CN209336974U - Amphibious bionic turtle robot - Google Patents
Amphibious bionic turtle robot Download PDFInfo
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- CN209336974U CN209336974U CN201920025922.6U CN201920025922U CN209336974U CN 209336974 U CN209336974 U CN 209336974U CN 201920025922 U CN201920025922 U CN 201920025922U CN 209336974 U CN209336974 U CN 209336974U
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- steering engine
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- shaped
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Abstract
The utility model provides a kind of Amphibious bionic turtle robot, is related to robot field, solves the problems, such as that underwater robot does not have Land Movement ability and larger with the biological differences that are imitated；The device includes turtle shell, and bottom is provided with cabin；Four limbs, including four fin-shaped foots, each fin-shaped is set to the two sides of cabin by driving device enough, driving device includes the first steering engine, first support, second support and the second steering engine, first steering engine drives fin-shaped to move in the longitudinal direction enough by first support, and the second steering engine drives fin-shaped to do the circular motion in plane in the direction of motion perpendicular to first support enough；The controller connecting with driving device, controller are connected with detection device；There are two freedom degrees for tool during exercise for its fin-shaped of the utility model foot, more meet the athletic posture of tortoise；And robot carry detection device underwater operation can be completed in deep-sea, at land, can equally drive fin-shaped foot movement creep in land.
Description
Technical field
The utility model relates to robotic technology fields, more particularly, to a kind of Amphibious bionic turtle robot.
Background technique
Land_atmosphere coupling model of the amphibian as most original, experienced very long natural selection, be vertebrate evolution
By the aquatic transitional type to terrestrial, the character of the existing aquatic life of adaptation inherited from fish ancestors in history, and have suitable
The new traits for answering land to live.
With the development of science and technology the development of computer system has pushed being continuously increased for robot type, such as service type machine
Device people, sniffing robot, space robot etc..Wherein underwater robot is also referred to as unmanned remotely controlled submersible vehicle, is that one kind works in water
Under limit operation robot.Underwater environment is badly dangerous, and the diving depth of people is limited, and therefore, underwater robot is that the mankind recognize
Know one of ocean, the exploitation indispensable tool in ocean.
Applicants have discovered that the prior art at least has following technical problem: existing robot mostly can only be in list
It works under one environment, underwater robot does not have locomitivity in land, and land robot can not work under water.And
Existing underwater robot, the biology for only having the ability that can be moved under water, functional characteristic and shape and being imitated
Still difference is larger, causes influence to a certain extent for the living environment of aquatic organism.
Utility model content
The purpose of this utility model is to provide a kind of Amphibious bionic turtle robots, to solve water existing in the prior art
Lower robot does not have Land Movement ability and the technical problem larger with the biological differences that are imitated；It is provided by the utility model
Many technical effects elaboration as detailed below that optimal technical scheme in many technical solutions can be generated.
To achieve the above object, the utility model provides following technical scheme:
Amphibious bionic turtle robot provided by the utility model, comprising:
Turtle shell, bottom are provided with cabin；
Four limbs, including four fin-shaped foots, each fin-shaped are set to the two sides of the cabin by driving device enough,
The driving device includes the first steering engine, first support, second support and the second steering engine, first steering engine and described first
Holder pivots connection, the first support are fixedly connected with the second support, and second steering engine is fixed on described second
On frame, and the fin-shaped passes through connector enough and connect with the steering wheel of second steering engine, first steering engine and second rudder
The extending direction of machine is mutually perpendicular to, and first steering engine drives the fin-shaped to transport in the longitudinal direction enough by the first support
Dynamic, second steering engine drives the fin-shaped to do the circumference fortune in plane in the direction of motion perpendicular to the first support enough
It is dynamic；
Controller is set to the inside of the cabin, and is electrically connected with the driving device；
Detection device is electrically connected with the controller.
Preferably, the first support and the second support are u-bracket, the steering wheel of first steering engine with it is described
Two vertical sections of first support are rotatablely connected, and the horizontal segment of the horizontal segment of the first support and the second support mutually hangs down
It is fixed directly and by screw.
Preferably, the vertical section front end of the second support extends inwardly to form fixed plate, the two sides of second steering engine
It is provided with engaging lug, the engaging lug is fixed by screw or bolt with the second support.
Preferably, the connecting pin of first steering engine and the cabin is provided with fixed ear, and there is the fixed ear band to lack
Mouthful arc-shaped cavity, be provided with bolt or screw so that first steering engine is fixed with the cabin in the arc-shaped cavity.
Preferably, the front of the cabin is provided with glans penis, and the detection device includes laser detector or camera, institute
It states laser detector or camera is set at glans penis.
Preferably, the glans penis front is fixedly connected with third steering engine, and it is U-shaped to be rotatably connected to head on the third steering engine
Bracket, the open end of the head u-bracket and the steering wheel of the steering engine are rotatablely connected, the open side of the head u-bracket
Axis is vertically arranged, and the laser detector or camera are set in the vertical section of the head u-bracket, the third rudder
Function drives the laser detector or camera to move on left and right by the head u-bracket.
Preferably, further include tortoise tail, the tortoise tail is set to the rear portion of the cabin by the driving device, and with institute
The driving structure for stating four limbs is identical, the driving device include the first steering engine of tail portion, tail portion first support, tail portion second support and
The second steering engine of tail portion, first steering engine of tail portion and the tail portion first support are rotatablely connected, the tail portion first support and institute
It states tail portion second support to be fixedly connected, second steering engine of tail portion is fixed in the tail portion second support, and the tortoise tail is logical
It crosses connector to connect with the steering wheel of second steering engine of tail portion, the extension of the second steering engine of first steering engine of tail portion and the tail portion
Direction is mutually perpendicular to, and first steering engine of tail portion drives the tortoise tail to transport in the lateral direction by the tail portion first support
Dynamic, second steering engine of tail portion drives the tortoise tail to do in plane in the direction of motion perpendicular to the tail portion first support
Circular motion.
Preferably, the turtle shell is arc shell, and the fin-shaped foot and the tortoise tail are made of soft material.
Preferably, the detection device further includes attitude transducer, and the attitude detector device is electrically connected with the controller
And the attitude data received is transferred in the controller, to realize control of the controller to turtle robot attitude motion
System.
Preferably, the controller is also electrically connected with power supply module and wireless communication module, and the wireless control module connects
It is connected to remote controler, controller telecommand according to received by the wireless communication module controls the driving device
Unlatching and turn to adjust the direction of motion of machine.
Amphibious bionic turtle robot provided by the utility model has the following beneficial effects: compared with prior art
1, four limbs include four fin-shaped foots, similar to the shape of tortoise foot；The driving device structure of four fin-shaped foots is identical, makes
Obtaining fin-shaped, there are two freedom degrees for tool enough, and above-mentioned two freedom degree is respectively: the first steering engine controls first support drive fin-shaped foot and exists
Front and back move upwards, the second steering engine drives fin-shaped to do the circumference fortune in plane in the direction of motion perpendicular to first support enough
It is dynamic；Above-mentioned driving method more meets the athletic posture of tortoise, bionical upper with better effect；And robot carries detection device
Underwater operation can be completed in deep-sea, at land, driving device can equally drive fin-shaped foot movement on land
On creep, complete land operation.
2, the movement of tortoise tail equally has above-mentioned two freedom degree, enable to tortoise tail swung and perpendicular to
It moves in a circle in the plane of direction of advance, above-mentioned forms of motion has higher sport efficiency.
3, detection device is carried on glans penis, the third steering engine on head drives detection device by third bracket, as laser is visited
Device is surveyed, swings to obtain the image information in the wider visual field, is with a wide range of applications.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the overall structure diagram of the utility model Amphibious bionic turtle robot；
Fig. 2 is the bottom substance schematic diagram of Amphibious bionic turtle robot；
Fig. 3 is the structural schematic diagram that fin-shaped is connect with driving device enough；
Fig. 4 is the control principle schematic diagram of controller.
1, turtle shell in figure；2, fin-shaped foot；31, the first steering engine；32, first support；33, second support；34, the second steering engine；
341, engaging lug；311, fixed ear；41, third steering engine；42, head u-bracket；43, laser detector；51, the first rudder of tail portion
Machine；52, tail portion first support；53, tail portion second support；54, the second steering engine of tail portion；6, tortoise tail；7, cabin.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, below by the technology to the utility model
Scheme is described in detail.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Obtained all other embodiment is put, the range that the utility model is protected is belonged to.
In the description of the present invention, it should be understood that term " center ", " length ", " width ", " height ",
The instructions such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " side "
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification
Description, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, constructed and grasped with specific orientation
Make, therefore should not be understood as limiting the present invention.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
The utility model provides a kind of Amphibious bionic turtle robot, and referring to Figure 1 and Figure 3, Fig. 1 is that the utility model is amphibious
The overall structure diagram of bionic turtle robot, Fig. 3 are the structural schematic diagrams that fin-shaped is connect with driving device enough；It include: turtle shell
1, bottom is provided with cabin 7；Four limbs, including four fin-shaped foots 2, each fin-shaped foot 2 are set to cabin 7 by driving device
Two sides, driving device includes the first steering engine 31, first support 32, second support 33 and the second steering engine 34, the first steering engine 31
It is rotatablely connected with first support 32, first support 32 is fixedly connected with second support 33, and the second steering engine 34 is fixed on second support
On 33, and fin-shaped foot 2 is connect by connector with the steering wheel of the second steering engine 34, the extension side of the first steering engine 31 and the second steering engine 34
To being mutually perpendicular to, the first steering engine 31 drives fin-shaped foot 2 to move in the longitudinal direction by first support 32, and the second steering engine 34 drives
Fin-shaped foot 2 does the circular motion in plane in the direction of motion perpendicular to first support 32；
Controller, is set to the inside of cabin 7, and is electrically connected to the drive；
Detection device is electrically connected with the controller.
Wherein, cabin 7 is sealed processing, and steering engine is no longer superfluous to its structure at this as mature technology in the art
It states.As shown in Figure 1, the steering wheel of the first steering engine 31 and first support 32 are rotatablely connected by shaft, it is preferred that the company of fin-shaped foot 2
Fitting can be fixed disk, and the steering wheel of the second steering engine 34 is connected and fixed disk by shaft to realize and fin-shaped foot 2 is driven to do circumference fortune
It is dynamic.In order to clearly be illustrated, it is specified that the direction that robot advances is front-rear direction, in the same plane, perpendicular to machine
The direction of advance of device people is left and right directions.
The beneficial effects of the utility model are: its four limbs includes four fin-shaped foots 2, similar to the shape of tortoise foot；Four fins
The driving device structure of shape foot 2 is identical, so that there are two freedom degrees for 2 tool of fin-shaped foot, above-mentioned two freedom degree is respectively: the first rudder
Machine 31 controls first support 32 and drives fin-shaped foot 2 movement, the second steering engine 34 drive fin-shaped foot 2 perpendicular to the in the longitudinal direction
The circular motion in plane is done in the direction of motion of one bracket 32；Above-mentioned driving method more meets the athletic posture of tortoise, bionical
It is upper that there is better effect；And robot carrying detection device can complete underwater operation in deep-sea, and at land, driving
Device can equally drive fin-shaped foot 2 movement creep in land, complete land operation.
As optional embodiment, referring to Fig. 3, first support 32 and second support 33 are u-bracket, the first steering engine
31 steering wheel and two vertical sections of first support 32 are rotatablely connected, the horizontal segment of first support 32 and the level of second support 33
Section is mutually perpendicular to and is fixed by screw.
Above structure is vertically arranged by two u-brackets, and the effect of first support 32 is mainly and 31 turns of the first steering engine
The effect of dynamic connection, second support 33 is mainly fixedly connected by vertical with first support 32, realizes the second steering engine 34 and the
One steering engine 31 is vertically arranged, and while the first steering engine 31 drives first support 32 to move, fin-shaped foot 2 carries out the pendulum on front-rear direction
Dynamic, the rotation of 34 steering wheel of the second steering engine drives fin-shaped foot 2 to move in a circle in perpendicular to plane in the front-back direction.Wherein,
One bracket 32 by screw or can be bolted with second support 33.
In order to fix the second steering engine 34 and second support 33, referring to Fig. 3, as optional embodiment, second support 33
Vertical section front end extend inwardly to form fixed plate, the two sides of the second steering engine 34 are provided with engaging lug 341, and engaging lug 341 passes through
Screw or bolt and second support 33 are fixed.
Second steering engine 34 can be surely bonded with second support 33 by above structure, prevent from loosening during the motion.
In order to which the first steering engine 31 and cabin 7 are bonded, as optional embodiment, referring to Fig.1, the first steering engine 31
The connecting pin of cabin 7 is provided with fixed ear 311, fixed ear 311 has notched arc-shaped cavity, is provided in arc-shaped cavity
Bolt or screw are so that the first steering engine 31 and cabin 7 are fixed.
Above-mentioned fixed ear 311 is respectively arranged one on the side wall of the first steering engine 31, and above-mentioned set-up mode can pass through second
Second steering engine 34 is steadily fixed in the plane vertical with the first steering engine 31 by bracket 33, convenient for drive fin-shaped foot 2 perpendicular to
It moves in a circle in the direction of advance of machine.
In order to be more in line with the form of tortoise and be convenient for detect operation, as optional embodiment, before cabin 7
Portion is provided with glans penis, and detection device includes laser detector 43 or camera, and laser detector 43 or camera are set to glans penis
Place.
It should be understood that above-mentioned laser detector is mature technology in the art, and as the common of deep-sea detecting
This will not be repeated here for equipment, and the laser detector of Sharp's production such as can be used.
In order to obtain the information of more wide viewing angle, the head of tortoise is further simulated, as optional embodiment, referring to Fig.1,
Glans penis front is fixedly connected with third steering engine 41, and head u-bracket 42, head u-bracket are rotatably connected on third steering engine 41
42 open end and the steering wheel of steering engine are rotatablely connected, and the open side axis of head u-bracket 42 is vertically arranged, laser detector 43
Or camera is set in the vertical section of head u-bracket 42, third steering engine 41 can drive laser to visit by head u-bracket 42
It surveys device 43 or camera moves on left and right.Laser detector 43 can be fixed on head u-bracket 42 by screw or bolt
Vertical section.
The steering wheel of third steering engine 41 is connect with head u-bracket 42 by shaft, is able to drive the U-shaped branch in head when rotating
Frame 42 is swung in the lateral direction, and laser detector 43 swings the information for obtaining more wide viewing angle with it.
In order to which bionical effect is more preferable, as optional embodiment, referring to Fig. 2, Fig. 2 is the bottom of Amphibious bionic turtle robot
Portion's structural schematic diagram；It further include tortoise tail 6, tortoise tail 6 is set to the rear portion of cabin 7, and the driving knot with four limbs by driving device
Structure is identical, and driving device includes the first steering engine of tail portion 51, the second steering engine of tail portion first support 52, tail portion second support 53 and tail portion
54, the first steering engine of tail portion 51 and tail portion first support 52 are rotatablely connected, and tail portion first support 52 and tail portion second support 53 are fixed
Connection, the second steering engine of tail portion 54 are fixed in tail portion second support 53, and tortoise tail 6 passes through connector and the second steering engine of tail portion 54
The extending direction of steering wheel connection, the first steering engine of tail portion 51 and the second steering engine of tail portion 54 is mutually perpendicular to, and the first steering engine of tail portion 51 passes through
Tail portion first support 52 drives tortoise tail 6 to move in the lateral direction, and the second steering engine of tail portion 54 drives tortoise tail 6 perpendicular to tail portion the
The circular motion in plane is done in the direction of motion of one bracket 52.
It should be understood that the motor pattern of tortoise tail 6 is identical as fin-shaped foot 2, two freedom degrees, above-mentioned movement side are all had
Formula is more diversified.
Likewise, driving device controls fin-shaped foot 2 in front and back when above-mentioned robot is placed in land progress operation
Side advances up and perpendicular to the rotation in surface on front-rear direction, can be realized robot and creep in land, moving
It is more close with amphibian tortoise in posture.
As optional embodiment, turtle shell 1 is arc shell, and fin-shaped foot 2 and tortoise tail 6 are made of soft material.It is above-mentioned
It is arranged more close with the form of tortoise fin and turtle shell 1.
As optional embodiment, detection device further includes attitude transducer, and attitude detector device is electrically connected with the controller
And the attitude data received is transferred in controller, to realize control of the controller to turtle robot attitude motion.
It should be understood that the structure of above-mentioned attitude transducer is technology mature in ability, wing alliance APDS- such as can be used
9930 attitude transducers.Its 3 d pose bearing data that can export robot in real time, and carry out real-time correction and dynamic benefit
It repays.
As optional embodiment, referring to Fig. 4, Fig. 4 is the control principle schematic diagram of controller.Controller is also electrically connected
There are power supply module and wireless communication module, wireless control module is connected with remote controler, and controller is connect according to wireless communication module
The telecommand received controls the unlatching of driving device and turns to adjust the direction of motion of machine.
Wherein controller has been mature technology, such as existing PLC, single-chip microcontroller can meet the above-mentioned function of realization,
If siemens PLC series of PLC CPU224XPCN can be selected in controller, is passed the information of remote controler input and pass through channel radio
News module is transmitted to PLC.After operation, PLC exports analog quantity, and is connected to the analog input port of controller.Controller
Internal arithmetic, the then unlatching or the direction of motion of driver are carried out to the analog quantity received.It should be understood that
The motion profile that corresponding program presets robot can be write in the controller, make robot according to preset movement
Advance track.
In the description of this specification, specific features, structure or feature can in any one or more embodiments or
It can be combined in any suitable manner in example.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with the power
Subject to the protection scope that benefit requires.
Claims (10)
1. a kind of Amphibious bionic turtle robot characterized by comprising
Turtle shell, bottom are provided with cabin；
Four limbs, including four fin-shaped foots, each fin-shaped is set to the two sides of the cabin by driving device enough, described
Driving device includes the first steering engine, first support, second support and the second steering engine, first steering engine and the first support
Rotation connection, the first support are fixedly connected with the second support, and second steering engine is fixed in the second support,
And the fin-shaped passes through connector enough and connect with the steering wheel of second steering engine, first steering engine and second steering engine prolong
It stretches direction to be mutually perpendicular to, first steering engine drives the fin-shaped to move in the longitudinal direction enough by the first support, institute
Stating the second steering engine drives the fin-shaped to do the circular motion in plane in the direction of motion perpendicular to the first support enough；
Controller is set to the inside of the cabin, and is electrically connected with the driving device；
Detection device is electrically connected with the controller.
2. Amphibious bionic turtle robot according to claim 1, which is characterized in that the first support and second described
Frame is u-bracket, and the steering wheel of first steering engine and two vertical sections of the first support are rotatablely connected, and described first
The horizontal segment of frame and the horizontal segment of the second support are mutually perpendicular to and are fixed by screw.
3. Amphibious bionic turtle robot according to claim 1, which is characterized in that the vertical section front end of the second support
Extend inwardly to form fixed plate, the two sides of second steering engine are provided with engaging lug, the engaging lug by screw or bolt with
The second support is fixed.
4. Amphibious bionic turtle robot according to claim 1, which is characterized in that first steering engine and the cabin
Connecting pin is provided with fixed ear, and the fixed ear has notched arc-shaped cavity, be provided in the arc-shaped cavity bolt or
Screw is so that first steering engine is fixed with the cabin.
5. Amphibious bionic turtle robot according to claim 1, which is characterized in that the front of the cabin is provided with tortoise
Head, the detection device include laser detector or camera, and the laser detector or camera are set at glans penis.
6. Amphibious bionic turtle robot according to claim 5, which is characterized in that the glans penis front is fixedly connected with
Three steering engines are rotatably connected to head u-bracket, the open end of the head u-bracket and the steering engine on the third steering engine
Steering wheel rotation connection, the open side axis of the head u-bracket is vertically arranged, the laser detector or camera setting
In in the vertical section of the head u-bracket, the third steering engine can drive the laser acquisition by the head u-bracket
Device or camera move on left and right.
7. Amphibious bionic turtle robot according to claim 1, which is characterized in that further include tortoise tail, the tortoise tail passes through
The driving device is set to the rear portion of the cabin, and identical as the driving structure of the four limbs, and the driving device includes
The first steering engine of tail portion, the second steering engine of tail portion first support, tail portion second support and tail portion, first steering engine of tail portion and the tail
The rotation connection of portion's first support, the tail portion first support are fixedly connected with the tail portion second support, second rudder of tail portion
Machine is fixed in the tail portion second support, and the tortoise tail is connect by connector with the steering wheel of second steering engine of tail portion,
The extending direction of the second steering engine of first steering engine of tail portion and the tail portion is mutually perpendicular to, and first steering engine of tail portion passes through described
Tail portion first support drives the tortoise tail to move in the lateral direction, second steering engine of tail portion drive the tortoise tail perpendicular to
The circular motion in plane is done in the direction of motion of the tail portion first support.
8. Amphibious bionic turtle robot according to claim 7, which is characterized in that the turtle shell is arc shell, the fin
Shape foot and the tortoise tail are made of soft material.
9. Amphibious bionic turtle robot according to claim 1, which is characterized in that the detection device further includes that posture passes
Sensor, the attitude detector device are electrically connected with the controller and the attitude data received are transferred in the controller,
To realize control of the controller to turtle robot attitude motion.
10. according to claim 1 or Amphibious bionic turtle robot described in 9, which is characterized in that the controller is also electrically connected with
Power supply module and wireless communication module, the wireless control module are connected with remote controler, and the controller is according to the channel radio
Telecommand received by module is interrogated, the unlatching of the driving device is controlled and is turned to adjust the direction of motion of machine.
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| CN201920025922.6U CN209336974U (en) | 2019-01-08 | 2019-01-08 | Amphibious bionic turtle robot |
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| CN110561997A (en) * | 2019-09-23 | 2019-12-13 | 邵阳学院 | Bionic crocodile robot for detection |
| CN110861759A (en) * | 2019-11-06 | 2020-03-06 | 江苏科技大学 | Multifunctional underwater bionic robot |
| CN111907669A (en) * | 2020-07-08 | 2020-11-10 | 哈尔滨工程大学 | Motion mode switching mechanism and navigation climbing bionic robot applying same |
| CN114056520A (en) * | 2021-12-22 | 2022-02-18 | 华中科技大学 | Self-powered floating type bionic ocean exploration turtle |
| CN114455039A (en) * | 2022-02-25 | 2022-05-10 | 哈尔滨工程大学 | Turtle-like underwater shooting robot |
| CN114506428A (en) * | 2020-11-16 | 2022-05-17 | 江苏科技大学 | Underwater turtle-like robot and control method thereof |
| CN114747525A (en) * | 2022-04-11 | 2022-07-15 | 华南农业大学 | Free-moving feeding bionic turtle |
| CN114834619A (en) * | 2022-05-23 | 2022-08-02 | 北京市文汇中学 | Bionic turtle water quality monitoring robot |
| CN115123502A (en) * | 2022-07-22 | 2022-09-30 | 深圳技术大学 | Turtle fin driving device and bionic turtle |
| CN116353799A (en) * | 2023-06-01 | 2023-06-30 | 山东科技大学 | Deep sea exploration bionic robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561997A (en) * | 2019-09-23 | 2019-12-13 | 邵阳学院 | Bionic crocodile robot for detection |
| CN110561997B (en) * | 2019-09-23 | 2021-04-06 | 邵阳学院 | Bionic crocodile robot for detection |
| CN110861759B (en) * | 2019-11-06 | 2021-06-11 | 江苏科技大学 | Multifunctional underwater bionic robot |
| CN110861759A (en) * | 2019-11-06 | 2020-03-06 | 江苏科技大学 | Multifunctional underwater bionic robot |
| CN111907669B (en) * | 2020-07-08 | 2022-10-25 | 哈尔滨工程大学 | Motion mode switching mechanism and navigation climbing bionic robot applying same |
| CN111907669A (en) * | 2020-07-08 | 2020-11-10 | 哈尔滨工程大学 | Motion mode switching mechanism and navigation climbing bionic robot applying same |
| CN114506428A (en) * | 2020-11-16 | 2022-05-17 | 江苏科技大学 | Underwater turtle-like robot and control method thereof |
| WO2022100557A1 (en) * | 2020-11-16 | 2022-05-19 | 江苏科技大学 | Underwater turtle-like robot and control method thereof |
| CN114056520A (en) * | 2021-12-22 | 2022-02-18 | 华中科技大学 | Self-powered floating type bionic ocean exploration turtle |
| CN114455039A (en) * | 2022-02-25 | 2022-05-10 | 哈尔滨工程大学 | Turtle-like underwater shooting robot |
| CN114747525A (en) * | 2022-04-11 | 2022-07-15 | 华南农业大学 | Free-moving feeding bionic turtle |
| CN114747525B (en) * | 2022-04-11 | 2023-04-18 | 华南农业大学 | Free-moving feeding bionic turtle |
| CN114834619A (en) * | 2022-05-23 | 2022-08-02 | 北京市文汇中学 | Bionic turtle water quality monitoring robot |
| CN115123502A (en) * | 2022-07-22 | 2022-09-30 | 深圳技术大学 | Turtle fin driving device and bionic turtle |
| CN115123502B (en) * | 2022-07-22 | 2023-06-09 | 深圳技术大学 | Turtle fin driving device and bionic turtle |
| CN116353799A (en) * | 2023-06-01 | 2023-06-30 | 山东科技大学 | Deep sea exploration bionic robot |
| CN116353799B (en) * | 2023-06-01 | 2023-08-11 | 山东科技大学 | Deep sea exploration bionic robot |
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