CN204701760U - A kind of flapping wing type bionic underwater robot - Google Patents
A kind of flapping wing type bionic underwater robot Download PDFInfo
- Publication number
- CN204701760U CN204701760U CN201520318207.3U CN201520318207U CN204701760U CN 204701760 U CN204701760 U CN 204701760U CN 201520318207 U CN201520318207 U CN 201520318207U CN 204701760 U CN204701760 U CN 204701760U
- Authority
- CN
- China
- Prior art keywords
- fish
- rudder
- shallow shell
- devil ray
- pectoral fin
- 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.)
- Expired - Fee Related
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a kind of flapping wing type bionic underwater robot, comprise devil ray fish shallow shell, be symmetricly set on the pectoral fin of devil ray fish shallow shell both sides, be located at yaw rudder to the rear in the middle of devil ray fish shallow shell lower end and the elevating rudder being located at devil ray fish shallow shell afterbody, devil ray fish shallow shell inside forms fish shape cavity, the head of fish shape cavity is built with camera and sensor, the head of the corresponding camera of devil ray fish shallow shell is provided with shooting hood, fish shape cavity belly is equipped with battery, pectoral fin drive motor, receiver, rudder face drives steering wheel, pectoral fin drive motor drives pectoral fin to swing up and down by double leval jib drive mechanism, rudder face drives steering wheel to be connected with yaw rudder and elevating rudder respectively, data acquisition interface is provided with in the elevating rudder of devil ray fish shallow shell afterbody.The utility model Biomimetic Fish structure design, adopts pectoral fin propulsion mode, has high maneuverability, and low noise, to advantages such as environmental perturbation are little, is applicable in the under-water operation in the field such as military affairs and agricultural.
Description
Technical field
The utility model relates to bio-robot technical field, particularly relates to a kind of flapping wing type bionic underwater robot.
Background technology
Along with the continuous progress of the development of marine economy and the subject such as the increase of military requirement and bionics, robotics, fluid mechanics, electro-magnetism, new material science, automatic control theory, researcher starts more and more sight to be invested in the research to the underwater various biological motion mechanism of long-term life.Through the evolution of several hundred million years, fish possessed very outstanding travelling ability under water, not only can keep low energy consumption, high efficiency cruises for a long time, and show good manoevreability.The submarine navigation device of current widespread use is substantially all adopt screw propeller to advance, and because the reasons such as current are separated, whirlpool is many, bubble is large at screw propeller afterbody cause obvious degradation of energy, its propulsion coefficient can only reach 40%; And fish propulsion coefficient can reach more than 80%.The high maneuverability that fish move about under water, high efficiency, and low noise, have very wide application prospect to advantages such as environmental perturbation are little in civilian, military field.It, combines with the equipment such as underwater exploration, water quality monitoring for carrier with flapping wing type bionic underwater robot by these works, and in function and structure manoevreability, bionics equipment has had larger improvement more in the past.It possesses the functions such as underwater picture collection, automatic obstacle avoiding, water quality monitoring, can realize the switching between program control and remote control two kinds of modes.This Biomimetic Fish adopts motorized motions mode, travelling noise is little, and have devil ray fish profile, to around Aquatic organisms is less, separately it install additional by camera, multiple sensors, and radio transmitting device, well for aspects such as bottom detections, can well can be used in biological study, aquatic monitoring work.
Based on fish travelling high maneuverability under water, high efficiency, and low noise, to advantages such as environmental perturbation are little.This patent with flapping wing type bionic underwater robot for carrier, explore advantage and the rule of pectoral fin propulsion mode, and carrier is combined with the equipment such as underwater exploration, water quality monitoring, make it to possess the functions such as underwater picture collection, automatic obstacle avoiding, water quality monitoring, in function and structure manoevreability, bionics equipment has larger improvement more in the past.Mode can realize the switching between program control and remote control two kinds of modes.Adopt motor drive mode, travelling noise is little, and has devil ray fish profile, to reduce around Aquatic organisms.In addition, realized the change of sense of motion by the yaw rudder of Biomimetic Fish afterbody and elevating rudder, it is convenient to realize controlling, and propulsion mode is unique and turn to the goals in research such as convenient.
Utility model content
For the problems referred to above, the utility model provides a kind of high maneuverability, high efficiency, and low noise, the flapping wing type bionic underwater robot little to environmental perturbation.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of flapping wing type bionic underwater robot, comprise devil ray fish shallow shell, be symmetricly set on the pectoral fin of devil ray fish shallow shell both sides, be located at yaw rudder to the rear in the middle of devil ray fish shallow shell lower end and the elevating rudder being located at devil ray fish shallow shell afterbody, the health that devil ray fish is flat and head are integrated, form resistance when greatly reducing travelling, effectively reduce the flow separation regions of boundary 1ayer, reach the effect reducing form resistance, improve the propulsion coefficient of Biomimetic Fish, described devil ray fish shallow shell inside forms fish shape cavity, the head of fish shape cavity is built with camera and sensor, the head of the corresponding camera of described devil ray fish shallow shell is provided with shooting hood, described fish shape cavity belly is equipped with battery, pectoral fin drive motor, receiver, rudder face drives steering wheel, described pectoral fin drive motor drives pectoral fin to swing up and down by double leval jib drive mechanism, , receiver is loaded on below pectoral fin drive motor, described rudder face drives steering wheel to be connected with yaw rudder and elevating rudder respectively, data acquisition interface is provided with in the elevating rudder of described devil ray fish shallow shell afterbody.
Further, described devil ray fish shallow shell lower end is also provided with valve and depth index.
Further, described chest is divided into rigidity fin to divide and divides with flexible fin, and rigidity fin divides employing thickness to be the carbon fiber board that 2MM is thick.And flexible fin divides and adopts the thick transparent silicone rubber plate of 2MM, make pectoral fin have certain flexibility, thus the pectoral fin of Biomimetic Fish can be fluttered and be converted into forward movement.
Further, described yaw rudder and elevating rudder are airflow design, and adopt glass-reinforced plastic material to make.
Further, described sensor comprise keep away barrier sensor, level transmitting sensor, Photoelectric infrared switch sensor.
Further, described flapping wing type bionic underwater robot adopts closed loop PID control, and the control realized between program control and remote control by Photoelectric infrared switch sensor switches, and to adapt to complicated environment for use, strengthens its reliability journey.
From the above-mentioned description to the utility model structure, compared to the prior art, the utility model tool has the following advantages:
1, the utility model Biomimetic Fish structure design, motor is adopted to drive pectoral fin propulsion mode, improve efficiently simultaneously and advance effect, improve fltting speed and stability of motion, there is high maneuverability, high efficiency, and low noise, to advantages such as environmental perturbation are little, can advance according to control realization in certain depth of water, turn to, rise and the motion such as dive, be applicable in the under-water operation in the field such as military affairs and agricultural.
2, the utility model adopts devil ray fish shallow shell, and during propelling, form resistance is little, improves propulsion coefficient, decreases power consumption, meets the requirement of low-carbon environment-friendly.
3, the utility model adopts closed loop PID control, and the control realized between program control and remote control by Photoelectric infrared switch sensor switches, and can adapt to complicated environment for use, improves the reliability controlled.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining the utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the main TV structure schematic diagram of a kind of flapping wing type bionic underwater robot of the utility model;
Fig. 2 is a kind of flapping wing type of the utility model bionic underwater robot plan structure schematic diagram;
Fig. 3 is a kind of flapping wing type of the utility model bionic underwater robot side-looking structural representation;
Fig. 4 is a kind of flapping wing type of the utility model bionic underwater robot inner structure schematic diagram.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Embodiment 1
A kind of flapping wing type bionic underwater robot, comprise devil ray fish shallow shell 1, be symmetricly set on the pectoral fin 2 of devil ray fish shallow shell both sides, be located at yaw rudder 3 to the rear in the middle of devil ray fish shallow shell lower end and the elevating rudder 4 being located at devil ray fish shallow shell afterbody, described devil ray fish shallow shell 1 inside forms fish shape cavity 5, the head of fish shape cavity 5 is built with camera 6 and sensor 7, the head of the corresponding camera of described devil ray fish shallow shell 1 is provided with shooting hood 8, described fish shape cavity 5 belly is equipped with battery 9, pectoral fin drive motor 10, receiver 11, rudder face drives steering wheel 12, described pectoral fin drive motor 10 drives pectoral fin 2 to swing up and down by double leval jib drive mechanism, receiver 11 is loaded on below pectoral fin drive motor 10, described rudder face drives steering wheel 12 to be connected with yaw rudder 3 and elevating rudder 4 respectively, data acquisition interface 13 is provided with in the elevating rudder 4 of described devil ray fish shallow shell 1 afterbody.
Described devil ray fish shallow shell 1 lower end is also provided with valve 14 and depth index 15.
Described pectoral fin 2 be divided into rigidity fin divide 21 and flexible fin divide 22, rigidity fin divides 21 employing thickness to be the carbon fiber board that 2MM is thick.And flexible fin divides the thick transparent silicone rubber plate of 22 employing 2MM, make pectoral fin have certain flexibility, thus the pectoral fin of Biomimetic Fish can be fluttered and be converted into forward movement.
Described yaw rudder 3 and elevating rudder 4 are airflow design, and adopt glass-reinforced plastic material to make, yaw rudder 3 is according to wing theory, draw desirable rudder type from lift coefficient, drag coefficient, moment coefficient three application NACA design software of wing and find out the minimum pressure point of rudder face, completing the design of yaw rudder.
Described sensor 7 comprises keeps away barrier sensor, level transmitting sensor, Photoelectric infrared switch sensor.
Described flapping wing type bionic underwater robot adopts closed loop PID control, this control method has the features such as application is wide, parameter is more easily stablized, the control realized between program control and remote control by Photoelectric infrared switch sensor switches, and to adapt to complicated environment for use, strengthens its reliability journey.
Embodiment 2
A kind of flapping wing type bionic underwater robot, manufacturability all adopt physical construction fix, sealing adopts the sealing of O type circle, achieve detachable, assemblnig flexible Application, comprise devil ray fish shallow shell 1, be symmetricly set on the pectoral fin 2 of devil ray fish shallow shell both sides, be located at yaw rudder 3 to the rear in the middle of devil ray fish shallow shell lower end and the elevating rudder 4 being located at devil ray fish shallow shell afterbody, the health that devil ray fish is flat and head are integrated, form resistance when greatly reducing travelling, effectively reduce the flow separation regions of boundary 1ayer, reach the effect reducing form resistance, improve the propulsion coefficient of Biomimetic Fish, decrease power consumption, meet the requirement of low-carbon environment-friendly, adopt pectoral fin propulsion mode, improve efficiently simultaneously and advance effect, improve fltting speed and stability of motion, described devil ray fish shallow shell 1 inside forms fish shape cavity 5, the head of fish shape cavity 5 is built with camera 6 and sensor 7, the head of the corresponding camera of described devil ray fish shallow shell 1 is provided with shooting hood 8, described fish shape cavity 5 belly is equipped with battery 9, pectoral fin drive motor 10, receiver 11, rudder face drives steering wheel 12, described pectoral fin drive motor 10 drives pectoral fin 2 to swing up and down by double leval jib drive mechanism, receiver 11 is loaded on below pectoral fin drive motor 10, described rudder face drives steering wheel 12 to be connected with yaw rudder 3 and elevating rudder 4 respectively, data acquisition interface 13 is provided with in the elevating rudder 4 of described devil ray fish shallow shell 1 afterbody, there is high maneuverability, high efficiency, and low noise, to advantages such as environmental perturbation are little, can advance according to control realization in certain depth of water, turn to, the motions such as rising and dive, and on the basis of high maneuverability, need to be aided with different equipment for different actual functional capabilities, as carried out the camera of underwater exploration, the infrared ray obstacle avoidance apparatus of automatic obstacle avoiding, degree of depth inductor etc., to bring into play the function vector of flapping wing type bionic underwater robot, be applicable in the under-water operation in the field such as military affairs and agricultural.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (6)
1. a flapping wing type bionic underwater robot, it is characterized in that: comprise devil ray fish shallow shell (1), be symmetricly set on the pectoral fin (2) of devil ray fish shallow shell both sides, be located at yaw rudder (3) to the rear in the middle of devil ray fish shallow shell lower end and be located at the elevating rudder (4) of devil ray fish shallow shell afterbody, described devil ray fish shallow shell (1) inside forms fish shape cavity (5), the head of fish shape cavity (5) is built with camera (6) and sensor (7), the head of the corresponding camera of described devil ray fish shallow shell (1) is provided with shooting hood (8), described fish shape cavity (5) belly is equipped with battery (9), pectoral fin drive motor (10), receiver (11), rudder face drives steering wheel (12), described pectoral fin drive motor (10) drives pectoral fin (2) to swing up and down by double leval jib drive mechanism, receiver (11) is loaded on pectoral fin drive motor (10) below, described rudder face drives steering wheel (12) to be connected with yaw rudder (3) and elevating rudder (4) respectively, data acquisition interface (13) is provided with in the elevating rudder (4) of described devil ray fish shallow shell (1) afterbody.
2. a kind of flapping wing type bionic underwater robot according to claim 1, is characterized in that: described devil ray fish shallow shell (1) lower end is also provided with valve (14) and depth index (15).
3. a kind of flapping wing type bionic underwater robot according to claim 1, it is characterized in that: described pectoral fin (2) is divided into rigidity fin to divide (21) and flexible fin to divide (22), rigidity fin divides (21) to adopt thickness to be the carbon fiber board that 2MM is thick.And flexible fin divides (22) to adopt the transparent silicone rubber plate that 2MM is thick.
4. a kind of flapping wing type bionic underwater robot according to claim 1, is characterized in that: described yaw rudder (3) and elevating rudder (4) are airflow design, and adopt glass-reinforced plastic material to make.
5. a kind of flapping wing type bionic underwater robot according to claim 1, is characterized in that: described sensor (7) comprises keeps away barrier sensor, level transmitting sensor, Photoelectric infrared switch sensor.
6. a kind of flapping wing type bionic underwater robot according to claim 5, is characterized in that: described flapping wing type bionic underwater robot adopts closed loop PID control, and the control realized between program control and remote control by Photoelectric infrared switch sensor switches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520318207.3U CN204701760U (en) | 2015-05-18 | 2015-05-18 | A kind of flapping wing type bionic underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520318207.3U CN204701760U (en) | 2015-05-18 | 2015-05-18 | A kind of flapping wing type bionic underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204701760U true CN204701760U (en) | 2015-10-14 |
Family
ID=54281395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520318207.3U Expired - Fee Related CN204701760U (en) | 2015-05-18 | 2015-05-18 | A kind of flapping wing type bionic underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204701760U (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105280061A (en) * | 2015-11-02 | 2016-01-27 | 西北工业大学 | Underwater multi-wing linkage experimental device |
| CN105539784A (en) * | 2016-01-11 | 2016-05-04 | 江苏科技大学 | Web wing type wave energy underwater gliding measurement platform and measurement method |
| CN106101571A (en) * | 2016-08-10 | 2016-11-09 | 长沙矿山研究院有限责任公司 | A kind of deep-sea pull-type camera system |
| CN106143845A (en) * | 2016-08-24 | 2016-11-23 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish habitata controls device |
| CN106225776A (en) * | 2016-09-09 | 2016-12-14 | 上海遨拓深水装备技术开发有限公司 | A kind of for surveying wide range finding the infrared facility coordinating Underwater Camera to use under water |
| CN106275337A (en) * | 2016-08-24 | 2017-01-04 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish carrying out habitata |
| CN106324695A (en) * | 2016-08-24 | 2017-01-11 | 合肥凌翔信息科技有限公司 | Free swimming bionic fish for detection |
| CN107176277A (en) * | 2017-06-27 | 2017-09-19 | 金勇� | A kind of aquatic bionic unmanned plane |
| CN107310705A (en) * | 2017-06-21 | 2017-11-03 | 桂林电子科技大学 | A kind of underwater robot of imitative coelacanth |
| CN107466280A (en) * | 2017-04-28 | 2017-12-12 | 博雅工道（北京）机器人科技有限公司 | Machine fish in a kind of simple joint water |
| CN108394542A (en) * | 2018-03-16 | 2018-08-14 | 中山大学 | A kind of imitative devil ray underwater propulsion unit of powered by wave energy |
| CN108933826A (en) * | 2018-06-29 | 2018-12-04 | 河南聚合科技有限公司 | A kind of bionic machine based on team control mode can autonomous scout cloud platform |
| CN109591990A (en) * | 2018-12-21 | 2019-04-09 | 张家港江苏科技大学产业技术研究院 | A kind of habitata Biomimetic Fish |
| CN110775234A (en) * | 2019-11-25 | 2020-02-11 | 西北工业大学 | Bionic flapping wing underwater glider structure |
| CN114655408A (en) * | 2022-03-03 | 2022-06-24 | 江苏科技大学 | Bionic manta ray device and working method |
-
2015
- 2015-05-18 CN CN201520318207.3U patent/CN204701760U/en not_active Expired - Fee Related
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105280061A (en) * | 2015-11-02 | 2016-01-27 | 西北工业大学 | Underwater multi-wing linkage experimental device |
| CN105280061B (en) * | 2015-11-02 | 2017-09-05 | 西北工业大学 | Multiple wing axes experimental device under water |
| CN105539784B (en) * | 2016-01-11 | 2017-07-14 | 江苏科技大学 | A kind of web aerofoil profile wave energy underwater gliding measuring table and measuring method |
| CN105539784A (en) * | 2016-01-11 | 2016-05-04 | 江苏科技大学 | Web wing type wave energy underwater gliding measurement platform and measurement method |
| CN106101571A (en) * | 2016-08-10 | 2016-11-09 | 长沙矿山研究院有限责任公司 | A kind of deep-sea pull-type camera system |
| CN106101571B (en) * | 2016-08-10 | 2021-11-30 | 长沙矿山研究院有限责任公司 | Deep sea drag type camera system |
| CN106143845A (en) * | 2016-08-24 | 2016-11-23 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish habitata controls device |
| CN106324695A (en) * | 2016-08-24 | 2017-01-11 | 合肥凌翔信息科技有限公司 | Free swimming bionic fish for detection |
| CN106275337A (en) * | 2016-08-24 | 2017-01-04 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish carrying out habitata |
| CN106143845B (en) * | 2016-08-24 | 2017-11-24 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish habitata control device |
| CN106275337B (en) * | 2016-08-24 | 2018-01-19 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish for carrying out habitata |
| CN106225776A (en) * | 2016-09-09 | 2016-12-14 | 上海遨拓深水装备技术开发有限公司 | A kind of for surveying wide range finding the infrared facility coordinating Underwater Camera to use under water |
| CN106225776B (en) * | 2016-09-09 | 2020-10-13 | 上海遨拓深水装备技术开发有限公司 | Infrared device used for underwater width and distance measurement and matched with underwater camera |
| CN107466280A (en) * | 2017-04-28 | 2017-12-12 | 博雅工道（北京）机器人科技有限公司 | Machine fish in a kind of simple joint water |
| CN107466280B (en) * | 2017-04-28 | 2019-07-12 | 天长市未名机器人有限责任公司 | Machine fish in a kind of simple joint water |
| CN107310705A (en) * | 2017-06-21 | 2017-11-03 | 桂林电子科技大学 | A kind of underwater robot of imitative coelacanth |
| CN107176277A (en) * | 2017-06-27 | 2017-09-19 | 金勇� | A kind of aquatic bionic unmanned plane |
| CN108394542A (en) * | 2018-03-16 | 2018-08-14 | 中山大学 | A kind of imitative devil ray underwater propulsion unit of powered by wave energy |
| CN108933826A (en) * | 2018-06-29 | 2018-12-04 | 河南聚合科技有限公司 | A kind of bionic machine based on team control mode can autonomous scout cloud platform |
| CN109591990A (en) * | 2018-12-21 | 2019-04-09 | 张家港江苏科技大学产业技术研究院 | A kind of habitata Biomimetic Fish |
| CN109591990B (en) * | 2018-12-21 | 2020-12-15 | 张家港江苏科技大学产业技术研究院 | Seabed detection bionic fish |
| CN110775234A (en) * | 2019-11-25 | 2020-02-11 | 西北工业大学 | Bionic flapping wing underwater glider structure |
| CN114655408A (en) * | 2022-03-03 | 2022-06-24 | 江苏科技大学 | Bionic manta ray device and working method |
| CN114655408B (en) * | 2022-03-03 | 2023-07-21 | 江苏科技大学 | Bionic bata device and working method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204701760U (en) | A kind of flapping wing type bionic underwater robot | |
| CN108298046A (en) | A kind of flapping wing type bionic underwater robot | |
| Wang et al. | Development and motion control of biomimetic underwater robots: A survey | |
| CN110588932B (en) | Underwater bionic aircraft based on swinging pectoral fins and dorsoventral tail fin combined propulsion | |
| CN104627342A (en) | Gliding machine dolphin | |
| CN113086136B (en) | Compound propulsion bionic jellyfish robot | |
| CN102514697B (en) | Bionic robot stingray and movement method thereof | |
| Wang et al. | Design, modeling, control, and experiments for a fish-robot-based IoT platform to enable smart ocean | |
| CN108839783B (en) | Flexible submerged bionic robot fish and control method thereof | |
| CN110550169A (en) | Bionic line-driven wrist cuttlefish | |
| CN212556730U (en) | Bionic fish with adjustable mass center | |
| CN101767642A (en) | Underwater biomimetic robotic fish | |
| CN105620654A (en) | Hybrid-propulsion underwater vehicle | |
| CN109665079A (en) | A kind of underwater robot of jet pump and steering engine combination drive | |
| CN110775233B (en) | Bionic flexible diving device with gliding and flapping wing movement | |
| CN210455158U (en) | Bionic bat ray based on joint type mechanical arm | |
| CN115535195A (en) | Underwater robot based on bionic swing and propeller hybrid drive and working method thereof | |
| Ji et al. | Design and realization of a novel hybrid-drive robotic fish for aquaculture water quality monitoring | |
| CN210852857U (en) | Bionic line-driven wrist cuttlefish | |
| CN219904704U (en) | Multifunctional intelligent bionic robot fish | |
| CN103287233A (en) | Intelligent biomimetic multifunctional robot crocodile | |
| CN206068108U (en) | A kind of Scad sections class bionic machine fish | |
| CN116252935A (en) | Bionic machine penguin | |
| CN207410345U (en) | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish | |
| CN217496510U (en) | Bionic devil fish robot based on sine-swinging wave fin structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151014 Termination date: 20160518 |