CN206255174U - A kind of jellyfish robot - Google Patents
A kind of jellyfish robot Download PDFInfo
- Publication number
- CN206255174U CN206255174U CN201621284844.4U CN201621284844U CN206255174U CN 206255174 U CN206255174 U CN 206255174U CN 201621284844 U CN201621284844 U CN 201621284844U CN 206255174 U CN206255174 U CN 206255174U
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- China
- Prior art keywords
- water
- booster cavity
- shrouding
- chamber
- inner housing
- 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.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a kind of jellyfish robot, it includes：Upper chamber, including shell body, inner housing and shrouding, enclose the first closing chamber between shell body, inner housing and shrouding, the second closing chamber is enclosed between the inside of inner housing and shrouding, wherein, shell body is provided with the first water intake mechanism, and the second water intake mechanism is additionally provided with inner housing；Lower chambers, including cylinder, the top of cylinder is tightly connected with the lower surface of shrouding, medianly zygomorphic in cylinder to be provided with left booster cavity and right booster cavity, booster is provided with left booster cavity and right booster cavity, and left booster cavity and right booster cavity are connected with the second closing chamber；Drive mechanism, drive mechanism is connected with the first water intake mechanism, and for driving the first water intake mechanism reciprocating action；Left water spraying mechanism and right water spraying mechanism, are arranged on the bottom of lower chambers.The utility model not only moves about speed soon, and good stability, while making the simpler convenience of operation gesture stability of robot.
Description
Technical field
The utility model is related to robotics, more particularly to a kind of jellyfish robot.
Background technology
With marine protection with water investigate the need for, underwater robot is increasingly valued by people, these machines
People will investigate in water, monitor naval vessel and submarine, detect chemical spill, and monitoring fish migrate the aspects such as situation and show greatly
Skill.Jellyfish is a kind of preferable invertebrate, sucks and sprays by the contraction and expansion of meat fiber control inner chamber
Current, thus produce thrust jellyfish is moved along body axial direction.At present at home and abroad as bionical object be subject to compared with
Attention high.But the travelling stability of current jellyfish imitation robot is poor, direction is difficult to control.Accordingly, it would be desirable to a kind of new skill
Art scheme is solving the above problems.
Utility model content
The utility model is mainly the technical problem solved in the presence of prior art, so as to provide a kind of travelling speed
Hurry up, good stability, operation gesture stability simply and easily jellyfish robot.
Above-mentioned technical problem of the present utility model is mainly what is be addressed by following technical proposals：
The utility model provides a kind of jellyfish robot, and it includes：
Upper chamber, including shell body, inner housing and shrouding, the inner housing are arranged on the inside of the shell body, described
The bottom of shell body and inner housing is tightly connected by the shrouding, and the shell body, is enclosed between inner housing and shrouding
First closing chamber, encloses the second closing chamber between the inside of the inner housing and shrouding, wherein, the shell body is provided with
One water intake mechanism, it is described during first water intake mechanism is used to for outside water to periodically input first closing chamber
It is additionally provided with the second water intake mechanism on inner housing, second water intake mechanism is used to for the water in first closing chamber to be input to the
In two closing chambers；
Lower chambers, including cylinder, the top of the cylinder are tightly connected with the lower surface of the shrouding, left in the cylinder
The right side is monosymmetric to be provided with left booster cavity and right booster cavity, and booster is provided with the left booster cavity and right booster cavity, and described
Left booster cavity and right booster cavity are connected with second closing chamber；
Drive mechanism, at the lower chamber central position, the drive mechanism and the first water intake mechanism phase
Connection, and for driving the first water intake mechanism reciprocating action；
Left water spraying mechanism and right water spraying mechanism, are arranged on the bottom of the lower chambers, the left water spraying mechanism and right water spray
Mechanism is connected with the left booster cavity and right booster cavity respectively, and is respectively used to the pressure in left booster cavity and right booster cavity
Water is ejected to outside.
Further, first water intake mechanism includes multiple maneuvering boards and multiple first water inlets, first water inlet
Mouth is opened on the shell body, and the maneuvering board is corresponded with first water inlet, and the drive mechanism is used to drive
The maneuvering board opens or closes first water inlet.
Further, the drive mechanism includes power source, montant, multiple connecting rods and disk, the upper surface of the disk
Multiple hinged seats are provided with, the connecting rod is corresponded with the hinged seat, and one end of the connecting rod is mutually cut with scissors with the hinged seat
Connect, its other end is connected with the maneuvering board, the bottom of the montant is connected with the power source, the top of the montant
It is extend into after through the shrouding in second closing chamber, and is connected with the lower surface of the disk, wherein, the power
Source is used to drive the montant to move back and forth up and down.
Further, a spring is additionally provided between the shrouding and the lower surface of disk, the spring is located in described perpendicular
On bar.
Further, the power source includes battery, motor, pedestal and cam, and the cam is arranged on the pedestal
On, and be rotatably connected with the pedestal, the battery is connected with the motor, and the motor is used to drive the cam to revolve
Turn, wherein, a chute is additionally provided with the excircle of the cam, the bottom of the montant is touched with the bottom connection of the chute.
Further, the inside of the cylinder is provided with a dividing plate, and the dividing plate is by the inside division Cheng Zuozeng of the cylinder
The drive mechanism of pressure chamber, right booster cavity, preceding battery holding chamber, rear battery holding chamber and center position installs room, described
Battery is individually positioned in the preceding battery holding chamber and rear battery holding chamber, and the pedestal and motor are each attached to institute
State drive mechanism and install indoor.
Further, second water intake mechanism includes multiple second water inlets, and the second water inlet compartment of terrain opens up
On the circumferencial direction of the inner housing, the other end of the connecting rod is connected after passing through second water inlet with the maneuvering board
Connect.
Further, be additionally provided with two leaking holes on the shrouding in second closing chamber, the left booster cavity and
Right booster cavity is connected by the leaking hole with second closing chamber respectively, wherein, it is additionally provided with the leaking hole unidirectional
Valve.
Further, the left water spraying mechanism is identical with the structure of right water spraying mechanism, and the left water spraying mechanism includes
Sparge pipe, multiple water spray branch pipes and multiple water spray blades, the water spray branch pipe and water spray blade are corresponded, the sparge pipe
Upper end is connected with the left booster cavity, and its lower end is connected through the water spray branch pipe with the top of the water spray blade, described
The bottom of water spray blade is provided with multiple water jets.
Further, a heading is additionally provided with the top of the shell body, a processor and one scan is provided with the heading
Imaging sonar, the processor is connected with the motor, booster and scanning imagery sonar respectively, and the processor also with
Remote controllers outside one are connected.
The beneficial effects of the utility model are：Outside water is periodically input to first by the first water intake mechanism
In closing chamber, be input to the water in the first closing chamber in the second closing chamber again by the second water intake mechanism, then allows water from the second envelope
The left booster cavity being flowed into closed chamber in cylinder and pressurizeed in right booster cavity, the water after pressurization is from left water spraying mechanism and right spray
Sprayed respectively in water dispenser structure, used as the power that jellyfish robot advances, its speed of not only moving about is fast, and good stability, meanwhile,
Hydraulic pressure in by individually adjusting left booster cavity or right booster cavity, you can change the direction of advance and angle of jellyfish robot, from
And make the simpler convenience of operation gesture stability of robot.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of jellyfish robot of the present utility model；
Structural representation when Fig. 2 is the maneuvering board opening of jellyfish robot of the present utility model；
Fig. 3 is the sectional view of jellyfish robot of the present utility model；
Fig. 4 is the structural representation of the drive mechanism of jellyfish robot of the present utility model；
Fig. 5 is the top view of the inner housing of jellyfish robot of the present utility model；
Fig. 6 is the left water spraying mechanism of jellyfish robot of the present utility model or the structural representation of right water spraying mechanism.
Specific embodiment
Preferred embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings, so that advantage of the present utility model
Can be easier to be readily appreciated by one skilled in the art with feature, it is apparent clear and definite so as to be made to protection domain of the present utility model
Define.
Refering to shown in Fig. 1-3, jellyfish robot of the present utility model, it includes：
Upper chamber 1, including shell body 11, inner housing 12 and shrouding 13, inner housing 12 are arranged on the inside of shell body 11, outward
The bottom of housing 11 and inner housing 12 is tightly connected by shrouding 13, and is enclosed between shell body 11, inner housing 12 and shrouding 13
Into the first closing chamber 14, the second closing chamber 15 is enclosed between the inside of inner housing 12 and shrouding 13, wherein, set on shell body 11
There is the first water intake mechanism 16, the first water intake mechanism 16 is used to periodically input outside water in the first closing chamber 14, interior
The second water intake mechanism 17 is additionally provided with housing 12, the second water intake mechanism 17 is used to for the water in the first closing chamber 14 to be input to second
15 in closing chamber；
Lower chambers 2, including cylinder 21, top and the lower surface of shrouding 13 of cylinder 21 are tightly connected, and are provided with cylinder 21
Booster 24, and left booster cavity 22 and the right side are provided with left booster cavity 22 and right booster cavity 23, left booster cavity 22 and right booster cavity 23
Booster cavity 23 is connected with the second closing chamber 15；Booster 24 is mainly used in the water in left booster cavity 22 and right booster cavity 23
Carry out supercharging and form press water.
Drive mechanism 3, installed in the center position of lower chambers 2, drive mechanism 3 is connected with the first water intake mechanism 16,
And for driving the reciprocating action of the first water intake mechanism 16；
Left water spraying mechanism 4 and right water spraying mechanism 5, are arranged on the bottom of lower chambers 2, left water spraying mechanism 4 and right water spraying mechanism 5
It is connected with left booster cavity 22 and right booster cavity 23 respectively, and is respectively used to the pressure in left booster cavity 22 and right booster cavity 23
Water is ejected to outside.
The utility model is periodically input in the first closing chamber 14 outside water by the first water intake mechanism 16, the
Be input to water in first closing chamber 14 in the second closing chamber 15 again by two water intake mechanisms 17, then allows water from the second closing chamber 15
In the left booster cavity 22 that is flowed into cylinder 21 and pressurizeed in right booster cavity 23, the water after pressurization is from the He of left water spraying mechanism 4
Sprayed respectively in right water spraying mechanism 5, used as the power that jellyfish robot advances, its speed of not only moving about is fast, and good stability,
Meanwhile, by individually adjusting left booster cavity 22 or right booster cavity 23 in hydraulic pressure, you can change the direction of advance of jellyfish robot
And angle, so that the simpler convenience of operation gesture stability of robot.
Specifically, the first water intake mechanism 16 includes multiple maneuvering boards 161 and multiple first water inlets 162, the first water inlet
162 are opened on shell body 11, and maneuvering board 161 is corresponded with the first water inlet 162, and drive mechanism 3 is used for powered motion plate
161 open or close the first water inlet 162.In the utility model, in order to during water inlet, Neng Shi jellyfishes robot is subject to water
Pressure keep in balance, it is to avoid produce influence on traffic direction and angle, multiple maneuvering boards 161 along shell body 11 excircle side
It is spacedly distributed upwards.And in order to reduce water resistance and isostatic movement during stress, the shell body in the present embodiment
11 and inner housing 12 be preferably shaped to hemisphere, certainly, under other application occasion, the shape of shell body 11 and inner housing 12
Can also be the other shapes such as pyramid type.
Refering to shown in Fig. 3 and 4, drive mechanism 3 includes power source 31, montant 32, multiple connecting rods 33 and disk 34, disk 34
Upper surface be provided with multiple hinged seats 35, connecting rod 33 is corresponded with hinged seat 35, and connecting rod 33 one end and the phase of hinged seat 35
It is hinged, its other end is connected with maneuvering board 161, the bottom of montant 32 is connected with power source 31, and the top of montant 32 passes through
It is extend into after shrouding 13 in second closing chamber 15, and is connected with the lower surface of disk 34, wherein, power source 31 is perpendicular for driving
Bar 32 is moved back and forth up and down.In the utility model, montant 32 passes through shrouding 13, shrouding 13 is played the moving direction of montant 32
Certain guiding and position-limiting action.Specifically, drive montant 32 to move back and forth up and down by power source 31, drive montant 32 and circle
Disk 34 is moved up and down, so that connecting rod 33 drives maneuvering board 161 to stretch out (or retraction), opens (or closing) first water inlet 162,
The water by outside of property performance period is input in the first closing chamber 14.
Preferably, being additionally provided with a spring 36 between the lower surface of shrouding 13 and disk 34, spring 36 is located on montant 32.
During disk 34 is moved up and down, spring 36 can play effective cushioning effect, so as to connecting rod 33 and maneuvering board 161
Buffer protection is carried out, the service life of connecting rod 33 and maneuvering board 161 is improved.
Power source 31 in the utility model embodiment includes battery 311, motor 312, pedestal 313 and cam 314, convex
Wheel 314 is arranged on pedestal 313, and is rotatably connected with pedestal 313, and battery 311 is connected with motor 312, and motor 312 is used for
Driving cam 314 rotates, and battery 311 is mainly used in being powered to motor 312, and motor 312 rotarily drives cam 314 and revolves
Turn, so that montant 32 is periodically moved back and forth up and down along the profile track of cam 314.Wherein, in order to prevent from erecting
Bar 32 is slipped to the outside of cam 314, and a chute 315, the bottom of montant 32 and chute are additionally provided with the excircle of cam 314
315 bottom connection is touched.
Refering to shown in Fig. 3-5, the second water intake mechanism 17 includes multiple second water inlets 171, the compartment of terrain of the second water inlet 171
It is opened on the circumferencial direction of inner housing 12, the other end of connecting rod 33 is connected after passing through the second water inlet 171 with maneuvering board 161
Connect.Second water inlet 171 is applied not only to be input to the water in the first closing chamber 14 in second closing chamber 15, but also can be right
The position of connecting rod 33 carries out spacing.
Specifically, the inside of cylinder 21 is provided with a dividing plate 25, dividing plate 25 by the inside division of cylinder 21 into left booster cavity 22,
The drive mechanism of right booster cavity 23, preceding battery holding chamber 26, rear battery holding chamber 27 and center position installs room 28, stores
Battery 311 is individually positioned in preceding battery holding chamber 26 and rear battery holding chamber 27, and battery 311 can play counterweight
Effect, adjusts the anterior-posterior balance of jellyfish.Pedestal 313 and motor 312 are each attached to drive mechanism and install in room 28.
In the utility model, two leaking holes 18, left booster cavity are additionally provided with the shrouding 13 in the second closing chamber 15
22 and right booster cavity 23 be connected with the second closing chamber 15 by leaking hole 18 respectively, wherein, be additionally provided with leaking hole 18 unidirectional
Valve 19.When left booster cavity 22 and right booster cavity 23 are pressurized, water reflux to the second sealing is prevented by setting check valve 19
In chamber 15, so as to ensure that being smoothed out for pressurization.
Refering to shown in Fig. 6, left water spraying mechanism 4 is identical with the structure of right water spraying mechanism 5, and left water spraying mechanism 4 includes spray
Water pipe 41, multiple water spray branch pipes 42 and multiple water spray blades 43, water spray branch pipe 42 and water spray blade 43 are corresponded, sparge pipe 41
Upper end be connected with left booster cavity 22, its lower end through spray water branch pipe 42 with water spray blade 43 top be connected, water spray blade
43 bottom is provided with multiple water jets 44.Press water in left booster cavity 22 is entered into through sparge pipe 41 and water spray branch pipe 42 successively
In water spray blade 43, press water is discharged to the outside by the water jet 44 of the bottom of blade 43 of spraying water, so as to produce jellyfish machine
The power that people advances.By setting water spray blade 43, can not only make the discharge of press water more uniform, improve jellyfish robot
Stability in running, and the water spray blade 43 of design of following an example can also play current stabilization effect, prevent jellyfish robot
Rollover and deflection.And the operating principle of right water spraying mechanism 5 is same, here is omitted.
In the utility model embodiment, operating personnel carry out the remote control of outside, the top of shell body 11 for convenience
Be additionally provided with a heading 110, be provided with a processor 111 and one scan imaging sonar 112 in heading 110, processor 111 respectively with electricity
Machine 312, booster 24 are connected with scanning imagery sonar 112, and processor 111 is also connected with the remote controllers outside
Connect.Processor 111 is mainly used in the rotating speed of controlled motor 312 to change the water intake velocity of the first water intake mechanism 16, and processor 111 is also
For controlling booster cavity 24 to adjust hydraulic pressure to change the pace of jellyfish robot or carry out cornering operation, and processor
111 are additionally operable to control scanning imagery sonar 12 gathers HD video, the shooting of picture and the transmission of related data, the utility model
Middle heading 110 can also set other data acquisition equipments, such as：Pressure checking device, light testing equipment etc., are conveniently carried out
Investigate under water.
Operation principle of the present utility model is：
Jellyfish robot is put on the water surface, battery 311 provides electric energy drive motor 312 and operates, the band again of motor 312
Moving cam 314 is rotated, and cam 314 has transmitted the force to disk 34 by montant 32, and the up and down motion of disk 34 has driven connecting rod
33 up and down motion, so that stretching out or retraction movement for maneuvering board 161 has been driven, and then the first water inlet of closure or openness 162,
And just water can be got into the first closing chamber 14 when the first water inlet 162 is opened, then enter into second through the second water inlet 171
Closing chamber 15, the water in the second closing chamber 15 is entered into left booster cavity 22 and right booster cavity 23 through leaking hole 18, eventually through
Booster 24 will get into the spray of left water spraying mechanism 4 and right water spraying mechanism 5 after the water pressurization in left booster cavity 22 and right booster cavity 23
In water pipe 41, spray water to realize the advance of robot by the water jet 44 of blade 43 of spraying water, by scanning imagery sonar 112 pairs
The shooting of video and picture is carried out under water.Operating personnel on the bank can also by scanning imagery sonar 112 be transmitted back to come regard
Frequently, picture etc. is screened to information needed, and by remote controllers come control process device 110, so as to the appearance to robot
State is adjusted (just can be accelerated, while just can subtract when reducing when the hydraulic pressure of left booster cavity 22 and right booster cavity 23 increases simultaneously
Speed；And the hydraulic pressure for working as left booster cavity 22 is more than the hydraulic pressure of right booster cavity 23, just can realize turning right；Otherwise then it is capable of achieving
It is curved).
More than, specific embodiment only of the present utility model, but protection domain of the present utility model is not limited thereto,
Any change or replacement expected without creative work, should all cover within protection domain of the present utility model.Therefore,
Protection domain of the present utility model should be determined by the scope of protection defined in the claims.
Claims (10)
1. a kind of jellyfish robot, it is characterised in that including：
Upper chamber, including shell body, inner housing and shrouding, the inner housing are arranged on the inside of the shell body, the shell
The bottom of body and inner housing is tightly connected by the shrouding, and the shell body, first is enclosed between inner housing and shrouding
Closing chamber, encloses the second closing chamber between the inside of the inner housing and shrouding, wherein, the shell body is provided with first and enters
Water dispenser structure, during first water intake mechanism is used to for outside water to periodically input first closing chamber, the inner casing
The second water intake mechanism is additionally provided with body, second water intake mechanism is used to for the water in first closing chamber to be input to the second envelope
In closed chamber；
Lower chambers, including cylinder, the top of the cylinder are tightly connected with the lower surface of the shrouding, left and right two in the cylinder
Side it is symmetrical be provided with left booster cavity and right booster cavity, booster, and the left increasing are provided with the left booster cavity and right booster cavity
Pressure chamber and right booster cavity are connected with second closing chamber；
Drive mechanism, at the lower chamber central position, the drive mechanism is connected with first water intake mechanism,
And for driving the first water intake mechanism reciprocating action；
Left water spraying mechanism and right water spraying mechanism, are arranged on the bottom of the lower chambers, the left water spraying mechanism and right water spraying mechanism
It is connected with the left booster cavity and right booster cavity respectively, and is respectively used to the press water spray in left booster cavity and right booster cavity
Go out to outside.
2. jellyfish robot as claimed in claim 1, it is characterised in that first water intake mechanism include multiple maneuvering boards and
Multiple first water inlets, first water inlet is opened on the shell body, the maneuvering board and first water inlet one
One correspondence, the drive mechanism is used to drive the maneuvering board to open or close first water inlet.
3. jellyfish robot as claimed in claim 2, it is characterised in that the drive mechanism includes power source, montant, multiple
Connecting rod and disk, the upper surface of the disk are provided with multiple hinged seats, and the connecting rod is corresponded with the hinged seat, and described
One end of connecting rod is hinged with the hinged seat, and its other end is connected with the maneuvering board, the bottom of the montant with it is described
Power source is connected, the top of the montant through extending into second closing chamber after the shrouding, and with the disk
Lower surface be connected, wherein, the power source be used for drive the montant to move back and forth up and down.
4. jellyfish robot as claimed in claim 3, it is characterised in that be additionally provided between the shrouding and the lower surface of disk
One spring, the spring is located on the montant.
5. the jellyfish robot as described in claim 3 or 4, it is characterised in that the power source includes battery, motor, base
Seat and cam, the cam is arranged on the pedestal, and is rotatably connected with the pedestal, the battery and the motor phase
Connection, the motor is used to drive the cam to rotate, wherein, a chute is additionally provided with the excircle of the cam, it is described perpendicular
Touched with the bottom connection of the chute bottom of bar.
6. jellyfish robot as claimed in claim 5, it is characterised in that the inside of the cylinder is provided with a dividing plate, it is described every
Plate is by the inside division of the cylinder into left booster cavity, right booster cavity, preceding battery holding chamber, rear battery holding chamber and center
Drive mechanism at position installs room, and the battery is individually positioned in the preceding battery holding chamber and rear battery holding chamber
In, the pedestal and motor are each attached to the drive mechanism and install indoor.
7. jellyfish robot as claimed in claim 3, it is characterised in that second water intake mechanism includes that multiple second intakes
Mouthful, the second water inlet compartment of terrain is opened on the circumferencial direction of the inner housing, and the other end of the connecting rod is described in
It is connected with the maneuvering board after second water inlet.
8. jellyfish robot as claimed in claim 1, it is characterised in that also set on the shrouding in second closing chamber
There are two leaking holes, the left booster cavity and right booster cavity are connected by the leaking hole with second closing chamber respectively,
Wherein, it is additionally provided with check valve on the leaking hole.
9. jellyfish robot as claimed in claim 1, it is characterised in that the structure of the left water spraying mechanism and right water spraying mechanism
Identical, the left water spraying mechanism includes sparge pipe, multiple water spray branch pipes and multiple water spray blades, the water spray branch pipe and spray
Wiper blade is corresponded, and the upper end of the sparge pipe is connected with the left booster cavity, and its lower end is through water spray branch pipe and the institute
The top for stating water spray blade is connected, and the bottom of the water spray blade is provided with multiple water jets.
10. jellyfish robot as claimed in claim 5 a, it is characterised in that heading, institute are additionally provided with the top of the shell body
State in heading and be provided with a processor and one scan imaging sonar, the processor respectively with the motor, booster and be scanned into
As sonar is connected, and the processor is also connected with the remote controllers outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621284844.4U CN206255174U (en) | 2016-11-28 | 2016-11-28 | A kind of jellyfish robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621284844.4U CN206255174U (en) | 2016-11-28 | 2016-11-28 | A kind of jellyfish robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206255174U true CN206255174U (en) | 2017-06-16 |
Family
ID=59027842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621284844.4U Withdrawn - After Issue CN206255174U (en) | 2016-11-28 | 2016-11-28 | A kind of jellyfish robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206255174U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347614A (en) * | 2016-11-28 | 2017-01-25 | 上海海洋大学 | Jellyfish robot |
| CN109080804A (en) * | 2018-07-20 | 2018-12-25 | 广西大学 | One kind imitating golden water Female Robot based on six-bar mechanism |
| CN109080805A (en) * | 2018-07-20 | 2018-12-25 | 广西大学 | One kind imitating golden water parent agency based on six-bar mechanism |
-
2016
- 2016-11-28 CN CN201621284844.4U patent/CN206255174U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347614A (en) * | 2016-11-28 | 2017-01-25 | 上海海洋大学 | Jellyfish robot |
| CN109080804A (en) * | 2018-07-20 | 2018-12-25 | 广西大学 | One kind imitating golden water Female Robot based on six-bar mechanism |
| CN109080805A (en) * | 2018-07-20 | 2018-12-25 | 广西大学 | One kind imitating golden water parent agency based on six-bar mechanism |
| CN109080805B (en) * | 2018-07-20 | 2020-05-12 | 广西大学 | Based on imitative gold jellyfish mechanism of six rod mechanism |
| CN109080804B (en) * | 2018-07-20 | 2020-06-05 | 广西大学 | Gold-imitating jellyfish robot based on six-rod mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170616 Effective date of abandoning: 20180116 |