CN210942204U - Bionic robot fish capable of searching underwater - Google Patents
Bionic robot fish capable of searching underwater Download PDFInfo
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- CN210942204U CN210942204U CN201921919679.9U CN201921919679U CN210942204U CN 210942204 U CN210942204 U CN 210942204U CN 201921919679 U CN201921919679 U CN 201921919679U CN 210942204 U CN210942204 U CN 210942204U
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Abstract
The utility model relates to a detection device technical field specifically discloses a bionic machine fish who searches under water, including: the fish head is connected to the one end of fish body including fish head, fish body and tail fin, and the tail fin is connected to the other end of fish body, and the surface of fish head is equipped with the transparent plate, and the inside of fish head is equipped with image collection device, water quality monitoring system, and the inside of fish body is equipped with balancing unit and the sealed cabin that the focus was adjusted, be equipped with controller, battery, attitude sensor, GPS module, steering wheel control panel in the sealed cabin, the rear side of sealed cabin links to each other with the mechanism that moves about, image collection device, water quality monitoring's sensor, attitude sensor and host computer receiving terminal communication are connected, and the host computer control end is connected with the controller communication. This patent has the advantage of organism light and high mobility.
Description
Technical Field
The utility model relates to a submarine detection technology field especially relates to a bionic machine fish who searches under water.
Background
Most of the existing robotic fish are limited by the underwater communication technology, generally have sealed data lines, and are in butt joint with an upper computer and a CPU (central processing unit) of the bionic fish through serial port communication, so that the motion range of the bionic fish is greatly limited. Most of the existing bionic fishes have single function and high manufacturing cost. Many biomimetic fish are used for appreciation. Some toys have low cost but single function, and are only limited to and used as remote control toys for citizens. Many biomimetic robotic fish lack the functions of data acquisition and object finding.
At present, the underwater robot is generally driven by a propeller, so that the underwater robot can move fast. But the artificial fish is installed in the bionic fish, but the aesthetic property of the artificial fish is influenced, and the artificial fish is not suitable for bionic movement.
Most of bionic fish can only be detected in a calmer water area due to the influence of water pressure, noise, water flow and other factors, and can not realize good detection in an environment with large fluctuation, for example, when the bionic fish equipment of the propeller type propulsion mechanism searches for a specific target object underwater in a large range, the problems of water seepage, vibration and inclination to a certain extent due to the fluctuation of water in swimming can occur.
Most of the bionic fishes are powered by the swinging of the tail parts, and the tail fins of many of the bionic fishes are only one section, although the bionic fishes have a multi-section tail fin structure, most of the tail fins have only one degree of freedom in swinging, namely swinging back and forth at a fixed angle position, and floating and diving are not realized by utilizing the tail fins.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a bionic machine fish of searching under water can discern the object of wanting voluntarily, and is unanimous with what the user set up when discerning the object of wanting, will give the user information feedback, when the user starts to seek the thing and track the button, will carry out and track the object. And a series of water quality sensors are used for carrying out a series of detections on the water environment.
In order to solve the problem, the utility model provides a bionic machine fish who searches under water, including: fish head, fish body and tail fin, fish head is connected to the one end of fish body, and the tail fin is connected to the other end of fish body, its characterized in that, including: the surface of the fish head is provided with a transparent plate, an image collecting device and a water quality monitoring system for collecting images are arranged inside the fish head, the position of the image collecting device corresponds to the transparent plate, and a WiFi module is arranged in the camera; a groove and a steering engine fixing groove are formed in the fish head, a columnar groove is formed in the groove, a water quality monitoring system is arranged in the groove, and a PH electrode sensor of the water quality monitoring system is arranged in the columnar groove; the steering engine fixing groove is connected with the pectoral fin in a nested manner; a balancing device and a sealed cabin for adjusting the gravity center are arranged in the fish body, one end of the sealed cabin is connected with the balancing device, and the rear side of the sealed cabin is connected with a moving mechanism; the swimming mechanism is connected with the tail fin;
the balancing device comprises a first steering engine, and first fixing bases are arranged at the front bottom and the rear bottom of the first steering engine respectively; the bottom of the first fixed base is provided with a second fixed base; a first crank and a second crank are respectively arranged on two sides of a first steering engine, one side of the first steering engine is connected with the first crank through a steering wheel, the other side of the first steering engine is connected with the second crank through a fixing piece, the first crank and the second crank are respectively provided with a fixing hole and a first guide rail hole, and a fixing shaft is arranged between the fixing holes; the second fixing base comprises a top plate, a first supporting block and a second supporting block; horizontal guide rails are arranged on two sides of the first supporting block and the second supporting block; a balancing weight is arranged in the second fixed base, and the moving shaft passes through second guide rail holes of the horizontal guide rails on the two sides, the first crank and the first guide rail hole of the second crank and is fixedly connected with the balancing weight; the balancing weight is provided with a groove which is sleeved with a guide rod;
the sealed cabin is internally provided with a controller, a battery, an attitude sensor, a GPS module and a steering engine control panel, and the input end of the controller is connected with the battery, the attitude sensor, the GPS module and a water quality monitoring system; the output end of the controller is connected with the steering engine control panel and the WIFI module, the WIFI module is arranged on the water surface, and the WIFI module is used for communicating with an upper computer; the controller employs STM 32; the steering engine control panel is connected with a first steering engine, a second steering engine, a third steering engine, a fourth steering engine and a fifth steering engine by DuPont wires; a moving mechanism is arranged outside the sealed cabin and comprises a second steering engine, the second steering engine is connected with a first fixing frame, a steering wheel of the second steering engine is connected with one side of a rotating shaft of the rolling bearing, and the first fixing frame is connected with a base of the rolling bearing; the other side of a rotating shaft of the rolling bearing is connected with one side of a second fixed frame, and a third steering engine is connected in the second fixed frame; a rudder disc of the third steering engine and the upper surface of the second fixing frame are connected with two ends of the third fixing frame; a first shaft sleeve is arranged at the connecting position of the upper surface of the second fixing frame and the third fixing frame; first supporting frames are arranged outside two sides of the third fixing frame; the third fixing frame is connected with one side of the fourth fixing frame; a fourth steering engine is connected in the fourth fixed frame; a rudder disc of a fourth steering engine and the upper surface of a fourth fixed frame are connected with two ends of a fifth fixed frame; a second shaft sleeve is arranged at the connecting position of the upper surface of the fourth fixing frame and the fifth fixing frame; a second supporting frame is arranged outside the fifth fixing frame; the fifth fixing frame is connected with the fixing seat of the tail fin.
Preferably, the image collection device comprises a camera and an infrared spot sensor.
Preferably, the water quality monitoring system comprises a pH electrode sensor, a turbidity sensor, an oxygen content sensor and a temperature sensor.
Preferably, the pectoral fin comprises a fifth steering engine, a steering wheel of the fifth steering engine is connected with a swing rod, a support is arranged at the front end of the swing rod, and a baffle is arranged in the support.
Preferably, the number of the pectoral fins is 2, and the pectoral fins are arranged on two sides of the fish body.
Preferably, the fish body is provided with dorsal fins.
Preferably, the sealed cabins are made of organic glass and are connected through an adhesive.
Preferably, the tail fin is made of flexible materials.
Compared with the prior art:
1. aiming at the problem of difficult underwater communication, the characteristic of a zero buoyancy line is utilized, and the problem of underwater remote communication is solved by adopting a communication mode of wired underwater and wireless underwater;
2. the recognition system runs at the upper computer end and is separated from the detection recognition system, so that the running efficiency of the system is effectively improved, and meanwhile, data can be seen more clearly by a user.
2. The swimming mechanism adopts a three-section structure, wherein a steering engine provides torsional force to increase a degree of freedom for the swinging of the tail fin, so that the bionic fish realizes the multidirectional movement of the fish by utilizing the tail fin structure.
4. The bionic fish is internally provided with the attitude sensor, the motion attitude of the fish is fed back to the controller stm32 in real time, and the motion balance of the bionic fish is ensured by controlling the steering engine to control the motion of the fish in different modes.
Drawings
FIG. 1 is a diagram of a bionic robotic fish for underwater search according to an embodiment of the present invention;
FIG. 2 is an internal structural view of a traveling mechanism according to an embodiment of the present invention;
FIG. 3 is an internal structure view of the fish head according to the embodiment of the present invention;
FIG. 4 is an internal structure view of a balancer device according to an embodiment of the present invention;
FIG. 5 is a diagram of the structure of the pectoral fin of the embodiment of the present invention;
in the figure, 1-fish head; 2-fish body; 3-tail fin; 4-a transparent plate; 5-an image collection device; 6-a water quality monitoring system; 7-a balancing device; 8-pectoral fin; 9-sealing the cabin; 10-a traveling mechanism; 11-a WIFI module; 12-dorsal fins;
101-a groove; 102-a steering engine fixing groove; 103-a columnar groove;
501-camera; 502-infrared light spot sensor;
701-a first steering engine; 702-a first stationary base; 703-a second stationary base; 704-a first crank; 705-second crank; 706-a fixing member; 707-fixation holes; 708-a first guide track hole; 709-fixed axis; 710-a top plate; 711-first support block; 712-a second support block; 713-second rail hole; 714-horizontal guide rail; 715-a balancing weight; 716-a movement axis; 717-guide bar; 801-a fifth steering engine; 802-swing link; 803-a scaffold; 804-a baffle;
901-a controller; 902-a battery; 903-attitude sensor; 904-GPS module; 905-a steering engine control panel;
1001-second steering engine; 1002-a first mount; 1003-rolling bearing; 1004-rotating shaft; 1005-a base; 1006-a third steering engine; 1007-a second mount; 1008-a third mount; 1009-first sleeve; 1010-a first support frame; 1011-a fourth fixing frame; 1012-a fourth steering engine; 1013-fifth fixing frame; 1014-a second bushing; 1015-a second support; 1016-fixed seat.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and simplification of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
With reference to fig. 1, schematically showing a bionic robot fish for underwater search according to an embodiment of the present invention, including: fish head 1, fish body 2 and tail fin 3, fish head 1 is connected to the one end of fish body 2, and tail fin 3 is connected to the other end of fish body 2, fish body 2 is equipped with dorsal fin 12 for reduce the resistance of bionic fish in aqueous, the utility model discloses a shape designs according to the appearance of fish, the utility model discloses the mode of moving about that can imitate fish moves, has perfect fluid performance and high disguise ability. Comprises the following steps: the surface of fish head 1 is equipped with transparent plate 4, and transparent plate 4 not only can avoid water logging image collection device 5, is favorable to image collection device 5 to search and discern external environment moreover, and the inside of fish head 1 is equipped with image collection device 5, water quality monitoring system 6 that are used for collecting the image, image collection device 5 includes camera 501 and infrared spot sensor 502, and its position is corresponding with transparent plate 4, and when the target object was caught to infrared spot sensor 502 module, infrared spot sensor 502 can scan the target object repeatedly, and camera 501 then can shoot the target object, is equipped with the wiFi module in the camera 501, uploads the host computer of researcher control with the image that camera 501 was shot. Referring to fig. 3 and 5, a groove 101 and a steering engine fixing groove 102 are formed in the fish head 1, the groove 101 is used for placing the water quality monitoring system 6, and the steering engine fixing groove 102 is used for fixing the fish head 1 and the fish body 2. A columnar groove 103 is arranged in the groove 101, and the water quality monitoring system 6 comprises a PH electrode sensor, a turbidity sensor, an oxygen content sensor and a temperature sensor and is used for monitoring the PH value, turbidity, oxygen content and temperature of water; the PH electrode sensor of the water quality monitoring system 6 is arranged in the columnar groove 103 and placed by fully utilizing the shape of the fish head 1; the steering engine fixing groove 102 is connected with the pectoral fin 8 in a nested manner; the pectoral fins 8 are arranged at two sides of the fish body 2 in number of 2. The pectoral fin 8 comprises a fifth steering engine 801, a steering wheel of the fifth steering engine 801 is connected with a swing rod 802, a front section support 803 of the swing rod 802, a baffle 804 is arranged in the support 803, and the fifth steering engine 801 rotates to enable the swing rod 802 to drive the support 803 to generate backward acting force through the baffle 804 so as to provide power for the bionic fish; when the acting force of the pectoral fin 8 on one side is larger than that of the pectoral fin 8 on the other side, the movement of steering is realized.
A balancing device 7 for adjusting the gravity center and a sealed cabin 9 for sealing the electronic components and the battery 902 are arranged in the fish body 2, one end of the sealed cabin 9 is connected with the balancing device 7, and the other end of the sealed cabin 9 is provided with a moving mechanism 10; the traveling mechanism 10 is connected to the tail fin 3.
As shown in fig. 4, the balancing device 7 includes a first steering engine 701, and first fixing bases 702 are respectively disposed at front and rear bottoms of the first steering engine 701; the bottom of the first fixed base 702 is provided with a second fixed base 703; a first crank 704 and a second crank 705 are respectively arranged on two sides of a first steering engine 701, one side of the first steering engine 701 is connected with the first crank 704 through a steering wheel, the other side of the first steering engine 701 is connected with the second crank 705 through a fixing piece 706, the first crank 704 and the second crank 705 are respectively provided with a fixing hole 707 and a first guide rail hole 708, and a fixing shaft 709 is arranged between the fixing holes 707; the second fixing base 703 includes a top plate 710, a first supporting block 711, a second supporting block 712, and a bottom plate 713; horizontal guide rails 714 are arranged on two sides of the first supporting block 711 and the second supporting block 712; a counterweight block 715 is arranged in the second fixed base 703, and a moving shaft 716 passes through second guide rail holes 713 of the horizontal guide rails 714 on two sides, the first guide rail holes 708 of the first crank 704 and the second crank 705 and is fixedly connected with the counterweight block 715; the counterweight block 715 is provided with a groove which is sleeved with a guide rod 717; when the first steering engine 701 rotates, the counterweight block 715 moves back and forth under the action of the horizontal guide rod 717, so that the position of the center of gravity is changed. A controller 901, a battery 902, an attitude sensor 903, a GPS module 904, a steering engine control panel 905 and a moving mechanism 10 are arranged in the sealed cabin 9, wherein the controller 901 adopts an STM32 and is used for managing and controlling other working modules; the input end of the controller 901 is connected with the battery 902, the attitude sensor 903, the GPS module 904 and the water quality monitoring system 6; the output end of the controller 901 is connected with the steering engine control panel 905 and the WIFI module 11. The attitude sensor 903 facilitates the user to determine that the bionic fish is moving smoothly in the water flow; the GPS module 904 is a Beidou module, and the GPS module 904 can enable a user to plan the travelling route and positioning of the utility model; the WIFI module 11 is arranged on the water surface, and the WIFI module 11 is used for communicating with an upper computer; the steering engine control board 905 is connected with a first steering engine 701, a second steering engine 1001, a third steering engine 1006, a fourth steering engine 1012 and a fifth steering engine 801 by DuPont wires, and the steering engine control board 905 can control the turning-on or turning-off of the steering engines; the sealed cabins 9 are made of organic glass, and the sealed cabins 9 are connected through an adhesive to prevent water from entering the cabins.
Referring to fig. 2, a moving mechanism 10 is arranged outside the sealed cabin 9, the moving mechanism 10 includes a second steering engine 1001, the second steering engine 1001 is connected with a first fixing frame 1002, a rudder disc of the second steering engine 1001 is connected with one side of a rotating shaft 1004 of a rolling bearing 1003, and the first fixing frame 1002 is connected with a base 1005 of the rolling bearing 1003; the other side of a rotating shaft 1004 of the rolling bearing 1003 is connected with one side of a second fixing frame 1007, and a third steering engine 1006 is connected in the second fixing frame 1007; the rudder disc of the third steering engine 1006 and the upper surface of the second fixing frame 1007 are connected with two ends of the third fixing frame 1008; a first shaft sleeve 1009 is arranged at the connecting position of the upper surface of the second fixing frame 1007 and the third fixing frame 1008; a first support frame 1010 is arranged outside two sides of the third fixing frame 1008; the third fixing frame 1008 is connected with one side of the fourth fixing frame 1011; a fourth steering engine 1012 is connected in the fourth fixed frame 1011; the upper surfaces of a rudder disc of a fourth steering engine 1012 and a fourth fixing frame 1011 are connected with two ends of a fifth fixing frame 1013; a second shaft sleeve 1014 is arranged at the connecting position of the upper surface of the fourth fixing frame 1011 and the fifth fixing frame 1013; the steering wheel of the second steering engine 1001 drives the rotating shaft 1004 of the rolling bearing 1003 to rotate 180 degrees, the third steering engine 1012 and the fourth steering engine 1012 swing upwards, the swing angle of the third steering engine 1006 is larger than that of the fourth steering engine 1012, so that the bionic fish dives, and when the third steering engine 1012 and the fourth steering engine 1012 swing downwards, the bionic fish floats upwards; a second supporting frame 1015 is arranged outside the fifth fixing frame 1013; fifth fixing frame 1013 is connected with fixing base 1016 of tail fin 3, and second steering wheel 1001 provides gyration power for the axis of rotation 1004 of antifriction bearing 1003 for tail fin 3 rotates, and third steering wheel 1006, fourth steering wheel 1012 drive provide the wobbling power of tail fin 3, make bionical fish can realize multi-directional free motion in space, tail fin 3 adopts flexible material, and flexible material is used for better utilizing rivers to produce the effort, can produce the deformation when because flexible material produces the effort, fixing base 1016 is used for preventing that the fish tail shell warp too big.
The utility model relates to a bionic machine fish's that searches under water theory of operation: after the camera 501 created by the System is started through Aforge, the WIFI module transmits the video to the upper computer, and the user identification success is fed back when the similarity reaches an expected value; after selecting the object, the host computer feeds back position information to WIFI module 11, and STM32 controller 901 is fed back to WIFI module 11, and control steering wheel control panel 905 drive steering wheel makes bionical fish be close to and detects the target motion, and attitude sensor 903 in the sealed cabin 9 is convenient for the user to confirm that bionical fish moves steadily in rivers, when violent rivers impact bionical fish and lead to the current motion gesture to change, STM32 controller 901 will give an instruction to steering wheel control panel 905, and steering wheel control panel 905 can make the utility model discloses leave current position rapidly, infrared light spot sensor 502 can discern environment all around, realizes the function of automatic obstacle avoidance, has greatly improved the utility model discloses flexible when moving.
The bionic fish carries various water quality monitoring systems 6, including an oxygen content sensor, a temperature sensor, a PH sensor and a turbidity sensor. Reading the ad value of the STM32 controller 901, and transmitting data to the WIFI module 11 by the STM32 controller 901 for transmission to an upper computer.
It should be understood that the terms "first," "second," "third," "fourth," "fifth," etc. are used herein to describe various information and that such information should not be limited to these terms, which are used only to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.
Claims (8)
1. The utility model provides a bionic machine fish who searches under water, including fish head (1), fish body (2) and tail fin (3), fish head (1) is connected to the one end of fish body (2), and tail fin (3) are connected to the other end of fish body (2), its characterized in that, including: the surface of the fish head (1) is provided with a transparent plate (4), an image collecting device (5) and a water quality monitoring system (6) are arranged inside the fish head (1), the position of the image collecting device (5) corresponds to the transparent plate (4), and a WiFi module is arranged in the camera (501); a groove (101) and a steering engine fixing groove (102) are formed in the fish head (1), a columnar groove (103) is formed in the groove (101), and a water quality monitoring system (6) is arranged in the groove (101); the steering engine fixing groove (102) is connected with the pectoral fin (8) in a nested manner;
a balancing device (7) and a sealed cabin (9) are arranged inside the fish body (2), one end of the sealed cabin (9) is connected with the balancing device (7), and the other end of the sealed cabin (9) is provided with a moving mechanism (10); the swimming mechanism (10) is connected with the tail fin (3);
the balancing device (7) comprises a first steering engine (701), and first fixed bases (702) are respectively arranged at the front bottom and the rear bottom of the first steering engine (701); a second fixed base (703) is arranged at the bottom of the first fixed base (702); a first crank (704) and a second crank (705) are respectively arranged on two sides of a first steering engine (701), one side of the first steering engine (701) is connected with the first crank (704) through a steering wheel, the other side of the first steering engine (701) is connected with the second crank (705) through a fixing piece (706), the first crank (704) and the second crank (705) are respectively provided with a fixing hole (707) and a first guide rail hole (708), and a fixing shaft (709) is arranged between the fixing holes (707); the second fixing base comprises a top plate (710), a first supporting block (711) and a second supporting block (712); horizontal guide rails (714) are arranged on two sides of the first supporting block (711) and the second supporting block (712); a balancing weight (715) is arranged in the second fixed base, and the movable shaft (716) passes through second guide rail holes (713) of the horizontal guide rails (714) on the two sides, the first crank (704) and the first guide rail hole (708) of the second crank (705) and is fixedly connected with the balancing weight (715); the counterweight block (715) is provided with a groove which is sleeved with a guide rod (717);
a controller (901), a battery (902), an attitude sensor (903), a GPS module (904) and a steering engine control plate (905) are arranged in the sealed cabin (9), and the input end of the controller (901) is connected with the battery (902), the attitude sensor (903), the GPS module (904) and the water quality monitoring system (6); the output end of the controller (901) is connected with a steering engine control panel (905) and a WIFI module (11), the WIFI module (11) is arranged on the water surface, a moving mechanism (10) is arranged outside the sealed cabin (9), the moving mechanism (10) comprises a second steering engine (1001), the second steering engine (1001) is connected with a first fixing frame (1002), a steering wheel of the second steering engine (1001) is connected with one side of a rotating shaft (1004) of a rolling bearing (1003), and the first fixing frame (1002) is connected with a base (1005) of the rolling bearing (1003); the other side of a rotating shaft (1004) of the rolling bearing (1003) is connected with one side of a second fixing frame (1007), and a third steering engine (1006) is connected in the second fixing frame (1007); the rudder disc of the third steering engine (1006) and the upper surface of the second fixing frame (1007) are connected with the two ends of the third fixing frame (1008); a first shaft sleeve (1009) is arranged at the connecting position of the upper surface of the second fixing frame (1007) and the third fixing frame (1008); first supporting frames (1010) are arranged outside two sides of the third fixing frame (1008); the third fixing frame (1008) is connected with one side of the fourth fixing frame (1011); a fourth steering engine (1012) is connected in the fourth fixed frame (1011); the rudder disc of the fourth steering engine (1012) and the upper surface of the fourth fixing frame (1011) are connected with the two ends of the fifth fixing frame (1013); a second shaft sleeve (1014) is arranged at the connecting position of the upper surface of the fourth fixing frame (1011) and the fifth fixing frame (1013); a second supporting frame (1015) is arranged outside the fifth fixing frame (1013); the fifth fixing frame (1013) is connected with the fixing seat (1016) of the tail fin (3).
2. An underwater searching biomimetic robotic fish as claimed in claim 1, characterized in that the image collection device (5) comprises a camera (501) and an infrared spot sensor (502).
3. The underwater searching bionic robotic fish as claimed in claim 2, wherein the water quality monitoring system (6) comprises a PH electrode sensor, a turbidity sensor, an oxygen content sensor and a temperature sensor.
4. The underwater searching bionic robotic fish as claimed in claim 3, wherein the pectoral fin (8) comprises a fifth steering engine (801), a rudder disc of the fifth steering engine (801) is connected with a swing rod (802), a bracket (803) is arranged at the front end of the swing rod (802), and a baffle (804) is arranged in the bracket (803).
5. An underwater searching bionic robotic fish as claimed in claim 4, characterized in that there are 2 pectoral fins (8) arranged on both sides of the fish body (2).
6. An underwater searching biomimetic robotic fish according to claim 5, characterized in that the fish body (2) is provided with dorsal fins (12).
7. The underwater searching bionic robotic fish of claim 6, wherein the sealed cabins (9) are made of organic glass, and the sealed cabins (9) are connected with each other through an adhesive.
8. An underwater searching bionic robotic fish according to claim 7, characterized in that the tail fin (3) is made of flexible material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201921919679.9U CN210942204U (en) | 2019-11-08 | 2019-11-08 | Bionic robot fish capable of searching underwater |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921919679.9U CN210942204U (en) | 2019-11-08 | 2019-11-08 | Bionic robot fish capable of searching underwater |
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| CN210942204U true CN210942204U (en) | 2020-07-07 |
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| CN201921919679.9U Expired - Fee Related CN210942204U (en) | 2019-11-08 | 2019-11-08 | Bionic robot fish capable of searching underwater |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775229A (en) * | 2019-12-03 | 2020-02-11 | 上海海洋大学 | Multifunctional bionic tuna and control method thereof |
| CN112109085A (en) * | 2020-08-31 | 2020-12-22 | 浙江理工大学 | CPG network topology structure control method of humanoid beaver robot |
| CN112224368A (en) * | 2020-10-29 | 2021-01-15 | 西湖大学 | Gravity center adjusting mechanism for underwater vehicle and vehicle applying same |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
-
2019
- 2019-11-08 CN CN201921919679.9U patent/CN210942204U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775229A (en) * | 2019-12-03 | 2020-02-11 | 上海海洋大学 | Multifunctional bionic tuna and control method thereof |
| CN112109085A (en) * | 2020-08-31 | 2020-12-22 | 浙江理工大学 | CPG network topology structure control method of humanoid beaver robot |
| CN112224368A (en) * | 2020-10-29 | 2021-01-15 | 西湖大学 | Gravity center adjusting mechanism for underwater vehicle and vehicle applying same |
| CN112224368B (en) * | 2020-10-29 | 2022-02-22 | 西湖大学 | Gravity center adjusting mechanism for underwater vehicle and vehicle applying same |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
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