CN106864712A - Bionic mechanical dolphin - Google Patents
Bionic mechanical dolphin Download PDFInfo
- Publication number
- CN106864712A CN106864712A CN201710194572.1A CN201710194572A CN106864712A CN 106864712 A CN106864712 A CN 106864712A CN 201710194572 A CN201710194572 A CN 201710194572A CN 106864712 A CN106864712 A CN 106864712A
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- CN
- China
- Prior art keywords
- steering wheel
- dolphin
- connector
- tail fin
- axle
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of bionic mechanical dolphin, for solving the baroque technical problem of existing intelligent robot dolphin.Technical scheme is to include dolphin head and tail fin structure two parts, and described dolphin head is equipped with attitude transducer, hydraulic pressure sensor, temperature sensor, screw slider mechanism, power supply and control device；Equipped with turning mechanism, the back of the body abdomen formula propulsive mechanism and tail fin in described tail fin structure；Dolphin head is sealed by thread sealing device with elastic water-proof crust, and tail fin is sealed with elastic water-proof crust by multi-sealed ring.Make dolphin integral sealing effect good by thread sealing device, mechanical dolphin is set flexibly to turn by turning mechanism, tail fin structure is combined by screw slider mechanism and realizes flexible floating, lower rice root nematode, driven simultaneously by carrying on the back abdomen formula propulsive mechanism and tail fin structure, the combination of the motion of back of the body abdomen formula and the motion of Scad Coega crescent moon tails formula is realized, the travelling pattern of simulation dolphin that can be more true to nature.Simple structure of the present invention, practicality is good.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of bionic mechanical dolphin.
Background technology
Current UAV navigation such as Autonomous Underwater Vehicle (Autonomous common both at home and abroad
Underwater Vehicle, AUV), remote control submarine navigation device (Remotely Operated Vehicle, ROV) etc. uses
Traditional screw propeller.Propeller Push Technology has irreplaceable advantage, theoretical research and reality in actual applications
Border application all comparative maturities, but its own also Shortcomings, such as noise are big, kinematic dexterity big to environmental perturbation and hidden
Covering property is poor etc., and application scenario is restricted.In order to improve the locomitivity of underwater robot, people constantly study new pushing away
Enter mode, then people make every effort to obtain inspiration from colourful fish, their movement mechanism and behavior are transported
In using to underwater robot movement mechanism and the research for controlling, to improve the propulsive efficiency and speed of underwater robot.
Document 1 " application publication number is CN1663881A Chinese invention patents " discloses a kind of intelligent robot dolphin.The intelligence
Energy robotic dolphin includes rigid dolphin head, is arranged on the aluminum skeleton inside the dolphin head, is arranged on the aluminum skeleton
Supply unit, control device, sensing device and balancing weight；It is made up of turning mechanism, back of the body abdomen formula propulsive mechanism and elastic soft
Elastic dolphin body, and imitative fin apparatus being made up of Qi Zhi mechanisms, dorsal fin mechanism and tail fin.Due to add Qi Zhi mechanisms,
Dorsal fin mechanism, although turning function can be realized, but structure is excessively complicated, and sealing effectiveness is poor, is difficult to realize under the larger depth of water
It is travelling；Because the travelling efficiency of back of the body abdomen formula is moved about efficiency less than Scad Coega crescent moon tails formula, although causing the invention to be fitted sinusoidal pendulum
Caudal flexure line, but can accurately not simulate the true curve wagged the tail of dolphin.
The content of the invention
In order to overcome the baroque deficiency of existing intelligent robot dolphin, the present invention to provide a kind of bionic mechanical dolphin.Should
Bionic mechanical dolphin includes dolphin head and tail fin structure two parts, and dolphin head is rigidity and is connected with dorsal fin, abdomeinal fin, described
Dolphin head equipped with attitude transducer, hydraulic pressure sensor, temperature sensor, screw slider mechanism, supply unit and control dress
Put；Equipped with turning mechanism, the back of the body abdomen formula propulsive mechanism and tail fin in described tail fin structure；Dolphin head passes through thread sealing device
Sealed with elastic water-proof crust, tail fin is sealed with elastic water-proof crust by multi-sealed ring.By thread sealing device
Make dolphin integral sealing effect good, mechanical dolphin is flexibly turned by turning mechanism, mechanism combines tail fin by screw slider
Structure realizes flexible floating, lower rice root nematode, is driven simultaneously by carrying on the back abdomen formula propulsive mechanism and tail fin structure, realizes back of the body abdomen formula
Motion and the combination of Scad Coega crescent moon tails formula motion, the travelling pattern of simulation dolphin that can be more true to nature.Simple structure of the present invention, it is real
It is good with property.
The technical solution adopted for the present invention to solve the technical problems is：A kind of bionic mechanical dolphin, is characterized in including
Dolphin head 1 and tail fin structure 30, are provided with attitude transducer 10, hydraulic pressure sensor 7, TEMP inside the dolphin head 1
Device 2, humidity sensor 11, the poly- battery 12 of screw slider mechanism 44, lithium, control device 3, the first steering wheel fixed plate 16 and battery branch
Fagging 5；First steering wheel 17 is fixed on dolphin head 1 by the first steering wheel fixed plate 16, and cell support plate 5 is connected by the first steering wheel
The steering wheel 17 of fitting 15 and first is connected, and the poly- battery 12 of lithium is put on cell support plate 5, and screw slider mechanism 44 passes through dolphin head
1 draw-in groove is put in the lower section of cell support plate 5, and hydraulic pressure sensor 7 is put in the lower section of screw slider mechanism 44, and temperature sensor 2 is put in
The top of control device 3, attitude transducer 10 is located at the poly- top of battery 12 of lithium；First steering wheel 17 passes through the second steering wheel connector
18 are connected with the 3rd steering wheel connector 19, and the second steering wheel 20 and the 3rd steering wheel connector 19 are connected, and the second steering wheel 20 passes through the 4th
Steering wheel connector 21 is connected with the 5th steering wheel connector 23, and the 3rd steering wheel 24 and the 5th connector 23 are connected；3rd steering wheel
24 are connected by the 6th steering wheel connector 25 with the 4th steering wheel 26, and one end and the coupling disc 27 of the output shaft of the 4th steering wheel 26 are connected,
The other end of the output shaft of the 4th steering wheel 26 is equipped with fixed gear 32, and coupling disc 27 is connected by clutch shaft bearing 39 with first axle 28,
It is connected with the second axle 29 by second bearing 40, the first synchronizing wheel 37, the first spring clip 41, the 3rd axle is housed in first axle 28
43 and driving gear 33 are held, the second synchronizing wheel 38, second spring clamp 42 and fourth bearing 45 are housed on second axle 29, first is same
Step wheel 37 is connected with the second synchronizing wheel 38 by Timing Belt 36；Shaft sleeve plate is cased with the 3rd bearing 43 and fourth bearing 45
35, it is connected with shaft sleeve plate 35 equipped with protection cap 34 at the second axle 29 of shaft sleeve plate 35.The jag of the second axle 29 passes through tail fin knot
Structure 30 is connected with globefish tail 31；In the screw slider mechanism 44, stepper motor 9 is fixed on leading screw frame 8, the output of stepper motor 9
Axle is connected with leading screw 46, and leading screw 46 is connected by 5th bearing 4 with leading screw frame 8, leading screw 46 is rotated, and weight slide block 6 is led to
Cross and be threadedly connected to leading screw 46.The dolphin head 1 is connected by thread seal with threaded connector 47, and elastic crust 22 passes through
Multi-sealed ring is connected with threaded connector 47.
The beneficial effects of the invention are as follows：The bionic mechanical dolphin includes dolphin head and tail fin structure two parts, dolphin head
Portion and dorsal fin, abdomeinal fin are rigidity and are connected, described dolphin head equipped with attitude transducer, hydraulic pressure sensor, temperature sensor,
Screw slider mechanism, supply unit and control device；In described tail fin structure equipped with turning mechanism, the back of the body abdomen formula propulsive mechanism and
Tail fin；Dolphin head is sealed by thread sealing device with elastic water-proof crust, and tail fin is with elastic water-proof crust by multiple close
Seal ring is sealed.Make dolphin integral sealing effect good by thread sealing device, make mechanical dolphin flexible by turning mechanism
Turn, by screw slider mechanism combine tail fin structure realize it is flexible float, lower rice root nematode, by carry on the back abdomen formula propulsive mechanism and
Tail fin structure drives simultaneously, realizes the combination of the motion of back of the body abdomen formula and the motion of Scad Coega crescent moon tails formula, and simulation that can be more true to nature is extra large
The travelling pattern of globefish.Simple structure of the present invention, practicality is good.
The present invention is elaborated with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is the structural representation of bionic mechanical dolphin of the present invention.
Fig. 2 is the schematic diagram of tail fin structure in Fig. 1.
Fig. 3 is the structural representation at globefish tail in Fig. 1.
Fig. 4 is the structural representation at bionic mechanical dolphin threaded connector of the present invention.
Fig. 5 is the structural representation of dolphin head in Fig. 1.
In figure, 1- dolphin heads；2- temperature sensors；3- control devices；4- 5th bearings；5- cell support plates；6- matches somebody with somebody
Weighty slider；7- hydraulic pressure sensors；8- leading screw framves；9- stepper motors；10- attitude transducers；11- humidity sensors；The poly- electricity of 12- lithiums
Pond；13- charging inlets；14- communication antennas；15- the first steering wheel connectors；16- the first steering wheel fixed plates；The steering wheels of 17- first；
18- the second steering wheel connectors；The steering wheel connectors of 19- the 3rd；The steering wheels of 20- second；The steering wheel connectors of 21- the 4th；22- elasticity is outer
Skin；The steering wheel connectors of 23- the 5th；The steering wheels of 24- the 3rd；25 the 6th steering wheel connectors；The steering wheels of 26- the 4th；27- coupling discs；28-
One axle；The axles of 29- second；30- tail fin structures；31- globefish tails；32- fixed gears；33- driving gears；34- protection caps；35- axle sleeves
Plate；36- Timing Belts；The synchronizing wheels of 37- first；The synchronizing wheels of 38- second；39- clutch shaft bearings；40- second bearings；The springs of 41- first
Clamp；42- second spring clamps；43- 3rd bearings；44- screw sliders mechanism；45- fourth bearings；46- leading screws；47- screw threads
Connector.
Specific embodiment
Following examples reference picture 1~5.
Bionic mechanical dolphin of the present invention includes dolphin head 1 and tail fin structure 30, and attitude is provided with inside the dolphin head 1
Sensor 10, hydraulic pressure sensor 7, temperature sensor 2, humidity sensor 11, the poly- battery 12 of screw slider mechanism 44, lithium, charging
Interface 13, communication antenna 14, control device 3, the first steering wheel fixed plate 16, cell support plate 5；First steering wheel 17 is by the
One steering wheel fixed plate 16 is consolidated with dolphin head 1, cell support plate 5 is fixed on by the first steering wheel connector 15 and the first steering wheel 17
Even, the poly- battery 12 of lithium is put in cell support plate 5, and screw slider mechanism 44 is put in cell support plate 5 by the draw-in groove of dolphin head 1
Lower section, hydraulic pressure sensor 7 is put in the lower section of screw slider mechanism 44, and temperature sensor 2 is put in the top of control device 3, attitude sensing
Device 10 is located at the poly- top of battery 12 of lithium；First steering wheel 17 passes through the second steering wheel connector 18 and the phase of the 3rd steering wheel connector 19
Even, the second steering wheel 20 and the 3rd steering wheel connector 19 are connected, and the second steering wheel 20 passes through the 4th steering wheel connector 21 and the 5th steering wheel
Connector 23 is connected, and the 3rd steering wheel 24 and the 5th connector 23 are connected；3rd steering wheel 24 passes through the 6th steering wheel connector 25
It is connected with the 4th steering wheel 26, the output shaft of the 4th steering wheel 26 is connected with coupling disc 27, and the other end of the output shaft of the 4th steering wheel 26 is equipped with
Fixed gear 32, coupling disc 27 is connected by clutch shaft bearing 39 with first axle 28, is connected with the second axle 29 by second bearing 40,
First synchronizing wheel 37, the first spring clip 41,3rd bearing 43 and driving gear 33 are housed in first axle 28, are filled on the second axle 29
There are the second synchronizing wheel 38, second spring clamp 42 and fourth bearing 45, the first synchronizing wheel 37 is with the second synchronizing wheel 38 by synchronous
Band 36 is connected；Shaft sleeve plate 35 is cased with the 3rd bearing 43 and fourth bearing 45, equipped with guarantor at the second axle 29 of shaft sleeve plate 35
Protecting cover 34 is connected with shaft sleeve plate 35.Second axle 29 is connected by tail fin structure 30 by jag with globefish tail 31；The leading screw is slided
In block mechanism 44, stepper motor 9 is fixed on leading screw frame 8, and output shaft and the leading screw 46 of stepper motor 9 are connected, and leading screw 46 is by the
Five bearings 4 are connected with leading screw frame 8, leading screw 46 is rotated, and weight slide block 6 is threadingly attached to leading screw 46.The dolphin
Head 1 is connected by thread seal with threaded connector 47, and elastic crust 22 is consolidated by multi-sealed ring with threaded connector 47
Even.
Bionic mechanical dolphin sends instruction when level is travelling by control module, and weight slide block 6 is in the middle part of leading screw 46,
Do not move, the first steering wheel 17 not output torque, the second steering wheel 20, the 3rd steering wheel 24 and the 4th steering wheel 26 are by instructing fitting dolphin
Wag the tail sine curve, the output shaft rotation of the 4th steering wheel 26 so that coupling disc 27 is in around the output shaft rotation of the 4th steering wheel 26
First axle 28, the second axle 29 on coupling disc 27, the first synchronizing wheel 37, the second synchronizing wheel 38, Timing Belt 36, the first spring clip
41st, second spring clamp 42, clutch shaft bearing 39, second bearing 40, the 3rd axle 43 hold, fourth bearing 44, driving gear 33, axle sleeve
Plate 35, protection cap 34, tail fin structure 30, globefish tail 31 around follow coupling disc 27 around the output shaft synchronous of the 4th steering wheel 26 rotate, Gu
Fixed gear 32 produces rotation with driving gear 33, and the first synchronizing wheel 37 follows master by the first axle 28 being connected with driving gear 33
Moving gear 33 rotates, and by the rotating Vortex of 36 and first synchronizing wheel of Timing Belt 37, the second axle 29 is by with for the second synchronizing wheel 38
Two synchronizing wheels 38 are connected, and make the equidirectional rotation of the second axle 29, and globefish tail 31 is consolidated by the jag of the axle 29 of tail fin structure 30 and second
Even, globefish tail 31 is made to be rotated around the second axle 29.I.e. tail fin structure 30 and globefish tail 31 are while rotate around the 4th steering wheel 26 and around the
The equidirectional rotation of two axle 29.When the second steering wheel 20, the 3rd steering wheel 24 is fitted sine curve swing type, the 4th steering wheel 26 and globefish tail 31
It is travelling using Scad Coega crescent moon tail formulas pattern.
Bionic mechanical dolphin sends instruction when dive is travelling by control module, and weight slide block 6 is led to from the middle part of leading screw 46
Crossing stepper motor 9 drives leading screw 46 to rotate, and weight slide block 6 is slided to leading screw is anterior, causes dolphin center of gravity to move forward, the first steering wheel
17 not output torques, the output shaft of the second steering wheel 20 is turned clockwise certain angle by instruction, makes bionic mechanical dolphin under
Concavity state, the second steering wheel 20, the 3rd steering wheel 24 and the 4th steering wheel 26 with certain angle are wagged the tail just by instructing fitting dolphin
Chord curve, the output shaft rotation of the 4th steering wheel 26 so that coupling disc 27 around the 4th steering wheel 26 output shaft rotation, in coupling disc
First axle 28, the second axle 29, the first synchronizing wheel 37, the second synchronizing wheel 38, Timing Belt 36, the first spring clip 41, on 27
Two spring clipes 42, clutch shaft bearing 39, second bearing 40, the 3rd axle 43 hold, fourth bearing 44, driving gear 33, shaft sleeve plate 35,
Protection cap 34, tail fin structure 30, globefish tail 31 around follow coupling disc 27 around the output shaft synchronous of the 4th steering wheel 26 rotate, fixed gear
32 produce rotation with driving gear 33, and the first synchronizing wheel 37 follows driving gear by the first axle 28 being connected with driving gear 33
33 rotations, by the rotating Vortex of 36 and first synchronizing wheel of Timing Belt 37, the second axle 29 is by synchronous with second for the second synchronizing wheel 38
Wheel 38 is connected, and makes the equidirectional rotation of the second axle 29, and globefish tail 31 is connected by the jag of the axle 29 of tail fin structure 30 and second, makes globefish
Tail 31 rotates around the second axle 29.That is tail fin structure 30 is again same around the second axle 29 while being rotated around the 4th steering wheel 26 with globefish tail 31
Direction rotates.When the second steering wheel 20, the 3rd steering wheel 24 is fitted sine curve swing type, the 4th steering wheel 26 uses Scad sections with globefish tail 31
Plus crescent moon tail formula pattern is travelling.By the reach of weight slide block 6, the certain angle that turns clockwise of the second steering wheel 20 makes bionical
Mechanical dolphin can flexibly realize the travelling pattern of dive.
When bionic mechanical dolphin needs to turn to, only the first steering wheel 17 need to be made again to the instruction that the first steering wheel 17 is certain
Output shaft reversely rotates certain angle, it is possible to realize divertical motion.
Claims (1)
1. a kind of bionic mechanical dolphin, it is characterised in that：In dolphin head (1) and tail fin structure (30), the dolphin head (1)
Portion is provided with attitude transducer (10), hydraulic pressure sensor (7), temperature sensor (2), screw slider mechanism (44), the poly- battery of lithium
(12), control device (3), the first steering wheel fixed plate (16) and cell support plate (5)；First steering wheel (17) is solid by the first steering wheel
Fixed board (16) is fixed on dolphin head (1), and cell support plate (5) is solid by the first steering wheel connector (15) and the first steering wheel (17)
Even, the poly- battery of lithium (12) is put on cell support plate (5), and screw slider mechanism (44) is put in by the draw-in groove of dolphin head (1)
Cell support plate (5) lower section, hydraulic pressure sensor (7) is put in screw slider mechanism (44) lower section, and temperature sensor (2) is put in control
Device (3) top, attitude transducer (10) is positioned at the poly- battery of lithium (12) top；First steering wheel (17) is connected by the second steering wheel
Fitting (18) is connected with the 3rd steering wheel connector (19), and the second steering wheel (20) is connected with the 3rd steering wheel connector (19), the second rudder
Machine (20) is connected by the 4th steering wheel connector (21) with the 5th steering wheel connector (23), the 3rd steering wheel (24) and the 5th connector
(23) it is connected；3rd steering wheel (24) is connected by the 6th steering wheel connector (25) with the 4th steering wheel (26), the 4th steering wheel
(26) one end of output shaft is connected with coupling disc (27), and the other end of the 4th steering wheel (26) output shaft is equipped with fixed gear (32),
Coupling disc (27) is connected by clutch shaft bearing (39) with first axle (28), is connected with the second axle (29) by second bearing (40),
First synchronizing wheel (37), the first spring clip (41), 3rd bearing (43) and driving gear (33) are housed in first axle (28), the
On two axles (29) be equipped with the second synchronizing wheel (38), second spring clamp (42) and fourth bearing (45), the first synchronizing wheel (37) and
Second synchronizing wheel (38) is connected by Timing Belt (36)；Shaft sleeve plate is cased with the 3rd bearing (43) and fourth bearing (45)
(35), the second axle (29) place of shaft sleeve plate (35) is connected equipped with protection cap (34) with shaft sleeve plate (35)；The protrusion of the second axle (29)
End is connected by tail fin structure (30) with globefish tail (31)；In the screw slider mechanism (44), stepper motor (9) is fixed on leading screw
Frame (8), output shaft and the leading screw (46) of stepper motor (9) are connected, and leading screw (46) is by 5th bearing (4) and leading screw frame (8) phase
Even, leading screw (46) is made to rotate, weight slide block (6) is threadingly attached to leading screw (46)；The dolphin head (1) is by spiral shell
Line sealing is connected with threaded connector (47), and elastic crust (22) is connected by multi-sealed ring and threaded connector (47).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710194572.1A CN106864712A (en) | 2017-03-29 | 2017-03-29 | Bionic mechanical dolphin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710194572.1A CN106864712A (en) | 2017-03-29 | 2017-03-29 | Bionic mechanical dolphin |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106864712A true CN106864712A (en) | 2017-06-20 |
Family
ID=59159832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710194572.1A Pending CN106864712A (en) | 2017-03-29 | 2017-03-29 | Bionic mechanical dolphin |
Country Status (1)
| Country | Link |
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| CN (1) | CN106864712A (en) |
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| CN109080803A (en) * | 2018-08-24 | 2018-12-25 | 西北工业大学 | A kind of imitative fish submarine navigation device having high maneuverability |
| CN109204744A (en) * | 2017-07-03 | 2019-01-15 | 中电科海洋信息技术研究院有限公司 | A kind of bionic coatings underwater glider |
| CN111806659A (en) * | 2020-06-07 | 2020-10-23 | 东南大学 | Optimal design method of dolphin jumping machine |
| CN113525638A (en) * | 2021-08-11 | 2021-10-22 | 清华大学 | Six-freedom-degree bionic robotic dolphin with image transmission function |
| CN113955057A (en) * | 2021-11-16 | 2022-01-21 | 王梓豪 | Underwater bionic dolphin machine device and system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204744A (en) * | 2017-07-03 | 2019-01-15 | 中电科海洋信息技术研究院有限公司 | A kind of bionic coatings underwater glider |
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| CN113525638A (en) * | 2021-08-11 | 2021-10-22 | 清华大学 | Six-freedom-degree bionic robotic dolphin with image transmission function |
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| CN113955057A (en) * | 2021-11-16 | 2022-01-21 | 王梓豪 | Underwater bionic dolphin machine device and system |
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