CN103332282A - Closed mechanical transmission type machine jellyfish - Google Patents
Closed mechanical transmission type machine jellyfish Download PDFInfo
- Publication number
- CN103332282A CN103332282A CN2013102881235A CN201310288123A CN103332282A CN 103332282 A CN103332282 A CN 103332282A CN 2013102881235 A CN2013102881235 A CN 2013102881235A CN 201310288123 A CN201310288123 A CN 201310288123A CN 103332282 A CN103332282 A CN 103332282A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- steering wheel
- mechanical transmission
- type machine
- shell cavity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241000242583 Scyphozoa Species 0.000 title abstract description 17
- 230000009347 mechanical transmission Effects 0.000 title abstract 3
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 239000000839 emulsion Substances 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 4
- 238000012856 packing Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 8
- 238000002474 experimental method Methods 0.000 abstract description 2
- 239000004816 latex Substances 0.000 abstract 3
- 229920000126 latex Polymers 0.000 abstract 3
- 230000008602 contraction Effects 0.000 abstract 1
- 230000009182 swimming Effects 0.000 abstract 1
- 235000001968 nicotinic acid Nutrition 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 241001274660 Modulus Species 0.000 description 1
- ISRUGXGCCGIOQO-UHFFFAOYSA-N Rhoden Chemical compound CNC(=O)OC1=CC=CC=C1OC(C)C ISRUGXGCCGIOQO-UHFFFAOYSA-N 0.000 description 1
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 description 1
- 230000003042 antagnostic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229920000831 ionic polymer Polymers 0.000 description 1
- 239000002905 metal composite material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Landscapes
- Toys (AREA)
Abstract
The invention discloses a closed mechanical transmission type machine jellyfish which comprises a cavity outer shell, a head outer shell, an internal framework, a power transmission mechanism, a connecting rod actuating mechanism, a motive power source, a control circuit board, a power source device and an elastic latex shuck, wherein the head outer shell, the internal framework, the power transmission mechanism and the connecting rod actuating mechanism are arranged on the cavity outer shell, the motive power source, the control circuit board and the power source device are arranged on the internal framework, and the elastic latex shuck is arranged on the connecting rod actuating mechanism. The contraction and the expansion of the cavity formed by the connecting rod actuating mechanism and the elastic latex shuck are achieved through the output motion of a steering engine so that a jetting pushing mode of a biological jellyfish can be simulated. The closed mechanical transmission type machine jellyfish can offer an experiment platform for researching hydrodynamics, a swimming mechanism and a control method of jellyfish motion and can be used for science popularization education and exhibition.
Description
Technical field
The present invention relates to a kind of airtight mechanical transmission-type machine acaleph.
Background technology
The exercise performance that biological jellyfish has steady gracefulness.From the engineering technology angle, if can utilize means such as existing mechanical, electronics, computing machine, control, the bio-robot of exploitation one cover imitation jellyfish motion all has very big meaning in theory or in the practice.
The stationarity that jellyfish moves about and alerting ability bring bionic inspiration to people, are that the bionical research of prototype emerges in large numbers gradually with the jellyfish, but mainly concentrate at present based on the imitative jellyfish type robot of the microminiature of intellectual material.It is the autonomous robot under water " JetSum " of prototype with the jellyfish that the people such as Bressers of the U.S. Fu Jiliya Institute of Technology have made, it with marmem (SMA, Shape Memory Alloy) as propulsive mechanism.Report is arranged during the imitative jellyfish type robot made for the basis with metallic composite (IPMC, Ionic Polymer Metal Composite), magnet mechanism, electromagnetic driving system etc. in addition.But there are many restrictions in these imitative jellyfish type robots,, energy resource supply problem limited such as motion space, kinematic dexterity etc.But seldom have with motor-driven mechanical transmission-type bionics machine acaleph and to appear in the newspapers.
The research of bionics machine acaleph has comprised multidisciplinary cross-cutting issues such as biology, hydrodynamics, theory of machines, control automatically, materialogy and Robotics, and form and mechanism more complicated still are in the starting stage in the world.Comprehensive bionics techniques, Robotics and intelligent control technology are developed and are had high motor-driven machine acaleph, not only help to understand and discloses the mechanism of moving about of jellyfish, and can be and develop novel submarine navigation device technical foundation is provided.In addition, bionics machine acaleph can be used for Popular Science Education and exhibition, deepens the public for understanding and the understanding of bionics and Robotics.
Summary of the invention
At above problem, main purpose of the present invention provides a kind of airtight mechanical transmission-type machine acaleph.
For achieving the above object, the present invention proposes a kind of airtight mechanical transmission-type machine acaleph, it comprises: shell cavity (2), be arranged on head shell (1), inner skeleton, Power train, connecting rod actuating unit on the described shell cavity (2), be arranged on propulsion source, control circuit board, supply unit on the described inner skeleton, be arranged on the elastic emulsion crust on the described connecting rod actuating unit; Wherein, described inner skeleton comprises star base (23), square skeleton (18) and cavity support ring (21).
Wherein, described propulsion source, described Power train, described connecting rod actuating unit respectively have four, and they are identical and be circumference with respect to the line of centers of described shell cavity and be symmetrically distributed.
Wherein, described star base (23) is installed on the inner bottom surface of described shell cavity (2), and described square skeleton (18) is installed in described star base (23) upper surface, and described cavity support ring (21) is installed in the inwall exit of described shell cavity (2).
Wherein, one of them of described propulsion source comprises steering wheel U-shaped (20), steering wheel (19); Described steering wheel (19) is fixedly mounted on the side outer wall of described square skeleton (18) by described steering wheel U-shaped (20), described steering wheel U-shaped (20) U-shaped mouthful towards described square skeleton (18) outside and with the output shaft of described steering wheel (19) towards vertical, the angle of the line of centers of the output shaft of described steering wheel (19) and described shell cavity (2) is 50 to spend.
Wherein, described Power train is used for giving described connecting rod actuating unit with the transmission of power of described propulsion source between described propulsion source and described connecting rod actuating unit.One of them of described Power train comprises steering wheel (24), flange (25) and imput shaft (26), described steering wheel (24) is fixedly mounted on the output shaft of described steering wheel (19), described flange (25) is fixedly mounted on the described steering wheel (24), the other end of described flange (25) is captiveed joint with an end of described imput shaft (26), the middle part of described imput shaft (26) is connected by the base apertures of bearing with described shell cavity (2), the other end of described imput shaft (26) is with initiatively conical gear (28) is fixing, driven bevel gear (31) is meshed with described active conical gear (28), described driven bevel gear (31) is fixedly mounted on an end of driven shaft (32), the centre of described driven shaft (32) is connected with transmission gearbox (17) with bearing by dynamic seal ring, the top of described transmission gearbox (17) is connected with the bottom of described shell cavity (2) by O type circle (27), and the other end of described driven shaft (32) outputs power to described connecting rod actuating unit.
Wherein, described connecting rod actuating unit is to be prototype with the gemel six-bar mechanism.
Wherein, one of them of described connecting rod actuating unit comprises the rocking bar that is fixedly connected on described driven shaft (32) mouth, be connected first connecting rod (8) and second connecting rod (10) on the described rocking bar, be connected the side link (4) on described shell cavity (2) and the first connecting rod (8), be connected the third connecting rod (12) on described side link (4) and the described second connecting rod (10); For many link works are not interfered mutually, described rocking bar has been done staging treating, is made up of the first rocking bar section (16) and the second rocking bar section (15).
Wherein, described head shell (1) is installed together by O RunddichtringO (22) with the top of described shell cavity (2), plays the effect of water-proff packing.
Wherein, the modulus of described active conical gear (28) and driven bevel gear (31) is 1mm, and the number of teeth is 14, and reference cone angle is 45 degree, and transmitting ratio is 1: 1, is used for transmitting mutually perpendicular rotatablely moving.
Wherein, described elastic emulsion crust evenly is coated on four actuating units.
The present invention is owing to adopted above technical scheme, and it has the following advantages: 1, head shell adopts airflow design, reduces the resistance in the process of advancing as far as possible; 2, the machine acaleph main body is the cavity of a sealing, and connecting portion has adopted measures such as static seal and dynamic seal, has guaranteed the sealing property of cavity, and control module, power module, driver module, sensor assembly all can directly place inside cavity; 3, four actuating units can be distinguished independent controlled motion, can realize the variety of mode of motion; 4, the elastic emulsion crust can more vivo be simulated the body of biological jellyfish softness.One aspect of the present invention provides experiment porch for hydrodynamics, the mechanism of moving about and the control method of the motion of research jellyfish; On the other hand, provide technical foundation for developing novel underwater propeller.
Description of drawings
Fig. 1 is the integral structure figure of airtight mechanical transmission-type machine acaleph among the present invention.
Fig. 2 be among the present invention airtight mechanical transmission-type machine acaleph not with the axonometric drawing of head shell.
Fig. 3 is that the part of airtight mechanical transmission-type machine acaleph among the present invention is dissectd axonometric drawing.
Fig. 4 is the shell cavity figure of airtight mechanical transmission-type machine acaleph among the present invention.
Fig. 5 is the actuating unit axonometric drawing of airtight mechanical transmission-type machine acaleph among the present invention.
Fig. 6 is the actuating unit schematic diagram of airtight mechanical transmission-type machine acaleph among the present invention.
Fig. 7 is airtight mechanical transmission-type machine acaleph model machine scheme drawing among the present invention.
Fig. 8 is the video interception of airtight mechanical transmission-type machine acaleph motion among the present invention.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in further detail.
As Fig. 1, Fig. 2, shown in Figure 3, airtight mechanical transmission-type machine acaleph of the present invention comprises: shell cavity 2, be arranged on head shell 1, inner skeleton, Power train, connecting rod actuating unit on the described shell cavity 2, be arranged on propulsion source, control circuit board, supply unit on the described inner skeleton, be arranged on the elastic emulsion crust on the described connecting rod actuating unit.Described head shell 1 is installed in described shell cavity 2 column upper sections by O RunddichtringO 22 and screw, for guaranteeing the validity of sealing, has 12 screws that are the circumference symmetry to carry out fastening around described shell cavity 2 column upper sections; Described elastic emulsion crust is used for the soft cavity of simulation.Described shell cavity 2 and described head shell 1 are preferably the ABS plastic material.Described control circuit board for the treatment of with send control command, described supply unit provides electric power be used for for described propulsion source and described control circuit board.
As shown in Figure 3, described inner skeleton comprises: star base 23, square skeleton 18 and cavity support ring 21, described star base 23 is installed on the inner bottom surface of described shell cavity 2, described square skeleton 18 is installed in described star base 23 upper surfaces, and described cavity support ring 21 is installed in the inwall exit of described shell cavity 2; Described square skeleton 18 is rectangular structure of hollow, and described control circuit board (not drawing among the figure) is laid in inside, lays described supply unit above, and described cavity support ring 21 plays the effect of supporting described shell cavity 2.
Fig. 4 shows the structure of described shell cavity 2, as shown in Figure 4, the structure of described shell cavity 2 is to be the hollow shape that circumference is symmetrically distributed, its the first half is cylindric and has opening, the star of its inner bottom part is flat for described star base 23 is installed, its outer bottom has the base apertures of four symmetrical distributions, and these four base apertures run through the bottom of described shell cavity 2, to be used for connecting the described imput shaft 26 that bearing is equipped with at the middle part; Have well-distributed minor thread hole around the described base apertures, be used for the top of fixing described transmission gearbox 17.
As Fig. 1, Fig. 2, shown in Figure 4, described propulsion source, described Power train, described connecting rod actuating unit respectively have four, and they are identical and be circumference with respect to the line of centers of described shell cavity 2 and be symmetrically distributed.
As Fig. 2, shown in Figure 3, one of them of described propulsion source comprises: U-shaped 20 of steering wheel and steering wheel 19, U-shaped 20 of described steering wheel is fixedly mounted on the side outer wall of described square skeleton 18, U-shaped mouthful of U-shaped 20 of described steering wheel towards the outside of described square skeleton 18 outer walls and with the output shaft of described steering wheel 19 towards vertical; Described steering wheel 19 is installed on U-shaped 20 of the described steering wheel, and its output shaft is oblique to be 50 with the line of centers of described shell cavity 2 down and to spend angles.Described propulsion source and described square skeleton 18 and described shell cavity 2 are relatively-stationary.
As shown in Figure 3, described Power train is used for giving described connecting rod actuating unit with the transmission of power of propulsion source between described propulsion source and described connecting rod actuating unit.One of them of described Power train comprises: steering wheel 24, flange 25 and imput shaft 26, and described steering wheel 24 is fixedly mounted on the output shaft of described steering wheel 19, and described flange 25 is fixedly mounted on the described steering wheel 24; Described imput shaft 26 is installed in the other end of described flange 25, and the middle part of described imput shaft 26 is connected with described shell cavity 2 base apertures by bearing, and the output shaft of described steering wheel 19 will rotatablely move and pass to described imput shaft 26; Axially captive joint by back-up ring 29 with active conical gear 28 in the lower end of described imput shaft 26; Driven bevel gear 31 is meshed with described active conical gear 28, described driven bevel gear 31 is installed in an end of driven shaft 32 by back-up ring 30, the centre of described driven shaft 32 is connected with the inboard aperture of bearing with transmission gearbox 17 by dynamic seal ring, the top pentagon lip of described transmission gearbox 17 is connected with the base apertures position of described shell cavity 2 by O type circle 27, is undertaken fastening by the screw of some and the bottom of described shell cavity 2 around the described transmission gearbox 17 pentagon upper sections.Described active conical gear 28 is preferably 1mm with described driven bevel gear 31 moduluses, and the number of teeth is preferably 14, and reference cone angle is 45 degree, and transmitting ratio is 1: 1; Described dynamic seal ring is interior bag framework lip-shaped sealing ring, and inboard one end of described driven shaft 32 outputs power to described connecting rod actuating unit.
As shown in Figure 1, described head shell 1 seals by described O type circle 22 with described shell cavity 2, described shell cavity 2 seals by described O type circle 27 with described transmission gearbox 17, described driven shaft 32 seals by described dynamic seal ring with described transmission gearbox 17, the machine acaleph main body is exactly the cavity of a sealing like this, has guaranteed waterproof.
Fig. 5 shows the axonometric drawing of connecting rod actuating unit among the present invention, and Fig. 6 shows the mechanism principle figure of connecting rod actuating unit among the present invention.As illustrated in Figures 5 and 6, described connecting rod actuating unit is prototype with the gemel six-bar mechanism, and one of them actuating unit comprises: be fixedly connected on described driven shaft 32 mouths the first rocking bar section 16, be installed in the described first rocking bar section 16 middle parts the second rocking bar section 15, be connected the described first rocking bar section, 16 1 ends first connecting rod 8, be connected the described second rocking bar section, 15 1 ends second connecting rod 10, be connected side link 4 on described shell cavity 2 and the first connecting rod 8, be connected the third connecting rod 12 on described side link 4 and the described second connecting rod 10; The described second rocking bar section 15 is dihedral, be installed in the middle part of the described first rocking bar section 16, the described first rocking bar section 16 and the described second rocking bar section, the 15 common rocking bars of forming described gemel six-bar mechanism, arranging like this is not interfere for motion between each connecting rod, and described shell cavity 2 and described transmission gearbox 17 are formed the frame of described gemel six-bar mechanism; Described first connecting rod 8 is installed in an end of the described first rocking bar section 16 by bearing outside 14, bearing and pivot pin 37, finishes the hinged of described first connecting rod 8 and described rocking bar; Second connecting rod 10 is installed in an end of the described second rocking bar section 15 by bearing outside 11, bearing and pivot pin 36, finishes the hinged of described second connecting rod 10 and described rocking bar; Described side link 4 is installed in the ear position of described shell cavity 2 by bearing outside 3, bearing and pivot pin 33, finishes the hinged of described side link 4 and frame; The middle and lower part of described side link 4 is installed in the other end of described first connecting rod 8 by bearing outside 6, bearing and pivot pin 5, finishes the hinged of described side link 4 and described first connecting rod 8; The upper end of described third connecting rod 12 is installed in the lower end of described side link 4 by bearing outside 7, bearing and pivot pin 34, finishes the hinged of described third connecting rod 12 and described side link 4; The middle and upper part of described third connecting rod 12 is installed in the outer end of described second connecting rod 10 by bearing outside 9, bearing and pivot pin 35, finishes the hinged of described third connecting rod 12 and described second connecting rod 10; Palm web 13 is installed in the lower end of described third connecting rod 12, and described palm web 13 is the sole shape, is used for strengthening the water squeezing effect.
The elastic emulsion crust is coated on the outside of four actuating units by glue, forms a flexible cavity.The crankmotion of the output shaft of described steering wheel 19 passes to described driven shaft 32 by described imput shaft 26 and gear mechanism, the crankmotion of described driven shaft 32 converts the swing of the described first rocking bar section 16 to, the swing of the described first rocking bar section 16 is by first connecting rod 8, second connecting rod 10 converts the swing of side link 4 and third connecting rod 12 to, thereby drive the elastic emulsion crust and simulate the shrinkage expansion process of biological jellyfish, thereby flexible cavity extruding ejects the water in the flexible cavity backward makes machine acaleph produce the antagonistic force that advances, i.e. so-called jet propulsion pattern.Because four actuating units are driven by four different steering wheels, four steering wheels can independent controlled motion, thereby realizes the variation of mode of motion.
Fig. 7 is the machine acaleph model machine that technique scheme is made according to the present invention.As shown in Figure 7, its size (diameter * height) is 174mm * 206mm, and total weight is about 2.3kg.In test, machine acaleph has been realized jet propulsion.
Fig. 8 shows the sport video sectional drawing of the machine acaleph model machine that technique scheme is made according to the present invention.As shown in Figure 8, described machine acaleph has been finished the process that cavity is retracted to expansion.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; be understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. airtight mechanical transmission-type machine acaleph, it comprises: shell cavity (2), be arranged on head shell (1), inner skeleton, Power train, connecting rod actuating unit on the described shell cavity (2), be arranged on propulsion source, control circuit board, supply unit on the described inner skeleton, be arranged on the elastic emulsion crust on the described connecting rod actuating unit; Wherein, described inner skeleton comprises star base (23), square skeleton (18) and cavity support ring (21).
2. airtight mechanical transmission-type machine acaleph as claimed in claim 1, it is characterized in that: described propulsion source, described Power train, described connecting rod actuating unit respectively have four, and they are identical and be circumference with respect to the line of centers of described shell cavity and be symmetrically distributed.
3. airtight mechanical transmission-type machine acaleph as claimed in claim 1, it is characterized in that: described star base (23) is installed on the inner bottom surface of described shell cavity (2), described square skeleton (18) is installed in described star base (23) upper surface, and described cavity support ring (21) is installed in the inwall exit of described shell cavity (2).
4. airtight mechanical transmission-type machine acaleph as claimed in claim 2, it is characterized in that: one of them of described propulsion source comprises steering wheel U-shaped (20), steering wheel (19); Described steering wheel (19) is fixedly mounted on the side outer wall of described square skeleton (18) by described steering wheel U-shaped (20), described steering wheel U-shaped (20) U-shaped mouthful towards described square skeleton (18) outside and with the output shaft of described steering wheel (19) towards vertical, the angle of the line of centers of the output shaft of described steering wheel (19) and described shell cavity (2) is 50 to spend.
5. airtight mechanical transmission-type machine acaleph as claimed in claim 4 is characterized in that: described Power train is used for giving described connecting rod actuating unit with the transmission of power of described propulsion source between described propulsion source and described connecting rod actuating unit; One of them of described Power train comprises steering wheel (24), flange (25) and imput shaft (26), described steering wheel (24) is fixedly mounted on the output shaft of described steering wheel (19), described flange (25) is fixedly mounted on the described steering wheel (24), the other end of described flange (25) is captiveed joint with an end of described imput shaft (26), the middle part of described imput shaft (26) is connected by the base apertures of bearing with described shell cavity (2), the other end of described imput shaft (26) is with initiatively conical gear (28) is fixing, driven bevel gear (31) is meshed with described active conical gear (28), described driven bevel gear (31) is fixedly mounted on an end of driven shaft (32), the centre of described driven shaft (32) is connected with transmission gearbox (17) with bearing by dynamic seal ring, the top of described transmission gearbox (17) is connected with the bottom of described shell cavity (2) by O type circle (27), and the other end of described driven shaft (32) outputs power to described connecting rod actuating unit.
6. airtight mechanical transmission-type machine acaleph as claimed in claim 5, it is characterized in that: described connecting rod actuating unit is to be prototype with the gemel six-bar mechanism.
7. airtight mechanical transmission-type machine acaleph as claimed in claim 6, it is characterized in that: one of them of described connecting rod actuating unit comprises the rocking bar that is fixedly connected on described driven shaft (32) mouth, be connected first connecting rod (8) and second connecting rod (10) on the described rocking bar, be connected the side link (4) on described shell cavity (2) and the first connecting rod (8), be connected the third connecting rod (12) on described side link (4) and the described second connecting rod (10); For many link works are not interfered mutually, described rocking bar has been done staging treating, is made up of the first rocking bar section (16) and the second rocking bar section (15).
8. airtight mechanical transmission-type machine acaleph as claimed in claim 1 is characterized in that: described head shell (1) is installed together by O RunddichtringO (22) with the top of described shell cavity (2), plays the effect of water-proff packing.
9. airtight mechanical transmission-type machine acaleph as claimed in claim 5, it is characterized in that: the modulus of described active conical gear (28) and driven bevel gear (31) is 1mm, and the number of teeth is 14, and reference cone angle is 45 degree, transmitting ratio is 1: 1, is used for transmitting mutually perpendicular rotatablely moving.
10. airtight mechanical transmission-type machine acaleph as claimed in claim 1, it is characterized in that: described elastic emulsion crust evenly is coated on four actuating units.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310288123.5A CN103332282B (en) | 2013-07-10 | 2013-07-10 | A kind of airtight mechanical transmission type machine jellyfish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310288123.5A CN103332282B (en) | 2013-07-10 | 2013-07-10 | A kind of airtight mechanical transmission type machine jellyfish |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103332282A true CN103332282A (en) | 2013-10-02 |
| CN103332282B CN103332282B (en) | 2015-08-05 |
Family
ID=49240512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310288123.5A Expired - Fee Related CN103332282B (en) | 2013-07-10 | 2013-07-10 | A kind of airtight mechanical transmission type machine jellyfish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103332282B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149953A (en) * | 2014-08-15 | 2014-11-19 | 哈尔滨工业大学 | Machine jellyfish driven by embedded type cylindrical motor |
| CN104176219A (en) * | 2014-08-15 | 2014-12-03 | 哈尔滨工业大学 | Bionic jellyfish robot driven by parallelly connected mechanical arms |
| CN105059512A (en) * | 2015-08-23 | 2015-11-18 | 哈尔滨工程大学 | Jellyfish-type bio-robot |
| CN105366018A (en) * | 2015-10-26 | 2016-03-02 | 冯亿坤 | Electromagnetic drive jellyfish imitation detecting robot |
| CN106347614A (en) * | 2016-11-28 | 2017-01-25 | 上海海洋大学 | Jellyfish robot |
| CN106828842A (en) * | 2017-02-22 | 2017-06-13 | 哈尔滨工业大学 | A kind of bionical cavity film water Female Robot of Electromagnetic muscle |
| CN107792334A (en) * | 2016-08-31 | 2018-03-13 | 江苏金刚文化科技集团股份有限公司 | The bionic device that a kind of creeping motion type promotes |
| CN108146599A (en) * | 2017-12-25 | 2018-06-12 | 西北工业大学 | A kind of bionic mechanical jellyfish |
| CN108275252A (en) * | 2018-02-28 | 2018-07-13 | 哈尔滨工程大学 | A kind of propeller and steering engine hybrid power propelling machinery jellyfish |
| CN108516066A (en) * | 2018-03-23 | 2018-09-11 | 西北工业大学 | One kind being based on the bionical jellyfish robot of servo driving |
| CN108608408A (en) * | 2018-04-28 | 2018-10-02 | 南京理工大学 | A kind of bionical jellyfish robot of multiple degrees of freedom |
| CN109018282A (en) * | 2018-07-20 | 2018-12-18 | 广西大学 | One kind imitating golden water parent agency based on Worm Wheel System |
| CN109094759A (en) * | 2018-07-20 | 2018-12-28 | 广西大学 | One kind imitating golden water parent agency based on crank block |
| CN109969361A (en) * | 2019-03-29 | 2019-07-05 | 南京涵铭置智能科技有限公司 | A kind of jellyfish type underwater detectoscope and its detection method |
| CN110329384A (en) * | 2019-07-30 | 2019-10-15 | 佛山科学技术学院 | One kind is obstacleable to climb Web robot |
| CN111516836A (en) * | 2020-05-14 | 2020-08-11 | 江苏科技大学 | Bionic jellyfish underwater robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3123047A1 (en) * | 2021-05-18 | 2022-11-25 | André Schaer | Autonomous mobile platform capable of evolving in a fluid environment such as water and on land. |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04263889A (en) * | 1991-02-18 | 1992-09-18 | Ace Denken:Kk | Water tank ornamental article and ornamental water tank |
| CN2448425Y (en) * | 2000-07-18 | 2001-09-19 | 株式会社大可乐 | Scaleph type swimming toy |
| CN2808606Y (en) * | 2005-06-21 | 2006-08-23 | 陈荣强 | Emulated jellyfish |
| TWI310695B (en) * | 2006-11-10 | 2009-06-11 | Nat Huwei Inst Technology | |
| CN102795068A (en) * | 2012-08-03 | 2012-11-28 | 南京航空航天大学 | Compound driven jellyfish-like amphibious robot |
| CN202757616U (en) * | 2012-04-27 | 2013-02-27 | 福建省泉州市第七中学 | Detector moving as jellyfish |
-
2013
- 2013-07-10 CN CN201310288123.5A patent/CN103332282B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04263889A (en) * | 1991-02-18 | 1992-09-18 | Ace Denken:Kk | Water tank ornamental article and ornamental water tank |
| CN2448425Y (en) * | 2000-07-18 | 2001-09-19 | 株式会社大可乐 | Scaleph type swimming toy |
| CN2808606Y (en) * | 2005-06-21 | 2006-08-23 | 陈荣强 | Emulated jellyfish |
| TWI310695B (en) * | 2006-11-10 | 2009-06-11 | Nat Huwei Inst Technology | |
| CN202757616U (en) * | 2012-04-27 | 2013-02-27 | 福建省泉州市第七中学 | Detector moving as jellyfish |
| CN102795068A (en) * | 2012-08-03 | 2012-11-28 | 南京航空航天大学 | Compound driven jellyfish-like amphibious robot |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149953A (en) * | 2014-08-15 | 2014-11-19 | 哈尔滨工业大学 | Machine jellyfish driven by embedded type cylindrical motor |
| CN104176219A (en) * | 2014-08-15 | 2014-12-03 | 哈尔滨工业大学 | Bionic jellyfish robot driven by parallelly connected mechanical arms |
| CN104149953B (en) * | 2014-08-15 | 2016-06-29 | 哈尔滨工业大学 | A kind of motor-driven machine acaleph of embedded tubular |
| CN104176219B (en) * | 2014-08-15 | 2016-07-20 | 哈尔滨工业大学 | The bionical Jellyfish robot that a kind of parallel manipulator arm drives |
| CN105059512A (en) * | 2015-08-23 | 2015-11-18 | 哈尔滨工程大学 | Jellyfish-type bio-robot |
| CN105059512B (en) * | 2015-08-23 | 2017-05-24 | 哈尔滨工程大学 | Jellyfish-type bio-robot |
| CN105366018A (en) * | 2015-10-26 | 2016-03-02 | 冯亿坤 | Electromagnetic drive jellyfish imitation detecting robot |
| CN105366018B (en) * | 2015-10-26 | 2017-07-25 | 冯亿坤 | Electromagnetic drive imitates jellyfish sniffing robot |
| CN107792334A (en) * | 2016-08-31 | 2018-03-13 | 江苏金刚文化科技集团股份有限公司 | The bionic device that a kind of creeping motion type promotes |
| CN106347614A (en) * | 2016-11-28 | 2017-01-25 | 上海海洋大学 | Jellyfish robot |
| CN106828842A (en) * | 2017-02-22 | 2017-06-13 | 哈尔滨工业大学 | A kind of bionical cavity film water Female Robot of Electromagnetic muscle |
| CN108146599A (en) * | 2017-12-25 | 2018-06-12 | 西北工业大学 | A kind of bionic mechanical jellyfish |
| CN108275252A (en) * | 2018-02-28 | 2018-07-13 | 哈尔滨工程大学 | A kind of propeller and steering engine hybrid power propelling machinery jellyfish |
| CN108275252B (en) * | 2018-02-28 | 2020-09-25 | 哈尔滨工程大学 | Propeller and steering engine hybrid propulsion mechanical jellyfish |
| CN108516066A (en) * | 2018-03-23 | 2018-09-11 | 西北工业大学 | One kind being based on the bionical jellyfish robot of servo driving |
| CN108608408A (en) * | 2018-04-28 | 2018-10-02 | 南京理工大学 | A kind of bionical jellyfish robot of multiple degrees of freedom |
| CN108608408B (en) * | 2018-04-28 | 2021-05-07 | 南京理工大学 | Multi-degree-of-freedom bionic jellyfish robot |
| CN109018282A (en) * | 2018-07-20 | 2018-12-18 | 广西大学 | One kind imitating golden water parent agency based on Worm Wheel System |
| CN109094759A (en) * | 2018-07-20 | 2018-12-28 | 广西大学 | One kind imitating golden water parent agency based on crank block |
| CN109969361A (en) * | 2019-03-29 | 2019-07-05 | 南京涵铭置智能科技有限公司 | A kind of jellyfish type underwater detectoscope and its detection method |
| WO2020199802A1 (en) * | 2019-03-29 | 2020-10-08 | 南京涵铭置智能科技有限公司 | Jellyfish-type underwater detector and detection method therefor |
| CN110329384A (en) * | 2019-07-30 | 2019-10-15 | 佛山科学技术学院 | One kind is obstacleable to climb Web robot |
| CN110329384B (en) * | 2019-07-30 | 2024-04-30 | 佛山科学技术学院 | Can avoid barrier climb net robot |
| CN111516836A (en) * | 2020-05-14 | 2020-08-11 | 江苏科技大学 | Bionic jellyfish underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103332282B (en) | 2015-08-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103332282B (en) | A kind of airtight mechanical transmission type machine jellyfish | |
| US7238079B2 (en) | Animatronic supported walking system | |
| CN102180249B (en) | Intelligent biomimetic robotic dolphin | |
| CN102079371B (en) | Bionic robofish propelled by vibration of lateral fins | |
| CN109319075A (en) | A kind of bionic machine shark | |
| CN104943839A (en) | Novel modular bionic underwater robot based on full-flexible pectoral fins | |
| US10092850B1 (en) | Robotic bouncing ball | |
| CN107031807A (en) | A kind of imitative jellyfish underwater robot based on software driver | |
| CN103950524A (en) | Spraying type simulative underwater vehicle and working manner thereof | |
| CN106741774A (en) | A kind of bionic machine fish | |
| CN106253743A (en) | Bionical Octopus underwater propulsion system based on flexible piezoelectric driver | |
| CN107140163A (en) | A kind of underwater robot of imitative green turtle | |
| CN106364649A (en) | Fishtail structure of robotic fish | |
| CN103963867A (en) | Biomimetic mechanical dinosaur | |
| CN103213664A (en) | Dual-drive bionic pectoral fin framework | |
| CN206417164U (en) | A kind of Biomimetic Fish humanoid robot | |
| Xia et al. | Research on flexible collapsible fluid-driven bionic robotic fish | |
| CN205466195U (en) | Class salamander robot | |
| CN108945291B (en) | Ship sea condition simulation device | |
| CN203975197U (en) | The pusher flexible bionic machine fish of many combinations | |
| CN107839863A (en) | A kind of two degrees of freedom of imitative fish tail swings flexible parallel mechanism | |
| CN202966636U (en) | Line-driving multi-joint underwater vector propelling device and bionic structure thereof | |
| CN115402499B (en) | Bionic robot cannonball fish driven by fluctuation fins | |
| CN102861439B (en) | Facial expression stimulator | |
| Sun et al. | The Validation of Viscosity Induced Chord-Wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta Ray |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 Termination date: 20170710 |