CN108609066B - Amphibious bionic machine waterfowl - Google Patents
Amphibious bionic machine waterfowl Download PDFInfo
- Publication number
- CN108609066B CN108609066B CN201810438921.4A CN201810438921A CN108609066B CN 108609066 B CN108609066 B CN 108609066B CN 201810438921 A CN201810438921 A CN 201810438921A CN 108609066 B CN108609066 B CN 108609066B
- Authority
- CN
- China
- Prior art keywords
- motor
- neck
- leg
- head
- joint
- 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.)
- Active
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 36
- 241000272517 Anseriformes Species 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 37
- 210000001503 joint Anatomy 0.000 claims description 41
- 230000005540 biological transmission Effects 0.000 claims description 33
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 5
- 230000009184 walking Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 230000003592 biomimetic effect Effects 0.000 claims 6
- 238000013461 design Methods 0.000 abstract description 6
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 230000009189 diving Effects 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 230000035939 shock Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- 238000011160 research Methods 0.000 description 5
- 241001674044 Blattodea Species 0.000 description 4
- 241000270295 Serpentes Species 0.000 description 4
- 235000001968 nicotinic acid Nutrition 0.000 description 4
- 241000270708 Testudinidae Species 0.000 description 3
- 239000010408 film Substances 0.000 description 3
- 239000010409 thin film Substances 0.000 description 3
- 230000009193 crawling Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 235000014653 Carica parviflora Nutrition 0.000 description 1
- 241000243321 Cnidaria Species 0.000 description 1
- 241000238557 Decapoda Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000009183 running Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- 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
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Toys (AREA)
Abstract
The invention discloses an amphibious bionic machine waterfowl, which adopts the waterfowl as a bionic template design, adopts various motion mode conversion, and has stronger environment adaptability and higher flexibility. Comprising the following steps: a housing, a head unit, a leg unit, and a micro joint; the head unit adopts three-degree-of-freedom control and rope driving control, can realize multi-degree-of-freedom rotation and flexible extension of the head, and is used for maintaining balance and diving motion. The leg unit comprises auxiliary legs and power legs, wherein the auxiliary legs are used for auxiliary support of the machine waterfowl in an unstable environment. The crank connecting rod structure of the joint and the worm and gear structure of the power leg can realize continuous, large swing angle range and high torque movement of the leg, and the side spring-linear bearing structure is used for leg jump and shock absorption.
Description
Technical Field
The invention relates to a bionic waterfowl, in particular to an amphibious bionic waterfowl.
Background
The bionics is born in the 60 th century of the 20 th century, is a leading edge discipline combining bioscience and engineering technology, and has been developed for decades, so that modern bionics has been extended to many fields, and robotics is one of the main combining and application fields. Robot bionics is an important branch in the field of robots, and is used for researching robots from a bionical angle. The research in this respect has attracted great interest and attention from related personnel and experts in various countries, and has achieved a great deal of success and positive progress.
However, there are many studies on the bionic robot adapted to only a single environment of water activities or land crawling at home and abroad, and there are few studies on the amphibious bionic robot. With the progress of human understanding, developing, utilizing and protecting ocean resources, conventional underwater robots cannot meet the working needs in an amphibious environment, and thus have great significance to the research of amphibious robots.
In recent years, the us IS robot company developed an underwater autonomous walking robot ALUV which has six legs, each leg has two degrees of freedom, has an amphibious motion function, but can only perform crawling motion, IS only suitable for underwater motion, and has a relatively short motion distance. In 2005, the university of Mejier developed an amphibious robot Whegs simulating cockroaches, and the propulsion mechanism adopts a three-spoke wheel paddle leg design, which approximates wheels and can realize high-performance and stable propulsion. On the basis, georgiades C et al develops an amphibious hexapod robot AQUA, the AQUA adopts arc legs to push when moving on land, and the characteristics of high maneuvering performance and good universality of the arc legs are utilized to realize high-speed pushing in various land environments; under water, the AQUA can realize the motions of cruising, lifting, pitching, steering, rolling and the like by utilizing the flapping propulsion of six paddles. Because of the different propulsion mechanisms employed by AQUA in land mountains and under water, manual replacement of the drive mechanism is required when making the transition. An amphibious robot snake of ACM-R5 developed by Tokyo winter night university in Japan is composed of a plurality of joints, each joint has two degrees of freedom, and can realize pitching and yawing movements. During the land exercise, ACM-R5 is propelled by the body in a meandering manner, and can realize the rolling motion; during underwater exercise, ACM-R5 is propelled by eel-like fluctuation. However, ACM-R5 robots move slowly, only up to 0.4m/s.
The robots are required to have high flexibility and high environmental adaptability in the face of exploration tasks of complex space environments of water and land, such as detection in submarine pipelines, monitoring of organisms in coral reefs, exploration of minerals in submarine rock joints and the like. At present, robots at home and abroad have more researches on single environments applied to water or land, and have less researches on amphibious; the study of amphibious bionic robot using crab, tortoise, cockroach, snake and other biological templates as bionic objects is very few. The problems of slower movement, single movement mode, single adaptation environment, low environment adaptability, low flexibility and the like of various robots exist.
To sum up, the existing autonomous underwater vehicle/robot and amphibious robot have the following problems:
(1) The torpedo-shaped design and propeller propulsion are mostly adopted, the mechanical structure of the propeller propulsion device determines that the propeller propulsion device can advance and retreat to generate larger speed, but the turning radius of the propeller propulsion device is large, and the propeller propulsion device is not suitable for operation in a narrow area. In addition, the volume of the propeller is large, the noise generated by the propeller is large, the power consumption is large, and the concealment performance and the biocompatibility are reduced.
(2) The bionic principle design is generally adopted, such as bionic crabs, tortoise, cockroaches, snakes and the like, and the bionic crab robot can only crawl on land and under water, and has a relatively short movement distance. The bionic tortoise robot is inflexible in submerging and overturning movements, high in resistance and slower in movements, and can only crawl on land. The bionic cockroach robot adopts different driving structures under water and on land, and when the underwater and land movement is switched, the driving structures need to be manually replaced. The bionic snake robot adopts a joint type design, and the land and underwater movement is slower and can only reach 0.4m/s. Most robots cannot perform an efficient transfer of the submerged movement. Although the snake-shaped robot can freely submerge, the speed is low, the movement space is small, and the movement on the road is inflexible.
(3) Many of the bionic templates are used as bionic templates for land bipedal exercise, and few researches are carried out on underwater and amphibious bionic aspects.
Disclosure of Invention
In view of the above, the amphibious bionic machine waterfowl which is used in amphibious environment and supports multimode flexible conversion and movement is provided based on the principle of bionics and takes waterfowl as a bionic template, and has stronger environment adaptability and higher flexibility.
The amphibious bionic machine waterfowl comprises: a housing, a head unit, a leg unit, and a micro joint;
the head unit is fixed on the front end face of the shell and comprises three joints, namely a head first joint, a head second joint and a head third joint; the head first joint includes: the head, the head connecting piece, the neck connecting piece A and the neck connecting piece B; the head is fixed on the head connecting piece, and the head connecting piece and the neck connecting piece B with parallel axes are respectively supported at two ends of the neck connecting piece A through bearings; the head connecting piece can rotate around the axis of the head connecting piece with the head, and the neck connecting piece A can rotate around the axis of the neck connecting piece B; the neck connecting piece B is connected with a head second joint;
the head second joint is used for providing power for the rotation of the head around the head connecting piece and the rotation of the neck connecting piece A around the neck connecting piece B; the head third joint is used for driving the head first joint and the head second joint to integrally perform pitching motion and left-right swinging;
the leg unit includes: the power leg joint, two power leg joint symmetry distributes in the left and right sides of casing, power leg joint includes: a power leg first joint and a power leg second joint, comprising: the power leg first joint power and transmission mechanism drives the foot to move so as to change the included angle between the foot and the ground; the second joints of the power legs are used for driving the first joints of the power legs to swing back and forth integrally so as to realize land walking;
the two joints are symmetrically arranged on the left side plate and the right side plate of the shell, the power leg joint is connected with the film joint on the corresponding side, and the film joint is used for enabling the power leg joint connected with the film joint to swing back and forth.
The leg unit further includes an auxiliary leg joint mounted at a front side of the housing floor, comprising: the auxiliary legs are connected with the ground through universal wheels when the auxiliary legs are stretched.
The beneficial effects are that:
(1) The amphibious bionic machine waterfowl adopts waterfowl as a bionic template design, adopts multiple motion mode conversion, and has stronger environment adaptability and higher flexibility.
(2) The head part of the invention adopts three-degree-of-freedom control and rope driving control, can realize the multi-degree-of-freedom rotation and flexible extension of the head part, and is used for maintaining balance and diving motion. The crank connecting rod structure of the joint and the worm and gear structure of the power leg can realize continuous leg movement with large swing angle range and high torque, and the side spring-linear bearing structure is used for leg jump and shock absorption; the auxiliary leg is used for auxiliary support of the machine waterfowl in an unstable environment.
(3) The auxiliary legs are arranged, and the auxiliary legs are supported on the ground in an uneven land environment, so that the stability in the advancing process is ensured.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a head isometric view of a bionic robot waterfowl of the present invention;
fig. 3 and fig. 4 are an original view and an exploded view of a first joint of a head of a aquatic bird of the bionic machine according to the present invention, respectively;
fig. 5 and 6 are respectively an original view and an exploded view of a second joint of the head of the aquatic bird of the bionic machine;
fig. 7 and 8 are respectively an original view and an exploded view of a third joint of the head of the aquatic bird of the bionic machine;
FIG. 9 is a partial exploded view of the junction of the third joint of the aquatic bird head of the bionic machine with the housing;
FIGS. 10 and 11 are respectively an original drawing and an exploded view of the auxiliary leg of the aquatic bird of the bionic machine of the invention;
fig. 12 to 15 are respectively an original drawing and an exploded view of a power leg joint of a aquatic bird of the bionic machine;
FIGS. 16 to 18 are partial exploded views of the joints of the aquatic bird in the invention.
Wherein: 1-1 head, 1-2 head fixing plate, 1-3 head connector, 1-6 neck connector A, 1-7 wire drive disk A, 1-10 neck connector B, 1-11 wire drive disk B, 1-12 wire drive rotary wheel, 1-15 neck first motor connector, 1-16 rotary shaft, 1-19 wire drive column, 1-23 neck first motor, 1-24 neck first motor casing, 1-25 neck first motor steering wheel, 1-26 wire drive disk, 1-27 first motor plug, 1-28 neck second motor connector, 1-29 neck second motor, 1-30 neck second motor casing, 1-31 second motor plug, 1-32 neck second motor steering wheel, 1-35 neck connector 1-36 neck third motor, 1-37 neck third motor shell, 1-38 third motor plug, 1-39 third motor steering wheel, 1-42 shell, 2-1 auxiliary leg motor, 2-2 auxiliary leg motor shell, 2-3 auxiliary leg motor plug, 2-5 auxiliary leg motor steering wheel, 2-6 motor transmission gear, 2-7 pole upper axial gear, 2-8 transverse supporting rod, 2-13 auxiliary leg connecting bracket, 2-14 vertical supporting rod, 2-15 cylindrical pin, 2-16 universal wheel, 3-1 foot part, 3-2 first straight rod, 3-7 power leg first motor shell, 3-8 first worm gear, 3-9 first worm, 3-10 first worm connecting disc, 3-11 power leg first motor, the steering wheel comprises a first motor steering wheel of a 3-12 power leg, a first motor plug of a 3-13 power leg, a second motor of a 3-14 power leg, a second motor steering wheel of a 3-15 power leg, a second worm connecting disc of a 3-16, a second worm of a 3-17, a second worm wheel of a 3-18, a second straight motor disc of a 3-19, a third worm connecting disc of a3-24 motor transmission connecting disc A, a third motor connecting disc B of a 3-25 motor transmission connecting disc B of a 3-26 power leg, a second motor plug of a 3-27 power leg, a third motor shell of a3-28 straight bearing A, a 3-29 straight bearing B, a third motor of a 3-31 power leg, a 3-32 crank, a 3-33 slide rod, a 3-34 crank rod fixing piece, a 3-37 straight bearing connecting plate, a 3-38 straight bearing C, a 3-39 spring, a 3-40 fixing rod, a fourth motor of a 3-41 power leg, a fourth motor of a 3-42 power leg, a fourth motor steering wheel of a 3-43 third worm, a 3-44 third worm, a 3-45 swing rod, a 3-46 third straight rod and a 3-47-rotation shaft.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The bionic robot waterfowl is applied to the amphibious environment, has various movement modes and has good concealing performance and biocompatibility.
As shown in fig. 1, the bionic robot waterfowl comprises a head unit, a leg unit and a blade joint.
As shown in fig. 2, wherein the head unit comprises three joints, a first joint of the head, a second joint of the head and a third joint of the head, respectively. The first joint of the head, as shown in figures 3 and 4, comprises: head 1-1, head connector 1-3, neck connector A1-6 and neck connector B1-10. Wherein the head connecting piece 1-3 and the neck connecting piece B1-10 are of T-shaped structures, and the horizontal parts of the head connecting piece are used as rotating shafts to be respectively connected with the two opposite ends of the neck connecting piece A1-6, specifically: the head 1-1 is fixedly connected with the head fixing plate 1-2, and the head fixing plate 1-2 is fixedly connected with the vertical part of the head connecting piece 1-3. The two ends of the rotation shaft (horizontal part) of the head connecting piece 1-3 are respectively connected with one end of the neck connecting piece A1-6 through a bearing and a clamping ring, so that the head connecting piece 1-3 can rotate around the axis of the rotation shaft of the head connecting piece 1-3 with the head 1-1. Both ends of the rotating shaft of the head connecting piece 1-3 are fixed with wire transmission discs A1-7. Two ends of a rotating shaft (horizontal part) of the neck connecting piece B1-10 are respectively connected with the other ends of the neck connecting pieces A1-6 through bearings and clamping rings, so that the neck connecting pieces A1-6 can relatively rotate around the axis of the rotating shaft of the neck connecting piece B1-10. The two ends of the rotating shaft of the neck connecting piece B1-10 are sleeved with the wire transmission disc B1-11 in a hollow mode, and the wire transmission disc B1-11 is fixedly connected with the neck connecting piece A1-6. Meanwhile, the two ends of the rotating shaft of the neck connecting piece B1-10 are sleeved with the wire driving rotating wheels 1-12 in a hollow mode, and the wire driving rotating wheels 1-12 are limited in the axial direction through clamping rings at the two ends of the wire driving rotating wheels. The ends of the vertical portions of the cervical links B1-10 are connected to the second joint of the head.
The second joint of the head is shown in fig. 5 and 6, and is used for providing power for the rotation of the head 1-1 around the rotation axis of the head connecting piece 1-3 and the rotation of the neck connecting piece A1-6 around the rotation axis of the neck connecting piece B1-10, and specifically comprises: the first motor 1-23 of the neck and the rotating shaft 1-16. The end of the vertical part of the neck connecting piece B1-10 is fixedly connected with the neck first motor connecting frame 1-15, and the two ends of the rotating shaft 1-16 are respectively connected with the neck first motor connecting frame 1-15 through a bearing and a clamping ring so that the neck connecting piece can rotate around an axis. And the axis of the rotation shaft 1-16 is parallel to the axis of the rotation shaft of the neck joint B1-10. The parts of the two ends of the rotating shaft 1-16 extending out of the first motor connecting frame 1-15 are respectively and coaxially fixedly connected with a wire driving column 1-19. The first motor 1-23 and the first motor shell 1-24 are fixedly connected with the first motor connecting frame 1-15, wherein the first motor 1-23 and the first motor shell 1-24 are clamped and fixed through a first motor plug 1-27. The output shaft of the first motor 1-23 is fixed with a first motor steering wheel 1-25, the first motor steering wheel 1-25 is coaxially and fixedly connected with a wire driving disc 1-26, the wire driving disc 1-26 drives a wire driving column 1-19 through a rope, the wire driving column 1-19 drives a wire driving disc B1-11 through the rope, and then drives a neck connecting piece A1-6 to rotate around the axis of a rotating shaft of the neck connecting piece B1-10 through the wire driving disc B1-11; meanwhile, the line driving column 1-19 drives the rotating wheel 1-12 through the rope driving line, and the line driving rotating wheel 1-12 drives the disc A1-7 through the rope driving line, so that the head 1-1 rotates around the axis of the rotating shaft of the head connecting piece 1-3.
Head third joint as shown in fig. 7 and 8, the head third joint is used for providing power for pitching motion and tilting motion of the head first joint and the head second joint as a whole, and specifically comprises: the second motor 1-29 at the neck, the third motor 1-36 at the neck and the neck connecting frame 1-35. Wherein the first motor shell 1-24 of the neck is fixedly connected with the second motor connecting frame 1-28 of the neck; the neck second motor 1-29 is clamped and fixed in the neck second motor shell 1-30 through the second motor plug 1-31. The axial direction of the output shaft of the neck second motor 1-29 is parallel to the axial direction of the rotating shaft 1-16, a neck second motor steering wheel 1-32 is coaxially fixed on the output shaft of the neck second motor 1-29, one end of a neck second motor connecting frame 1-28 is fixed with the neck second motor steering wheel 1-32, and the other end of the neck second motor connecting frame is connected with the neck second motor shell 1-30 through a bearing and a clamping ring, so that the neck second motor 1-29 can drive the head first joint and the head second joint to integrally rotate around the axial direction of the neck second motor steering wheel 1-32 through the neck second motor connecting frame 1-28, and the head first joint and the head second joint can integrally pitch.
The neck second motor shell 1-30 is fixedly connected with the neck connecting frame 1-35, the neck third motor 1-36 is clamped and fixed in the neck third motor shell 1-37 through the third motor plug 1-38, the axis of an output shaft of the neck third motor 1-36 is in a vertical direction, and a neck third motor steering wheel 1-39 is coaxially fixed on the output shaft of the neck third motor 1-36. One end of the neck connecting frame 1-35 is fixed with the neck third motor steering wheel 1-39, and the other end is connected with the neck third motor casing 1-37 through a bearing and a clamping ring, so that the neck third motor 1-36 can drive the neck connecting frame 1-35 and the components connected with the neck connecting frame to integrally rotate around the axis of the output shaft of the neck third motor 1-36 through the neck third motor steering wheel 1-39, and the left-right swing of the head unit is realized. The neck third motor casing 1-37 is fixed to the front end face of the casing 1-42 as shown in fig. 9.
The leg unit includes: auxiliary leg joints and powered leg joints. Wherein the auxiliary leg joint is shown in fig. 10 and 11, the auxiliary leg joint is mounted at the front end of the bottom plate of the housing 1-42, comprising: auxiliary leg power and drive mechanism and left and right two auxiliary legs, wherein auxiliary leg power and drive mechanism include: the auxiliary leg motor 2-1, the motor transmission gear 2-6 and the transverse supporting rod 2-8; wherein the auxiliary leg motor 2-1 is clamped and fixed in the auxiliary leg motor shell 2-2 through the auxiliary leg motor plug 2-3. The auxiliary leg motor casing 2-2 is fixed at the front end of the bottom plate of the casing 1-42. An output shaft of the auxiliary leg motor 2-1 is coaxially and fixedly connected with an auxiliary leg motor steering wheel 2-5, and a motor transmission gear 2-6 is coaxially and fixedly connected with the auxiliary leg motor steering wheel 2-5. The motor transmission gear 2-6 is meshed with an axial gear 2-7 on a rod coaxially fixed at one end of a transverse supporting rod 2-8. Both ends of the transverse supporting rod 2-8 are respectively supported on the auxiliary leg connecting support 2-13 through bearings and clamping rings, and the auxiliary leg connecting support 2-13 is fixed on the auxiliary leg motor casing 2-2. The two auxiliary legs are symmetrically arranged at two axial ends of the transverse supporting rod 2-8, the two auxiliary legs are identical in structural form, each auxiliary leg comprises a vertical supporting rod 2-14 and a universal wheel 2-16, one end of each vertical supporting rod 2-14 is fixedly connected with the transverse supporting rod 2-8 through a cylindrical pin 2-15, and the universal wheel 2-16 is arranged at the other end of each vertical supporting rod.
The power leg joints are two, symmetrically arranged at the left side and the right side of the shell 1-42, and take one side as an example, the power leg joints comprise: the power leg first joint is used for realizing the movement of the foot part 3-1, and comprises the foot part 3-1, a power leg first motor 3-11 and a first worm and gear transmission mechanism consisting of a first worm wheel 3-8 and a first worm 3-9, as shown in fig. 12 and 13. The connection relation is as follows: the foot 3-1 is fixed on the first straight pole 3-2, the both ends of the first straight pole 3-2 are connected with the bottom of the first motor casing 3-7 of the power leg through bearings and clamping rings, the first worm wheel 3-8 is coaxially fixedly connected to the middle part of the first straight pole 3-2, the first worm 3-9 which is vertically arranged is meshed with the first worm wheel 3-8, the top of the first worm 3-9 is coaxially fixedly connected with the first worm connecting disc 3-10, and the first worm connecting disc 3-10 is coaxially fixedly connected with the first motor rudder disc 3-12 of the power leg which is connected with the output shaft of the first motor 3-11 of the power leg. The power leg first motor 3-11 is fixed in the power leg first motor casing 3-7 through a power leg first motor plug 3-13. The power leg first motor 3-11 drives the foot part 3-1 to rotate around the axis of the first straight rod 3-2 through the first worm gear transmission mechanism, so that the foot part 3-1 moves.
The second joint of power leg is used for realizing the holistic back-and-forth swing of the first joint of power leg, includes: the power leg second motor 3-14 and the second worm gear mechanism composed of the second worm wheel 3-18 and the second worm 3-17 are shown in fig. 14 and 15. Wherein the power leg second motor 3-14 is fixed in the power leg second motor casing 3-27 through the power leg second motor plug 3-26. The output shaft of the second motor 3-14 of the power leg is vertical to the output shaft of the first motor 3-11 of the power leg, the output shaft of the second motor 3-14 of the power leg is coaxially fixedly connected with a steering wheel 3-15 of the second motor of the power leg, a steering wheel 3-15 of the second motor of the power leg is coaxially fixedly connected with a second worm connecting disc 3-16, the front end of the second worm 3-17 is coaxially fixedly connected with the second worm connecting disc 3-16, a second worm wheel 3-18 parallel to the axis of the first worm wheel is meshed with the second worm 3-17, and the second worm wheel 3-18 is coaxially fixedly connected in the middle of the second straight rod 3-19; both ends of the second straight rod 3-19 are supported at one end of the power leg first motor casing 3-7 through bearings and clamping rings, both ends of the second straight rod 3-19 are respectively and coaxially fixedly connected with a motor transmission connecting disc A3-24 and a motor transmission connecting disc B3-25, and the motor transmission connecting disc A3-24 and the motor transmission connecting disc B3-25 are respectively fixed with the power leg first motor casing 3-7 at the corresponding side. Therefore, the second motor 3-14 of the power leg can drive the first joint of the power leg to swing back and forth through the second worm gear and worm transmission mechanism, the second straight rod and the motor transmission connecting disc in sequence. A linear bearing A3-28 and a linear bearing B3-29 are axially fixed in the rectangular hollow tube at the lower end of the power leg second motor casing 3-27 along the output shaft of the power leg second motor 3-14.
The two joints are symmetrically arranged at the left side and the right side of the shell 1-42, the power leg joints are connected with the shell 1-42 through the thin film joints at the corresponding sides, and the thin film joints are used for enabling the power leg joints connected with the thin film joints to continuously swing back and forth. Taking the thin joint on one side as an example, as shown in fig. 16-18, the thin joint includes: the power leg third motor 3-31, the crank 3-32, the power leg fourth motor 3-41 and the worm and gear transmission mechanism consisting of the third worm 3-44 and the worm and gear swing rod 3-45. Wherein the third motor 3-31 of the power leg is fixed on the side plate of the shell 1-42, the output shaft of the third motor 3-31 of the power leg is vertical to the side plate of the shell 1-42, and the crank 3-32 is fixed on the output shaft of the third motor 3-31 of the power leg. One end of the sliding rod 3-33 is connected with the crank 3-32 through a crank rod fixing piece 3-34, and the other end is sleeved in a rectangular hollow tube at the lower end of the second motor casing 3-27 of the power leg and is matched with a linear bearing A3-28 and a linear bearing B3-29 fixed in the rectangular hollow tube at the lower end of the second motor casing 3-27 of the power leg to form a crank rocker structure. One side of the second motor casing 3-27 of the power leg, which is opposite to the side plate of the casing 1-42, is provided with a rotating shaft 3-47, one end of the rotating shaft 3-47 is connected with the second motor casing 3-27 of the power leg, the other end is connected with a linear bearing connecting plate 3-37 through a clamping ring and a bearing, and the linear bearing connecting plate 3-37 is fixed with a linear bearing C3-38. The side plates of the shell 1-42 are provided with grooves, the springs 3-39 and the linear bearings C3-38 are sleeved on the fixing rods 3-40 which are positioned in the grooves of the side plates of the shell 1-42, wherein the bottoms of the springs 3-39 are connected with the linear bearings C3-38, the tops of the springs are connected with the inner tops of the grooves of the side plates of the shell 1-42, and the lower ends of the fixing rods 3-40 penetrate through the bottoms of the grooves of the side plates and are fixed with the bottoms of the side plates.
The fourth motor 3-41 of the power leg is fixed in a groove of a side plate of the shell 1-42, the output shaft of the fourth motor 3-41 of the power leg is coaxially and fixedly connected with the fourth motor steering wheel 3-42 of the power leg, the steering wheel 3-42 of the fourth motor of the power leg is coaxially and fixedly connected with the third worm connecting disc 3-43, and the third worm connecting disc 3-43 is coaxially and fixedly connected with the third worm 3-44, so that the third worm 3-44 is driven to rotate by the fourth motor 3-41 of the power leg. The third worm 3-44 is meshed with a worm gear swing rod 3-45 with a worm gear in the middle, wherein the worm gear swing rod 3-45 is positioned below the third worm 3-44. One end of the worm wheel swinging rod 3-45 is fixedly connected with the third straight rod 3-46, and the third straight rod 3-46 is supported on the side plate of the shell 1-42 through a bearing and a clamping ring. The other end of the worm wheel swinging rod 3-45 is opposite to the rotating shaft 3-47 on the side surface of the power leg second motor casing 3-27, and the swinging rod is arranged at the end, when the worm wheel swinging rod 3-45 rotates for a set angle, the rotating shaft 3-47 can be shifted, so that the rotating shaft 3-47 moves to compress the spring 3-39. The length of the worm wheel swing link 3-45 ensures that the worm wheel swing link 3-45 can be out of contact with the rotating shaft 3-47 when the spring 3-39 reaches maximum compression.
Is not larger than the difference between the distance between the axis of the rotating shaft 3-47 and the axis of the worm wheel swinging rod 3-45 and the radius of the rotating shaft 3-47 when the spring 3-39 is compressed maximally.
The motion principle of the bionic machine waterfowl is as follows:
the continuous rotation of the output shaft of the third motor 3-31 of the power leg drives the crank 3-32 to rotate, the crank 3-32 pulls the slide bar 3-33 to stretch back and forth in the rectangular hollow tube at the lower end of the second motor casing 3-27 of the power leg, so that the slide bar 3-33 drives the second motor casing 3-27 of the power leg to swing back and forth periodically around the rotating shaft 3-47 at the outer side of the second motor casing 3-27 of the power leg, and the second motor casing 3-27 of the power leg drives the connected part to swing back and forth periodically, thereby providing power for the movement of the power leg.
The first motor 3-11 of the power leg and the second motor 3-14 of the power leg change the angle of two degrees of freedom of the power leg through a first worm gear transmission mechanism and a second worm gear transmission mechanism.
On land, the auxiliary leg is bent, and the land walking is realized under the periodic swing of the power leg joint. In uneven land environment, the auxiliary legs are put down, and the universal wheels are utilized to realize integral pushing and advancing through the joints of the power legs.
The fourth motor 3-41 of the power leg drives the worm wheel swing rod 3-45 to rotate through a worm and gear structure. The worm wheel swing rod 3-45 rotates clockwise to a certain angle to be in contact with the rotating shaft 3-47 at the outer side of the second motor casing 3-27 of the power leg and toggle the rotating shaft 3-47, so that the spring 3-39 is compressed. When the worm wheel swing rod 3-45 rotates clockwise to the upper part and is separated from contact with the rotating shaft at the outer side of the second motor casing 3-27 of the power leg, the spring 3-39 releases elasticity to push the rotating shaft at the outer side of the second motor casing 3-27 of the power leg to move downwards so as to drive the whole power leg to move downwards, and the elasticity enables the bionic waterfowl to generate jumping motion. (because the length of the worm wheel swing link 3-45 is fixed, when the distance limit of pushing is reached, the worm wheel swing link 3-45 suddenly loses contact with the rotating shaft 3-47, the rotating shaft 3-47 and the whole of the connection are subject to downward elasticity of the spring 3-39, and the force is exerted on the ground to generate jump)
In the water surface movement and the diving movement, the three degrees of freedom of the head are utilized to play a role of rudder, and the change of the movement direction is realized. Straightening the leg, and under the power provided by the third motor 3-31 of the power leg, periodically swinging the joints of the power leg back and forth to realize the water swing running. The power of the change from the water surface to the submergence pose is provided by suddenly generating the swing from bottom to top through the first motor 3-11 of the power leg and the second motor 3-14 of the power leg, the submergence direction is provided by submergence of the head part into the water, and the continuous power is provided by using the periodic swing provided by the third motor 3-31 of the power leg.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. Amphibious bionic machine waterfowl, its characterized in that: comprising the following steps: a shell (1-42), a head unit, a leg unit and a thin joint;
the head unit is fixed on the front end face of the shell (1-42) and comprises three joints, namely a head first joint, a head second joint and a head third joint; the head first joint includes: a head (1-1), a head connecting piece (1-3), a neck connecting piece A (1-6) and a neck connecting piece B (1-10); the head (1-1) is fixed on the head connecting piece (1-3), and the head connecting piece (1-3) and the neck connecting piece B (1-10) with parallel axes are respectively supported at two ends of the neck connecting piece A (1-6) through bearings; the head connecting piece (1-3) can rotate around the axis of the head connecting piece (1-3) with the head (1-1), and the neck connecting piece A (1-6) can rotate around the axis of the neck connecting piece B (1-10); the neck connecting piece B (1-10) is connected with a head second joint;
the head second joint is used for providing power for the rotation of the head (1-1) around the head connecting piece (1-3) and the rotation of the neck connecting piece A (1-6) around the neck connecting piece B (1-10); the head third joint is used for driving the head first joint and the head second joint to integrally perform pitching motion and left-right swinging;
the leg unit includes: two power leg joints, two power leg joints are symmetrically distributed on the left side and the right side of the shell (1-42), and the power leg joints comprise: a power leg first joint and a power leg second joint, comprising: the foot (3-1) drives the foot (3-1) to move so as to change the power of the first joint of the power leg and the transmission mechanism of the included angle between the foot (3-1) and the ground; the second joints of the power legs are used for driving the first joints of the power legs to swing back and forth integrally so as to realize land walking;
the two joints are symmetrically arranged on the left side plate and the right side plate of the shell (1-42), the power leg joint is connected with the film joint on the corresponding side, and the film joint is used for enabling the power leg joint connected with the film joint to swing back and forth;
the head second joint has a structure including: a first motor (1-23) at the neck, a rotating shaft (1-16) and a rope driving unit; the rope driving unit includes: the device comprises a wire driving column (1-19), a wire driving disc (1-26), a wire driving disc A (1-7) coaxially fixed on a head connecting piece (1-3), a wire driving disc B (1-11) coaxially sleeved at two ends of a neck connecting piece B (1-10) and fixedly connected with the neck connecting piece A (1-6), and a wire driving rotating wheel (1-12) coaxially sleeved at two ends of the connecting piece B (1-10);
the neck first motor (1-23) is fixed in the neck first motor shell (1-24), one end of the neck first motor connecting frame (1-15) is fixedly connected with the neck connecting piece B (1-10), and the other end of the neck first motor connecting frame is fixedly connected with the neck first motor shell (1-24); two ends of the rotating shaft (1-16) are respectively supported on the neck first motor connecting frame (1-15) through bearings; two ends of the rotating shaft (1-16) are respectively coaxially and fixedly connected with a wire driving column (1-19); the wire drive disc (1-26) is coaxially fixedly connected with a neck first motor steering wheel (1-25) which is coaxially fixedly connected on an output shaft of a neck first motor (1-23), the wire drive disc (1-26) drives a wire drive column (1-19) through a rope, the wire drive column (1-19) drives a wire drive disc B (1-11) and a wire drive rotating wheel (1-12) through a rope respectively, and the wire drive rotating wheel (1-12) drives a wire drive disc A (1-7) through a rope.
2. An amphibious biomimetic robotic waterfowl as claimed in claim 1 wherein: the leg unit further includes an auxiliary leg joint mounted on the front side of the floor of the housing (1-42), comprising: the auxiliary legs are contacted with the ground through universal wheels (2-16) when the auxiliary legs are stretched.
3. An amphibious biomimetic robotic waterfowl as claimed in claim 1 or claim 2 wherein the head third joint comprises in particular: a neck connecting frame (1-35), a neck second motor (1-29) fixed in a neck second motor shell (1-30), and a neck third motor (1-36) fixed in a neck third motor shell (1-37);
the output shaft of the neck second motor (1-29) is coaxially fixed with a neck second motor steering wheel (1-32); the head second joint is fixedly connected with a neck second motor connecting frame (1-28), one end of the neck second motor connecting frame (1-28) is fixedly connected with a neck second motor steering wheel (1-32), and the other end of the neck second motor connecting frame is supported on the neck second motor shell (1-30) through a bearing, so that the head first joint and the head second joint are driven to integrally perform pitching motion through the neck second motor (1-29);
the output shaft of the neck third motor (1-36) is fixedly connected with the steering wheel (1-39) of the neck third motor along the vertical direction coaxially; the neck second motor shell (1-30) is fixedly connected with the neck connecting frame (1-35), one end of the neck connecting frame (1-35) is fixedly connected with the neck third motor steering wheel (1-39), and the other end of the neck connecting frame is supported on the neck third motor shell (1-37) through a bearing, so that the neck third motor (1-36) drives the head first joint and the head second joint to integrally swing left and right; the neck third motor casing (1-37) is fixed on the front end face of the casing (1-42).
4. An amphibious biomimetic robotic waterfowl as claimed in claim 2 wherein the auxiliary leg power and transmission mechanism comprises: an auxiliary leg motor (2-1), a motor transmission gear (2-6) and a transverse supporting rod (2-8) which are fixed in an auxiliary leg motor shell (2-2); the auxiliary leg motor casing (2-2) is fixed on the front side of the bottom plate of the casing (1-42); an auxiliary leg motor steering wheel (2-5) is coaxially and fixedly connected to an output shaft of the auxiliary leg motor (2-1), and a motor transmission gear (2-6) coaxially and fixedly connected with the auxiliary leg motor steering wheel (2-5) is meshed with an axial gear (2-7) on a rod coaxially and fixedly arranged at one end of a transverse supporting rod (2-8); two ends of the transverse supporting rod (2-8) are respectively supported on the auxiliary leg connecting brackets (2-13) through bearings;
the two auxiliary legs are symmetrically arranged at the two axial ends of the transverse supporting rod (2-8); the auxiliary leg comprises a vertical supporting rod (2-14) and universal wheels (2-16), one end of the vertical supporting rod (2-14) is fixedly connected with the transverse supporting rod (2-8), and the universal wheels (2-16) are arranged at the other end of the vertical supporting rod.
5. An amphibious biomimetic robotic waterfowl as claimed in claim 1 or claim 2 wherein the power leg first joint power and transmission mechanism comprises: the first worm and gear transmission mechanism is composed of a first worm wheel (3-8) and a first worm (3-9); the connection relation is as follows: the foot part (3-1) is fixed on the first straight rod (3-2), and two ends of the first straight rod (3-2) are respectively supported at the bottom of the first motor casing (3-7) of the power leg through bearings; the first worm (3-9) is vertically arranged and is meshed with a first worm wheel (3-8) coaxially and fixedly connected to the middle part of the first straight rod (3-2); the top of the first worm (3-9) is fixedly connected with a power leg first motor steering wheel (3-12) which is coaxially and fixedly connected with an output shaft of the power leg first motor (3-11) through a first worm connecting disc (3-10).
6. An amphibious biomimetic robotic waterfowl as claimed in claim 5 wherein the powered leg second joint comprises: the power leg second motor (3-14) is fixed in the power leg second motor shell (3-27), and the second worm gear and worm transmission mechanism consists of a second worm wheel (3-18) and a second worm (3-17); the output shaft of the second motor (3-14) of the power leg is vertical to the output shaft of the first motor (3-11) of the power leg, the second worm (3-17) is fixedly connected with a rudder disc (3-15) of the second motor of the power leg coaxially fixedly connected on the output shaft of the second motor (3-14) of the power leg through a second worm connecting disc (3-16), a second worm wheel (3-18) parallel to the axis of the first worm wheel (3-8) is meshed with the second worm (3-17), and the second worm wheel (3-18) is coaxially fixedly connected at the middle part of the second straight rod (3-19); the two ends of the second straight rod (3-19) are respectively supported at the upper end of the power leg first motor casing (3-7) through bearings, the two ends of the second straight rod (3-19) are respectively and coaxially fixedly connected with the motor transmission connecting disc A (3-24) and the motor transmission connecting disc B (3-25), and the motor transmission connecting disc A (3-24) and the motor transmission connecting disc B (3-25) are respectively fixed with the power leg first motor casing (3-7) at the corresponding side.
7. An amphibious biomimetic robotic waterfowl as claimed in claim 6 wherein the joints comprise: the power leg third motor (3-31), the power leg fourth motor (3-41), the crank (3-32) and the worm and gear transmission mechanism consisting of a third worm (3-44) and a worm and gear swing rod (3-45); the third motor (3-31) of the power leg is fixed on a side plate of the shell (1-42), and an output shaft of the third motor is perpendicular to the side plate of the shell (1-42); the crank (3-32) is fixedly connected with an output shaft of the third motor (3-31) of the power leg; one end of the sliding rod (3-33) is in pin joint with the crank (3-32), and the other end is sleeved in a rectangular hollow tube at the lower end of the second motor casing (3-27) of the power leg and is matched with a linear bearing fixed in the rectangular hollow tube at the lower end of the second motor casing (3-27) of the power leg to form a crank rocker structure;
a rotating shaft (3-47) is arranged on one side, opposite to the side plate, of the shell (1-42) of the second motor shell (3-27), of the power leg, one end of the rotating shaft (3-47) is connected with the second motor shell (3-27) of the power leg, the other end of the rotating shaft is connected with a linear bearing connecting plate (3-37), and the linear bearing connecting plate (3-37) is fixed with a linear bearing C (3-38); the side plates of the shell (1-42) are provided with grooves, the springs (3-39) and the linear bearings C (3-38) are sleeved on the fixed rods (3-40) positioned in the grooves of the side plates of the shell (1-42), the bottoms of the springs (3-39) are connected with the linear bearings C (3-38), and the tops of the springs are connected with the inner tops of the grooves of the side plates of the shell (1-42); the power leg fourth motor (3-41) is fixed in a groove of a side plate of the shell (1-42), and the third worm (3-44) is fixedly connected with a power leg fourth motor steering wheel (3-42) coaxially fixedly connected on an output shaft of the power leg fourth motor (3-41) through a third worm connecting disc (3-43); the third worm (3-44) is meshed with a worm wheel arranged in the middle of the worm wheel swinging rod (3-45), and the worm wheel swinging rod (3-45) is positioned below the third worm (3-44); one end of the worm wheel swinging rod (3-45) is fixedly connected with a third straight rod (3-46) supported on a side plate of the shell (1-42) through a bearing, the other end of the worm wheel swinging rod is provided with a swinging rod matched with a side rotating shaft (3-47) of the power leg second motor shell (3-27), when the worm wheel swinging rod (3-45) rotates for a set angle, the rotating shaft (3-47) is shifted upwards to compress a spring (3-39), and the length of the worm wheel swinging rod (3-45) ensures that the worm wheel swinging rod (3-45) can be separated from contact with the rotating shaft (3-47) when the spring (3-39) reaches maximum compression.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810438921.4A CN108609066B (en) | 2018-05-09 | 2018-05-09 | Amphibious bionic machine waterfowl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810438921.4A CN108609066B (en) | 2018-05-09 | 2018-05-09 | Amphibious bionic machine waterfowl |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108609066A CN108609066A (en) | 2018-10-02 |
| CN108609066B true CN108609066B (en) | 2023-11-14 |
Family
ID=63662631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810438921.4A Active CN108609066B (en) | 2018-05-09 | 2018-05-09 | Amphibious bionic machine waterfowl |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108609066B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050697B (en) * | 2018-07-25 | 2020-05-05 | 上海工程技术大学 | Multi-mode full-attitude moving parallel mechanism |
| CN109664315B (en) * | 2019-02-14 | 2024-04-02 | 江门市国彬机器人有限公司 | Robot with emotion accompaniment function |
| CN112265420B (en) * | 2020-11-15 | 2024-02-23 | 浙江工业大学 | Amphibious robot |
| CN113071274B (en) * | 2021-04-23 | 2021-11-30 | 南京理工大学 | Frog-imitating amphibious robot based on hybrid mechanism |
| CN113738998B (en) * | 2021-08-27 | 2023-01-24 | 广东电网有限责任公司 | Pipeline environment monitoring robot and pipeline environment monitoring robot control method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102795275A (en) * | 2012-08-22 | 2012-11-28 | 中科宇博（北京）文化有限公司 | Bionic mechanical dinosaur |
| CN103625572A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Quadruped robot leg with elastic four-rod mechanism |
| CN104890760A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Simulated dinosaur robot |
| CN205238038U (en) * | 2015-12-28 | 2016-05-18 | 中国科学院沈阳自动化研究所 | Peck and get sampling robot |
| CN106080831A (en) * | 2016-07-18 | 2016-11-09 | 吉林大学 | A kind of have bionical away from lower limb, the completely passive double feet walking machine of talocalcaneal articulation |
| CN106184461A (en) * | 2016-07-28 | 2016-12-07 | 吉林大学 | A kind of imitative Ostriches hind leg pedipulator |
| CN208789813U (en) * | 2018-05-09 | 2019-04-26 | 北京理工大学 | Amphibious bionics machine aquatic bird |
-
2018
- 2018-05-09 CN CN201810438921.4A patent/CN108609066B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102795275A (en) * | 2012-08-22 | 2012-11-28 | 中科宇博（北京）文化有限公司 | Bionic mechanical dinosaur |
| CN103625572A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Quadruped robot leg with elastic four-rod mechanism |
| CN104890760A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Simulated dinosaur robot |
| CN205238038U (en) * | 2015-12-28 | 2016-05-18 | 中国科学院沈阳自动化研究所 | Peck and get sampling robot |
| CN106080831A (en) * | 2016-07-18 | 2016-11-09 | 吉林大学 | A kind of have bionical away from lower limb, the completely passive double feet walking machine of talocalcaneal articulation |
| CN106184461A (en) * | 2016-07-28 | 2016-12-07 | 吉林大学 | A kind of imitative Ostriches hind leg pedipulator |
| CN208789813U (en) * | 2018-05-09 | 2019-04-26 | 北京理工大学 | Amphibious bionics machine aquatic bird |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108609066A (en) | 2018-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108609066B (en) | Amphibious bionic machine waterfowl | |
| CN112406431B (en) | Flexible fin fluctuation propulsion type amphibious bionic robot | |
| CN205273823U (en) | Bionical machine fish based on drive of simple joint tail fin | |
| CN108859637B (en) | Spherical amphibious robot | |
| CN109050851B (en) | Line-driven robot fish | |
| CN111688894B (en) | Motion transformation type fluctuation propelling device | |
| CN113148087B (en) | Linkage type detection robot fish | |
| CN208789813U (en) | Amphibious bionics machine aquatic bird | |
| CN114655405A (en) | Underwater multi-degree-of-freedom motion mechanism for bionic cuttlefish | |
| CN111976932B (en) | Dolphin-like propelling mechanism | |
| CN111319742B (en) | Parallel type space tail pendulum propulsion device | |
| CN105501420A (en) | Bionic robot fish based on double tail fin drive | |
| Wang et al. | Bio-inspired design and realization of a novel multimode amphibious robot | |
| CN116252935A (en) | Bionic machine penguin | |
| Yang et al. | Preliminary development of a biomimetic amphibious robot capable of multi-mode motion | |
| CN111409799B (en) | Line-driven continuous bionic robotic dolphin | |
| CN115140284A (en) | Underwater robot of bionic frog | |
| CN114771176A (en) | Ray-imitating amphibious robot | |
| CN105194842A (en) | Manual swimming thruster | |
| CN114671000A (en) | Bionic devil fish robot based on sine-swinging wave fin structure | |
| CN112895825B (en) | Multi-mode amphibious movement joint with variable configuration | |
| CN219172648U (en) | Soft bionic fish tail propelling device | |
| CN218506102U (en) | Bionic turtle paddling type propelling device | |
| CN113306353B (en) | Variable and modularized amphibious bionic mobile platform | |
| CN217496510U (en) | Bionic devil fish robot based on sine-swinging wave fin structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |