jellyfish detector, includes detection module (1), its characterized in that: the device also comprises a propulsion module (2) and a steering module; the propulsion module (2) comprises a plurality of fan blades (208) which can be expanded and contracted and a propulsion power system for controlling the fan blades (208) to move; the steering module comprises a steering engine unit (3) and a tail fin unit (4), the steering engine unit (3) is positioned below the propelling module (2), and the tail fin unit (4) is positioned below the steering engine unit (3); the detection module (1) is positioned at the upper end of the propulsion module (2); the propulsion power system comprises a first cabin body (201), a first motor (211), a first crank-link unit (209), a plurality of first supports (203) with the same number as the fan blades, a driving disc (206), a plurality of second supports (207) with the same number as the fan blades (208) and a threaded rod (205); the top of the first cabin body (201) is provided with a first cabin cover (204), the bottom of the first cabin body is provided with a second cabin cover (202), the center of the first cabin cover (204) is provided with a piston hole, the piston hole is provided with a sealing ring for preventing liquid from entering the first cabin body (201), and the outer edge of the first cabin cover is provided with a plurality of first support mounting seats; the first crank connecting rod unit comprises a first crank (209a), a first connecting rod (209b) and a piston rod (209c), wherein the first crank (209a), the first connecting rod (209b) and the piston rod (209c) are sequentially hinged, the front end of the first crank (209a) is fixedly connected to an output shaft of the first motor (211), and the piston rod (209c) is slidably inserted into the piston hole; a piston rod connecting hole (209ca) is formed in the top of the piston rod (209 c); the threaded rod (205) comprises an upper end threaded rod (205a), a lower end threaded rod (205c) and a threaded rod flange (205b) positioned between the upper end threaded rod and the lower end threaded rod; the lower end threaded rod (205c) is fixedly connected with the piston rod connecting hole (209ca) through threads; a through hole is formed in the center of the driving disc (206), a plurality of second bracket mounting seats are arranged on the outer edge of the circumference of the driving disc, and the driving disc (206) penetrates through the upper end threaded rod (205a) from the through hole in the center and is fixed on the threaded rod (205); one end of each second support (207) is hinged with the corresponding second support mounting seat, the other end of each second support is fixedly connected with the end of the corresponding fan blade (208), one end of each first support (203) is hinged with the corresponding first support mounting seat, and the other end of each first support is hinged with the middle of the corresponding second support (207); the first cabin body (201) is also internally provided with a first control board and a first battery pack for supplying power to the first motor and the first control board.
2. The jellyfish-like detector as recited in claim 1, wherein: the fan blade (208) is of an arc-shaped profile protruding outwards, a plurality of pressure relief holes (208a) are formed in the fan blade, and a pressure relief valve cover (210) which can be opened only in a downward rotating mode is arranged on each pressure relief hole (208 a).
3. The jellyfish-like detector as recited in claim 2, wherein: one end of the pressure relief valve cover (210) is hinged to one side of the pressure relief hole (208a), a limiting edge (208b) is arranged at the lower end of the other corresponding side of the pressure relief hole (208a), a pressure groove (210a) is formed in the inner concave surface of the upper end face of the pressure relief valve cover (210), and the lower end face of the fan blade (208) are arranged in the same curvature; when the fan blades (208) are folded, the lower end face of the pressure relief valve cover (210) rotates outwards under the resistance of water to close the pressure relief hole (208a), and when the pressure relief valve cover (210) is closed, the free end of the pressure relief valve cover (210) abuts against the limiting edge (208b) of the pressure relief hole (208 a); when the fan blade (208) performs opening action, the pressure groove (210a) rotates inwards under the action of front water resistance, so that the pressure relief hole (208a) is opened, and the resistance borne by the fan blade (208) during opening is reduced.
4. The jellyfish-like detector as recited in claim 3, wherein: the steering engine unit (3) comprises a second cabin body (301), a second motor (304), a driving gear (305) fixed on an output shaft of the second motor, a steering wheel (306) and a steering wheel connecting piece (307); the top of the second cabin body (301) is fixedly connected with a second cabin cover (202), an output shaft of a second motor (304) faces downwards and is fixedly connected with the inside of the second cabin body (301) through a motor support (303), the upper end of the steering wheel (306) is provided with an engagement hole corresponding to the driving gear (305), the lower end of the steering wheel (306) is provided with a steering wheel mounting flange, gear teeth of the driving gear (305) are matched and connected with the engagement hole, and the steering wheel mounting flange of the steering wheel (306) is fixedly connected with a steering wheel connecting piece (307); and a second control board and a second battery pack (302) for supplying power to the second motor and the second control board are also arranged in the second cabin body (301).
5. The jellyfish-like detector as recited in claim 4, wherein: the tail fin unit (4) comprises a third cabin body (401), a third motor (404), a third crank connecting rod unit (402) and a tail fin (403); the top of the third cabin body (401) is fixedly connected with the rudder disc connecting piece (307), the third motor (404) is fixedly connected inside the third cabin body (401), the bottom of the third cabin body (401) is semicircular, a driving groove is formed in the middle face of the bottom of the third cabin body, and a fourth connecting rod mounting seat (401a) is arranged at the top of the driving groove; the third crank connecting rod unit (402) comprises a rotating disc (402a), a third connecting rod (402b) and a fourth connecting rod (402c), wherein the rotating disc (402a) is fixedly connected with an output shaft of a third motor (404), the connecting point of the rotating disc (402a) and the third connecting rod (402b) is close to the outer edge of the rotating disc (402a), the hinge point of the third connecting rod (402b) and the fourth connecting rod (402c) is located in the middle of the fourth connecting rod (402c), the upper end of the fourth connecting rod (402c) is hinged to the fourth connecting rod mounting seat (401a), and the lower end of the fourth connecting rod (402c) is fixedly connected with a tail fin (403); and a third control board and a third battery pack for supplying power to a third motor (404) and the third control board are also arranged in the third cabin body (401).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010377192.3A CN111605685B (en) | 2020-05-07 | 2020-05-07 | Jellyfish-like detector |
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|---|---|---|---|
| CN202010377192.3A CN111605685B (en) | 2020-05-07 | 2020-05-07 | Jellyfish-like detector |
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| CN111605685B true CN111605685B (en) | 2021-04-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3123047A1 (en) * | 2021-05-18 | 2022-11-25 | André Schaer | Autonomous mobile platform capable of evolving in a fluid environment such as water and on land. |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114001597A (en) * | 2021-11-05 | 2022-02-01 | 航天科工火箭技术有限公司 | Recyclable carrier rocket and working method |
| CN115107962B (en) * | 2022-08-10 | 2023-06-23 | 华侨大学 | Jellyfish robot based on bionic design |
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| RU124656U1 (en) * | 2012-06-05 | 2013-02-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Юго-Западный государственный университет" (ЮЗГУ) | UNDERWATER FLOATING ROBOT WITH BIONIC MOVEMENT PRINCIPLE |
| CN107380387A (en) * | 2017-07-31 | 2017-11-24 | 马鞍山福来伊环保科技有限公司 | A kind of double pendulum tail formula miniature underwater robot and its control method |
| CN108357654A (en) * | 2018-01-12 | 2018-08-03 | 浙江大学 | A kind of underwater soft robot of chemistry exergonic reaction driving |
| CN109080805A (en) * | 2018-07-20 | 2018-12-25 | 广西大学 | One kind imitating golden water parent agency based on six-bar mechanism |
| RU192098U1 (en) * | 2019-05-15 | 2019-09-03 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) | Underwater bionic robot |
| CN110371279A (en) * | 2019-06-03 | 2019-10-25 | 中国水产科学研究院南海水产研究所 | A kind of fishing ground trapping information collecting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR3123047A1 (en) * | 2021-05-18 | 2022-11-25 | André Schaer | Autonomous mobile platform capable of evolving in a fluid environment such as water and on land. |
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