CN104118549A - Single-joint robot fish and underwater propulsion platform - Google Patents
Single-joint robot fish and underwater propulsion platform Download PDFInfo
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- CN104118549A CN104118549A CN201410392357.9A CN201410392357A CN104118549A CN 104118549 A CN104118549 A CN 104118549A CN 201410392357 A CN201410392357 A CN 201410392357A CN 104118549 A CN104118549 A CN 104118549A
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Abstract
The invention relates to a single-joint robot fish and an underwater propulsion platform, and relates to an underwater propulsion device, aiming at providing a single-joint robot fish and an underwater propulsion platform which are simple in structure, low in cost and simple and convenient to operate. The single-joint robot fish comprises an outer shell, a bionic propulsion mechanism, a power energy module, a control communication module and a posture adjusting mechanism, wherein the bionic propulsion mechanism comprises a tail fin, a C-shaped skeleton, an upper main shaft and a lower main shaft; the tail fin is fixedly connected with the rear end of the C-shaped skeleton; the outer ends of the upper main shaft and the lower main shaft are fixedly connected with two ends of the C-shaped skeleton respectively; the power energy module comprises a battery and a propulsion driving device; the output end of the propulsion driving device is connected with the inner ends of the upper main shaft and the lower main shaft; the control communication module comprises an integrated main control board and an antenna; the posture adjusting mechanism comprises a circumferential rotation driving device and a circumferential rotation counter weight which are arranged in the outer shell; the circumferential rotation driving device is used for driving the circumferential rotation counter weight to rotate around the axis of the outer shell in front-rear direction.
Description
Technical field
The present invention relates to a kind of propelling unit acting directly in water, particularly relate to the under-water robot of a kind of bionical fish.
Background technology
Be accompanied by the development of human civilization, the land resources that can exploit and utilize just day by day reduces and is exhausted.Ocean area takes up an area 71% of sphere area, the living resources that are richly stored with in ocean and mineral resources.21 century is the century of ocean, and human development ocean and the step that utilizes ocean, along with scientific and technological development is accelerated gradually.Have that marine surveys, seabed are detected, the under-water robot of ocean salvage, Technique of Subsea Pipeline Inspection and investigation under water and following function, become the important tool of exploring ocean, exploitation ocean and ocean defence.
Bionic machine fish can carry out for a long time, on a large scale, under-water operation that operating mode is more complicated, the occasion that can have relatively high expectations for maneuvering performance, carries out marine life investigation, sea floor exploration and ocean lifesaving etc. many occasions.Military aspect, because manifestation and the biological fish of bionic machine fish on sonar are almost identical, there is noise low, little to environmental perturbation, enemy is not easy the features such as discovery, this hidden plurality of advantages in view of bionic machine fish that is highly advantageous to, Chinese scholars is more and more paid attention to the research and development of Novel bionic machine fish, obtained the achievement of a lot of stages, designed various machine fish model machines, the theory of machine fish and experimental study have faded in scale.
At present, the propelling of bionic machine fish both at home and abroad and to turn to be mainly to rely on the cooperation of two-freedom pectoral fin and tail fin to realize corresponding action, rising dive mainly relies on pectoral fin, change center of gravity or water storehouse mode to realize, these modes all need more complicated physical construction and control program, have influence on the maneuvering performance of machine fish, be also unfavorable for the universal and popularization of bionic machine fish in the middle of fan.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of simple in structure, simple joint machine fish and underwater propulsion platform that cost is low, easy and simple to handle.
Simple joint machine fish of the present invention, comprise body skin, bionical propulsive mechanism, power source module and communication control module, wherein said bionical propulsive mechanism comprises tail fin, C type skeleton and upper and lower main shaft, the two ends of described C type skeleton are positioned at the upper and lower both sides at body skin rear portion, described tail fin is fixedly connected on the rear end of C type skeleton, the outer end of described upper and lower main shaft is fixedly connected with the two ends of C type skeleton respectively, and the inner of upper and lower main shaft enters in body skin through the axis hole at body skin rear portion; Described power source module comprises battery and propelling drive apparatus, and described battery and propelling drive apparatus are fixedly mounted in body skin, and the mouth of described propelling drive apparatus is connected with the inner of upper and lower main shaft, for driving upper and lower main shaft reciprocating rotary; Described communication control module comprises integrated master control board and antenna, and described antenna is fixedly mounted on body skin, and described integrated master control board is fixed in body skin;
Described machine fish also comprises attitude regulation mechanism, described attitude regulation mechanism comprises rotate in a circumferential direction actuating device and the counterweight that rotates in a circumferential direction that are arranged in body skin, described in rotate in a circumferential direction actuating device for driving the counterweight that rotates in a circumferential direction to rotate around the axis of the fore-and-aft direction of body skin.
Simple joint machine fish of the present invention, the wherein said actuating device that rotates in a circumferential direction comprises front set collar, rear set collar and turning unit, on the described front set collar inwall that is fixed on body skin relative to rear set collar, on the front set collar face relative with rear set collar, offer annular groove, in described annular groove, be respectively arranged with roller, between two described rollers, connect by pipe link, the described counterweight that rotates in a circumferential direction is arranged on pipe link, described turning unit is arranged on front set collar or rear set collar, and is connected with pipe link.
Simple joint machine fish of the present invention, wherein said upper and lower main shaft is installed with mounting ring through the axis hole place of body skin, on the main shaft of described mounting ring inner side, is set with elastic seal ring, between described elastic seal ring and mounting ring, circlip is installed.
Simple joint machine fish of the present invention, wherein said propelling drive apparatus is steering wheel, described steering wheel is fixedly mounted in body skin by steering wheel support, the inner of described upper main shaft is fixedly connected with upper chuck, on the lower surface of upper chuck, be provided with some projections, on the mouth of described steering wheel, be fixedly installed lower chuck, on the edge of described lower chuck, be provided with some draw-in grooves that match with projection, described upper chuck and lower chuck fit, and described some projections enter in corresponding draw-in groove.
Simple joint machine fish of the present invention, wherein said battery is fixedly mounted in body skin by battery bracket, and described integrated master control board is fixedly mounted on battery bracket top.
Simple joint machine fish of the present invention, wherein said body skin comprises front case, rear housing, screw collar and bonnet, on the rear and front end of the inside face of described screw collar, be respectively arranged with negative thread, the rear end of described front case and the front end of rear housing are respectively arranged with outside thread, front case and rear housing are threaded with the rear and front end of screw collar respectively, described bonnet is threaded in the rear end of rear housing, and the front end of described front case is hemisphere build.
Simple joint machine fish of the present invention, wherein said front set collar and rear set collar are fixed on the inwall of front case and rear housing by snap fit respectively, described steering wheel support is fixed on by snap fit and inserting slot construction on the inwall of rear housing, described battery bracket is fixed on by bolt and inserting slot construction on the inwall of rear housing, and described integrated master control board is fixed on the upper surface of battery bracket by bolt and coupler construction.
Simple joint machine fish of the present invention, the junction of wherein said front case, screw collar and rear housing is respectively arranged with seal ring; Charging connector and inflatable interface are installed on described rear housing.
Simple joint machine fish of the present invention, symmetric figure centered by the cross-sectional plane of wherein said body skin: circle, ellipse, square or equilateral polygon.
Underwater propulsion platform of the present invention, comprises at least two simple joint machine fishs, between described adjacent simple joint machine fish, is fixedly connected with by coupling link.
Simple joint machine fish difference from prior art of the present invention is that simple joint machine fish of the present invention only adopts tail fin as single propulsive mechanism, attitude regulation structure is installed simultaneously in body skin, the actuating device that rotates in a circumferential direction in attitude regulation structure can drive the counterweight that rotates in a circumferential direction to rotate around the axis of body skin, make machine fish axis rolling certain angle around body skin in water reach the object of adjusting attitude in water, by the change of attitude in water and the cooperation of tail fin, thereby can realize machine fish advances in water, turn, the actions such as floating and dive.Simple in structure due to the propulsive mechanism of simple joint machine fish of the present invention, makes the good seal performance of body skin, and cost is low, is easy to control.Meanwhile, can also be by multiple simple joint machine fishs be connected to form to underwater propulsion platform side by side, for carrying other subsea equipments.
Below in conjunction with accompanying drawing, simple joint machine fish of the present invention and underwater propulsion platform are described further.
Brief description of the drawings
Fig. 1 is the front view of simple joint machine fish of the present invention;
Fig. 2 is the birds-eye view of simple joint machine fish of the present invention;
Fig. 3 a is the lateral plan of front case in simple joint machine fish of the present invention;
Fig. 3 b is the axis side view of front case in simple joint machine fish of the present invention;
Fig. 4 is the axis side view of screw collar in simple joint machine fish of the present invention;
Fig. 5 a is the lateral plan of rear housing in simple joint machine fish of the present invention;
Fig. 5 b is the axis side view of rear housing in simple joint machine fish of the present invention;
Fig. 6 is the axis side view of bonnet in simple joint machine fish of the present invention;
Fig. 7 is the axis side view (removal body skin) of simple joint machine fish of the present invention;
Fig. 8 is the decomposition texture schematic diagram of bionical propulsive mechanism and propelling drive apparatus in simple joint machine fish of the present invention;
Fig. 9 is the axis side view of battery and battery bracket in simple joint machine fish of the present invention;
Figure 10 is the axis side view of attitude regulation structure in simple joint machine fish of the present invention;
Figure 11 is the structural representation of underwater propulsion platform of the present invention.
Detailed description of the invention
Simple joint machine fish of the present invention and underwater propulsion platform comprise body skin, bionical propulsive mechanism, power source module, communication control module and attitude regulation mechanism, wherein power source module, communication control module and attitude regulation mechanism are arranged in body skin, bionical propulsive mechanism is connected with power source module, is arranged on the outer proceeds posterolateral of body skin.
As Fig. 1, Fig. 2, Fig. 3 b, Fig. 4, shown in Fig. 5 b and Fig. 6, the cross-sectional plane of body skin is circular, body skin comprises front case 501, rear housing 502, screw collar 503 and bonnet 504, on the rear and front end of the inside face of screw collar 503, be respectively arranged with negative thread, the front end of the rear end of front case 501 and rear housing 502 is respectively arranged with outside thread, front case 501 and rear housing 502 are threaded with the rear and front end of screw collar 503 respectively, bonnet 504 is threaded in the rear end of rear housing 502, front case 501, the junction of screw collar 503 and rear housing 502 is respectively arranged with seal ring 505, charging connector 506 and inflatable interface 507 are installed on rear housing 502.Be threaded and make the assembling between body skin each several part easier, the seal ring that each several part junction arranges makes the sealing property of body skin better.
As shown in Fig. 1, Fig. 7 and Fig. 8, bionical propulsive mechanism comprises tail fin 101, C type skeleton 102 and upper and lower main shaft 103,104, the two ends of C type skeleton 102 are positioned at the upper and lower both sides at body skin rear portion, tail fin 101 is fixedly connected on the rear end of C type skeleton 102, the outer end of upper and lower main shaft 103,104 is fixedly connected with the two ends of C type skeleton 102 respectively, and the inner of upper and lower main shaft 103,104 enters in body skin through the axis hole at body skin rear portion.Upper and lower main shaft 103,104 is installed with mounting ring 105 through the axis hole place of body skin, on the main shaft of mounting ring 105 inner sides, is set with elastic seal ring 106, between elastic seal ring 106 and mounting ring 105, circlip 107 is installed.
Power source module comprises battery 201 and propelling drive apparatus, propelling drive apparatus adopts steering wheel 202, steering wheel 202 is fixedly mounted in steering wheel support 203, the inner of upper main shaft 103 is fixedly connected with upper chuck 108, on the lower surface of upper chuck 108, be provided with some protruding 109, on the mouth of steering wheel 202, be fixedly installed lower chuck 204, on the edge of lower chuck 204, be provided with some and protruding 109 draw-in grooves that match 205, upper chuck 108 fits with lower chuck 204, and some protruding 109 enter in corresponding draw-in groove 205.Shown in Fig. 5 a, in the rear side lower inner wall of rear housing 502, be provided with some horizontal support bars 508, in the slot that steering wheel support 203 consists of the connecting panel insertion rear housing 502 inner support bars 508 of side and bottom, and by the snap fit 207 of steering wheel support 203 sides, steering wheel support 203 is fixed in rear housing 502.The mouth of steering wheel 202 drives lower chuck 204 to swing, and lower chuck 204 drives upper chuck 108, upper main shaft 103 to rotate, and upper main shaft 103 swings with C type skeleton 102 and tail fin 101, thereby provides power to machine fish.
As shown in Fig. 1, Fig. 7 and Fig. 9, battery 201 is fixedly mounted in the battery bracket 206 of rectangle, the both sides of battery bracket 206 are provided with bolt adapter plate 208, shown in Fig. 5 a, on the middle part inwall of rear housing 502, be provided with a pair of horizontal stay bearing plate 509, one end of stay bearing plate 509 is provided with bolt adapter plate 510, the bottom of battery bracket 206 is sitting on the upper surface of stay bearing plate 509, bolt adapter plate 208 laminating relative to bolt adapter plate 510, and be bolted, thereby battery bracket 206 is fixedly mounted in rear housing 502.Communication control module comprises integrated master control board 301 and antenna 302, and antenna 302 is fixedly mounted on body skin, and integrated master control board 301 is fixed on the upper surface of battery bracket 206 by bolt and coupler construction.
As shown in Fig. 7 and Figure 10, attitude regulation mechanism comprises rotate in a circumferential direction actuating device and the counterweight that rotates in a circumferential direction that are arranged in body skin, and the actuating device that rotates in a circumferential direction is for driving the counterweight that rotates in a circumferential direction to rotate around the axis of the fore-and-aft direction of body skin.The actuating device that rotates in a circumferential direction comprises front set collar 401, rear set collar 402 and turning unit, one side week of front set collar 401 and rear set collar 402 is upwards respectively arranged with some snap fits 404, shown in Fig. 3 b and Fig. 5 b, on the inwall of front case 501 and rear housing 502, be provided with some card articles 511, front set collar 401 and rear set collar 402 be being fixed on the inwall of front case 501 and rear housing 502 by snap fit 404 and card article 511 respectively.On front set collar 401 face relative with rear set collar 402, offer annular groove 403, in annular groove 403, be respectively arranged with roller, between two rollers, connect by pipe link, the counterweight that rotates in a circumferential direction is made up of some sheet clump weights 405, clump weight 405 is arranged on pipe link, turning unit is arranged on front set collar 401, and is connected with pipe link.By the rotation of turning unit, drive pipe link to slide along the annular groove 403 of front set collar 401 and rear set collar 402, the counterweight that makes to rotate in a circumferential direction is rotated around the central axis of body skin, thereby change machine fish at week center-of-gravity position upwards, regulate the attitude of machine fish in water, add and the coordinating of tail fin 101, realize that machine fish advances, turns in water, the action of floating and dive.
Wherein, the turning unit in attitude regulation mechanism can have multiple concrete form, and for example planetary wheeling mechanism its objective is by the rotation of self certain part and drives the counterweight that rotates in a circumferential direction to rotate around body skin axis.In addition, in the time of battery bracket 206 and steering wheel 202 supports installation, all will make the center of gravity of battery 201 and steering wheel 202 be positioned on the axis of body skin, the attitude that reduces machine fish changes the too much impact that is subject to battery 201 and steering wheel 202 centers of gravity as far as possible.The shape of cross section of body skin, except circle, can be also other centrosymmetric images, for example: square, ellipse or equilateral polygon.
As shown in figure 11, utilize coupling link 6 several simple joint machine fishs can be linked together and form underwater propulsion platform, be used for delivering other subsea equipments, coupling link 6 is 8 font rings, can be enclosed within the body skin outside of two simple joint machine fishs simultaneously, two simple joint machine fishs are linked together.
Above-described embodiment is described the preferred embodiment of the present invention; not scope of the present invention is limited; design under the prerequisite of spirit not departing from the present invention; various distortion and improvement that those of ordinary skill in the art make technical scheme of the present invention, all should fall in the definite protection domain of the claims in the present invention book.
Claims (10)
1. a simple joint machine fish, comprise body skin, bionical propulsive mechanism, power source module and communication control module, it is characterized in that: described bionical propulsive mechanism comprises tail fin (101), C type skeleton (102) and upper, lower main axis (103, 104), the two ends of described C type skeleton (102) are positioned at the upper of body skin rear portion, lower both sides, described tail fin (101) is fixedly connected on the rear end of C type skeleton (102), on described, lower main axis (103, 104) outer end is fixedly connected with the two ends of C type skeleton (102) respectively, on, lower main axis (103, 104) the inner enters in body skin through the axis hole at body skin rear portion, described power source module comprises battery (201) and propelling drive apparatus, described battery (201) and propelling drive apparatus are fixedly mounted in body skin, the mouth of described propelling drive apparatus is connected with the inner of upper and lower main shaft (103,104), for driving upper and lower main shaft (103,104) reciprocating rotary, described communication control module comprises integrated master control board (301) and antenna (302), and described antenna (302) is fixedly mounted on body skin, and described integrated master control board (301) is fixed in body skin,
Described machine fish also comprises attitude regulation mechanism, described attitude regulation mechanism comprises rotate in a circumferential direction actuating device and the counterweight that rotates in a circumferential direction that are arranged in body skin, described in rotate in a circumferential direction actuating device for driving the counterweight that rotates in a circumferential direction to rotate around the axis of the fore-and-aft direction of body skin.
2. simple joint machine fish according to claim 1, it is characterized in that: described in the actuating device that rotates in a circumferential direction comprise front set collar (401), rear set collar (402) and turning unit, on described front set collar (401) inwall that is fixed on body skin relative to rear set collar (402), on front set collar (401) face relative with rear set collar (402), offer annular groove (403), described annular groove is respectively arranged with roller in (403), between two described rollers, connect by pipe link, the described counterweight that rotates in a circumferential direction is arranged on pipe link, described turning unit is arranged on front set collar (401) or rear set collar (402), and be connected with pipe link.
3. simple joint machine fish according to claim 1, it is characterized in that: described upper and lower main shaft (103,104) is installed with mounting ring (105) through the axis hole place of body skin, on the main shaft of described mounting ring (105) inner side, be set with elastic seal ring (106), between described elastic seal ring (106) and mounting ring (105), circlip (107) be installed.
4. simple joint machine fish according to claim 1, it is characterized in that: described propelling drive apparatus is steering wheel (202), described steering wheel (202) is fixedly mounted in body skin by steering wheel support (203), the inner of described upper main shaft (103) is fixedly connected with upper chuck (108), on the lower surface of upper chuck (108), be provided with some projections (109), on the mouth of described steering wheel (202), be fixedly installed lower chuck (204), on the edge of described lower chuck (204), be provided with some draw-in grooves (205) that match with projection (109), described upper chuck (108) fits with lower chuck (204), described some projections (109) enter in corresponding draw-in groove (205).
5. simple joint machine fish according to claim 1, it is characterized in that: described battery (201) is fixedly mounted in body skin by battery bracket (206), described integrated master control board (301) is fixedly mounted on battery bracket (206) top.
6. according to the simple joint machine fish one of claim 1 to 5 Suo Shu, it is characterized in that: described body skin comprises front case (501), rear housing (502), screw collar (503) and bonnet (504), on the rear and front end of the inside face of described screw collar (503), be respectively arranged with negative thread, the front end of the rear end of described front case (501) and rear housing (502) is respectively arranged with outside thread, front case (501) and rear housing (502) are threaded with the rear and front end of screw collar (503) respectively, described bonnet (504) is threaded in the rear end of rear housing (502), the front end of described front case (501) is hemisphere build.
7. simple joint machine fish according to claim 6, it is characterized in that: described front set collar (401) and rear set collar (402) are fixed on the inwall of front case (501) and rear housing (502) by snap fit respectively, described steering wheel support (203) is fixed on by snap fit and inserting slot construction on the inwall of rear housing (502), described battery bracket (206) is fixed on by bolt and inserting slot construction on the inwall of rear housing (502), described integrated master control board (301) is fixed on the upper surface of battery bracket (206) by bolt and coupler construction.
8. simple joint machine fish according to claim 6, is characterized in that: the junction of described front case (501), screw collar (503) and rear housing (502) is respectively arranged with seal ring (505); Charging connector (506) and inflatable interface (507) are installed on described rear housing (502).
9. simple joint machine fish according to claim 6, is characterized in that: symmetric figure centered by the cross-sectional plane of described body skin: circle, ellipse, square or equilateral polygon.
10. a underwater propulsion platform, is characterized in that: comprise at least two simple joint machine fishs claimed in claim 9, between described adjacent simple joint machine fish, be fixedly connected with by coupling link (6).
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| CN201410392357.9A CN104118549B (en) | 2014-08-11 | 2014-08-11 | Simple joint machine fish and underwater propulsion platform |
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| CN201410392357.9A CN104118549B (en) | 2014-08-11 | 2014-08-11 | Simple joint machine fish and underwater propulsion platform |
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| CN104118549A true CN104118549A (en) | 2014-10-29 |
| CN104118549B CN104118549B (en) | 2016-08-17 |
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| CN105083511A (en) * | 2015-09-24 | 2015-11-25 | 潘济安 | Bionic fishtail propelling device |
| CN105711778A (en) * | 2016-03-11 | 2016-06-29 | 北京大学 | Novel automatic bionic robot fish |
| CN105811078A (en) * | 2016-03-29 | 2016-07-27 | 中国计量学院 | Retractable satellite antenna of underwater aircraft |
| CN106043644A (en) * | 2016-06-07 | 2016-10-26 | 北京大学 | Family ostraciidae fish-based double degree-of-freedom bionic caudal fin propulsion mechanism |
| CN106347609A (en) * | 2016-11-23 | 2017-01-25 | 哈尔滨工业大学 | Dish-shaped underwater gliding robot |
| CN106697240A (en) * | 2016-12-27 | 2017-05-24 | 中电科海洋信息技术研究院有限公司 | Bionic fish-type robot propulsion system and bionic fish-type robot |
| CN106828848A (en) * | 2017-02-06 | 2017-06-13 | 厦门大学 | A kind of skeleton many strings affect underwater fish |
| CN107466280A (en) * | 2017-04-28 | 2017-12-12 | 博雅工道（北京）机器人科技有限公司 | Machine fish in a kind of simple joint water |
| CN109131809A (en) * | 2018-08-28 | 2019-01-04 | 西北工业大学 | It is a kind of to swing the unmanned vehicles promoted based on tail bone |
| CN110539866A (en) * | 2019-07-26 | 2019-12-06 | 北京精密机电控制设备研究所 | combined propeller |
| CN112896457A (en) * | 2021-01-11 | 2021-06-04 | 白城师范学院 | Underwater auxiliary rescue robot fish and control system thereof |
| CN113335481A (en) * | 2021-06-29 | 2021-09-03 | 深圳市德创水下智能装备有限公司 | Underwater operation attitude control method for robot |
| US20220266966A1 (en) * | 2021-02-20 | 2022-08-25 | Tianjin University | Bionic fish single-degree-of-freedom modular structure based on cam mechanism |
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| CN105083511A (en) * | 2015-09-24 | 2015-11-25 | 潘济安 | Bionic fishtail propelling device |
| CN105711778A (en) * | 2016-03-11 | 2016-06-29 | 北京大学 | Novel automatic bionic robot fish |
| CN105811078A (en) * | 2016-03-29 | 2016-07-27 | 中国计量学院 | Retractable satellite antenna of underwater aircraft |
| CN106043644A (en) * | 2016-06-07 | 2016-10-26 | 北京大学 | Family ostraciidae fish-based double degree-of-freedom bionic caudal fin propulsion mechanism |
| CN106347609A (en) * | 2016-11-23 | 2017-01-25 | 哈尔滨工业大学 | Dish-shaped underwater gliding robot |
| CN106697240A (en) * | 2016-12-27 | 2017-05-24 | 中电科海洋信息技术研究院有限公司 | Bionic fish-type robot propulsion system and bionic fish-type robot |
| CN106828848A (en) * | 2017-02-06 | 2017-06-13 | 厦门大学 | A kind of skeleton many strings affect underwater fish |
| CN107466280B (en) * | 2017-04-28 | 2019-07-12 | 天长市未名机器人有限责任公司 | Machine fish in a kind of simple joint water |
| CN107466280A (en) * | 2017-04-28 | 2017-12-12 | 博雅工道（北京）机器人科技有限公司 | Machine fish in a kind of simple joint water |
| CN109131809A (en) * | 2018-08-28 | 2019-01-04 | 西北工业大学 | It is a kind of to swing the unmanned vehicles promoted based on tail bone |
| CN110539866A (en) * | 2019-07-26 | 2019-12-06 | 北京精密机电控制设备研究所 | combined propeller |
| CN110539866B (en) * | 2019-07-26 | 2023-11-10 | 北京精密机电控制设备研究所 | Combined propeller |
| CN112896457A (en) * | 2021-01-11 | 2021-06-04 | 白城师范学院 | Underwater auxiliary rescue robot fish and control system thereof |
| US20220266966A1 (en) * | 2021-02-20 | 2022-08-25 | Tianjin University | Bionic fish single-degree-of-freedom modular structure based on cam mechanism |
| US11975810B2 (en) * | 2021-02-20 | 2024-05-07 | Tianjin University | Bionic fish single-degree-of-freedom modular structure based on cam mechanism |
| CN113335481A (en) * | 2021-06-29 | 2021-09-03 | 深圳市德创水下智能装备有限公司 | Underwater operation attitude control method for robot |
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