CN208699032U - Bionic mechanical fish - Google Patents
Bionic mechanical fish Download PDFInfo
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- CN208699032U CN208699032U CN201821359374.2U CN201821359374U CN208699032U CN 208699032 U CN208699032 U CN 208699032U CN 201821359374 U CN201821359374 U CN 201821359374U CN 208699032 U CN208699032 U CN 208699032U
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Abstract
The utility model discloses a kind of bionic mechanical fishes, including fish head, fish body and fish tail, fish tail includes tail fin and support plate component, support plate component is made of sequentially connected one piece of support plate I from front to back, at least one piece of support plate II and one piece support plate III, the front side of support plate I is fixedly connected on fish body, the rear side of support plate III is fixedly connected on tail fin, is connected by joint assembly between support plate I and support plate II, between adjacent shore plates II and between support plate II and support plate III；Further include two drive lines disposed in parallel, is fixedly connected on support plate III after the front end of drive line is connected to fish tail driving mechanism, rear end sequentially passes through support plate I and support plate II；Two drive lines are made and are stretched in succession under the driving of fish tail driving mechanism using flexible material, to drive support plate II and support plate III to swing；The bionic mechanical fish of the utility model, joint structure is simple, mitigates mechanical fish overall weight while providing own drive power.
Description
Technical field
The utility model relates to bionic mechanical field more particularly to a kind of bionic mechanical fishes.
Background technique
The travelling of fish has many advantages, such as high efficiency, mobility and low noise.Therefore, the research of bionic mechanical fish oneself at
For the hot spot of robot research field.With deepening continuously for bionic mechanical fish research, bionic mechanical fish searches and rescues under water, water quality
The fields such as detection and exploration of ocean resources play an important role.Bionic mechanical fish is established the advancing movement of fish is simple
It turns under ideal conditions, fish body is continuous, on periodic deformation basis.Bionic mechanical fish is as a kind of new type water
Lower robot, be adapted to complex environment and high-efficient homework etc. require brought by challenge, thus obtained it is extensive research with
Exploitation.
With bionic continuous development, Massachusetts Polytechnics in 1994 successfully develops first long 1.2m's in the world
Mechanical fish RoboTuna, the Biomimetic Fish of various mechanism is come out one after another later.Proposing in one kind in patent CN101322878A has
Fixed skeleton, propeller adjust sink-float, the toy mechanical fish of housing entirety fish-skin, the mechanical fish elastics wing part without filling,
It is not able to maintain good stream shape shape, rise and fall fluctuation of service；One kind is proposed in patent CN201240497Y by skeleton branch
Support, the mechanical fish that simple joint is swung, the streamlined difference of mechanical fish skeleton structure are only applicable to the water surface；Patent CN107380386A
In disclose a kind of three joint of mechanical fish and swing, including three main driving joints, each main driving joint includes a steering engine
And drive rod, all linked with one another by three joints, successively the swing of fish tail is realized in driving, and the mechanical fish joint structure is complicated, rudder
The use increase quality of fishes of machine, assembly difficulty, sink-float effect are unstable.
Existing mechanical fish mostly uses greatly integral structure, and three joint wobble drives are driven using skeletal support covering mode
Dynamic part occupied space is big, is unfavorable for other functional modules and carries, and later period research application is inconvenient.
Utility model content
In view of this, keeping its joint structure simple the purpose of this utility model is to provide a kind of bionic mechanical fish, mentioning
Mitigate mechanical fish overall weight while for own drive power.
The bionic mechanical fish of the utility model, including fish head, fish body and the fish tail being sequentially connected, the fish tail includes tail fin
And support plate component, the support plate component is by sequentially connected one piece of support plate I from front to back, at least one piece of II and of support plate
One piece of support plate III forms, and the front side of the support plate I is fixedly connected on fish body, and the rear side of the support plate III is fixedly connected on
Tail fin passes through between the support plate I and support plate II, between adjacent shore plates II and between support plate II and support plate III
Joint assembly is connected；The mechanical fish further includes two drive lines disposed in parallel, and the front end of the drive line is connected to fish tail drive
Motivation structure, rear end are fixedly connected on support plate III after sequentially passing through support plate I and support plate II；Two drive lines are using flexible
Material is made and stretches in succession under the driving of fish tail driving mechanism, to drive the support plate II and support plate III to be controlled
It swings.
As further improvement to above-mentioned technical proposal, the fish tail driving mechanism is located at fish body and including driving electricity
Machine, drive shaft and two are respectively provided at the driving turntable at drive shaft both ends, and the output shaft and drive shaft of the driving motor are driven
Connection；Convex handle is equipped on the two driving turntables in a manner of misplacing, two drive lines are connected to two convex handles.
As further improvement to above-mentioned technical proposal, the fish body includes one piece of straight fish body mainboard, the fish
The longitudinal section product of body mainboard is gradually increased from front to back, for installing the motor mounting rack of the driving motor and for installing
The drive shaft mounting bracket of drive shaft is removably connected to the two sides up and down of fish body mainboard respectively.
As further improvement to above-mentioned technical proposal, the output shaft of the driving motor is connected with driving pulley, institute
It states and is fixed with driven pulley in drive shaft, be connected between the driving pulley and driven pulley by transmission belt；The fish body master
Plate is equipped with the transmission belt via hole for passing through for transmission belt.
As further improvement to above-mentioned technical proposal, the joint assembly includes the first link block, the second link block
And articulated shaft, one end of first link block vertically connect the first transverse slat, one end of second link block vertically connects
Two transverse slats；End on first link block far from the first transverse slat, which is equipped with, is parallel to the hinged groove of fish body mainboard, and described second
End on link block far from the second transverse slat, which is inserted into hinged groove and is positioned by hinged axis connection, forms single-degree-of-freedom rotation connection knot
Structure, the articulated shaft are parallel to the first transverse slat.
As further improvement to above-mentioned technical proposal, the leading flank of the support plate I is fixed with two pieces and is oppositely arranged
L shape plate, form the clamp area for gripping fish body mainboard between the two L shape plates.
As further improvement to above-mentioned technical proposal, the support plate I, support plate II and support plate III are plectane
The diameter of structure and from front to back these plectanes successively decreases；The support plate I and support plate II are correspondingly provided with for logical for drive line
The drive line via hole in kidney-shaped crossed, the support plate III is equipped with the drive line fixation hole for fixed conveyor line, each described
Drive line via hole and drive line fixation hole are respectively positioned on same level.
As further improvement to above-mentioned technical proposal, the rear end of the fish body mainboard is connected with guide plate, described to lead
The pilot hole for passing through and being oriented to for drive line is equipped with to plate.
As further improvement to above-mentioned technical proposal, the fish head includes head plate, head plate swing mechanism, pectoral fin and chest
Fin swing mechanism；The head plate is located at the top of fish body mainboard in parallel, the head plate swing mechanism be mounted on fish body mainboard and
Its power output end is connected with head plate and head plate is driven to swing；Two pieces of pectoral fins are symmetrically arranged at the two of swinging axle
End, the swinging axle are fixed in head plate by swinging axle mounting bracket；The pectoral fin swing mechanism is mounted on fish body mainboard
And its power output end is sequentially connected with swinging axle and swinging axle is driven to swing up and down.
As further improvement to above-mentioned technical proposal, the head plate swing mechanism includes being mounted on fish body mainboard bottom
The first steering engine；The pectoral fin swing mechanism includes the second steering engine being mounted at the top of head plate；The output shaft of second steering engine
On be connected with a cam, a swing rod is vertically connected on the swinging axle, is connected between the cam and swing rod by a connecting rod,
One end of the connecting rod is articulated with the position of disalignment, the other end on cam and is articulated with swing rod.
By above disclosure, the utility model has following advantageous effects:
The bionic mechanical fish of the utility model, when side drive line shorten when pulling joint assembly be biased to this side into
Row rotation, and the drive line of the other side is then extended to comply with the rotation of joint assembly, since two drive lines are to transport in succession
It is dynamic, such joint assembly can carry out periodically or it is reciprocal swing, with drive support plate II and support plate III into
Row swings, and tail fin generates the power for making mechanical fish advance therewith swinging；Since each joint assembly is drawn by drive line
It is dynamic, machine is effectively reduced while own drive power is provided so that joint structure is simple without independent joint driving mechanism
Tool fish overall weight.
Detailed description of the invention
Fig. 1 is the main view of the utility model；
Fig. 2 is the left view of the utility model；
Fig. 3 is the perspective view of the utility model；
Fig. 4 is enlarged drawing at A in Fig. 3；
Fig. 5 is enlarged drawing at B in Fig. 3.
Specific embodiment
It is with reference to the accompanying drawing and specific real to make those skilled in the art more fully understand the technical solution of the utility model
Applying example, the utility model is described in further detail.
It is as shown in Figures 1 to 5: the bionic mechanical fish of the present embodiment, including fish head, fish body and the fish tail being sequentially connected, institute
Stating fish tail includes tail fin 1 and support plate component, the support plate component by sequentially connected one piece of support plate I 2 from front to back, extremely
Few one piece of support plate II 3 and one piece of support plate III 4 form, and the front side of the support plate I 2 is fixedly connected on fish body, the support
The rear side of plate III 4 is fixedly connected on tail fin 1, between the support plate I 2 and support plate II 3, between adjacent shore plates II 3 and props up
It is connected by joint assembly between fagging II 3 and support plate III 4；The mechanical fish further includes two drive lines 5 disposed in parallel,
It is fixedly connected after the front end of the drive line 5 is connected to fish tail driving mechanism, rear end sequentially passes through support plate I 2 and support plate II 3
In support plate III 4；Two drive lines 5 are made and are stretched in succession under the driving of fish tail driving mechanism using flexible material, with
The support plate II 3 and support plate III 4 is driven to swing.
Fish head, fish body and fish tail all have the structure for emulating real fish, such as some streamline structures and existing machinery
Fish is essentially identical, and details are not described herein；Mechanical fish motion-promotion force relies primarily on fish tail swing and generates, and fish head is substantially carried out direction
Control, fish body is then mounting body；Tail fin 1 is plate-like, fan-shaped；" preceding " refers to that " rear " is then for close to tail close to the direction of fish head
The direction of fin 1；When mechanical fish is in static, straight state, support plate I 2, support plate II 3 and support plate III 4 are parallel；Branch
The quantity of fagging II 3 can be set, at least one piece as needed, and the present embodiment is provided with three pieces；Joint assembly forms
Cradle head between adjacent shore plates, each joint assembly are generally aligned in the same plane, and when mechanical fish is in static, straight state
Positioned at same straight line；Glass fibre can be used in drive line 5 or carbon fibre is made, fineness can as needed depending on,
It is not necessarily filament structure, can also be rope form or club shaped structure；Fish tail driving mechanism is electrical control mechanism, can drive two transmissions
Line 5 is extended in succession, is shortened (length here refers to the length positioned at fish tail part), and two drive lines 5 are symmetrical arranged, when one
It pulls joint assembly to be biased to this side when the drive line 5 of side shortens to be rotated, and the drive line 5 of the other side is then extended
To comply with the rotation of joint assembly, since two drive lines 5 are successive movements, such joint assembly can carry out periodically or
Person is reciprocal to swing, and to drive support plate II 3 and support plate III 4 to swing, tail fin 1 is produced therewith swinging
The raw power for making mechanical fish advance；Since each joint assembly is pulled by drive line 5, it is not necessarily to independent joint driving mechanism, so that
Joint structure is simple, is effectively reduced mechanical fish overall weight while providing own drive power.
In the present embodiment, the fish tail driving mechanism is located at fish body and including driving motor 6, drive shaft 7 and two difference
It is located at the driving turntable 8 at 7 both ends of drive shaft, the output shaft and drive shaft 7 of the driving motor 6 are sequentially connected；Two drivings
Convex handle 9 is equipped on turntable 8 in a manner of misplacing, two drive lines 5 are connected to two convex handles 9；Fish tail driving mechanism is located at fish
Body can reduce fish tail weight, keep its movement more flexible；Driving motor 6 can be decelerating motor structure, can provide larger torque, and
Revolving speed is easily-controllable；Drive shaft 7 is arranged along the width direction (i.e. left and right directions) of mechanical fish, and two driving turntables 8 are the diameter along drive shaft 7
To setting；Two driving turntables 8 can be disc structure and be symmetrical arranged；Convex handle 9 is the component for direct pull drive line 5, with
Driving turntable 8 rotates together with；" dislocation " refers to that two convex handles 9 in a state of use are respectively provided at the different location of two driving turntables 8,
So that two convex handles 9 can drive two drive lines 5 extended, shortened in succession respectively；Preferably, wherein the convex handle 9 of a driving turntable 8
Projection on another driving turntable 8 has symmetric relation with the convex handle 9 on the driving turntable 8, so that one wherein
When drive line 5 is in the elongation limit, another drive line 5 is in shrinkage limit；Using this structure, without changing driving motor
The Continuous Drive to two drive lines 5 can be realized in the steering of 6 output shafts, so that fish tail can produce continuous power.
In the present embodiment, the fish body includes one piece of straight fish body mainboard 10, the longitudinal section product of the fish body mainboard 10
It is gradually increased from front to back, the driving for installing the motor mounting rack 11 of the driving motor 6 and for installing drive shaft 7
Axis mounting bracket 12 is removably connected to the two sides up and down of fish body mainboard 10 respectively；Fish body mainboard 10 is slab construction；
Motor mounting rack 11, drive shaft mounting bracket 12 can be screwed on fish body mainboard 10, convenient for its installation and removal；Using this
One structure, motor mounting rack 11, drive shaft mounting bracket 12 are respectively provided at the two sides up and down of fish body mainboard 10, so that fish body master
The distribution of weight of plate 10 is balanced, improves the degree of balance of mechanical fish movement；Settable relevant axis hole in drive shaft mounting bracket 12
And bearing.
In the present embodiment, the output shaft of the driving motor 6 is connected with driving pulley 13, is fixed in the drive shaft 7
Driven pulley 14 is connected between the driving pulley 13 and driven pulley 14 by transmission belt (not shown)；The fish body
Mainboard 10 is equipped with the transmission belt via hole 15 for passing through for transmission belt；Driving pulley 13, driven pulley 14 are respectively provided at fish body
The two sides up and down of mainboard 10 are simultaneously generally aligned in the same plane；Transmission belt via hole 15 is preferably rectangular opening, conducive to the movement of transmission belt；Driving
Power is transmitted by way of V belt translation between motor 6 and drive shaft 7, this structure make stable drive, it is at low cost, using dimension
Shield is convenient, has good flexibility and elasticity, and can skid in the event of overloading.
In the present embodiment, the joint assembly includes the first link block 16, the second link block 17 and articulated shaft 18, and described the
One end of one link block 16 vertically connects the first transverse slat 19, and one end of second link block 17 vertically connects the second transverse slat 20；
End on first link block 16 far from the first transverse slat 19 is equipped with the hinged groove 16a for being parallel to fish body mainboard 10, and described the
End on two link blocks 17 far from the second transverse slat 20 is inserted into hinged groove 16a and forms single-degree-of-freedom by the connection positioning of articulated shaft 18
Rotation connection structure, the articulated shaft 18 are parallel to the first transverse slat 19；In use, the first transverse slat 19 is mounted on the rear side of support plate
Face, the second transverse slat 20 are mounted on the leading flank of support plate, and mounting means is both preferably and is spirally connected, and articulated shaft 18 is also chosen as bolt,
In order to mount and dismount, safeguard；First transverse slat 19, the second transverse slat 20 center preferably with the center of respective support plate is concentric sets
It sets；Hinged groove 16a is the translot opened up along mechanical fish width direction, so that fish tail can swing.
In the present embodiment, the leading flank of the support plate I 2 is fixed with two blocks of L shape plates 21 being oppositely arranged, described in two
The clamp area for gripping fish body mainboard 10 is formed between L shape plate 21；The support rod of the also settable elasticity of the mechanical fish
(not shown), the support rod are parallel to fish body mainboard 10 and are arranged and sequentially pass through L shape plate 21, support plate I 2, support plate
II 3 and support plate III 4；L shape plate 21 has transverse part and vertical portion, and " being oppositely arranged " refers to two blocks of L shape plates 21 with axisymmetric
Mode is arranged；The transverse part of L shape plate 21 is connected to support plate I 2, vertical portion is connected to fish body mainboard 10, and connection type is preferably spiral shell
It connects；Support rod can be two, be respectively provided at the upper and lower sides of joint assembly, can further connect each support plate, mention
The structural strength and straightness of high mechanical fish；Support rod has certain elasticity, and shape can occur when adjacent shore plates relative motion
Become to adapt to its movement.
In the present embodiment, the support plate I 2, support plate II 3 and support plate III 4 be Circular plate structure and from front to back this
The diameter of a little plectanes (i.e. each support plate) successively decreases, and to imitate the tail portion from thick to thin of true fish, looks at tail portion more beautiful,
Endurance is improved simultaneously, is played a supportive role；The support plate I 2 and support plate II 3 are correspondingly provided with for passing through for drive line 5
In the drive line via hole 22 of kidney-shaped, the support plate III 4 is equipped with the drive line fixation hole 23 for fixed conveyor line 5, each institute
It states drive line via hole 22 and drive line fixation hole 23 is respectively positioned on same level；The drive line via hole 22 of kidney-shaped is drive line 5
Extensional motion reserves sufficient space, also plays a part of constraining drive line 5.
In the present embodiment, the rear end of the fish body mainboard 10 is connected with guide plate 24, and the guide plate 24 is equipped with and is used for
The pilot hole 24a for passing through and being oriented to for drive line 5；Guide plate 24 limits the position of drive line 5, and drive line 5 is enable to pass
It is moved in moving-wire via hole 22；It can be equipped with fixed pulley in pilot hole, to realize the smooth steering of drive line 5, prevent drive line 5 from occurring
Improper abrasion, prolongs its service life.
In the present embodiment, the fish head includes head plate 25, head plate swing mechanism, pectoral fin 26 and pectoral fin swing mechanism；It is described
Head plate 25 is located at the top of fish body mainboard 10 in parallel, and the head plate swing mechanism is mounted on fish body mainboard 10 and its power output
End is connected with head plate 25 and head plate 25 is driven to swing；Two pieces of pectoral fins 26 are symmetrically arranged at the both ends of swinging axle 27,
The swinging axle 27 is fixed in head plate 25 by swinging axle mounting bracket 28；The pectoral fin swing mechanism is mounted on fish body mainboard
On 10 and its power output end is sequentially connected with swinging axle 27 and swinging axle 27 is driven to swing up and down；Head plate 25 and fish body master
There is gap between plate 10；Head plate 25 is driven by head plate swing mechanism, and pectoral fin 26 is driven by pectoral fin swing mechanism, and the two cooperation can
The steering for controlling mechanical fish, to realize that mechanical fish moves downward upwards.
In the present embodiment, the head plate swing mechanism includes the first steering engine 29 for being mounted on 10 bottom of fish body mainboard；It is described
Pectoral fin swing mechanism includes the second steering engine 30 for being mounted on 25 top of head plate；One is connected on the output shaft of second steering engine 30
Cam 31 is vertically connected with a swing rod 32 on the swinging axle 27, passes through 33 phase of a connecting rod between the cam 31 and swing rod 32
Even, one end of the connecting rod 33 is articulated with (the i.e. interconnecting piece of 30 output shaft of cam 31 and the second steering engine of disalignment on cam 31
Position) position, the other end be articulated with swing rod；The output shaft of first steering engine 29 passes through fish body mainboard 10 and is connected with head plate 25；The
The output shaft of two steering engines 30 then passes through cam link component and is connected with swinging axle 27, and cam link modular construction is simple, transmission essence
It spends high, stable, high-efficient.
The principles of the present invention and embodiment are explained finally, it is stated that applying specific case herein
It states, the core concept of the above embodiments are only used to help understand the utility model, is not departing from the utility model original
In the case where reason, can also to the utility model, some improvement and modification can also be carried out, these improvement and modification also fall into the utility model
Protection scope in.
Claims (10)
1. a kind of bionic mechanical fish, including fish head, fish body and the fish tail being sequentially connected, it is characterised in that: the fish tail includes tail
Fin and support plate component, the support plate component is by sequentially connected one piece of support plate I, at least one piece of support plate II from front to back
It is formed with one piece of support plate III, the front side of the support plate I is fixedly connected on fish body, and the rear side of the support plate III is fixedly connected
Between tail fin, the support plate I and support plate II, it is logical between adjacent shore plates II and between support plate II and support plate III
Joint assembly is crossed to be connected；The mechanical fish further includes two drive lines disposed in parallel, and the front end of the drive line is connected to fish tail
Driving mechanism, rear end are fixedly connected on support plate III after sequentially passing through support plate I and support plate II；Two drive lines are using soft
Property material is made and stretches in succession under the driving of fish tail driving mechanism, to drive the support plate II and support plate III to carry out a left side
Right swing.
2. bionic mechanical fish according to claim 1, it is characterised in that: the fish tail driving mechanism be located at fish body and including
Driving motor, drive shaft and two are respectively provided at the driving turntable at drive shaft both ends, the output shaft of the driving motor and driving
Axis transmission connection；Convex handle is equipped on the two driving turntables in a manner of misplacing, two drive lines are connected to two convex handles.
3. bionic mechanical fish according to claim 2, it is characterised in that: the fish body includes one piece of straight fish body master
The longitudinal section product of plate, the fish body mainboard is gradually increased from front to back, for installing the motor mounting rack of the driving motor
And the drive shaft mounting bracket for installing drive shaft is removably connected to the two sides up and down of fish body mainboard respectively.
4. bionic mechanical fish according to claim 3, it is characterised in that: the output shaft of the driving motor is connected with actively
Belt wheel is fixed with driven pulley in the drive shaft, is connected between the driving pulley and driven pulley by transmission belt；It is described
Fish body mainboard is equipped with the transmission belt via hole for passing through for transmission belt.
5. bionic mechanical fish according to claim 3, it is characterised in that: the joint assembly includes the first link block, the
Two link blocks and articulated shaft, one end of first link block vertically connect the first transverse slat, and one end of second link block is hung down
It is direct-connected to connect the second transverse slat；End on first link block far from the first transverse slat is equipped with the hinged groove for being parallel to fish body mainboard,
End on second link block far from the second transverse slat, which is inserted into hinged groove and is positioned by hinged axis connection, forms single-degree-of-freedom turn
Dynamic connection structure, the articulated shaft are parallel to the first transverse slat.
6. bionic mechanical fish according to claim 3, it is characterised in that: the leading flank of the support plate I is fixed with two pieces
The L shape plate being oppositely arranged forms the clamp area for gripping fish body mainboard between the two L shape plates.
7. bionic mechanical fish according to claim 3, it is characterised in that: the support plate I, support plate II and support plate III
It is Circular plate structure and the diameter of these plectanes successively decreases from front to back；The support plate I and support plate II are correspondingly provided with for supplying
The drive line via hole in kidney-shaped that drive line passes through, the support plate III is equipped with fixes for the drive line of fixed conveyor line
Hole, each drive line via hole and drive line fixation hole are respectively positioned on same level.
8. bionic mechanical fish according to claim 7, it is characterised in that: the rear end of the fish body mainboard is connected with guiding
Plate, the guide plate are equipped with the pilot hole for passing through and being oriented to for drive line.
9. according to the described in any item bionic mechanical fishes of claim 3 to 8, it is characterised in that: the fish head includes head plate, head plate
Swing mechanism, pectoral fin and pectoral fin swing mechanism；The head plate is located at the top of fish body mainboard, the head plate swing mechanism peace in parallel
On fish body mainboard and its power output end is connected with head plate and head plate is driven to swing；Two pieces of pectoral fins are symmetrical
The both ends of swinging axle are located at, the swinging axle is fixed in head plate by swinging axle mounting bracket；The pectoral fin swing mechanism peace
On fish body mainboard and its power output end is sequentially connected with swinging axle and swinging axle is driven to swing up and down.
10. bionic mechanical fish according to claim 9, it is characterised in that: the head plate swing mechanism includes being mounted on fish
First steering engine of body mainboard bottom；The pectoral fin swing mechanism includes the second steering engine being mounted at the top of head plate；Second rudder
It is connected with a cam on the output shaft of machine, a swing rod is vertically connected on the swinging axle, is passed through between the cam and swing rod
One connecting rod is connected, and one end of the connecting rod is articulated with the position of disalignment, the other end on cam and is articulated with swing rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821359374.2U CN208699032U (en) | 2018-08-22 | 2018-08-22 | Bionic mechanical fish |
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|---|---|---|---|
| CN201821359374.2U CN208699032U (en) | 2018-08-22 | 2018-08-22 | Bionic mechanical fish |
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| CN201821359374.2U Expired - Fee Related CN208699032U (en) | 2018-08-22 | 2018-08-22 | Bionic mechanical fish |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050851A (en) * | 2018-08-22 | 2018-12-21 | 重庆三峡学院 | Line drive-type machine fish |
| CN110562423A (en) * | 2019-08-26 | 2019-12-13 | 浙江理工大学 | Swinging mechanism of imitative beaver tail |
| CN112027035A (en) * | 2020-09-12 | 2020-12-04 | 哈尔滨工业大学 | Flexible bionic eel |
| CN113148087A (en) * | 2021-05-06 | 2021-07-23 | 李云飞 | Linkage type detection robot fish |
| CN113184153A (en) * | 2021-05-28 | 2021-07-30 | 西安交通大学 | Soft mechanical fish capable of being bent and moving quickly |
| CN113415402A (en) * | 2021-06-18 | 2021-09-21 | 中国科学院自动化研究所 | Bionic fishtail underwater propeller |
| CN114604403A (en) * | 2022-02-22 | 2022-06-10 | 中国科学院自动化研究所 | Bionic fish driving structure |
| CN114771785A (en) * | 2022-04-30 | 2022-07-22 | 深圳大学 | Underwater bionic fish |
| CN114919724A (en) * | 2022-03-15 | 2022-08-19 | 中国科学院自动化研究所 | Bionic tendon driven robotic fish system and operation control method |
| CN115071919A (en) * | 2022-06-16 | 2022-09-20 | 华南理工大学 | Flexible bionic robot fish based on beam theory and design method thereof |
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- 2018-08-22 CN CN201821359374.2U patent/CN208699032U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050851A (en) * | 2018-08-22 | 2018-12-21 | 重庆三峡学院 | Line drive-type machine fish |
| CN109050851B (en) * | 2018-08-22 | 2024-02-27 | 重庆三峡学院 | Line-driven robot fish |
| CN110562423A (en) * | 2019-08-26 | 2019-12-13 | 浙江理工大学 | Swinging mechanism of imitative beaver tail |
| CN110562423B (en) * | 2019-08-26 | 2020-09-04 | 浙江理工大学 | Swinging mechanism of imitative beaver tail |
| CN112027035A (en) * | 2020-09-12 | 2020-12-04 | 哈尔滨工业大学 | Flexible bionic eel |
| CN112027035B (en) * | 2020-09-12 | 2022-02-01 | 哈尔滨工业大学 | Flexible bionic eel |
| CN113148087B (en) * | 2021-05-06 | 2024-02-06 | 李云飞 | Linkage type detection robot fish |
| CN113148087A (en) * | 2021-05-06 | 2021-07-23 | 李云飞 | Linkage type detection robot fish |
| CN113184153A (en) * | 2021-05-28 | 2021-07-30 | 西安交通大学 | Soft mechanical fish capable of being bent and moving quickly |
| CN113415402A (en) * | 2021-06-18 | 2021-09-21 | 中国科学院自动化研究所 | Bionic fishtail underwater propeller |
| CN113415402B (en) * | 2021-06-18 | 2022-07-12 | 中国科学院自动化研究所 | Bionic fishtail underwater propeller |
| CN114604403A (en) * | 2022-02-22 | 2022-06-10 | 中国科学院自动化研究所 | Bionic fish driving structure |
| CN114919724A (en) * | 2022-03-15 | 2022-08-19 | 中国科学院自动化研究所 | Bionic tendon driven robotic fish system and operation control method |
| CN114919724B (en) * | 2022-03-15 | 2024-03-15 | 中国科学院自动化研究所 | Robot fish system driven by bionic tendons and operation control method |
| CN114771785A (en) * | 2022-04-30 | 2022-07-22 | 深圳大学 | Underwater bionic fish |
| CN114771785B (en) * | 2022-04-30 | 2024-02-27 | 深圳大学 | Underwater bionic fish |
| CN115071919A (en) * | 2022-06-16 | 2022-09-20 | 华南理工大学 | Flexible bionic robot fish based on beam theory and design method thereof |
| CN115071919B (en) * | 2022-06-16 | 2023-09-26 | 华南理工大学 | Flexible bionic robot fish based on beam theory and design method thereof |
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