CN115056953A - Controllable variable-rigidity bionic fin type propulsion mechanism - Google Patents
Controllable variable-rigidity bionic fin type propulsion mechanism Download PDFInfo
- Publication number
- CN115056953A CN115056953A CN202210872056.0A CN202210872056A CN115056953A CN 115056953 A CN115056953 A CN 115056953A CN 202210872056 A CN202210872056 A CN 202210872056A CN 115056953 A CN115056953 A CN 115056953A
- Authority
- CN
- China
- Prior art keywords
- forelimb
- hydrofoil
- joint
- propulsion mechanism
- swing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 66
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 20
- 210000003194 forelimb Anatomy 0.000 claims abstract description 138
- 210000003414 extremity Anatomy 0.000 claims description 37
- 230000033001 locomotion Effects 0.000 claims description 27
- 238000013461 design Methods 0.000 abstract description 4
- 230000009193 crawling Effects 0.000 abstract description 3
- 230000006978 adaptation Effects 0.000 abstract 1
- 210000003141 lower extremity Anatomy 0.000 description 66
- 230000005484 gravity Effects 0.000 description 25
- 230000001105 regulatory effect Effects 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 241000270617 Cheloniidae Species 0.000 description 6
- 108010066278 cabin-4 Proteins 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 238000011144 upstream manufacturing Methods 0.000 description 3
- 241000270666 Testudines Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000011230 binding agent Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention provides a variable-rigidity bionic fin type propulsion mechanism which is used as a forelimb mechanism of a bionic fin type propulsion robot, wherein the propulsion mechanism comprises a variable-rigidity flexible forelimb hydrofoil, the far end of the forelimb hydrofoil is a multi-joint hydrofoil, and the near end of the forelimb hydrofoil is a rigidity adjusting mechanism; the stiffness adjusting mechanism comprises a stiffness adjuster, a spring traction rope, a spring and a multi-joint hydrofoil traction rope which are sequentially connected, and the far end of the multi-joint hydrofoil traction rope is connected with the multi-joint hydrofoil. The spring has certain elasticity, flexible connection can be formed on the multi-joint hydrofoil, and in addition, the length of the spring can be changed by actively stretching the spring through the rigidity regulator, and the rigidity of the elastically pulled multi-joint hydrofoil is further changed. So design, can freely switch over hydrofoil rigidity under the gliding mode of robot, flapping wing paddling mode, the mode of crawling to the demand of adaptation different modes.
Description
Technical Field
The application relates to the field of underwater robots, in particular to a controllable variable-rigidity bionic fin type propulsion mechanism.
Background
As ocean development activities become more frequent and deeper, the demand for ocean exploration techniques and equipment also becomes higher. In a severe underwater environment beyond the diving limit, underwater robots carrying sensors, instruments and equipment naturally become one of the main tools for human beings to extend their own perception capabilities. The underwater robot is not less important than a space rocket in exploring space as a high-technology means in the field of ocean development and utilization, and has huge potential and development space in surveying submarine mineral resources and discovering new species.
AUV (autonomous underwater vehicle) is a typical representative of underwater robots, and numerous studies have been conducted by various national research institutes. The AUV generally takes a torpedo-like shape and is driven by a propeller. However, the propeller driving mode has large turning radius, is not flexible enough, has the problems of high noise, difficult realization of miniaturization, easy formation of turbulence and the like, not only increases energy consumption, but also influences the surrounding aquatic environment to a great extent.
Disclosure of Invention
Therefore, the variable-rigidity bionic fin type propulsion mechanism for the bionic robot is used for applying the limb structure and the motion mechanism of the turtle to the mechanism design and the motion control of the robot, so that the concealment and the propulsion efficiency of the underwater robot are improved.
Therefore, the variable-rigidity bionic fin type propulsion mechanism is used as a forelimb mechanism of a bionic fin type propulsion robot and comprises variable-rigidity flexible forelimb hydrofoils, the far ends of the forelimb hydrofoils are multi-joint hydrofoils, and the near ends of the forelimb hydrofoils are rigidity adjusting mechanisms.
Furthermore, the rigidity adjusting mechanism comprises a rigidity adjuster, a spring traction rope, a spring and a multi-joint hydrofoil traction rope which are sequentially connected, and the far end of the multi-joint hydrofoil traction rope is connected with the multi-joint hydrofoil.
Furthermore, the rigidity regulator is a steering engine, and an output shaft of the rigidity regulator is connected with the spring traction rope through a steering wheel.
Furthermore, the propulsion mechanism further comprises a forelimb driving joint, and the forelimb driving joint comprises a forelimb swing joint, a forelimb position swing joint and a forelimb flapping swing joint and is used for driving swing, position swing and flapping swing motions of the forelimb hydrofoil.
Furthermore, the propulsion mechanism further comprises a forelimb connecting piece and a forelimb joint shell, wherein the forelimb connecting piece and the forelimb joint shell form a rotating pair in the horizontal direction, and the forelimb joint shell and the variable-rigidity flexible forelimb hydrofoil form a rotating pair in the vertical direction and a rotating pair in the axial direction of the forelimb hydrofoil.
Furthermore, the forelimb swing joint is driven by a forelimb swing steering engine, the forelimb swing steering engine is assembled in the forelimb connecting piece, and an output shaft of the forelimb swing steering engine transmits swing motion to the forelimb joint shell through a forelimb swing steering engine steering wheel and a forelimb swing driving rope.
Furthermore, the forelimb position rotary joint is driven by a forelimb position rotary steering engine, the forelimb position rotary steering engine is assembled in the forelimb joint shell, and an output shaft of the forelimb position rotary steering engine transmits position rotary motion to the forelimb hydrofoil through a forelimb position rotary steering engine steering wheel disc, a forelimb position rotary driving rope and an oblique angle gear set.
Furthermore, the forelimb flapping-rotating joint is driven by a forelimb flapping-rotating steering engine which is assembled in a forelimb joint shell, and an output shaft of the forelimb flapping-rotating steering engine transmits flapping-rotating motion to a forelimb hydrofoil through a forelimb flapping-rotating steering engine steering wheel, a forelimb flapping-rotating driving rope and a forelimb rolling shaft connecting piece.
Furthermore, the forelimb roller connecting piece is a T-shaped component, a cross rod on the upper side of the forelimb roller connecting piece is hollow, and the hollow part is connected with a rotating shaft for flapping and rotating; the front limb hydrofoil is connected to the tail end of a middle vertical rod of the front limb rolling shaft connecting piece.
Further, the bevel gear group includes first bevel gear and second bevel gear of engaged with, first bevel gear rotatable connect in the upside horizontal pole one end of forelimb roller connection spare, second bevel gear rotatable connect in the middle montant of forelimb roller connection spare is terminal, and forelimb hydrofoil and second bevel gear fixed connection.
This application technical scheme has following advantage:
1. the variable-rigidity bionic fin type propulsion mechanism is designed by taking the forelimb of a turtle as a template, and can be used as a forelimb mechanism of a bionic fin type propulsion robot. The rigidity adjusting mechanism comprises a rigidity adjuster, a spring traction rope, a spring and a multi-joint hydrofoil traction rope which are sequentially connected, and the far end of the multi-joint hydrofoil traction rope is connected with the multi-joint hydrofoil. The spring has certain elasticity, flexible connection can be formed on the multi-joint hydrofoil, and in addition, the length of the spring can be changed by actively stretching the spring through the rigidity regulator, and the rigidity of the elastically pulled multi-joint hydrofoil is further changed. By the design, the rigidity of the hydrofoil can be freely switched in the gliding mode, the flapping-wing paddling mode and the crawling mode of the robot, so that the requirements of different modes are met.
2. The bionic fin type propulsion mechanism is designed in three degrees of freedom, can realize that the modes of gliding propulsion, flapping wing water-skiing propulsion, crawling and the like are integrated, and has higher stealth performance, maneuverability and propulsion efficiency compared with a conventional underwater vehicle; the gliding mode can realize wide-area long-endurance gliding, the flapping-wing water-skiing mode improves the stealth performance, maneuverability and propulsion efficiency of the robot, and the robot can freely crawl in seabed, wave breaking zones, beaches and other zones.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic overall structure diagram of a turtle-like robot in an embodiment of the present invention;
FIG. 2 is a schematic view of the internal structure of the buoyancy regulating cabin in the embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a center of gravity adjustment cabin in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a front limb mechanism in an embodiment of the invention;
fig. 5 is a schematic structural diagram of a hind limb mechanism in an embodiment of the invention.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
The application provides an imitative sea turtle robot, including the truck 1 to and be used for bionical fin propulsive a pair of forelimb mechanism 2 and a pair of hind limb mechanism 3. Wherein the trunk 1 comprises a buoyancy adjusting compartment 4 and a center of gravity adjusting compartment 5. The front limb mechanism 2 is connected to the front end of the trunk 1, and the rear limb mechanism 3 is connected to the rear end of the trunk 1. The forelimb mechanism 2 is a variable-rigidity bionic fin type propulsion mechanism, and the hindlimb mechanism 3 is a flexible bionic fin type propulsion mechanism.
The trunk 1 of the turtle-like robot is wrapped by a turtle-shaped streamline trunk shell. Fig. 1 is a schematic partial exploded view of a torso shell comprising two parts, a dorsal shell 11 and a ventral shell 12. Specifically, the upper part of the body 1 of the turtle-like robot is covered by a vest 11, the lower part is wrapped by a binder 12, and the vest 11 and the binder 12 are fixedly connected to a fixing frame of the body 1.
The turtle-like robot further comprises a head part 6, and the head part 6 is connected to the front end of the trunk 1. Meanwhile, the head part 6 can be further provided with an optical sensor 61, such as a binocular camera, which can meet the control and task requirements of the robot, such as motion planning, environment acquisition, target recognition and the like. The trunk 1 of the turtle-like robot is also provided with an electric control cabin 7 and a driving control cabin 8. Wherein, the electric control cabin 7 is fixedly connected with the buoyancy regulating cabin 4; the driving control cabin 8 is sleeved outside the gravity center adjusting cabin 5 through a driving control cabin fixing part 9. The central controller is sealed in the electric control cabin 7 and is powered by a control electric circuit so as to meet the functions of robot communication, data processing and analysis; a motor driving controller is sealed in the driving control cabin 8 and is powered by a power electric circuit so as to meet the motor driving function of the robot. Here, the control power and the power are separated, and the reliability of the whole robot is improved.
In one embodiment, the buoyancy regulating cabin 4 of the turtle-like robot is used for regulating the buoyancy borne by the robot. As shown in fig. 1, the buoyancy regulating compartment 4 is generally cylindrical (e.g., cylindrical), and its axial direction is arranged along the axis of symmetry of the trunk 1. Of course, in other embodiments, the buoyancy regulating compartment 4 may also be formed in other cylindrical structures, and is not limited herein. The gravity center position of the turtle-like robot is arranged in the volume range of the buoyancy adjusting cabin 4, so that the turtle-like robot can control floating and submerging motions more stably.
The buoyancy regulating cabin 4 of the turtle-like robot comprises a buoyancy regulating cabin shell and a water absorption/drainage volume regulating mechanism arranged in the buoyancy regulating cabin shell. Fig. 2 is a schematic partial exploded view of the water suction/displacement volume adjusting mechanism of the buoyancy adjusting chamber 4, and specifically, the water suction/displacement volume adjusting mechanism includes a telescopic tube 401 and a telescopic driving member. Wherein, the extension tube 401 can change length in the axial direction, such as a bellows; the telescopic driving part is used for compressing or stretching the telescopic pipe 401 along the axial direction of the telescopic pipe 401, so that the volume of the telescopic pipe 401 is reduced or increased, the effects of draining and absorbing water by utilizing the telescopic pipe 401 are achieved, and the buoyancy of the turtle-like robot is automatically adjusted.
In this embodiment, the telescopic driving member includes a first motor 402, a first gear set, and a lead screw assembly. As shown in fig. 2, an output shaft of a first motor 402 (e.g., a stepper motor) is coupled to a first gear set. Specifically, the first gear set includes a first gear plate 403, a second gear plate 404, and a third gear plate 405; the first gear plate 403 is fixedly connected to an output shaft of the first motor 402, and the second gear plate 404 and the third gear plate 405 are respectively engaged with the first gear plate 403. Thus, the second gear plate 404 and the third gear plate 405 are rotated by the first gear plate 403 under the rotation of the first motor 402.
As shown in fig. 2, the screw assembly of the telescopic driving member includes a first screw 408, a moving plate 411, a first screw fixing bottom plate 406, a second screw fixing bottom plate 410, and a guide rod 413. Two ends of the first lead screw 408 are rotatably connected to the first lead screw fixing bottom plate 406 and the second lead screw fixing bottom plate 410, respectively. A threaded hole is formed in the moving plate 411 and is used for being in threaded connection with the first lead screw 408; the moving plate 411 is provided with a through hole for slidably connecting with the guide rod 413. Two ends of the guide rod 413 are respectively and fixedly connected to the first lead screw fixing bottom plate 406 and the second lead screw fixing bottom plate 410, and the middle section of the guide rod 413 is slidably connected with the moving plate 411. Thus, the moving plate 411 is driven to move in the axial direction of the first lead screw 408 and the guide rod 413 by the rotation of the first lead screw 408. In this embodiment, the two ends of the extension tube 401 are respectively connected to the moving plate 411 and one of the lead screw fixing bottom plates (e.g., the second lead screw fixing bottom plate 410). Moreover, one end of the extension tube 401 is closed, and the other end is provided with a water outlet, as shown in fig. 2, the extension tube 401 is provided with a water outlet at one end connected with the second lead screw fixing base plate 410, and correspondingly, the second lead screw fixing base plate 410 is also provided with a corresponding opening or a water outlet pipe 417. Of course, the water outlet may also be disposed at one end of the connection moving plate 411, or disposed on another lead screw fixing bottom plate according to the connection relationship between the extension tube 401 and another lead screw fixing bottom plate, which is not limited herein. Therefore, under the rotation of the first lead screw 408, the moving plate 411 can compress or stretch the telescopic pipe 401 along the axial direction of the telescopic pipe 401, so as to adjust the buoyancy of the turtle-like robot.
In this embodiment, the second gear plate 404 and the third gear plate 405 of the first gear set are rotatably connected to one side of the first lead screw fixing base plate 406 and fixedly connected to the lead screw 408 on the other side of the first lead screw fixing base plate 406, so that the first lead screw 408 is driven by the first motor 402 to rotate under the driving of the first gear set. It is understood that two screw rods of the telescopic driving component in the present embodiment may be provided in symmetrical positions, and are respectively connected to the second gear plate 404 and the third gear plate 405, of course, in other embodiments, the number of screw rods may be fewer or more, and correspondingly, the number of gears correspondingly connected to the screw rods should also be corresponding.
In this embodiment, the first lead screw fixing base plate 406 and the second lead screw fixing base plate 410 are provided with a first guide rod fixing member 414 and a second guide rod fixing member 415 in pairs for fixedly connecting the guide rods 413. The first lead screw fixing bottom plate 406 and the second lead screw fixing bottom plate 410 are further provided with a first lead screw fixing member 407 and a second lead screw fixing member 409 in pairs, and are used for fixedly connecting a lead screw 408, wherein the first lead screw fixing member 407 is further fixedly connected with the second gear disc 404 and/or the third gear disc 405 of the first gear set. A third guide rod fixing piece 416 with a through hole is arranged on the moving plate 411, and the through hole on the third guide rod fixing piece 416 is used for being connected with the guide rod 413 in a sliding manner; the moving plate 411 is further provided with a first lead screw sliding disc 412 for forming a threaded hole matching the lead screw 408 on the moving plate 411. Of course, in other embodiments, the first guide bar fixing member 414, the second guide bar fixing member 415, the third guide bar fixing member 416 and the guide bar 413 may be arranged in multiple sets, and as shown in fig. 2, the two sets are arranged in opposite positions in this embodiment.
Of course, in at least one embodiment, the second screw fixing member 409, the first guide bar fixing member 414, the second guide bar fixing member 415, the third guide bar fixing member 416, the first screw sliding plate 412 and the plate to which the connecting plate is fixed may be made as a single component.
In one embodiment, the center of gravity adjusting cabin 5 of the turtle-like robot is used for adjusting the center of gravity position of the robot. As shown in fig. 1, the center-of-gravity adjustment compartment 5 is generally cylindrical (e.g., cylindrical) and may be provided in two. The two gravity center adjusting cabins 5 are axially arranged in parallel with the symmetrical axis of the trunk 1 and are respectively arranged at two sides of the trunk 1. Of course, in other embodiments, the center of gravity adjusting compartment 5 may also be formed in other cylindrical structures, and is not limited herein. Through setting up two focus regulation cabins 5 respectively in imitative sea turtle robot's both sides, can be convenient for imitative sea turtle robot's the motion of verting.
The center-of-gravity adjusting cabin 5 of the turtle-like robot comprises a center-of-gravity adjusting cabin shell and a weight position adjusting mechanism arranged in the center-of-gravity adjusting cabin shell. Fig. 3 is a schematic structural diagram of the center of gravity adjusting compartment 5 in a perspective view of a center of gravity adjusting compartment housing, and specifically, the weight position adjusting mechanism includes a weight 503 and a position driving member. Wherein, pouring weight 503 can be replaced by lithium cell group to each device of make full use of imitative sea turtle robot, thereby reduce imitative sea turtle robot whole volume. The weight position adjusting mechanism is used for adjusting the position of the weight 503 parallel to the symmetry axis of the trunk 1 of the turtle-like robot, so that the gravity center position of the turtle-like robot can be automatically adjusted.
In the present embodiment, as shown in fig. 3, the weight position adjustment mechanism includes a second motor 501 and a second lead screw 502. An output shaft of the second motor 501 (e.g., a stepping motor) is fixedly connected to the second lead screw 502. The weight 503 is disposed on the second lead screw 502 in a penetrating manner, and a threaded hole is disposed on the weight 503 and is in threaded connection with the second lead screw 502. In a preferred embodiment, the threaded hole of the weight 503 is formed by a second lead screw slide plate 508 secured to the weight 503. Slide rails (not shown) are arranged on the inner wall of the gravity center adjusting cabin shell 507, a weight shell 504 is arranged outside the weight 503, and slide grooves matched with the slide rails are arranged on the weight shell 504. Therefore, when the second motor 501 drives the second lead screw 502 to rotate, the weight 503 can be pushed to slide along the center of gravity adjusting cabin housing 507. It will be appreciated that when the weight 503 is a lithium battery pack, the weight housing 504 is a lithium battery pack housing, although in other cases, such as where the weight 503 and the weight housing 504 are provided as the same material and are formed as a single component, for ease of integral manufacture.
In other embodiments, the section of the center of gravity adjusting compartment housing 507 may be configured to be non-circular, and the section of the weight 503 or the weight housing 504 may be configured to be a shape corresponding to the section of the center of gravity adjusting compartment housing 507, so that when the second motor 501 drives the second lead screw 502 to rotate, the non-circular housing may interfere with the rotation of the weight 503, and thus, the weight 503 can slide along the center of gravity adjusting compartment housing 507 without providing a sliding groove or a sliding rail.
As shown in fig. 3, the center of gravity adjusting cabin shell includes a front cabin cover 504 and a rear cabin cover 506 in addition to the center of gravity adjusting cabin shell 507, and the center of gravity adjusting cabin shell 507, the front cabin cover 504 and the rear cabin cover 506 together form a closed cabin to ensure the electrical safety inside. Further, the second motor 501 is fixedly installed on the rear hatch 506, and the extended end of the second lead screw 502 extends to the front hatch 504, so that the position adjustment space in the hatch is utilized more.
In this embodiment, the fixing frame of the trunk 1 may be a single component, or may be divided into a plurality of components for connecting various trunk components, such as the trunk shell, the buoyancy adjusting compartment 4 and the center of gravity adjusting compartment 5, and other functional components, such as the forelimb mechanism 2, the hindlimb mechanism 3 and the head part 6. It will be appreciated that the various components of the brace may be directly connected or may be indirectly connected via the torso assembly. As shown in fig. 1, the holder includes a first holder 13 and a second holder 14. Moreover, the first fixing frame 13 and the second fixing frame 14 are both integrally plate-shaped, so that the processing and the installation are convenient. Wherein, the first fixing frame 13 is located at the front end of the trunk 1, and the second fixing frame 14 is located at the rear end of the trunk 1 and is respectively connected to the two ends of the buoyancy adjusting cabin 4 and the gravity center adjusting cabin 5. The dorsal and ventral shells 11 and 12 are also fixedly connected to the first and second holders 13 and 14.
In the present embodiment, the forelimb mechanism 2 of the turtle-like robot is a pair of variable-stiffness bionic fin-type propulsion mechanisms. As shown in fig. 4, the front limb mechanism 2 comprises a front limb drive joint and a variable stiffness flexible front limb hydrofoil 201. The forelimb driving joint is used for driving the swinging, rotating and flapping motions of the flexible forelimb hydrofoil, and the flexible forelimb hydrofoil 201 with variable rigidity is used for forming the upstream surface propelled by the bionic fin type. Specifically, the forelimb driving joint corresponds to swing, position and flapping motions of the flexible forelimb hydrofoil, and comprises a forelimb swing joint, a forelimb position swing joint and a forelimb flapping swing joint. Wherein, the forelimb swing joint is a rotary joint of the forelimb hydrofoil in the horizontal direction; the forelimb rotary joint is a rotary joint of the forelimb hydrofoil in the axial direction; the fore-limb flapping-rotating joint is a rotating joint of the fore-limb hydrofoil in the vertical direction. In this embodiment, the distal end of the forelimb hydrofoil 201 is a multi-joint hydrofoil 205 for forming the upstream surface, and the proximal end is a stiffness adjustment mechanism 206; the stiffness adjusting mechanism 206 comprises a stiffness adjuster 207, a spring traction rope 208, a spring 209 and a multi-joint hydrofoil traction rope 210 which are connected in sequence, and the far end of the multi-joint hydrofoil traction rope 210 is connected with a multi-joint hydrofoil 205. Through the design, the two ends of the elastic traction rope formed by the spring traction rope 208, the spring 209 and the multi-joint hydrofoil traction rope 210 are respectively connected with the rigidity regulator 207 and the multi-joint hydrofoil 205, so that the flexible characteristic of the multi-joint hydrofoil 205 can be formed; and, the stiffness adjuster 207 may actively stretch the spring 209, thereby changing the joint stiffness of the elastically pulled multi-joint hydrofoil 205. The stiffness adjuster 207 may be a steering engine, the output shaft of which is connected to a spring pull-cord 208 via a steering wheel 220.
More specifically, the front limb mechanism 2 further comprises a front limb connecting member 211 and a front limb joint housing 214 (see a perspective part in fig. 4), wherein the front limb connecting member 211 forms a rotation pair with the front limb joint housing 214, and the front limb connecting member 211 is fixedly connected to the first fixing frame 13 of the trunk 1. The forelimb swing joint is driven by a forelimb swing steering engine 202, the forelimb swing steering engine 202 is assembled in a forelimb connecting piece 211, and an output shaft of the forelimb swing steering engine 202 transmits swing motion to a forelimb joint shell 214 through a forelimb swing steering engine steering wheel 212 and a forelimb swing driving rope 213 thereof.
Further, the joint housing 214 forms a two degree of freedom revolute pair with the front limb hydrofoil 201. The forelimb position rotary joint is driven by a forelimb position rotary actuator 203, the forelimb position rotary actuator 203 is assembled in a forelimb joint shell 214, an output shaft of the forelimb position rotary actuator 203 transmits position rotary motion to a gear set formed by a first bevel gear 216 and a second bevel gear 217 through a forelimb position rotary actuator steering wheel 215 and a forelimb position rotary driving rope, the first bevel gear 216 is meshed with the second bevel gear 217, and the second bevel gear 217 is fixedly connected with the forelimb hydrofoil 201, so that the forelimb hydrofoil 201 can be controlled to rotate by the forelimb position rotary actuator 203. The forelimb flapping rotary joint is driven by a forelimb flapping rotary steering engine 204, the forelimb flapping rotary steering engine 204 is assembled in a forelimb joint shell 214, the output shaft of the forelimb flapping rotary steering engine 204 transmits flapping rotary motion to a forelimb roller connecting piece 219 through a forelimb flapping rotary steering engine steering wheel disc 218 and a forelimb flapping rotary driving rope thereof, and the forelimb hydrofoil 201 is connected to the forelimb roller connecting piece 219, so that the forelimb flapping rotary steering engine 204 can be used for controlling the forelimb hydrofoil 201 to perform pivoting flapping rotary motion. The front limb roller connecting piece 219 is a T-shaped component, the cross rod on the upper side of the front limb roller connecting piece 219 is hollow, and the hollow part is connected with a rotating shaft for flapping and rotating; the first bevel gear 216 is rotatably connected to one end of the upper cross bar of the front limb roller link 219, the second bevel gear 217 is rotatably connected to the end of the middle vertical bar of the front limb roller link 219, and the front limb hydrofoil 201 is fixedly connected to the second bevel gear 217.
In this embodiment, the hind limb mechanism 3 of the turtle-like robot is a pair of flexible bionic fin propulsion mechanisms. As shown in fig. 5, the hind limb mechanism 3 comprises a hind limb drive joint and a flexible hind limb hydrofoil 301. The hind limb driving joint is used for driving the flexible hind limb hydrofoil to swing, position and flap, and the flexible hind limb hydrofoil 301 is used for forming the upstream surface propelled by the bionic fin. Specifically, the hind limb driving joint corresponds to the swinging, positioning and flapping motions of the flexible hind limb hydrofoil, and comprises a hind limb swinging joint, a hind limb positioning and flapping joint. Wherein, the hind limb swing joint is a rotary joint of the hind limb hydrofoil in the horizontal direction; the hind limb position rotary joint is a rotary joint of the hind limb hydrofoil in the axial direction; the hind limb flapping-rotating joint is a rotating joint of the hind limb hydrofoil in the vertical direction. Specifically, the hind limb mechanism 3 further includes a hind limb connector 302 and a hind limb joint housing 303 (see a perspective part in fig. 5), the hind limb connector 302 and the hind limb joint housing 303 form a revolute pair, and the hind limb connector 302 is fixedly connected to the second fixing frame 14 of the trunk 1. The hind limb swing joint is driven by a hind limb swing steering engine 304, the hind limb swing steering engine 304 is assembled in the hind limb connecting piece 302, and an output shaft of the hind limb swing steering engine 304 transmits swing motion to the hind limb joint shell 303 through a hind limb swing steering engine steering wheel disc 305 and a hind limb swing driving rope 306.
Further, the hind limb joint shell 303 forms a two degree of freedom revolute pair with the hind limb hydrofoil 301. The hind limb position rotary joint is driven by a hind limb position rotary actuator 307, the hind limb position rotary actuator 307 is assembled in the hind limb joint shell 303, an output shaft of the hind limb position rotary actuator 307 transmits position rotary motion to a gear set formed by a third bevel gear 309 and a fourth bevel gear 310 through a hind limb position rotary actuator steering wheel 308 and a hind limb position rotary driving rope, the third bevel gear 309 is meshed with the fourth bevel gear 310, the fourth bevel gear 310 is fixedly connected with the hind limb hydrofoil 301, and therefore the position rotary motion of the hind limb hydrofoil 301 can be controlled through the hind limb position rotary actuator 307. The hind limb flapping rotary joint is driven by a hind limb flapping rotary steering engine 311, the hind limb flapping rotary steering engine 311 is assembled in the hind limb joint shell 303, an output shaft of the hind limb flapping rotary steering engine 311 transmits flapping rotary motion to a hind limb roller connecting piece 313 through a hind limb flapping rotary steering engine rudder disc 312 and a hind limb flapping rotary driving rope, and a hind limb hydrofoil 401 is connected to the hind limb roller connecting piece 313, so that the hind limb flapping rotary steering engine 311 can be used for controlling the hind limb hydrofoil 301 to perform flapping rotary motion around a shaft. Furthermore, the hind limb hydrofoil 301 comprises a flexible body for forming a water-facing surface for biomimetic fin propulsion; and a hind limb hydrofoil connector 314, the hind limb hydrofoil connector 314 being of a higher stiffness than the flexible body to facilitate secure connection with the components of the hind limb drive joint. The hind limb roller connecting piece 313 is also constructed in a T shape, the cross rod on the upper side of the hind limb roller connecting piece 313 is hollow, and the hollow part is connected with a rotating shaft for flapping and rotating; the third bevel gear 309 is rotatably connected to one end of the upper cross bar of the rear limb roller connector 313, the fourth bevel gear 310 is rotatably connected to the end of the middle vertical bar of the rear limb roller connector 313, and the rear limb hydrofoil 301 is fixedly connected with the fourth bevel gear 310.
The application discloses imitative sea turtle robot passes through the buoyancy adjustment mechanism and passes through the compression bellows, increases robot buoyancy, makes the robot produce positive buoyancy and come-up to and tensile bellows, lead to the under-deck air to be compressed, reduce robot buoyancy, make the robot produce negative buoyancy and sink. The gravity center adjusting cabin of the robot is respectively positioned at two sides of the buoyancy adjusting cabin, the battery is used as a weight block for changing the gravity center, and the weight blocks in the gravity center adjusting cabin are simultaneously pushed forwards or moved backwards, so that the gravity center position of the robot is changed; if the weights are in tandem, the robot can tilt leftwards and rightwards and forwards, so that the robot can realize turning during gliding propulsion. In addition, the four limbs of the turtle-like robot have three degrees of freedom, the seabed and the beach zone can be crawled, the advantages of short-distance observation are great, and meanwhile, the gliding propulsion and the flapping propulsion of the robot can be realized through the swinging, positioning and flapping motions of the fore limb hydrofoil and the hind limb hydrofoil; the turtle-like robot is flat in body, has a large lift-drag ratio and a large glide ratio, and can realize the propulsion of flapping wings in the sea by using the flexible variable-stiffness hydrofoil, so that the energy utilization rate is improved.
It should be noted that the above-described embodiments are merely illustrative, and the units described as separate parts may or may not be physically separated. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of this invention are intended to be covered by the scope of the invention as expressed herein.
Claims (10)
1. A variable-rigidity bionic fin type propulsion mechanism used as a forelimb mechanism of a bionic fin type propulsion robot is characterized by comprising a variable-rigidity flexible forelimb hydrofoil (201), wherein the far end of the forelimb hydrofoil (201) is a multi-joint hydrofoil (205), and the near end of the forelimb hydrofoil is a rigidity adjusting mechanism (206).
2. The propulsion mechanism according to claim 1, characterized in that the stiffness adjustment mechanism (206) comprises a stiffness adjuster (207), a spring pull rope (208), a spring (209), a multijoint hydrofoil pull rope (210) connected in sequence, and the distal end of the multijoint hydrofoil pull rope (210) is connected with the multijoint hydrofoil (205).
3. A propulsion mechanism according to claim 2, characterised in that the stiffness adjuster (207) is a steering engine, and that the output shaft of the stiffness adjuster (207) is connected to the spring haulage line (208) via a steering wheel (220).
4. A propulsion mechanism according to claim 1, characterised in that the propulsion mechanism further comprises forelimb drive joints including forelimb swing, forelimb position and forelimb flapping joints for driving swing, position and flapping movements of the forelimb hydrofoil (201).
5. A propulsion mechanism according to claim 3, characterised in that the propulsion mechanism further comprises a front limb connector (211), a front limb joint housing (214), the front limb connector (211) and the front limb joint housing (214) forming a horizontally directed revolute pair, the front limb joint housing (214) and the variable stiffness flexible front limb hydrofoil (201) forming a vertically directed revolute pair and a revolute pair axial to the front limb hydrofoil.
6. The propulsion mechanism according to claim 5, characterized in that the forelimb swing joint is driven by a forelimb swing steering engine (202), the forelimb swing steering engine (202) is assembled in the forelimb connecting piece (211), and an output shaft of the forelimb swing steering engine (202) transmits swing motion to the forelimb joint shell (214) through a forelimb swing steering engine steering wheel (212) and a forelimb swing driving rope (213).
7. The propulsion mechanism according to claim 5, characterized in that the forelimb position rotary joint is driven by a forelimb position rotary engine (203), the forelimb position rotary engine (203) is assembled in the forelimb joint shell (214), and an output shaft of the forelimb position rotary engine (203) transmits the position rotary motion to the forelimb hydrofoil (201) through a forelimb position rotary engine steering wheel (215), a forelimb position rotary driving rope and an oblique angle gear set.
8. The propulsion mechanism according to claim 5 or 7, characterized in that the forelimb slap swivel is driven by a forelimb slap swivel steering engine (204), the forelimb slap swivel steering engine (204) is assembled in a forelimb joint housing (214), and an output shaft of the forelimb slap swivel steering engine (204) transmits the slap swivel motion to the forelimb hydrofoil (201) through a forelimb slap swivel steering engine steering wheel (218), a forelimb slap swivel drive rope and a forelimb roller connection (219).
9. The propulsion mechanism according to claim 8, characterised in that the forelimb roller connection (219) is a T-shaped member, the upper cross bar of the forelimb roller connection (219) is hollow, the hollow being connected to the rotation shaft of the flapping motion; the front limb hydrofoil (201) is connected to the tail end of a middle vertical rod of the front limb roller connecting piece (219).
10. The propulsion mechanism according to claim 9, characterized in that the bevel gear set comprises a first bevel gear (216) and a second bevel gear (217) which are engaged, the first bevel gear (216) being rotatably connected to one end of the upper cross bar of the front limb roller link (219), the second bevel gear (217) being rotatably connected to the end of the middle vertical bar of the front limb roller link (219), and the front limb hydrofoil (201) being fixedly connected to the second bevel gear (217).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210872056.0A CN115056953B (en) | 2022-07-19 | 2022-07-19 | Controllable variable-rigidity bionic fin type propelling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210872056.0A CN115056953B (en) | 2022-07-19 | 2022-07-19 | Controllable variable-rigidity bionic fin type propelling mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115056953A true CN115056953A (en) | 2022-09-16 |
| CN115056953B CN115056953B (en) | 2024-07-30 |
Family
ID=83207254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210872056.0A Active CN115056953B (en) | 2022-07-19 | 2022-07-19 | Controllable variable-rigidity bionic fin type propelling mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115056953B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117485507A (en) * | 2023-12-29 | 2024-02-02 | 哈尔滨工程大学 | Inerter position and rudder angle adjustable water inlet model |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5117776A (en) * | 1989-10-26 | 1992-06-02 | Thorpe Douglas T | Hydrofoil system |
| CN201143991Y (en) * | 2007-04-30 | 2008-11-05 | 哈尔滨工程大学 | Bionic turtle underwater robot |
| CN106875803A (en) * | 2017-03-08 | 2017-06-20 | 哈尔滨工业大学 | Variation rigidity flexible bionic fish model based on internal fluid pressure regulation |
| CN107804446A (en) * | 2017-09-26 | 2018-03-16 | 西北工业大学 | Three Degree Of Freedom for submarine navigation device imitates Weis-Fogh mechanism and its kinematics control method |
| CN109110095A (en) * | 2018-08-09 | 2019-01-01 | 哈尔滨工业大学 | A kind of tensioning monoblock type swing propulsive mechanism |
| CN109484625A (en) * | 2019-01-02 | 2019-03-19 | 南昌航空大学 | A kind of aircraft of wing variable rigidity |
| CN111959726A (en) * | 2020-08-12 | 2020-11-20 | 青岛海洋科学与技术国家实验室发展中心 | Flexible tail fin hybrid drive underwater glider |
| WO2021000628A1 (en) * | 2019-07-04 | 2021-01-07 | 中国科学院自动化研究所 | Bionic robotic manta ray |
| CN112373258A (en) * | 2020-06-05 | 2021-02-19 | 沈阳工业大学 | Pneumatic amphibious software bionic robot |
| CN112758314A (en) * | 2020-12-15 | 2021-05-07 | 北京交通大学 | Deformable composite wing cross-medium flying submersible vehicle |
| CN113173236A (en) * | 2021-05-26 | 2021-07-27 | 江苏科技大学 | Multi-degree-of-freedom turtle-shaped hydrofoil propulsion device and control method |
| CN114407023A (en) * | 2022-03-11 | 2022-04-29 | 沈阳工业大学 | Decoupling control method for rope-driven parallel variable-stiffness robot joint |
| CN114590376A (en) * | 2022-03-01 | 2022-06-07 | 江苏科技大学 | Integrative glider under water is pounded in cun based on bionical chelonian |
-
2022
- 2022-07-19 CN CN202210872056.0A patent/CN115056953B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5117776A (en) * | 1989-10-26 | 1992-06-02 | Thorpe Douglas T | Hydrofoil system |
| CN201143991Y (en) * | 2007-04-30 | 2008-11-05 | 哈尔滨工程大学 | Bionic turtle underwater robot |
| CN106875803A (en) * | 2017-03-08 | 2017-06-20 | 哈尔滨工业大学 | Variation rigidity flexible bionic fish model based on internal fluid pressure regulation |
| CN107804446A (en) * | 2017-09-26 | 2018-03-16 | 西北工业大学 | Three Degree Of Freedom for submarine navigation device imitates Weis-Fogh mechanism and its kinematics control method |
| CN109110095A (en) * | 2018-08-09 | 2019-01-01 | 哈尔滨工业大学 | A kind of tensioning monoblock type swing propulsive mechanism |
| CN109484625A (en) * | 2019-01-02 | 2019-03-19 | 南昌航空大学 | A kind of aircraft of wing variable rigidity |
| WO2021000628A1 (en) * | 2019-07-04 | 2021-01-07 | 中国科学院自动化研究所 | Bionic robotic manta ray |
| CN112373258A (en) * | 2020-06-05 | 2021-02-19 | 沈阳工业大学 | Pneumatic amphibious software bionic robot |
| CN111959726A (en) * | 2020-08-12 | 2020-11-20 | 青岛海洋科学与技术国家实验室发展中心 | Flexible tail fin hybrid drive underwater glider |
| CN112758314A (en) * | 2020-12-15 | 2021-05-07 | 北京交通大学 | Deformable composite wing cross-medium flying submersible vehicle |
| CN113173236A (en) * | 2021-05-26 | 2021-07-27 | 江苏科技大学 | Multi-degree-of-freedom turtle-shaped hydrofoil propulsion device and control method |
| CN114590376A (en) * | 2022-03-01 | 2022-06-07 | 江苏科技大学 | Integrative glider under water is pounded in cun based on bionical chelonian |
| CN114407023A (en) * | 2022-03-11 | 2022-04-29 | 沈阳工业大学 | Decoupling control method for rope-driven parallel variable-stiffness robot joint |
Non-Patent Citations (1)
| Title |
|---|
| 邢会明等: "小型两栖仿龟机器人多模式运动研究", 《机器人》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117485507A (en) * | 2023-12-29 | 2024-02-02 | 哈尔滨工程大学 | Inerter position and rudder angle adjustable water inlet model |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115056953B (en) | 2024-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110239712B (en) | Water-air amphibious cross-medium bionic robot flying fish | |
| CN110304223B (en) | Bionic machine bat ray | |
| CN115071933B (en) | Multimode driving turtle-like robot | |
| CN104627342A (en) | Gliding machine dolphin | |
| CN104589938B (en) | A kind of imitative flying fish variable configuration is across medium aircraft | |
| CN110588932B (en) | Underwater bionic aircraft based on swinging pectoral fins and dorsoventral tail fin combined propulsion | |
| CN109204812B (en) | Sea-air amphibious aircraft with fixed wings combined with glider | |
| CN100357155C (en) | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot | |
| CN102963514A (en) | Portable submarine ocean environment monitoring glider | |
| CN113060262A (en) | Flapping wing power generation and driving integrated marine robot and working method | |
| CN212556730U (en) | Bionic fish with adjustable mass center | |
| CN111746767A (en) | Bionic robotic fish based on bionic fin and pump combined propulsion | |
| CN109292061A (en) | A kind of binary submarine navigation device of bionical swing and propeller hybrid propulsion | |
| CN212605739U (en) | Hay ray robot | |
| CN115056953B (en) | Controllable variable-rigidity bionic fin type propelling mechanism | |
| CN112660347B (en) | Energy-saving underwater glider | |
| CN111319742B (en) | Parallel type space tail pendulum propulsion device | |
| CN113060261A (en) | Multi-degree-of-freedom underwater shooting boosting robot | |
| CN219904704U (en) | Multifunctional intelligent bionic robot fish | |
| CN212738470U (en) | Serial-type flexible drive's bionical machine fish | |
| CN209814236U (en) | A bionical sea snake for control of marine ranch | |
| CN116252935A (en) | Bionic machine penguin | |
| CN212637871U (en) | Bionic robotic fish based on bionic fin and pump combined propulsion | |
| CN113911299A (en) | Hay ray robot | |
| US20240166312A1 (en) | Vehicle operable as an underwater glider and a surface sailing vehicle and a method thereof |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |