CN115195982A - Underwater bionic fish robot with waterproof grass winding assembly - Google Patents
Underwater bionic fish robot with waterproof grass winding assembly Download PDFInfo
- Publication number
- CN115195982A CN115195982A CN202210789791.5A CN202210789791A CN115195982A CN 115195982 A CN115195982 A CN 115195982A CN 202210789791 A CN202210789791 A CN 202210789791A CN 115195982 A CN115195982 A CN 115195982A
- Authority
- CN
- China
- Prior art keywords
- fish robot
- fixed mounting
- shell
- bionic fish
- waterproof
- 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
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 97
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 53
- 238000004804 winding Methods 0.000 title claims abstract description 38
- 244000025254 Cannabis sativa Species 0.000 title claims abstract description 36
- 239000011521 glass Substances 0.000 claims abstract description 10
- 230000003592 biomimetic effect Effects 0.000 claims description 13
- 210000004690 animal fin Anatomy 0.000 claims description 2
- 238000005286 illumination Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 12
- 238000000034 method Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 244000058871 Echinochloa crus-galli Species 0.000 description 2
- 235000015225 Panicum colonum Nutrition 0.000 description 2
- 241001113556 Elodea Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 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
- 230000002265 prevention Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
- B63H5/165—Propeller guards, line cutters or other means for protecting propellers or rudders
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- 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
Abstract
The invention discloses an underwater bionic fish robot with a waterproof grass winding assembly, which comprises a bionic fish robot shell, a crawler and a waterproof grass winding assembly, wherein a first searchlight is fixedly installed below the left side of the bionic fish robot shell, waterproof glass is fixedly installed above the left side of the bionic fish robot shell, a connecting block is fixedly installed at the bottom of the bionic fish robot shell, and the crawler is located below the connecting block; the waterproof grass winding assembly is positioned on the right side of the shell of the bionic fish robot; waterproof grass winding subassembly includes motor mount, driving motor, screw fender bracket, grid plate and screw, the right side of bionical fish robot shell is fixed mutually with the left side of motor mount. This bionic fish robot under water with waterproof grass winding subassembly has wholly realized that can prevent that the pasture and water from carrying out the winding purpose to can remove at the bottom, have fine practicality.
Description
Technical Field
The invention relates to the technical field of bionic fish robots, in particular to an underwater bionic fish robot with a waterproof grass winding assembly.
Background
The bionic fish is a kind of mechanical fish, which is designed and manufactured by scientists according to the principle of bionics, and the bionic fish swims like real fish, the body swings back and forth under the driving of an engine, and the fin and the tail are used for changing the swimming direction of the bionic fish, and the bionic fish is usually used for detecting underwater pollution and living bodies or for assisting the design of people.
The underwater bionic fish robot on the market can control the underwater existing bionic fish robot through the control device on the land, so that the underwater condition is detected, but a propeller of the traditional underwater bionic fish robot is easily entangled by waterweeds to cause incapability of moving, the existing underwater bionic fish robot has fewer functions, and the underwater surveying task cannot be effectively completed, so that the underwater bionic fish robot with the waterproof grass winding assembly is provided to solve the problems.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the underwater bionic fish robot with the water-proof grass winding assembly, which has the advantages of preventing the water grass from winding, having multiple functions and the like, and solves the problems that the water grass is easy to wind and has single function.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an underwater bionic fish robot with waterproof grass winding subassembly, includes bionic fish robot shell, track and waterproof grass winding subassembly, the left below fixed mounting of bionic fish robot shell has a first searchlight, the left top fixed mounting of bionic fish robot shell has waterproof glass, the bottom fixed mounting of bionic fish robot shell has the connecting block, the track is located the below of connecting block.
The waterproof grass winding assembly is located on the right side of the shell of the bionic fish robot.
Waterproof grass winding subassembly includes motor mount, driving motor, screw fender bracket, grid plate and screw, the right side of bionical fish robot shell is fixed mutually with the left side of motor mount, driving motor fixed mounting is in the inside of motor mount, driving motor's output direction is the right side, driving motor's output runs through the right side wall that sets up with the motor mount, the motor mount runs through in the left side wall of screw fender bracket and rather than fixed mutually, driving motor's output fixed mounting has the screw, the right side fixed mounting of screw fender bracket has the grid plate.
Further, the bottom fixed mounting of connecting block has the mount, the bottom fixed mounting of mount has the connecting plate, the inside left and right sides of connecting plate all rotates and is connected with the removal gear, the inboard fixed mounting of track has a plurality of gear piece of quantity, the left and right sides the outside and the gear piece mesh of removal gear mutually.
Further, the lower part fixed mounting on bionical fish robot shell right side has the swing skeleton, the right side fixed mounting of swing skeleton has mechanical fishtail.
Furthermore, the positive lower left corner fixed mounting of bionical fish robot shell has hidden decorative pattern, the positive lower right corner fixed mounting of bionical fish robot shell has first warning light.
Further, the front face of the hidden pattern is fixedly provided with a second searchlight fixing piece, a second searchlight is fixedly arranged inside the second searchlight fixing piece, and the lighting direction of the second searchlight is the left side.
Further, the front middle part fixed mounting of bionical fish robot shell has the swing connecting block, the front fixed mounting of swing connecting block has mechanical fin, the front of bionical fish robot shell and the right side fixed mounting that is located waterproof glass have a sound outlet.
Further, the front of bionical fish robot shell just is located the right side fixed mounting of mechanical fin and has the propeller, the inside fixed mounting of propeller has the propeller stationary blade, the injection direction of propeller stationary blade is the right side.
Further, the left side fixed mounting at bionical fish robot shell top has the second dorsal fin, bionical fish robot shell top just is located the first dorsal fin of right side fixed mounting of second dorsal fin, the front fixed mounting of first dorsal fin has the second warning light.
Furthermore, the front of the fixed frame is fixedly provided with a rotating block, and the front of the rotating block is fixedly provided with a rotating wing.
Compared with the prior art, the technical scheme of the application has the following beneficial effects:
1. this bionical fish robot under water with waterproof grass winding subassembly because the screw is located the inside between screw fender bracket and the grid plate, and can reduce and contact with the pasture and water, just reduced the winding chance of pasture and water, and the rotatory leaf of screw is sharper than general rotatory leaf, can directly cut off the pasture and water under certain circumstances and prevent to twine.
2. This bionic fish robot under water with waterproof grass winding subassembly when needs examine at the bottom, drives the removal gear of the left and right sides through the inside motor that is located the connecting plate and rotates, and the removal gear of the left and right sides rotates and can drive the track and remove, makes it can move at the bottom and surveys.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of a grass winding prevention assembly of the present construction;
FIG. 3 is an enlarged view of A of FIG. 1 of the structure of the present invention;
FIG. 4 is a front view of the structure of the present invention;
fig. 5 is an enlarged view of B in fig. 1 of the structure of the present invention.
In the figure: 1 waterproof glass, 2 bionical fish robot shell, 3 first searchlight, 4 second searchlights, 5 second searchlight stationary blades, 6 mounts, 7 play sound holes, 8 hidden decorative patterns, 9 tracks, 10 connecting plates, 11 gear pieces, 12 moving gear, 13 connecting blocks, 14 first warning lights, 15 swing skeleton, 16 machinery fishtails, 17 screw fender bracket, 18 graticule, 19 screw, 20 driving motor, 21 motor mounts, 22 propeller, 23 propeller stationary blades, 24 machinery fishfins, 25 swing connecting blocks, 26 second warning lights, 27 first dorsal fins, 28 second dorsal fins, 29 rotor wings, 30 rotor blocks.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
Referring to fig. 1-3, an underwater biomimetic fish robot with a waterproof grass winding assembly in the embodiment includes a biomimetic fish robot housing 2, a caterpillar 9 and a waterproof grass winding assembly, a first searchlight 3 is fixedly mounted below the left side of the biomimetic fish robot housing 2, a waterproof glass 1 is fixedly mounted above the left side of the biomimetic fish robot housing 2, a connecting block 13 is fixedly mounted at the bottom of the biomimetic fish robot housing 2, a fixing frame 6 is fixedly mounted at the bottom of the connecting block 13, a connecting plate 10 is fixedly mounted at the bottom of the fixing frame 6, moving gears 12 are rotatably connected to the left side and the right side inside the connecting plate 10, the caterpillar 9 is located below the connecting block 13, a plurality of gear blocks 11 are fixedly mounted on the inner side of the caterpillar 9, and the outer portions of the moving gears 12 on the left side and the right side are meshed with the gear blocks 11.
In this embodiment, below fixed mounting on bionical fish robot shell 2 right side has swing skeleton 15, the right side fixed mounting of swing skeleton 15 has mechanical fishtail 16, bionical fish robot shell 2 positive lower left corner fixed mounting has hidden decorative pattern 8, bionical fish robot shell 2 positive lower right corner fixed mounting has first warning light 14, the left side fixed mounting at bionical fish robot shell 2 top has second dorsal fin 28, bionical fish robot shell 2 top just is located the first dorsal fin 27 of right side fixed mounting of second dorsal fin 28, the positive fixed mounting of first dorsal fin 27 has second warning light 26.
Wherein, the internally mounted of connecting plate 10 has the motor that drives left and right sides and remove gear 12 and carry out the pivoted, when left and right sides removes gear 12 and rotates, left and right sides removes gear 12 and drives track 9 through meshing mutually with gear block 11 and remove, and the camera is installed to the inside of bionical fish robot shell 2 and the right side that is located waterproof glass 1, and the camera can carry out the storage and the uploading of image.
The waterproof grass winding assembly is positioned on the right side of the shell 2 of the bionic fish robot.
Waterproof grass winding subassembly includes motor mount 21, driving motor 20, screw fender bracket 17, grid plate 18 and screw 19, bionic fish robot housing 2's right side is fixed mutually with the left side of motor mount 21, driving motor 20 fixed mounting is in the inside of motor mount 21, driving motor 20's output end direction is the right side, driving motor 20's output runs through the right side wall that sets up with motor mount 21, motor mount 21 runs through in screw fender bracket 17's left side wall and rather than fixed mutually, driving motor 20's output fixed mounting has screw 19, screw fender bracket 17's right side fixed mounting has grid plate 18.
In this embodiment, the front surface of the hidden pattern 8 is fixedly provided with a second searchlight fixing piece 5, the inside of the second searchlight fixing piece 5 is fixedly provided with a second searchlight 4, and the illumination direction of the second searchlight 4 is the left side.
Wherein, screw fender bracket 17 is the net rack formula structure, rivers can pass through screw fender bracket 17 when the bionical fish robot under water moves, screw fender bracket 17 can not give the bionical fish robot under water too big resistance, and screw 19 is located screw fender bracket 17's inside, can effectively prevent to carry out direct contact with pasture and water, screw 19's rotating vane is sharper than general rotating vane, can directly cut off the pasture and water under certain circumstances and prevent to twine, motor mount 21 can play and carry out waterproofly to driving motor 20.
In this embodiment, the front middle part fixed mounting of bionical fish robot shell 2 has swing connecting block 25, and the front fixed mounting of swing connecting block 25 has mechanical fin 24, and the right side fixed mounting that bionical fish robot shell 2 just is located waterproof glass 1 has sound outlet 7 in the front.
In this embodiment, the front of the bionic fish robot housing 2 and the right side of the mechanical fin 24 are fixedly provided with the propeller 22, the inner portion of the propeller 22 is fixedly provided with the propeller fixing plate 23, and the spraying direction of the propeller fixing plate 23 is the right side.
In this embodiment, a rotating block 30 is fixedly mounted on the front surface of the fixed frame 6, and a rotating wing 29 is fixedly mounted on the front surface of the rotating block 30.
The working principle of the above embodiment is as follows:
when the underwater bionic fish robot with the waterproof grass winding assembly is used, the driving motor 20 fixed in the motor fixing frame 21 can drive the propeller 19 to rotate, the propeller 19 rotates to drive the underwater bionic fish robot to move, the propeller fixing piece 23 can also assist in driving the underwater bionic fish robot to move, the propeller 19 fixed between the propeller protecting frame 17 and the grid plate 18 can reduce the contact with aquatic grass, the rotating blades of the propeller 19 are sharper than the common rotating blades, and the aquatic grass can be directly cut off under certain conditions; the underwater bionic fish robot can be given a smaller propelling force through the mechanical fin 24 fixed on the swing connecting block 25 and the mechanical fish tail 16 fixed on the right side of the swing framework 15, and can move in a direction, the rotating block 30 drives the rotating wing 29 to rotate and can also assist in adjusting the moving direction, the first dorsal fin 27 and the second warning lamp 26 keep balance, when the underwater bionic fish robot meets dangerous fishes, dazzling light can be emitted through the second warning lamp 26 and the first warning lamp 14, the sound emitting hole 7 can emit sounds of fish fear, the hidden pattern 8 can enable the underwater bionic fish robot to provide a camouflage pattern, and the possibility that the fishes meet unidentified objects to avoid is reduced; can drive left and right sides through being located the inside motor of connecting plate 10 and remove gear 12 and rotate, left and right sides removes gear 12 and rotates and to make outside track 9 remove, the bright light is launched in the left side all can in the past to first searchlight 3 and second searchlight 4 to can carry out the storage and upload of image through the inside camera of waterproof glass 1, wholly realized can preventing that pasture and water from carrying out winding purpose, and can remove at the bottom, have fine practicality.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an underwater bionic fish robot with waterproof grass winding assembly, includes bionic fish robot shell (2), track (9) and waterproof grass winding assembly, its characterized in that: a first searchlight (3) is fixedly installed below the left side of the bionic fish robot shell (2), waterproof glass (1) is fixedly installed above the left side of the bionic fish robot shell (2), a connecting block (13) is fixedly installed at the bottom of the bionic fish robot shell (2), and the crawler (9) is located below the connecting block (13);
the waterproof grass winding assembly is positioned on the right side of the bionic fish robot shell (2);
waterproof grass winding subassembly includes motor mount (21), driving motor (20), screw fender bracket (17), grid plate (18) and screw (19), the right side of bionic fish robot shell (2) is fixed mutually with the left side of motor mount (21), driving motor (20) fixed mounting is in the inside of motor mount (21), the output direction of driving motor (20) is the right side, the right side wall that sets up with motor mount (21) is run through to the output of driving motor (20), motor mount (21) run through in the left side wall of screw fender bracket (17) and are fixed mutually rather than, the output fixed mounting of driving motor (20) has screw (19), the right side fixed mounting of screw fender bracket (17) has grid plate (18).
2. The underwater biomimetic fish robot with a waterproof grass winding assembly according to claim 1, characterized in that: the bottom fixed mounting of connecting block (13) has mount (6), the bottom fixed mounting of mount (6) has connecting plate (10), the inside left and right sides of connecting plate (10) all rotates and is connected with removal gear (12), the inboard fixed mounting of track (9) has a plurality of gear piece (11) of quantity, the left and right sides the outside and the gear piece (11) of removal gear (12) mesh mutually.
3. The underwater biomimetic fish robot with a waterproof grass winding assembly according to claim 1, characterized in that: the bionic fish robot comprises a bionic fish robot shell (2), wherein a swing framework (15) is fixedly arranged below the right side of the bionic fish robot shell (2), and a mechanical fish tail (16) is fixedly arranged on the right side of the swing framework (15).
4. The underwater biomimetic fish robot with a waterproof grass winding assembly according to claim 1, characterized in that: the artificial fish robot comprises a shell (2) and is characterized in that hidden patterns (8) are fixedly mounted at the front lower left corner of the shell, and a first warning lamp (14) is fixedly mounted at the front lower right corner of the shell (2).
5. The underwater biomimetic fish robot with a waterproof grass winding assembly of claim 4, wherein: hide the positive fixed mounting of decorative pattern (8) and have second searchlight stationary blade (5), the inside fixed mounting of second searchlight stationary blade (5) has second searchlight (4), the direction of illumination of second searchlight (4) is the left side.
6. The underwater biomimetic fish robot with a waterproof grass winding assembly according to claim 1, characterized in that: the bionic fish robot comprises a bionic fish robot shell (2), wherein a swing connecting block (25) is fixedly mounted in the middle of the front of the bionic fish robot shell (2), a mechanical fish fin (24) is fixedly mounted on the front of the swing connecting block (25), and a sound outlet hole (7) is fixedly mounted on the right side of the front of the bionic fish robot shell (2) and located on waterproof glass (1).
7. The underwater biomimetic fish robot with waterproof grass winding assembly of claim 6, wherein: the front of bionical fish robot shell (2) just is located the right side fixed mounting of mechanical fin (24) and has propeller (22), the inside fixed mounting of propeller (22) has propeller stationary blade (23), the jet direction of propeller stationary blade (23) is the right side.
8. The underwater biomimetic fish robot with a waterproof grass winding assembly according to claim 1, characterized in that: the left side fixed mounting at bionic fish robot shell (2) top has second dorsal fin (28), first dorsal fin (27) of right side fixed mounting at bionic fish robot shell (2) top and second dorsal fin (28) just are located, the positive fixed mounting of first dorsal fin (27) has second warning light (26).
9. The underwater biomimetic fish robot with waterproof grass winding assembly of claim 2, wherein: the front surface of the fixing frame (6) is fixedly provided with a rotating block (30), and the front surface of the rotating block (30) is fixedly provided with a rotating wing (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210789791.5A CN115195982A (en) | 2022-07-05 | 2022-07-05 | Underwater bionic fish robot with waterproof grass winding assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210789791.5A CN115195982A (en) | 2022-07-05 | 2022-07-05 | Underwater bionic fish robot with waterproof grass winding assembly |
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| Publication Number | Publication Date |
|---|---|
| CN115195982A true CN115195982A (en) | 2022-10-18 |
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ID=83580358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210789791.5A Pending CN115195982A (en) | 2022-07-05 | 2022-07-05 | Underwater bionic fish robot with waterproof grass winding assembly |
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| Country | Link |
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| CN (1) | CN115195982A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303381A (en) * | 2013-05-03 | 2013-09-18 | 新乡学院 | Search and rescue robot and moving pattern thereof |
| CN106143824A (en) * | 2016-08-15 | 2016-11-23 | 东辉休闲运动用品(上海)有限公司 | A kind of electronic fin |
| CN108408007A (en) * | 2018-04-27 | 2018-08-17 | 中电科海洋信息技术研究院有限公司 | Hybrid power underwater robot |
| CN112224369A (en) * | 2020-10-20 | 2021-01-15 | 深圳市百慕大工业有限公司 | Bionic fishtail underwater robot |
| CN114671000A (en) * | 2022-04-13 | 2022-06-28 | 上海电力大学 | Bionic devil fish robot based on sine-swinging wave fin structure |
-
2022
- 2022-07-05 CN CN202210789791.5A patent/CN115195982A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303381A (en) * | 2013-05-03 | 2013-09-18 | 新乡学院 | Search and rescue robot and moving pattern thereof |
| CN106143824A (en) * | 2016-08-15 | 2016-11-23 | 东辉休闲运动用品(上海)有限公司 | A kind of electronic fin |
| CN108408007A (en) * | 2018-04-27 | 2018-08-17 | 中电科海洋信息技术研究院有限公司 | Hybrid power underwater robot |
| CN112224369A (en) * | 2020-10-20 | 2021-01-15 | 深圳市百慕大工业有限公司 | Bionic fishtail underwater robot |
| CN114671000A (en) * | 2022-04-13 | 2022-06-28 | 上海电力大学 | Bionic devil fish robot based on sine-swinging wave fin structure |
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