KR20210028896A - Fish robot - Google Patents

Abstract

The present invention provides a fish robot in which an outer shell is attached to an outer surface of an external frame in order to prevent the external frame for each module of the fish robot from coming into direct contact with water. According to the present invention, the provided fish robot comprises a main body module and one or more joint modules continuously coupled to the rear of the main body module to be rotatable left and right independently of each other. Each module includes an external frame, but an outer shell is attached to an outer surface of the external frame. The outer shell includes an outer shell plate spaced apart from the outer surface of the external frame through a fixing member, and reinforcing bars installed on the upper inner side and lower inner side of the outer shell plate, respectively.

Description

Fish robot

The present invention relates to a fish robot, and more particularly, to a fish robot having a shell installed on the outer surface of the outer frame of the fish robot.

In the conventional fish-shaped underwater robot (hereinafter referred to as a fish robot), it has been designed with priority on functional aspects without considering waterproofing, detachment, etc. according to the mechanical design and the limited structure of the frame.

Accordingly, when a problem occurs in the waterproofing treatment of the frame of the fish robot and becomes flooded inside, problems such as circuit malfunction, power short circuit, and internal corrosion occur.

In order to solve these problems, it is not possible to simply miniaturize and modularize circuits, but a design method optimized for the frame shape and waterproofing of the fish robot is required.

Prior Art 1: Korean Patent Application Publication No. 10-2010-0087500 (robot shell) Prior Art 2: Korean Patent Laid-Open Patent No. 10-2017-0143140 (Fish robot with adjustable weight) Prior Art 3: Korean Patent Registration No. 10-1329064 (gas-filled fish robot)

The present invention has been proposed in order to solve the above-described problems in the related art, and an object of the present invention is to provide a fish robot in which a shell is attached to the outer surface of the outer frame in order to reduce the deformation stress of the outer frame for each module of the fish robot.

In order to achieve the above object, the fish robot of the present invention,

In the fish robot,

On the outer frame forming the outer surface of the body of the fish robot, an outer shell made of an elastic material is installed to be spaced apart from the outer surface of the outer frame, and the outer shell is divided into a plurality of shell plates, and the inner surface of the edge of each shell plate A reinforcing bar is attached to only a part of the reinforcement bar, and it is fixedly attached to the outer frame through the reinforcement bar.

In addition, reinforcing bars are attached to correspond to each other on the upper inner surface of the shell plate and a portion of the lower inner surface, and only the reinforcing bars attached to the upper inner surface are fixed to the outer frame, and the reinforcing bars attached to the lower inner surface are It can be configured so that it is not fixed to the outer frame and is movably contacted.

In addition, by installing the fixed reinforcing bar vertically in the direction of the fish head, it may be configured so as not to interfere with the flow of water during the forward movement.

In addition, both ends are fixedly installed between the center inner surface of each of the skin plates and the outer frame, and a fixing member made of an elastic material for buffering external impacts while separating the skin plate from the outer frame is further included.

A specific fish robot according to an embodiment of the present invention is a fish robot comprising a main body module and at least one joint module continuously coupled to each other so as to be rotated left and right independently of the rear portion of the main body module, each of the modules Includes an outer frame, the outer shell is attached to the outer surface of the outer frame, the outer shell is a shell plate spaced apart from the outer surface of the outer frame through a fixing member, and an upper inner surface and a lower inner surface of the shell plate Includes reinforcement bars installed on each side.

One side of each of the reinforcing bars may be fixedly installed on an opposite inner surface of the skin plate, and the other side of each of the reinforcing bars may abut against an opposite outer surface of the outer frame.

A pretreatment layer is formed on the outer surface of the skin plate, and the film coating layer may be thermally bonded to the outer surface of the skin plate through the pretreatment layer.

Among the reinforcement bars installed on the upper inner side and the lower inner side of the outer frame, one side of the outer frame is fixedly installed on the opposite inner side of the outer frame, and the other side of the outer frame is opposite to the outer side of the outer frame. It can be fixedly installed on the side.

The outer frame includes an inner frame in which a front plate, a rear plate, an upper plate, and a lower plate are integrally formed, and the inner frame has left and right sides open, and an inner component may be mounted on the inner frame.

In the inner frame of the main body module, a battery is mounted horizontally on an upper surface of the lower plate, a battery board is horizontally mounted between the battery and the upper plate, and a control board and a communication board are provided on the upper surface of the upper plate. It can be mounted horizontally.

The skin plate may be made of an elastic material.

The shell plate may block outwardly with respect to the outer surface of the outer frame.

According to the present invention having such a configuration, it is possible to reduce the deformation stress of the outer frame by attaching the outer skin to the outer surface of the outer frame of the main body module and one or more joint modules constituting the fish robot.

Therefore, it is possible to reduce the deformation stress caused by the contraction of the outer frame due to drying during expansion and filling of the outer frame due to absorption in water, thereby preventing the occurrence of gaps, cracks, and assembly loosening due to shape deformation, warping, etc. to prevent leakage. Prevents it.

In addition, when the fish robot moves with other objects, the outer shell mitigates the impact, reducing the impact applied to the outer frame, and improving the safety of the parts inside the outer frame.

1 is a view showing a side of a fish robot to which the present invention is applied.
FIG. 2 is a view for explaining the inside of the fish robot shown in FIG. 1.
3 is a diagram for explaining the inner frame shown in FIG. 2.
FIG. 4 is a view for explaining a process of transmitting a force when an external shock is applied to the outer frame of the fish robot shown in FIG. 1 in a state in which the outer shell is not present.
5 is a view for explaining the expansion direction of the outer frame as the outer frame of the fish robot shown in FIG. 1 absorbs moisture in a state in which there is no outer shell.
FIG. 6 is a view for explaining a contraction direction of the outer frame as moisture in the outer frame of the fish robot shown in FIG. 1 evaporates in a state without an outer shell.
7 is a diagram for explaining the basic concept of a fish robot according to an embodiment of the present invention.
8 is a view for explaining the outer shell of the fish robot according to an embodiment of the present invention.
9 is a view for explaining the surface structure of the shell shown in FIG.

In the present invention, various modifications may be made and various embodiments may be provided, and specific embodiments will be illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.

Unless otherwise defined, all terms including technical or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in the present application. Does not.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In describing the present invention, in order to facilitate an overall understanding, the same reference numerals are used for the same elements in the drawings, and duplicate descriptions for the same elements are omitted.

1 is a view showing a side of a fish robot to which the present invention is applied, FIG. 2 is a view for explaining the interior of the fish robot shown in FIG. 1, and FIG. 3 is a diagram for explaining the inner frame shown in FIG. It is a drawing.

As illustrated in FIG. 1, the fish robot to which the present invention is applied is a robot that dives or floats in a fish shape underwater and performs a sinusoidal swimming motion.

The fish robot of FIG. 1 includes a main body part 100, a first joint part 200, and a second joint part 300.

The main body part 100, the first joint part 200, and the second joint part 300 are each modularized, and the first joint part 200 and the second joint part 300 are continuously coupled to the main body part 100. Can be.

The main body portion 100 is formed on the head side, and may include a sensor unit, a power supply unit, and a control unit.

The main body portion 100 may further include a bladder portion that controls the generation or reduction of buoyancy to adjust the buoyancy.

The first joint part 200 and the second joint part 300 may be provided with one or more driving motors and a rotation shaft thereof that control rotational force to enable the swimming motion of the fish robot, and are continuously fastened with the main body part 100. After that, the tail is combined to represent the overall body shape of the fish robot.

Particularly, each joint part 200 and 300 is provided with a rotating part fixed to be rotatable, and the rotating part is fastened to the driving motor to move under various conditions such as high speed or low speed, large angle, or small angle according to the rotation of the driving motor.

To this end, the first joint portion 200 is rotatably fastened by a separate rotatable connection member with the main body portion 100, and may be rotatably coupled to the left and right. Of course, the first joint portion 200 may be separated from the main body portion 100 by separating the connection member.

In addition, the second joint portion 300 is rotatably fastened by a separate rotatable connecting member with the first joint portion 200, is coupled to be rotatable left and right, but is connected to the rear side of the first joint portion 200 to be connected to the first joint portion It can rotate independently of (200). Of course, the second joint portion 300 may also be fastened to enable separation.

A tail may be connected to the rear end of the second joint part 300, and the tail part provides a left and right flexible motion by finally receiving rotational force by driving of the first joint part 200 and the second joint part 300, and accordingly Allows the robot to move through the water.

Thus, the tail can be made of flexible plastic, and an appropriate alternative material can be used if necessary.

The above-described main body portion 100, the first joint portion 200, and the second joint portion 300, as illustrated in FIGS. 2 and 3, respectively, the inner frame 20 on which the inner part 30 is mounted; And an outer frame 10 that safely protects the inner parts mounted on the inner frame 20 from water and serves as a skeleton as a main frame.

2 and 3 are views for explaining the interior of the main body portion 100, and the internal parts 30 mounted on the inner frame 20 of the main body portion 100 include a control board and a communication board 31 ), a battery board 32, a battery 33, and a sensor.

Meanwhile, internal parts mounted on the inner frame of the first joint part 200 and the second joint part 300 may be a rotating part, a driving motor, and a rotating shaft.

The outer frame 10 has a curved structure suitable for each part in order to shape the shape of a fish, and is fixed to the side of the inner frame 20 with a fixing member 40 (screw or fixing pin).

The outer frame 10 must maintain a completely waterproof structure.

The material of the outer frame 10 is made of ABS (acrylonitrile butadiene styrene) resin, so it has excellent impact resistance, weather resistance, and excellent injection moldability.

The outer frame 10 is attached to the outside of the inner frame 20. Here, the inner frame 20 may be injection molded of ABS (acrylonitrile butadiene styrene) resin.

In particular, the inner frame 20 has a structure in which four plates (a front plate 20a, a rear plate 20b, an upper plate 20c, and a lower plate 20d) are integrally formed by injection. In the embodiment of the present invention, the inner frame 20 is a structure without a left side plate and a right side plate. In other words, it may be understood that the left and right sides of the inner frame 20 are completely open.

The front plate 20a is relatively positioned toward the head, the rear plate 20b is positioned relatively toward the tail, the upper plate 20c is relatively positioned toward the dorsal fin, and the lower plate 20d is relatively It can be seen that it is located toward the ventral fin.

For example, the battery 33 is mounted horizontally on the upper surface of the lower plate 20d of the inner frame 20 of the main body 100, and between the battery 33 and the upper plate 20c, a battery board ( 32) may be mounted horizontally, and the control board and the communication board 31 may be mounted horizontally on the upper surface of the upper plate 20c.

In the embodiment of the present invention, the left and right sides of the inner frame 20 are completely opened, and four plates (front plate 20a, rear plate 20b, top plate 20c, bottom plate 20d) When explaining the reason for integrally formed as follows.

The reason for preventing the front and rear of the inner frame 20 and opening the left and right is to solve the problem caused by the impact applied to the outer frame 10, and the inner parts 30 can be easily mounted in the left and right sides, so assembly This is to provide ease of use.

For example, in the case of a battery (which serves as a weight), it is more convenient to assemble from the left and right sides than to assemble in the vertical direction because it is usually moved back and forth by a linear gear. In addition, in the case of the motor shaft, since it is installed in the vertical direction, the integrated injection molding structure with the top and bottom is blocked is more stable than the structure where the top surface is open.

In other words, in the case of the inner frame with only the upper surface open (i.e., the structure in which the front, rear, left, right, and bottom surfaces are blocked), if the outer frame collides with an external obstacle, the impact is unchanged without a buffering action. It passes through the corresponding side of the inner frame to the inner part. In this way, if the impact impact is repeatedly applied to the left and right sides of the inner frame without a buffering action, the tightening at the joint is loosened or fatigue cracks occur, causing flooding and causing poor movement of the fish robot.

In the end, in the case of using an inner frame with only the top surface open and front/rear/left/right/bottom blocked, external shocks to the left and right sides are applied directly to the left or right side of the inner frame without any buffering action, thereby impacting the parts inside the inner frame. It is delivered as it is. As a result, the stability and durability of the internal parts are deteriorated.

However, as in the embodiment of the present invention, the left and right sides are completely opened, and four plates (the front plate 20a, the rear plate 20b, the upper plate 20c, and the lower plate 20d) are integrated. When the formed inner frame 20 is used, the left and right sides are opened so that external shocks to the left and right sides are not transmitted to the inner frame 20 so that the inner parts can be safely protected.

That is, the left and right sides of the inner frame 20 are completely opened, and four plates (front plate 20a, rear plate 20b, top plate 20c, bottom plate 20d) are integrally formed. If so, it is possible to maintain high stability in dimensional deformation, warping, and cracking in the longitudinal direction of the fish robot.

In addition, in an embodiment of the present invention, the outer surface of the outer frame 10 is prevented from directly contacting water by attaching a shell to the outer side of the outer frame 10.

In the structure of attaching the shell to the fish robot of the present invention, in the fish robot, a shell made of an elastic material is installed on an outer frame forming an outer surface of the body of the fish robot to be spaced apart from the outer surface of the outer frame. The shell is divided into a plurality of shell plates, and a reinforcing bar is attached to only a part of an inner surface of an edge of each of the outer shell plates, and the reinforcing bar is fixedly attached to the outer frame through the reinforcing bar.

This is characterized in that a shell for absorbing external shock is further attached to the outer surface of the outer frame forming the outer surface of the existing fish robot.

The outer shell is to attach a shell plate divided into appropriate sizes according to the shape or position of the fish robot's body, and a reinforcement bar is inserted at one end to be fixed to the outer frame, and the other edge is installed in a state separated from the outer frame.

As a result, when an external shock is applied, the shell plate is pressed and the shock can be alleviated. Although not illustrated in the embodiments of the present invention, the outer skin plate is installed in the shape of a fish scale so that only one end is fixed to mitigate external impact.

In addition, reinforcing bars are attached to correspond to each other on the upper inner surface of the shell plate and a portion of the lower inner surface, and only the reinforcing bars attached to the upper inner surface are fixed to the outer frame, and the reinforcing bars attached to the lower inner surface are It can be configured so that it is not fixed to the outer frame and is movably contacted.

It is fixed on one side and separated on one side and provided in close contact, so that the separated edge moves in case of an external impact and absorbs the impact.

In addition, by installing the fixed reinforcing bar vertically in the direction of the fish head, it may be configured so as not to interfere with the flow of water during the forward movement.

In addition, both ends are fixedly installed between the center inner surface of each of the skin plates and the outer frame, and a fixing member made of an elastic material for buffering external impacts while separating the skin plate from the outer frame is further included. That is, when the outer skin plate is formed to be large, the middle portion is supported and fixed with an elastic member.

A specific embodiment of the shell configuration as described above will be described in detail with reference to the accompanying drawings.

4 to 6 below are diagrams for explaining the necessity of an outer shell, and FIG. 4 illustrates a force transmission process according to an external impact applied to the outer frame of the fish robot shown in FIG. 1 in the absence of the outer shell. 5 is a view for explaining the expansion direction of the outer frame as the outer frame of the fish robot shown in FIG. 1 absorbs moisture in a state without an outer shell, and FIG. 6 is a view in a state without an outer shell. It is a diagram for explaining the contraction direction of the outer frame as moisture in the outer frame of the fish robot shown in FIG. 1 is evaporated.

First, as illustrated in FIG. 4, when a predetermined impact force is applied to the outer portion of the outer frame 10, the impact force is transmitted to the edge of the outer frame 10 and is connected to the inner frame 20. It is concentrated on the part (40; for example, screws, etc.). If the collision is repeated continuously, the impact force is intensively applied to the portion where the fixing member 40 is located, causing distortion, screw loosening, and cracking around the weaknesses around the fixing member 40.

In addition, when the fish robot is in water, the outer frame 10 absorbs moisture as illustrated in FIG. 5. As a result, the outer frame 10 expands and tension is concentrated on the fixing member 40 at the edge.

Conversely, since the fish robot is outside the water during charging, the absorbed moisture is evaporated as the outer frame 10 dries as illustrated in FIG. 6. Due to this, the outer frame 10 contracts toward the center. This also serves to increase the tension around the fixing member 40 at the edge.

When the expansion and contraction of the outer frame 10 described above are continuously repeated, tension continues and stress is accumulated around the fixing member 40. Eventually, this stress causes deformation around the fixing member 40 and causes cracking.

Accordingly, in the embodiment of the present invention, as shown in FIG. 7, by attaching the outer skins 50a, 50b, 50c to the outer surface of the outer frame 10, the outer frame 10 expands due to water damage and shrinkage due to drying. By minimizing deformation, it is possible to reduce bottle-type stress.

However, in the embodiment of the present invention, only one reinforcing rod of the shell plate is fixed to the outer frame, and the other reinforcing rod is configured to maintain close contact with the outer frame, and the outer plate has a structure in which the outer frame cannot be sealed in a watertight structure. However, since the shell plate is attached to cover the outer frame, when the outer frame absorbs water and then dries out of the water, a uniform drying effect can be obtained because the shell plate covers it, and deformation can be prevented. In other words, when drying wood, drying it in the shade can prevent distortion and deformation. Therefore, there is an effect of reducing water absorption of the outer frame and deformation stress generated during drying.

7 is a view for explaining the basic concept of a fish robot according to an embodiment of the present invention.

In the embodiment of the present invention, as illustrated in FIG. 7, the outer shells 50a, 50b, and 50c are attached to the outer surface of the outer frame 10. In FIG. 7, the left outer frame 10a, the right outer frame 10b, the lower outer frame 10c, and the upper outer frame 10d may be collectively referred to as the outer frame 10.

Therefore, it is possible to minimize the expansion of the outer frame 10 due to absorption in water and the shrinkage of the outer frame 10 due to drying during filling, thereby preventing the occurrence of gaps, cracks, and assembly loosening due to shape deformation, warping, etc. It prevents leakage.

In addition, when the fish robot moves with other objects, the outer shells 50a, 50b, and 50c mitigate the shock, thereby reducing the transmission of the shock to the outer frame 10, thereby improving the safety of the internal parts.

8 is a view for explaining the outer shell of the fish robot according to an embodiment of the present invention, FIG. 9 is a view for explaining the surface structure of the outer shell shown in FIG.

In FIG. 7 described above, the outer skin is represented by three divided outer skins 50a, 50b, and 50c, but the outer skin in FIGS. 8 and 9 may also be any one of the divided outer skins 50a, 50b, and 50c of FIG. 7. .

The shell for a fish robot according to an embodiment of the present invention is convexly attached to the outer surface of the outer frame 10 (for example, 10b) through a fixing member 60 such as a fixing pin, as shown in FIG. 8.

That is, the outer shell is the outer shell plate 50 spaced apart from the outer surface of the outer frame 10 by a predetermined distance through the fixing member 60, and the reinforcing bars installed on the upper inner and lower inner surfaces of the outer frame 50, respectively. Includes (70).

The shell plate 50 is made of an elastic material, and is formed to be convex outward with respect to the outer surface of the outer frame 10.

Here, one side of the reinforcing bar 70 is fixedly installed on one side (ie, the inner side) of the opposite outer shell plate 50, and the other side of the reinforcing bar 70 is an outer surface of the opposite outer frame 10 Adheres to. In other words, one side of the reinforcing bar 70 facing the upper inner surface or the lower inner surface of the outer frame 50 is fixedly installed on the upper inner side or the lower inner side of the opposite outer frame 50 The other side surface of the reinforcing bar 70 opposite to the outer surface of (10) is in close contact with the outer surface of the opposite outer frame (10).

The above-described close contact does not mean that the other side of the reinforcement 70 is fixedly attached to the outer surface of the outer frame 10. In the above-described close contact, when a predetermined impact is applied to the skin plate 50, the skin plate 50 reacts elastically so that the reinforcing rod 70 slides outward while in contact with the outer surface of the outer frame 10, and the impact is reduced. When it disappears, it means a contact that can be restored to its original position.

In other words, the reinforcing rod 70 serves to maintain the shape of the fish convex outside of the outer frame 10 by the outer shell plate 50 and the elasticity of the outer shell plate 50 when fixed with the fixing member 60 It can be seen that it plays a role of partially in close contact with the outer frame 10.

If necessary, any one side of the reinforcing bars 70 installed on the upper inner surface and the lower inner surface of the outer shell plate 50, respectively, is fixed to one side (that is, the inner side) of the opposite outer shell plate 50 It is installed, and any one of the other side may be fixedly installed on the outer surface of the opposite outer frame 10. In this case, the other one side is fixedly installed on one side (that is, the inner side) of the opposite shell plate 50, and the other side is in close contact with the outer side of the opposite outer frame 10 . The close contact here has the same meaning as the close contact described above.

The shell plate 50 has elasticity enough to alleviate the shock when the fish robot collides with an external object, and prevents the shock from being transmitted to the outer frame 10 as it is.

In addition, since the reinforcing bar 70 is in close contact with the outer frame 10, the amount of water that directly contacts the outer frame 10 is reduced, and the expansion of the outer frame 10 due to moisture absorption is improved.

If necessary, it is possible to implement various fish species by changing the shape of the above-described outer shell, varying the pattern design and color.

That is, in the embodiment of the present invention, by attaching an outer shell having a convex elasticity to the outside of the outer frame 10, impact relief due to collision, prevention of moisture absorption of the outer frame 10, and the shape of the fish are completed. In addition, the completeness of the fish can be maximized by varying the color and pattern of the outer skin.

If the surface structure of the outer shell shown in FIG. 8 is shown in more detail, it may be the same as that of FIG. 9.

Before completing the embodiment of the present invention, in order to prevent expansion due to moisture absorption of the outer frame 10 and shrinkage due to evaporation of moisture, the outer frame 10 was coated with a film using a general adhesive. In this way, the fish robot was put into seawater and operated, and the film peeled off soon after.

Accordingly, in the embodiment of the present invention, a thermal bonding method (chemical bonding) was used instead of a general adhesive method. In order to perform chemical bonding, the temperature has to rise to about 100 degrees or more (for example, up to 120 degrees), which caused some dimensional deformation.

Accordingly, finally, in the embodiment of the present invention, a film coating layer 52 is formed on the outer surface of the outer frame 50 as shown in FIG. 9, but the outer frame 10 is not coated with a film. ) By forming a pretreatment layer 51 between the outer surface of the film coating layer 52 and the film coating layer 52 is thermally bonded.

The pretreatment layer 51 is to be coated with an adhesive for heat treatment in advance in order to ensure that the film coating layer 52 adheres to the shell plate 50 well. When heat is applied later, the heat treatment adhesive of the pretreatment layer 51 is melted and the one surface of the shell plate 50 and the film coating layer 52 are strongly bonded. This prevents dimensional deformation of the film coating layer 52. That is, the film coating layer 52 is bonded to the outer surface of the outer surface of the skin plate 50 by means of the pretreatment layer 51 as a medium to prevent the film coating layer 52 from peeling off at all even if the fish robot is in water for a long time. do.

As described above, since the film coating layer 52 that prevents the penetration of water is coated on the skin plate 50, the skin plate 50 can also be protected from water.

In addition, it is possible to make the fish robot beautiful by applying film coating to various designs and colors, and to secure diversity of designs.

As described above, an optimal embodiment has been disclosed in the drawings and specifications. Although specific terms have been used herein, these are only used for the purpose of describing the present invention, and are not used to limit the meaning or the scope of the present invention described in the claims. Therefore, those of ordinary skill in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical scope of the present invention should be determined by the technical spirit of the appended claims.

10: outer frame 20: inner frame
30: internal parts 40, 60: fixing member
50: shell plate 51: pretreatment layer
52: film coating layer 70: reinforcement
100: main body portion 200: first joint portion
300: second joint

Claims (5)

In the fish robot,
In the outer frame forming the outer surface of the body of the fish robot, an outer shell made of an elastic material is installed to be spaced apart from the outer surface of the outer frame,
The shell is divided into a plurality of shell plates, and a reinforcing bar is attached to only a part of the inner side of the edge of each of the shell plates, and the reinforcing bar is fixedly attached to the outer frame through the reinforcing bar.
Fish robot.
The method of claim 1,
The reinforcement bar,
It is attached to correspond to each other on the upper inner surface and a portion of the lower inner surface of the skin plate,
Only the reinforcing bars attached to the upper inner surface are fixed to the outer frame,
The reinforcing bar attached to the lower inner surface is not fixed to the outer frame and is in contact with the movable
Fish robot.
The method of claim 1,
Each shell plate installed on the outer frame of the fish robot,
Characterized in that the reinforcing bar is attached only to a part of the inner edge of the outer shell plate toward the head of the fish robot, and the reinforcing bar is fixed to the outer frame.
Fish robot.
The method of claim 1,
Each shell plate installed on the outer frame of the fish robot,
Characterized in that the reinforcing bar is attached only to a part of the inner edge of the outer shell plate toward the upper side of the fish robot, and the reinforcing bar is fixed to the outer frame.
Fish robot.
The method of claim 1,
It characterized in that it further comprises a fixing member made of elastic material that is fixed to both ends between the central inner surface of each of the skin plates and the outer frame to separate the skin plate from the outer frame and buffer external impacts.
Fish robot.

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