CN109733576A - For ornamental fish humanoid robot - Google Patents
For ornamental fish humanoid robot Download PDFInfo
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- CN109733576A CN109733576A CN201910161677.6A CN201910161677A CN109733576A CN 109733576 A CN109733576 A CN 109733576A CN 201910161677 A CN201910161677 A CN 201910161677A CN 109733576 A CN109733576 A CN 109733576A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 206
- 230000005484 gravity Effects 0.000 claims abstract description 79
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 27
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000008054 signal transmission Effects 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000007667 floating Methods 0.000 abstract description 10
- 230000006870 function Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000007086 side reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The present invention relates to amusement facility fields, are particularly used for ornamental fish humanoid robot, comprising: fish shell body, fin-shaped component, fish tail driving device, gravity adjusting device.When the centre-of gravity shift equalization point of fish humanoid robot, fish shell body passes through the movement that is inclined relative to horizontal of fin-shaped component that swings.Provided by the present invention for ornamental fish humanoid robot, equipment for fish shape is maintained by fish shell body and fin-shaped component, pass through fish tail driving device and fin-shaped component, realize the advance and turning of fish humanoid robot, the center of gravity of fish humanoid robot is adjusted by gravity adjusting device, and cooperate fish tail driving device and fin-shaped component, realize the floating and sinking of fish humanoid robot, the technical issues of to solve under conditions of keeping equipment for fish shape, how realize the bionical movements such as advance, turning, floating and the dive of fish type toy.
Description
Technical field
The present invention relates to amusement facility fields, are particularly used for ornamental fish humanoid robot.
Background technique
As the improvement of people's living standards, people start to pursue noveler amusement experience.Fish type with ornamental value
Toy provides a kind of new amusement experience, and user independently manipulates the human-computer interaction for realizing people and fish type toy, and playability watches
Property is higher, sufficiently meets expectation of the people to amusement facility.
Fish type toy with ornamental value usually moves about below the water surface.However, under conditions of keeping equipment for fish shape, such as
What realizes the bionical movements such as advance, turning, floating and the dive of fish type toy, becomes the fish type toy that design has ornamental value
Problem.
Summary of the invention
To solve under conditions of keeping equipment for fish shape, advance, turning, floating and dive of fish type toy etc. how are realized
The technical issues of bionical movement, the present invention is provided to ornamental fish humanoid robots.
Technical scheme is as follows:
For ornamental fish humanoid robot, comprising:
Fish shell body, the fish shell body can suspend in water, at least be arranged in the tail end of the fish shell body perpendicular to water
The fin-shaped component of plane；
Fish tail driving device, in the inside of the fish shell body, the head end of the fish tail driving device is arranged in the fish shell
The middle part of body, the tail end of the fish tail driving device extend to the tail end of the fish shell body, and the fish tail driving device is at least
The fin-shaped component can be driven to swing；
Gravity adjusting device, in the inside of the fish shell body, the head of the fish shell body is arranged in the gravity adjusting device
End, the gravity adjusting device are used to adjust position of the center of gravity of the fish humanoid robot relative to equalization point；
When the center of gravity of the fish humanoid robot is overlapped with the equalization point, the fish shell body passes through the fin swung
The with respect to the horizontal plane horizontal movement of part；
When the equalization point described in the centre-of gravity shift of the fish humanoid robot, the fish shell body passes through the fin-shaped component that swings
The movement being inclined relative to horizontal.
Advantages of the present invention effect is as follows:
Provided by the present invention for ornamental fish humanoid robot, equipment for fish shape is maintained by fish shell body and fin-shaped component, is led to
Fish tail driving device and fin-shaped component are crossed, the advance and turning of fish humanoid robot is realized, fish is adjusted by gravity adjusting device
The center of gravity of humanoid robot, and cooperate fish tail driving device and fin-shaped component, the floating and sinking of fish humanoid robot are realized, thus
It solves under conditions of keeping equipment for fish shape, how to realize the bionical movement such as advance, turning, floating and dive of fish type toy
The technical issues of.
Detailed description of the invention
Fig. 1 is the structural schematic diagram provided in an embodiment of the present invention for ornamental fish humanoid robot；
Fig. 2 is the structural schematic diagram of gravity adjusting device provided in an embodiment of the present invention.
Specific embodiment
The advance, turning, floating of fish type toy how are realized referring to Fig. 1 to solve under conditions of keeping equipment for fish shape
The technical issues of with the bionical movement such as dive, the present invention is provided to ornamental fish humanoid robots.
Include: for ornamental fish humanoid robot
Fish shell body 1, fish shell body 1 can suspend in water, at least be arranged in the tail end of fish shell body 1 perpendicular to horizontal plane
Fin-shaped component 10；
Fish tail driving device, in the inside of fish shell body 1, the middle part of fish shell body 1, fish is arranged in the head end of fish tail driving device
The tail end of tail driving device extends to the tail end of fish shell body 1, and fish tail driving device can at least drive fin-shaped component 10 to swing；
Gravity adjusting device, in the inside of fish shell body 1, the head end of fish shell body 1 is arranged in gravity adjusting device, and center of gravity is adjusted
Device is used to adjust position of the center of gravity relative to equalization point of fish humanoid robot；
When the center of gravity of fish humanoid robot is overlapped with equalization point, fish shell body 1 is by the fin-shaped component 10 of swing relative to level
The movement of face level；
When the centre-of gravity shift equalization point of fish humanoid robot, fish shell body 1 passes through the fin-shaped component 10 swung with respect to the horizontal plane
Inclined movement.
Wherein, the fin-shaped component 10 of fish tail driving device driving 1 tail end of fish shell body carries out reciprocating swing, by fin-shaped
The swing of component 10 generates the reaction force for pushing water open, pushes the advance of fish shell body 1, to simulate piscine organism advance
When bionical movement；And when fish tail driving device driving tail fin component, whens the amplitude of fluctuation of tail fin to two sides is not equal, wherein side
Reaction force be less than the reaction force of the other side, it is imitative when simulating piscine organism turning so that fish shell body 1 be pushed to turn
It is lively to make.
And the adjustable fish shell body 1 of gravity adjusting device, the center of gravity of fish humanoid robot is adjusted in other words relative to flat
The position of weighing apparatus point.The position of the equalization point is it is understood that when fish humanoid robot keeps horizontal stationary in water or moves horizontally
Position of centre of gravity.When the center of gravity fish equalization point of fish humanoid robot is overlapped, the horizontal flange of the head end of fish shell body 1 to tail end
It is parallel to each other with horizontal plane, by fish tail driving device and the promotion fish humanoid robot of fin-shaped component 10 horizontally advances or level turns
It is curved；After the center of gravity of fish humanoid robot is adjusted by gravity adjusting device, the head of the center of gravity tendency fish shell body 1 of fish humanoid robot
When end, horizontal flange above-mentioned is inclined relative to horizontal, and the head end of fish shell body 1 is located at below the tail end of fish shell body 1,
The advance that pushes fish humanoid robot with respect to the horizontal plane to tilt down by fish tail driving device and fin-shaped component 10 at this time is inclined
Oblique turning simulates bionical movement when piscine organism turns sinking；When the center of gravity of fish humanoid robot passes through gravity adjusting device
After adjustment, when the center of gravity of fish humanoid robot is inclined to the tail end of fish shell body 1, horizontal flange above-mentioned with respect to the horizontal plane inclines
Tiltedly, the head end of fish shell body 1 is located above the tail end of fish shell body 1, is pushed away at this time by fish tail driving device and fin-shaped component 10
With respect to the horizontal plane acclivitous advance or the inclined turning of dynamic fish humanoid robot, simulates bionical when piscine organism floats
Movement.
Therefore, it provided by the present invention for ornamental fish humanoid robot, is maintained by fish shell body 1 and fin-shaped component 10
Equipment for fish shape realizes the advance and turning of fish humanoid robot, passes through center of gravity tune by fish tail driving device and fin-shaped component 10
Regulating device adjusts the center of gravity of fish humanoid robot, and cooperates fish tail driving device and fin-shaped component 10, realizes fish humanoid robot
It floats and sinks, to solve the advance, turning, floating for how realizing fish type toy under conditions of keeping equipment for fish shape
The technical issues of with the bionical movement such as dive.
Further, referring to Fig. 1 and Fig. 2, gravity adjusting device includes:
Center of gravity steering engine 14, center of gravity steering engine 14 are fixedly connected with fish shell body 1, and center of gravity steering engine 14 includes rotary shaft；
Gear 15, gear 15 are connect with concentric rotation axis；
Rack gear 16, rack gear 16 are flexibly connected with fish shell body 1, and rack gear 16 engages connection with gear 15；
Sliding rail 17, sliding rail 17 are parallel to each other with rack gear 16, and sliding rail 17 is fixedly connected with fish shell body 1；
The head end of adjusting bracket 18, adjusting bracket 18 is fixedly connected with rack gear 16,17 activity of tail end and sliding rail of adjusting bracket 18
Connection；
Weight 5, weight 5 are fixedly connected with adjusting bracket 18；
Rack gear 16 and sliding rail 17 extend respectively along head end to the tail end direction of fish shell body 1, when center of gravity steering engine 14 drives gear
When 15 rotation, rack gear 16 drives weight 5 to be slided relative to sliding rail 17 by adjusting bracket 18.
Wherein, when the rotary shaft of center of gravity steering engine 14 drives coaxial gear 15 to rotate forward, 15 drive rack 16 of gear
Mobile from origin to first direction, rack gear 16 drives weight 5 to slide on sliding rail 17 to first direction by adjusting bracket 18, weight
While object 5 tends to first direction, the center of gravity of fish humanoid robot offsets to first direction relative to equalization point；Similarly, work as center of gravity
When the rotary shaft of steering engine 14 drives coaxial 15 backwards rotation of gear, 15 drive rack 16 of gear from origin to first direction phase
Anti- second direction is mobile, and rack gear 16 drives weight 5 to slide on sliding rail 17 to second direction by adjusting bracket 18, weight 5
While tending to second direction, the center of gravity of fish humanoid robot offsets to second direction relative to equalization point；Conversely, working as center of gravity steering engine
When 14 rotary shaft drives coaxial gear 15 reverse or rotates forward, 15 drive rack 16 of gear is by first direction or second party
To mobile to origin, and when reaching origin, center of gravity steering engine 14 stops operating, at this point, the center of gravity of fish humanoid robot is from offset
Equalization point is returned to first direction or second direction.
Further, weight 5 includes battery.Battery has certain weight, when battery is in center of gravity steering engine 14,15 and of gear
Under the driving of the components such as rack gear 16, thus it is possible to vary the position of battery adjusts fish humanoid robot center of gravity relative to flat to realize
The position of weighing apparatus point.Using battery as weight 5, it is possible to reduce the inner space of additional counterweight, saving fish shell body 1.
Further, referring to fig. 2, gravity adjusting device further include:
Support 19, support 19 are fixedly connected with fish shell body 1；
Sliding rail 17 passes through a pair of of support 19 and is fixedly connected with fish shell body 1；
Rack gear 16 is slidably connected by another pair support 19 with fish shell body 1.
Wherein, support 19 can according to the practical structures and rack gear 16 of fish shell body 1, the practical structures of sliding rail 17 and
Length and make.Support 19 can be by being simply mechanically connected on the inner wall or inner frame that are fixed on fish shell body 1, such as spiral shell
It tethers and connects, snaps connection.All supports 19 should be capable of the weight of supporting gravity regulating device, avoid rack gear 16 or sliding rail
17 bendings.
Further, gravity adjusting device is arranged in the seal chamber of fish shell body 1.Seal chamber can prevent center of gravity from adjusting
Device is contacted with external water generation, so that circuit be avoided to negatively affect by water short circuit, the corrosion of metal parts by water etc..
Preferably, sealed chamber can be arranged in the head end of fish shell body 1, or can by the head end of fish shell body 1 separately as
One seal forms sealed chamber.In addition, sealed chamber can also provide additional buoyancy；If by the head of fish shell body 1
End is separately as seal, and under the conditions of reconcilable, which can provide enough buoyancy for fish humanoid robot.
Further, referring to Fig. 1, fish humanoid robot further include:
Master control borad 3, master control borad 3 are arranged in seal chamber, and master control borad 3 includes memory, and memory is for storing default control journey
Sequence, gravity adjusting device drive gravity adjusting device according to pre-set control programs.
By setting master control borad 3 and master control borad 3 on memory, can by the advance of fish humanoid robot, turning, on
Floating and sinking movement is stored in memory in a manner of pre-set control programs.The actual act of fish humanoid robot in water, root
Change according to pre-set control programs, such as: in the output order that there is pre-set control programs advance, turning, floating and sinking to act
Under the premise of, by the way that corresponding time parameter is arranged, can control the actuation time of aforementioned each movement, multiple time parameters with
Aforesaid plurality of movement is effectively combined, and the bionical movement of piscine organism in water may be implemented；Alternatively, being corresponded to by setting
Computation model, binding time parameter or other parameters calculate the travelling path of theoretic fish humanoid robot in water, can
Preferably to control the travelling route of fish humanoid robot in water.
Further, referring to Fig. 1, fish humanoid robot further include:
Wireless receiving module 4, wireless receiving module 4 are arranged in seal chamber, the wireless control letter that wireless receiving module 4 will acquire
It number is transmitted to memory, gravity adjusting device drives gravity adjusting device according to wireless control signal and pre-set control programs.
Using wireless receiving module 4, external wireless control signal on the one hand can be received by way of wireless telecommunications,
On the other hand, can also reduce fish shell body 1 or say seal chamber aperture and corresponding seal member.According to external nothing
Pre-set control programs in line control signal and memory, the operator of fish humanoid robot and fish humanoid robot can establish
Control structure, to realize long-range human-computer interaction.
Preferably, referring to Fig. 1, fish humanoid robot further include:
Pressure sensor 20, the feedback signal transmission of pressure sensor 20 is to memory, and gravity adjusting device is according to pressure sensing
The feedback signal and pre-set control programs of device 20 drive gravity adjusting device.
By the current depth of water of the available fish humanoid robot of pressure sensor 20, the specific value of the depth of water is converted into electricity
Signal is fed back in the memory on master control borad 3, and the electric signal is converted to the control parameter of the depth of water, utilizes the control of the depth of water
The actual act of parameter processed and pre-set control programs control fish humanoid robot in water.
Preferably, referring to Fig. 1, fish humanoid robot further include:
The head end of fish shell body 1 is arranged in obstacle avoidance module 2, obstacle avoidance module 2, when obstacle avoidance module 2 detects barrier, avoidance mould
The feedback signal transmission of block 2 to memory, gravity adjusting device according to obstacle avoidance module 2 feedback signal and pre-set control programs,
Drive gravity adjusting device.
The barrier that encounters when being advanced by the available fish humanoid robot of obstacle avoidance module 2, electricity when will encounter barrier
Signal is fed back in the memory on master control borad 3, and the electric signal is converted to the control parameter of barrier, utilizes the barrier
Control parameter and pre-set control programs control fish humanoid robot actual act in water.
Further, referring to Fig. 1, fish tail driving device includes:
Swing steering engine 11, when fish humanoid robot includes concatenated multiple swing steering engines 11, previous swing steering engine 11 passes through work
Follower link is connect with adjacent the latter swing steering engine 11, and the swing steering engine 11 positioned at 1 tail end of fish shell body is for driving fin
Shape component 10, remaining swing steering engine 11 are used to drive middle part to the tail portion of fish shell body 1.
Wherein, swing steering engine 11 can according to need using a variety of steering engines in the prior art, can be the rudder of water proof type
Machine, the steering engine for being also possible to non-water proof type.Using the steering engine of water proof type, it is possible to reduce the middle part of fish shell body 1 and tail portion it is close
Seal structure, and can preferably reduce the overall weight of fish humanoid robot.Using the steering engine of non-water proof type, preferably in steering engine
Outside setting sealing structure, prevents the power supply of steering engine and water from generating short circuit.
In addition, in concatenated multiple swing steering engines 11, the active connection of the first swing steering engine 11 and second swing rudder
The fuselage of machine 11 connects, and the active connection of second swing steering engine 11 is connect with the fuselage of third swing steering engine 11, successively
Analogize.The last one swing steering engine 11 is connect by active connection with fin-shaped component 10 above-mentioned.It should be understood that in item
In the case that part allows, a swing steering engine 11 can also be only arranged in fish humanoid robot.Multiple swing steering engines 11 can not only drive
Dynamic fin-shaped component 10 carries out reciprocating swing, middle part to the tail portion of fish shell body 1 can also be driven to be swung, to increase fin
The swing angle of shape component 10 provides the bigger reaction force for arranging water.
Referring to Fig. 1, in addition to all the elements above-mentioned, provided by the present invention for ornamental fish humanoid robot, fish shell
Body 1 is preferably made of 3D printing material, can a printing shaping and when can reduce the processing of traditional fabrication shell
Between and processing cost.In addition, charging plug 13 should be arranged in the surface of fish shell body 1, and the plug passes through conducting wire and seal chamber
When interior battery connects, independent seal member should be set, to realize water-proof function.Preferably by fish shell body above-mentioned
1 head end is directly made as seal, and the components such as gravity center adjusting mechanism above-mentioned, battery, master control borad 3 and wireless switching are held
It is contained in seal, and charging plug 13 itself has independent water-proof function, the outer of seal is arranged in charging plug 13
Portion.It, should will be in the seal and fish shell body 1 above-mentioned if the head end of fish shell body 1 is directly made as seal
Portion and tail portion are attached by connector, and the middle part and tail portion of fish shell body 1 are set as according to swing steering engine 11 above-mentioned
The shell or non-pressurized body of sealing.Preferably, it can also be set inside or outside fish shell body according to actual design needs
Clump weight 6 is set, for preferably adjusting the balance of fish humanoid robot；Furthermore it is possible to appropriate in the head end two sides of fish shell body
Fin-shaped component 10 is respectively set in position, the apical position of fish shell body and bottom position, which can be some letters
Single decoration so that the shape of fish humanoid robot is more nearly piscine organism, be also possible to the oscillating function with electric drive or
Component as antenna function；It, can also be for the ease of observing the position of fish humanoid robot in the more dim water of light
LED light strip 12 is arranged in the suitable position of fish humanoid robot.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure transformation made by description of the invention and accompanying drawing content is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (10)
1. for ornamental fish humanoid robot characterized by comprising
Fish shell body (1), the fish shell body (1) can suspend in water, at least be arranged in the tail end of the fish shell body (1)
Perpendicular to the fin-shaped component (10) of horizontal plane；
Fish tail driving device, in the inside of the fish shell body (1), the head end of the fish tail driving device is arranged in the fish type
The middle part of shell (1), the tail end of the fish tail driving device extend to the tail end of the fish shell body (1), the fish tail driving
Device can at least drive the fin-shaped component (10) to swing；
Gravity adjusting device, in the inside of the fish shell body (1), the gravity adjusting device is arranged in the fish shell body
(1) head end, the gravity adjusting device are used to adjust position of the center of gravity of the fish humanoid robot relative to equalization point；
When the center of gravity of the fish humanoid robot is overlapped with the equalization point, the fish shell body (1) passes through the fin swung
The with respect to the horizontal plane horizontal movement of shape component (10)；
When the equalization point described in the centre-of gravity shift of the fish humanoid robot, the fish shell body (1) passes through the fin-shaped that swings
The movement that component (10) is inclined relative to horizontal.
2. fish humanoid robot according to claim 1, which is characterized in that the gravity adjusting device includes:
Center of gravity steering engine (14), the center of gravity steering engine (14) are fixedly connected with the fish shell body (1), center of gravity steering engine (14) packet
Include rotary shaft；
Gear (15), the gear (15) connect with the concentric rotation axis；
Rack gear (16), the rack gear (16) are flexibly connected with the fish shell body (1), the rack gear (16) and the gear (15)
Engagement connection；
Sliding rail (17), the sliding rail (17) are parallel to each other with the rack gear (16), the sliding rail (17) and the fish shell body (1)
It is fixedly connected；
The head end of adjusting bracket (18), the adjusting bracket (18) is fixedly connected with the rack gear (16), the adjusting bracket
(18) tail end is flexibly connected with the sliding rail (17)；
Weight (5), the weight (5) are fixedly connected with the adjusting bracket (18)；
The rack gear (16) and the sliding rail (17) extend respectively along head end to the tail end direction of the fish shell body (1), when
When the center of gravity steering engine (14) drives the gear (15) rotation, the rack gear (16) drives institute by the adjusting bracket (18)
Weight (5) is stated to be slided relative to the sliding rail (17).
3. fish humanoid robot according to claim 2, which is characterized in that the weight (5) includes battery.
4. fish humanoid robot according to claim 2, which is characterized in that the gravity adjusting device further include:
Support (19), the support (19) are fixedly connected with the fish shell body (1)；
The sliding rail (17) is fixedly connected by a pair of support (19) with the fish shell body (1)；
The rack gear (16) is slidably connected by support (19) described in another pair with the fish shell body (1).
5. fish humanoid robot according to any one of claims 1 to 4, which is characterized in that the gravity adjusting device setting
In the seal chamber of the fish shell body (1).
6. fish humanoid robot according to claim 1, which is characterized in that the fish humanoid robot further include:
Master control borad (3), the master control borad (3) are arranged in the seal chamber, and the master control borad (3) includes memory, described to deposit
For reservoir for storing pre-set control programs, the gravity adjusting device drives the center of gravity tune according to the pre-set control programs
Regulating device.
7. fish humanoid robot according to claim 6, which is characterized in that the fish humanoid robot further include:
Wireless receiving module (4), the wireless receiving module (4) are arranged in the seal chamber, the wireless receiving module (4)
The wireless control signal that will acquire is transmitted to the memory, and the gravity adjusting device is according to the wireless control signal and institute
Pre-set control programs are stated, the gravity adjusting device is driven.
8. fish humanoid robot according to claim 6, which is characterized in that the fish humanoid robot further include:
Pressure sensor (20), to the memory, the center of gravity is adjusted the feedback signal transmission of the pressure sensor (20)
Feedback signal and the pre-set control programs of the device according to the pressure sensor (20), drive the gravity adjusting device.
9. fish humanoid robot according to claim 6, which is characterized in that the fish humanoid robot further include:
Obstacle avoidance module (2), the head end in the fish shell body (1) is arranged in the obstacle avoidance module (2), when the obstacle avoidance module (2)
When detecting barrier, the feedback signal transmission of the obstacle avoidance module (2) to the memory, the gravity adjusting device according to
The feedback signal of the obstacle avoidance module (2) and the pre-set control programs, drive the gravity adjusting device.
10. fish humanoid robot according to claim 1, which is characterized in that the fish tail driving device includes:
Swing steering engine, when the fish humanoid robot includes concatenated multiple swing steering engines, the previous swing steering engine
It is connect by active connection with adjacent the latter swing steering engine, is located at the swing rudder of fish shell body (1) tail end
Machine is for driving the fin-shaped component (10), remaining described swing steering engine is for driving the middle part of the fish shell body (1) to tail
Portion.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910161677.6A CN109733576A (en) | 2019-03-04 | 2019-03-04 | For ornamental fish humanoid robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910161677.6A CN109733576A (en) | 2019-03-04 | 2019-03-04 | For ornamental fish humanoid robot |
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| CN106005336A (en) * | 2016-07-11 | 2016-10-12 | 大连海事大学 | Bionic robot fish |
| CN106828848A (en) * | 2017-02-06 | 2017-06-13 | 厦门大学 | A kind of skeleton many strings affect underwater fish |
| CN107310705A (en) * | 2017-06-21 | 2017-11-03 | 桂林电子科技大学 | A kind of underwater robot of imitative coelacanth |
| CN108656884A (en) * | 2018-06-27 | 2018-10-16 | 西北工业大学 | A kind of Amphibious bionics robot |
| CN109383717A (en) * | 2018-12-04 | 2019-02-26 | 沈阳航天新光集团有限公司 | The fish humanoid robot that can be rided |
| CN210126630U (en) * | 2019-03-04 | 2020-03-06 | 沈阳航天新光集团有限公司 | Fish-shaped robot for viewing |
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