CN1743044A - Deep-water submersible biorobot of cuttlefish imitation type mollush - Google Patents
Deep-water submersible biorobot of cuttlefish imitation type mollush Download PDFInfo
- Publication number
- CN1743044A CN1743044A CN 200510010225 CN200510010225A CN1743044A CN 1743044 A CN1743044 A CN 1743044A CN 200510010225 CN200510010225 CN 200510010225 CN 200510010225 A CN200510010225 A CN 200510010225A CN 1743044 A CN1743044 A CN 1743044A
- Authority
- CN
- China
- Prior art keywords
- fixed
- water inlet
- link
- base plate
- moving spring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Toys (AREA)
Abstract
The cuttlefish imitation type mollush large diving depth underwater bio-robot includes battery, control computer, sinking and floating control device, movement control circuit, communication device and base body. Besides, it also includes monopulse propeller and fin controller. Said invention also provides their connection and mounting mode.
Description
Technical field:
The present invention relates to a kind of underwater bionic robot, be specifically related to bio-robot under the big deep-water submersible of a kind of cuttlefish imitation type mollusk.
Background technology:
Up to the present, the mankind can observe and study outer space field, but the development and utilization of deep-sea resources close at hand is known little about it.Because the abyssal environment condition is very abominable, as high pressure, unglazed, undercurrent, landforms complexity etc., use the conventional device accessibility extreme difference of diving, add the difficulty of transfer of data, cause human at present utilization also only to rest on the shallow sea layer to marine resources.Aspect deep-sea marine exploration and comprehensive utilization and coast defence construction, underwater robot will be brought into play crucial effects.Underwater robot is unmanned submersible's (UUV, Unmanned Underwater Vehicle) an another kind of saying under water, and first underwater robot " Poodle " is born in nineteen fifty-three.Existing minority underwater robot relies on can the dive seabed in any marine site on the earth of high performance pneumatic shell.Because existing underwater robot is realized sub aqua sport by screw and rudder, very flexible not only, manufacture difficulty is also very big, and power set have occupied bigger space in the robot under water, and quality is bigger, make the volume and the quality of underwater robot all bigger, this does greatlyyer with regard to the pneumatic shell that requires underwater robot, to lay more instrument, the energy, executing agency or the like, the perhaps clear-cut tower structure of opening that adopts, each module on it adopts less separately pneumatic shell to realize resistance to compression, and the communication between each module and interconnected be problem, and seriously reduced the exercise performance of underwater robot, the sealing of power executing device is also relatively more difficult.When robot was flourish under water, people had also begun research to underwater bionic robot.Underwater bionic robot is the robot of form, action and function etc. of imitation organism in water, as the imitative fish robot of imitation fish swimming; The lobster robot that the imitation lobster creeps, this robot motion is flexible, the capacity usage ratio height, but because existing underwater bionic robot adopts motor as power source, rely on mechanical driving device to drive the propeller motion, thereby exist complicated integral structure, transmission device to be prone to mechanical breakdown, be difficult to realize the big dark problem of diving.If the big high flexibility of diving dark and underwater bionic robot of existing underwater robot can be combined mutual supplement with each other's advantages, just can create bio-robot under a kind of novel, practical more big deep-water submersible.
Summary of the invention:
The objective of the invention is to have for solving existing underwater robot that volume is big, weight big, very flexible, the big problem of manufacture difficulty and underwater bionic robot adopt motor as power source, rely on mechanical driving device to drive the propeller motion and exist complicated integral structure, transmission device to be prone to mechanical breakdown, be difficult to realize diving dark problem greatly and bio-robot under the big deep-water submersible of a kind of cuttlefish imitation type mollusk that provides.It comprises battery 1, control computer 2, sink-float control device 3, motion control circuit 4, communication device 5, matrix 6; It also comprises pulse propeller 9 and fin controller 7; Be fixed with battery 1, control computer 2, motion control circuit 4, communication device 5 in the cavity 6-3 of matrix 6 respectively, sink-float control device 3 fixedly is housed on the matrix 6, the upper surface of matrix 6 is fixed with pulse propeller 9, is fixed with fin controller 7 on the matrix 1 of pulse propeller 9 right-hand members.
The present invention has following beneficial effect: one, molluscan big diving such as cuttlefish relies on its hydrostatic bone to realize deeply, the hydrostatic bone is a kind of of bone, be common in invertebrate, as earthworm, leech, octopus, jellyfish or the like, it is the booth tissue that a kind of liquid is full of certain pressure, effect is characterized in as mammalian skeleton: (1), have a booth, and incompressible liquid wherein can change pressure reach all directions; (2), these boothes are surrounded by the film of outside, can realize the distortion of all directions; (3), liquid volume remains unchanged in the booth, by being centered around hydrostatic bone muscle on every side, these animals can change body shape to the utmost, thereby enter narrow and small narrow slit, can pass the hole of having only own health part diameter as octopus, have benefited from the hydrostatic bone exactly; Simultaneously the hydrostatic bone also makes in their bodies, externally bears identical pressure, darker is unlikely to collapse under pressure under water thereby can slip into.The present invention is according to mollusk bone and the big dark characteristics of diving such as cuttlefishes, hydrostatic bones such as imitation octopus, cuttlefish are realized withstand voltage, and imitate the hydraulic jet propulsion principle of these animal cephalopodiums, by marmem (SMA, Shape Memory Alloy) etc. intellectual material (Smart Material Structure) changes the volume of pulse propeller die cavity, by periodic suction of die cavity and water spray, drive this underwater bionic robot and push ahead.The angle of rake die cavity operation principle of pulse of the present invention is: (1), die cavity are when reset condition, and the angle of rake water feed apparatus of pulse is opened, and die cavity is in the expansion water stored state; (2), the angle of rake water feed apparatus closure of pulse, prepare for die cavity sprays; (3), the die cavity overall shrinkage sprays water at a high speed, promote this underwater bionic robot and travel forward; (4), die cavity expansion, water feed apparatus is opened suction, prepares for spraying next time.Two, pulse propeller of the present invention has that volume is little, in light weight, noiselessness, instantaneous thrust are big, energy density height during action, the advantage that available space is big, kinematic dexterity is high.Three, according to the difference of purposes, can in this robot, install the module of various uses additional, as transportation module, manipulator, weapon module or the like, make this robot have the scope of application of broad.Four, the present invention combines the high flexibility of big dive dark and the existing underwater bionic robot of existing underwater robot, imitating hydrostatic bones such as octopus, cuttlefish simultaneously realizes withstand voltage, the hydraulic jet propulsion principle of imitating them realizes advancing, the angle of rake movement mechanism of its pulse is simple, driving voltage is lower, adopt battery as power source, this just makes underwater robot to move with higher speed, even can primer with fast speeds.Five, the present invention does not need the motor source that is used as power; do not need gear iso-variable velocity device yet; but adopt pulse propeller that fixedly connected with matrix, that can change mold cavity volume as drive unit; thereby reduced matrix and the angle of rake resistance to compression volume of pulse greatly, adopt less matrix (pneumatic shell) can protect battery, control computer, motion control circuit and communication device.Six, pulse all has been full of water inside and outside angle of rake, and the angle of rake external and internal pressure unanimity of pulse, as long as pulse propeller and the less matrix of volume can be resisted high pressure, this underwater bionic robot just can dive arrive under water darker.Hence one can see that, adopts identical manufacturing process, and underwater bionic robot of the present invention just can be dived deeply than the underwater bionic robot of equal fabrication process condition.Seven, the present invention is installed in battery, control computer, motion control circuit, communication device in the cavity of matrix, the sink-float control device is installed on the matrix, the pulse propeller is placed on the upper surface of matrix and with matrix fixedlys connected, select for use battery as power source, motion control program, sink-float control program, communication signal are programmed in the control computer, and send command signal controlled motion control circuit, sink-float control device and communication device work by the control computer.Eight, the present invention has simple in structurely, easy to operate, volume is little, in light weight, motion flexibly, can bear high pressure, propulsive force big, can realize diving greatly dark advantage.
Description of drawings:
Accompanying drawing 1 is the overall structure front view that the present invention adopts pulse propeller 9 and afterbody water feed apparatus 13, Fig. 2 is the vertical view of Fig. 1, Fig. 3 is the left view of Fig. 1, Fig. 4 is the front view that the present invention adopts pulse propeller 9 and afterbody water feed apparatus 13, Fig. 5 is the A-A profile of Fig. 4, Fig. 6 is the vertical view of Fig. 4, Fig. 7 is the structural representation of afterbody water feed apparatus 13, Fig. 8 is the front view of injector assembly 12, Fig. 9 is the B-B profile of Fig. 8, Figure 10 is the left view of Fig. 8, Figure 11 is the structural representation of fin controller 7, Figure 12 the present invention adopts the front view of pulse propeller 9 and slidingtype water feed apparatus 14, Figure 13 is the C-C profile of Figure 12, Figure 14 is the vertical view of Figure 12, Figure 15 is the left view of Figure 12, Figure 16 is the structural representation of slidingtype water feed apparatus 14, Figure 17 is the front view that the present invention adopts pulse propeller 9 and rotary type water feed apparatus 15, Figure 18 is the vertical view of Figure 17, Figure 19 is the left view of Figure 17, and Figure 20 is the structural representation of rotary type water feed apparatus 15, and Figure 21 is the front view that the present invention adopts dipulse propeller 10 and afterbody water feed apparatus 13, Figure 22 is the vertical view of Figure 21, and Figure 23 is the left view of Figure 21.
The specific embodiment:
The specific embodiment one: in conjunction with Fig. 1, Fig. 2, Fig. 3 present embodiment is described, present embodiment is made up of battery 1, control computer 2, sink-float control device 3, motion control circuit 4, communication device 5, matrix 6, pulse propeller 9 and fin controller 7; Be fixed with battery 1, control computer 2, motion control circuit 4, communication device 5 in the cavity 6-3 of matrix 6 respectively, sink-float control device 3 fixedly is housed on the matrix 6, the upper surface of matrix 6 is fixed with pulse propeller 9, is fixed with fin controller 7 on the matrix 1 of pulse propeller 9 right-hand members.
The specific embodiment two: in conjunction with Fig. 4, Fig. 5, Fig. 6 present embodiment is described, the pulse propeller 9 of present embodiment is made up of die cavity 11, injector assembly 12, cavity shape memory alloy actuator 17, die cavity back-moving spring 18, water feed apparatus; Die cavity 11 is made up of covering chamber 11-1 and chamber 11-2; Left end and the chamber 11-2 of covering chamber 11-1 are connected in one, and covering chamber 11-1 is made up of top board 11-1-1, base plate 11-1-2, covering 11-1-3; Fixedly connected formation covering chamber 11-1 by covering 11-1-3 between base plate 11-1-2 and the top board 11-1-1, base plate 11-1-2 is fixedlyed connected with matrix 6, be connected with one group of cavity shape memory alloy actuator 17 and one group of die cavity back-moving spring 18 between top board 11-1-1 and the base plate 11-1-2, die cavity 11 is provided with water feed apparatus, and the left end of die cavity 11 is fixedlyed connected with injector assembly 12.Top board 11-1-1 is made by little density material, and rigidity is enough to satisfy the setting-out requirement, the covering of covering chamber 1 1-1 adopt can anti-high pressure flexible material make, under less action force, can realize Free Transform, thereby change the volume of die cavity 11.Die cavity 11 is made of covering chamber 11-1 and chamber 11-2, drive by one group of cavity shape memory alloy actuator 17, be connected with one group of cavity shape memory alloy actuator 17 between the top board 11-1-1 of covering chamber 11-1 and the base plate 11-1-2, the rigidity of top board 11-1-1 and base plate 11-1-2 is bigger, be connected in series between each cavity shape memory alloy actuator 17 in one group, to realize energising simultaneously, synchronization action.When die cavity 11 during at expansion state, the 17 energising heating of cavity shape memory alloy actuator, the generation reverse transformation returned to original contraction state after its temperature surpassed the anti-phase height, and the bigger power of generation, the elastic force that overcomes die cavity back-moving spring 18 shrinks die cavity 11, water in the compressing die cavity 11 produces thrust from the nozzle 12-1 high speed ejection of injector assembly 12; After die cavity 11 is contracted to minimum, cavity shape memory alloy actuator 17 stops energising, and be cooled to the low temperature phase, the reset force of die cavity back-moving spring 18 makes die cavity 11 expansions, simultaneously also cavity shape memory alloy actuator 17 is pulled to expansion state, this moment, water feed apparatus was opened water-filling in die cavity 11, after die cavity 11 was expanded to maximum rating and complete water-filling, water feed apparatus was closed.The pulse propeller 9 that adopts said structure is by die cavity 11 expansions, contraction and water-filling, setting-out, thereby realizes the impulse jet function.The outer surface of cavity shape memory alloy actuator 17 can apply or coated insulation layer or overcoat, prevents to leak electricity and causes the loss of energy and the corrosion of liquid.Insulating barrier can be used melamine alkyd impregnated insulating paint, polyurethane, polytetrafluoroethylene (PTFE) or the like.In some occasion, in order to prevent the erosion of chemical substances such as acid, need enclose overcoat on the surface of cavity shape memory alloy actuator 17 or carry out preservative treatment, as coat polyester film etc., insulating barrier and overcoat are very thin, do not hinder the motion and the heat radiation of cavity shape memory alloy actuator 17.Die cavity back-moving spring 18 can adopt helical spring, wind spring or leaf spring.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: in conjunction with Fig. 8, Fig. 9, Figure 10 present embodiment is described, the injector assembly 12 of present embodiment is made up of marmen 12-2, nozzle back-moving spring 12-3, nozzle pipe support 12-4, the first link 12-5, the second link 12-6, the 3rd link 12-7, the 4th link 12-8 that nozzle 12-1, control nozzle rotate; The right-hand member of nozzle pipe support 12-4 is installed in the through hole of left side 11-2-3 of chamber 11-2, the sphere 12-4-1 of nozzle pipe support 12-4 left end is contained in the spherical hollow space 12-1-1 of nozzle 12-1 and is hinged with nozzle 12-1, the spherical outer surface 12-1-2 of nozzle 12-1 along the circumferential direction is symmetrically fixed with one group of first link 12-5 and one group of second link 12-6, with be fixed with the 3rd link 12-7 on the outer face of the corresponding nozzle pipe support of first link 12-5 12-4, with be fixed with the 4th link 12-8 on the outer face of the corresponding nozzle pipe support of second link 12-6 12-4, the first link 12-5 is fixedlyed connected with the left end of the marmen 12-2 that the control nozzle rotates, the 3rd link 12-7 is fixedlyed connected with the right-hand member of the marmen 12-2 that the control nozzle rotates, the second link 12-6 is fixedlyed connected with the left end of nozzle back-moving spring 12-3, and the 4th link 12-8 is fixedlyed connected with the right-hand member of nozzle back-moving spring 12-3; Described nozzle 12-1 is interlocked by half nozzle 12-1-3 of two splits and is formed by fixedly connecting.The sphere 12-4-1 of nozzle pipe support 12-4 left end is contained in the spherical hollow space 12-1-1 of nozzle 12-1 and is hinged with nozzle 12-1, nozzle 12-1 can rotate to any direction, so that the thrust of different directions to be provided, to realize the action such as turning, pitching of this underwater bionic robot or accelerate come-up, the diving speed of this underwater robot.Nozzle 12-1 is driven by the marmen 12-2 that one group of control nozzle rotates, 12-3 provides reset force by the nozzle back-moving spring, during work, the marmen 12-2 energising that the control nozzle rotates is shunk, and pulling nozzle 12-1 turns an angle; When nozzle 12-1 need reset, the marmen 12-2 that the control nozzle rotates stopped energising and cooling, and 12-3 is reset to reset condition with nozzle 12-1 by the nozzle back-moving spring.Adopt half nozzle 12-1-3 of two splits fixedly connected nozzle 12-1 that makes that interlocks, not only easy for installation, can guarantee that also nozzle 12-1 rotates flexibly.In order to guarantee to control the marmen 12-2 leakproof that nozzle rotates, reduce energy loss, can apply or coated insulation layer or overcoat at the outer surface of the marmen 12-2 that controls the nozzle rotation.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment four: in conjunction with Fig. 4, Fig. 6, Fig. 7 present embodiment is described, the water feed apparatus of present embodiment is made up of the afterbody water feed apparatus 13 that is arranged in the die cavity 11; Described afterbody water feed apparatus 13 is made up of marmen 13-7, wind spring 13-8, the left back water inlet plate 13-9 of left front water inlet plate 13-1, wire pulling rack 13-2, backguy 13-3, rotating shaft 13-4, shaft seating 13-5, actuator frame 13-6, the water inlet of control afterbody; The left side 11-2-3 of chamber 11-2 is provided with left front water inlet 11-2-1 and left back water inlet 11-2-2, shaft seating 13-5 is fixedlyed connected with base plate 11-1-2 with the left side 11-2-3 of chamber 11-2 respectively, rotating shaft 13-4 is housed in the shaft seating 13-5, between rotating shaft 13-4 and the shaft seating 13-5 wind spring 13-8 is housed, the end of wind spring 13-8 is wrapped on the rotating shaft 13-4, the other end of wind spring 13-8 is fixed on the shaft seating 13-5, with be fixed with left front water inlet plate 13-1 on the corresponding rotating shaft 13-4 of left front water inlet 11-2-1 on the left side 11-2-3 of chamber 11-2, with be fixed with left back water inlet plate 13-9 on the corresponding rotating shaft 13-4 of left back water inlet 11-2-2 on the left side 11-2-3 of chamber 11-2, left front water inlet plate 13-1 is fixedlyed connected with the end of backguy 13-3 respectively with left back water inlet plate 13-9, the other end of backguy 13-3 is connected with the end of the marmen 13-7 of control afterbody water inlet by the wire pulling rack 13-2 that is fixed on the base plate 11-1-2, and the other end of the marmen 13-7 of control afterbody water inlet is fixedlyed connected with the actuator frame 13-6 on being fixed on base plate 11-1-2.During work, the marmen 13-7 energising of control afterbody water inlet is shunk, the power that overcomes wind spring 13-8 is opened left front water inlet plate 13-1 and left back water inlet plate 13-9, extraneous water flows into the die cavity 11 from left front water inlet 11-2-1 and left back water inlet 11-2-2 respectively, when die cavity 11 is expanded to maximum rating, the marmen 13-7 of control afterbody water inlet stops energising and cooling, elastic force by wind spring 13-8 is closed left front water inlet plate 13-1 and left back water inlet plate 13-9, and left front water inlet plate 13-1 and left back water inlet plate 13-9 adopt the opening ways that rotates.Water-tight in order to guarantee die cavity 11, can on the left front water inlet plate 13-1 He on the left back water inlet plate 13-9 seal be installed; In order to make the marmen 13-7 leakproof of control afterbody water inlet, can apply or coated insulation layer or overcoat at the outer surface of the marmen 13-7 that controls the afterbody water inlet.Adopt afterbody water feed apparatus 13 can guarantee that the bottom surface of matrix 6 is smooth, reduce the resistance that matrix 6 moves in water.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment five: in conjunction with Figure 12, Figure 13, Figure 14, Figure 15, Figure 16 present embodiment is described, the water feed apparatus of present embodiment is made up of the slidingtype water feed apparatus 14 that is arranged on die cavity 11 bottoms; Described slidingtype water feed apparatus 14 is made up of left link 14-1, right link 14-2, left-handed form shape memory alloy actuator 14-3, right marmen 14-4, left back-moving spring 14-5, right back-moving spring 14-6, left intake gate 14-7, right intake gate 14-8, link stopper 14-9, back-moving spring guide rail 14-10; The centre of matrix 6 is provided with slotted hole 6-1, die cavity 11 is contained in the slotted hole 6-1 in the middle of the matrix 6 and with matrix 6 fixedlys connected, the lower surface of the lower surface of base plate 11-1-2 and matrix 6 is in same plane, the centre position of the upper surface of base plate 11-1-2 is fixed with link stopper 14-9, has left water inlet 11-1-2-1 on the left-side bottom 11-1-2 of link stopper 14-9, has right water inlet 11-1-2-2 on the right side base plate 11-1-2 of link stopper 14-9, left side water inlet 11-1-2-1 and right water inlet 11-1-2-2 are symmetrical arranged, the left end of the upper surface of base plate 11-1-2 is fixed with left link 14-1, the right-hand member of the upper surface of base plate 11-1-2 is fixed with right link 14-2, with have left intake gate 14-7 on the corresponding base plate 11-1-2 of left water inlet 11-1-2-1, with have right intake gate 14-8 on the corresponding base plate 11-1-2 of right water inlet 11-1-2-2, be fixed with left-handed form shape memory alloy actuator 14-3 between left side link 14-1 and the left intake gate 14-7, be fixed with right marmen 14-4 between right link 14-2 and the right intake gate 14-8, left-handed form shape memory alloy actuator 14-3 is coaxial with right marmen 14-4, on the transverse bottom plate 11-1-2 of left-handed form shape memory alloy actuator 14-3 and right marmen 14-4 both sides respectively symmetry back-moving spring guide rail 14-10 is housed, back-moving spring guide rail 14-10 is fixed on the link stopper 14-9, the left end of back-moving spring guide rail 14-10 is fixedlyed connected with left link 14-1, the right-hand member of back-moving spring guide rail 14-10 is fixedlyed connected with right link 14-2, back-moving spring guide rail 14-10 between left side link 14-1 and the left intake gate 14-7 goes up left back-moving spring 14-5 fixedly is housed, and the back-moving spring guide rail 14-10 between right link 14-2 and the right intake gate 14-8 goes up right back-moving spring 14-6 fixedly is housed.Because water feed apparatus is arranged on the bottom of die cavity 11, during die cavity 11 expansions, left-handed form shape memory alloy actuator 14-3 and right marmen 14-4 energising, the generation reverse transformation returned to original contraction state after its temperature surpassed the anti-phase height, the elastic force that overcomes left back-moving spring 14-5 is opened left intake gate 14-7, the elastic force that overcomes right back-moving spring 14-6 is opened right intake gate 14-8, water enters in the die cavity 11 from left water inlet 11-1-2-1 and right water inlet 11-1-2-2 respectively, when die cavity 11 is expanded to maximum, left-handed form shape memory alloy actuator 14-3 and right marmen 14-4 outage and cooling, left side back-moving spring 14-5 promotes left intake gate 14-7 and resets, close left water inlet 11-1-2-1, right back-moving spring 14-6 promotes right intake gate 14-8 and resets, and closes right water inlet 11-1-2-2.Adopt the water feed apparatus of this structure little in the short transverse occupation space, when closed, the closure effect of left intake gate 14-7 and right intake gate 14-8 is good.For the better seal effect is arranged, can on the left intake gate 14-7 He on the right intake gate 14-8 sealing ring be installed.Left-handed form shape memory alloy actuator 14-3 and right marmen 14-4 outer surface can apply or coated insulation layer or overcoat, prevent to leak electricity and cause the loss of energy and the corrosion of liquid.
The specific embodiment six: in conjunction with Figure 17, Figure 18, Figure 19, Figure 20 present embodiment is described, the water feed apparatus of present embodiment is made up of the rotary type water feed apparatus 15 that is arranged on die cavity 11 bottoms; Described rotary type water feed apparatus 15 is made up of left side water inlet rotary door 15-1, right water inlet rotary door 15-2, left front bearing 15-3, left back bearing 15-4, right front bearing 15-5, right back bearing 15-6, left rotary shaft 15-7, right spindle 15-8, connecting rod 15-9, Connection Block 15-10, the first fixed leg 15-11, the second fixed leg 15-12, back-moving spring 15-13, marmen 15-14; The centre of matrix 6 is provided with elongated slot 6-2, die cavity 11 is contained in the elongated slot 6-2 in the middle of the matrix 6 and with matrix 6 fixedlys connected, the lower surface of the lower surface of base plate 11-1-2 and matrix 6 is on same horizontal plane, base plate 11-1-2 is provided with left side water inlet port 11-1-2-3 and right water inlet port 11-1-2-4, be fixed with the first fixed leg 15-11 and the second fixed leg 15-12 on the base plate 11-1-2, be fixed with left front bearing 15-3 and left back bearing 15-4 on the base plate 11-1-2 between left side water inlet port 11-1-2-3 and the right water inlet port 11-1-2-4, be fixed with right front bearing 15-5 and right back bearing 15-6 on the base plate 11-1-2 on right water inlet port 11-1-2-4 right side, in the through hole of left front bearing 15-3 and left back bearing 15-4 left rotary shaft 15-7 is housed, with be fixed with left side water inlet rotary door 15-1 on the corresponding left rotary shaft 15-7 of left side water inlet port 11-1-2-3, in the through hole of right front bearing 15-5 and right back bearing 15-6 right spindle 15-8 is housed, with be fixed with right water inlet rotary door 15-2 on the corresponding right spindle 15-8 of right side water inlet port 11-1-2-4, the rear end of left rotary shaft 15-7 is fixed with Connection Block 15-10, between the Connection Block 15-10 and the first fixed leg 15-11 back-moving spring 15-13 is housed fixedly, the end of Connection Block 15-10 and connecting rod 15-9 is hinged, the other end of connecting rod 15-9 is fixed on the right spindle 15-8, is fixed with marmen 15-14 between the connecting rod 15-9 and the second fixed leg 15-12.Rotary type water feed apparatus 15 is installed on the base plate 11-1-2, be connected left side water inlet rotary door 15-1 and right water inlet rotary door 15-2 with Connection Block 15-10 by connecting rod 15-9, during die cavity 11 expansions, marmen 15-14 energising, the generation reverse transformation returned to original contraction state after its temperature surpassed the anti-phase height, overcome the elastic force of back-moving spring 15-13, pulling connecting rod 15-9 opens left side water inlet rotary door 15-1 and right water inlet rotary door 15-2, water enters the die cavity 11 from left side water inlet port 11-1-2-3 and right water inlet port 11-1-2-4 respectively, when die cavity 11 is expanded to maximum, marmen 15-14 outage and cooling, back-moving spring 15-13 pulling connecting rod 15-9 resets left side water inlet rotary door 15-1 and right water inlet rotary door 15-2, closes left side water inlet port 11-1-2-3 and right water inlet port 11-1-2-4.For improving sealing effectiveness, the periphery of can intake on a left side rotary door 15-1 and right water inlet rotary door 15-2 installs sealing ring additional.For preventing marmen 15-14 electric leakage, reduce energy loss, can apply or coated insulation layer or overcoat at the outer surface of marmen 15-14.Rotary type water feed apparatus 15 is owing to be subjected to the restriction of die cavity 11, and opening is less during unlatching, but the open area is bigger, and only needs a marmen 15-14, and it is relatively simple for structure.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment seven: in conjunction with Fig. 4, Fig. 6, Figure 11 present embodiment is described, the fin controller 7 of present embodiment is made up of fin 7-1, the first position-limited rack 7-2, the second position-limited rack 7-3, fin turning cylinder 7-4, the first axle sleeve frame 7-5, the second axle sleeve frame 7-6, the first fixed leg 7-7, the second fixed leg 7-8, the 3rd fixed leg 7-9, the first fin-shaped shape memory alloy actuator 7-10, the first fin back-moving spring 7-11, the second fin-shaped shape memory alloy actuator 7-12, the second fin back-moving spring 7-13; The upper surface of base plate 11-1-2 is fixed with the first axle sleeve frame 7-5 and the second axle sleeve frame 7-6 respectively along horizontal direction, fin turning cylinder 7-4 is housed in the through hole of the first axle sleeve frame 7-5 and the second axle sleeve frame 7-6, fixedly connected with fin 7-1 respectively in the two ends of fin turning cylinder 7-4, be fixed with the first fixed leg 7-7 on the centre position of fin turning cylinder 7-4, be symmetrically fixed with the first position-limited rack 7-2 and the second position-limited rack 7-3 on vertical base plate 11-1-2 of fin turning cylinder 7-4 both sides, be fixed with the second fixed leg 7-8 on vertical base plate 11-1-2 in the first position-limited rack 7-2 outside, be fixed with the 3rd fixed leg 7-9 on vertical base plate 11-1-2 in the second position-limited rack 7-3 outside, be fixed with the first fin-shaped shape memory alloy actuator 7-10 and the first fin back-moving spring 7-11 between the 3rd fixed leg 7-9 and the first fixed leg 7-7 respectively, be fixed with the second fin-shaped shape memory alloy actuator 7-12 and the second fin back-moving spring 7-13 between the second fixed leg 7-8 and the first fixed leg 7-7 respectively.The fin controller 7 that is used to control this underwater bionic robot pitching is installed in the head of this underwater bionic robot, fin 7-1 is installed on the fin turning cylinder 7-4, and fin 7-1 is driven by the first fin-shaped shape memory alloy actuator 7-10 and the second fin-shaped shape memory alloy actuator 7-12 respectively.When fin 7-1 will rotate, the first fin-shaped shape memory alloy actuator 7-10 and second fin-shaped shape memory alloy actuator 7-12 energising contraction distortion, pulling fin 7-1 rotates, and by the first position-limited rack 7-2 and the second position-limited rack 7-3 that fin 7-1 is spacing on a certain angle, make this underwater bionic robot realize come-up or dive; When fin 7-1 need reset, the first fin-shaped shape memory alloy actuator 7-10 that shrinks and the second fin-shaped shape memory alloy actuator 7-12 stop energising and cooling, by the first fin back-moving spring 7-11 and the second fin back-moving spring 7-13 fin 7-1 are reset to reset condition.For preventing the first fin-shaped shape memory alloy actuator 7-10 and second fin-shaped shape memory alloy actuator 7-12 electric leakage, reduce energy loss, can apply or coated insulation layer or overcoat at the outer surface of the first fin-shaped shape memory alloy actuator 7-10 and the second fin-shaped shape memory alloy actuator 7-12.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment eight: in conjunction with Fig. 4, Fig. 6, Figure 12, Figure 14, Figure 17, Figure 18 present embodiment is described, the difference of the present embodiment and the specific embodiment one is: present embodiment also increases position-limit mechanism 16; Position-limit mechanism 16 is made up of spacing backguy 16-1 and limited post 16-2; Fixedlying connected with top board 11-1-1 with base plate 11-1-2 respectively in the two ends of spacing backguy 16-1, is fixed with limited post 16-2 on the base plate 11-1-2.When being expanded to maximum and being contracted to minimum state, die cavity 11 all use position-limit mechanism 16 spacing, when being expanded to maximum rating, continue expansion by spacing backguy 16-1 tension top board 11-1-1 that connects top board 11-1-1 and base plate 11-1-2 and base plate 11-1-2 restriction die cavity 11 as die cavity 11; When die cavity 11 is contracted to minimum state, withstand top board 11-1-1 by the limited post 16-2 that is installed on the base plate 11-1-2, restriction die cavity 11 continues to shrink, and can protect the covering 11-1-3 of die cavity 11 outer surfaces not to be damaged, and prolongs the service life of covering 11-1-3.Limited post 16-2 also can be installed on the top board 11-1-1, withstands base plate 11-1-2, and restriction die cavity 11 continues to shrink.
The specific embodiment nine: in conjunction with Figure 21, Figure 22, Figure 23 present embodiment is described, the difference of the present embodiment and the specific embodiment one is: present embodiment constitutes dipulse propeller 10 side by side by two pulse propellers 9.Adopt dipulse propeller 10 to spray simultaneously, can realize that high thrust advances; Also can spray by turns, realize advancing continuously.Entire machine people is by a cover control system control.Also can load a plurality of single-pulse injection propellers 9 and spray simultaneously, realize that high thrust advances, and improves fltting speed; Alternating spray is realized advancing continuously.
The specific embodiment ten: in conjunction with Figure 23 present embodiment is described, the water feed apparatus of the dipulse propeller 10 of present embodiment adopts afterbody water feed apparatus 13.Each pulse propeller 9 all has an independently afterbody water feed apparatus 13, can reduce the diving resistance of this underwater bionic robot.
Claims (10)
1, bio-robot under the big deep-water submersible of a kind of cuttlefish imitation type mollusk, it comprises battery (1), control computer (2), sink-float control device (3), motion control circuit (4), communication device (5), matrix (6); It is characterized in that it also comprises pulse propeller (9) and fin controller (7); Be fixed with battery (1), control computer (2), motion control circuit (4), communication device (5) in the cavity (6-3) of matrix (6) respectively, matrix (6) is gone up sink-float control device (3) fixedly is housed, the upper surface of matrix (6) is fixed with pulse propeller (9), is fixed with fin controller (7) on the matrix (1) of pulse propeller (9) right-hand member.
2, bio-robot under the big deep-water submersible of cuttlefish imitation type mollusk according to claim 1 is characterized in that pulse propeller (9) comprises die cavity (11), injector assembly (12), cavity shape memory alloy actuator (17), die cavity back-moving spring (18), water feed apparatus; Die cavity (11) is made up of covering chamber (11-1) and chamber (11-2); The left end in covering chamber (11-1) and chamber (11-2) are connected in one, and covering chamber (11-1) is made up of top board (11-1-1), base plate (11-1-2), covering (11-1-3); Base plate (11-1-2) and top board
Pass through covering (11-1-3) fixedly connected formation covering chamber (11-1) (11-1-1), base plate (11-1-2) is fixedlyed connected with matrix (6), be connected with one group of cavity shape memory alloy actuator (17) and one group of die cavity back-moving spring (18) between top board (11-1-1) and the base plate (11-1-2), die cavity (11) is provided with water feed apparatus, and the left end of die cavity (11) is fixedlyed connected with injector assembly (12).
3, bio-robot under the big deep-water submersible of cuttlefish imitation type mollusk according to claim 2 is characterized in that injector assembly (12) is made up of marmen (12-2), nozzle back-moving spring (12-3), nozzle pipe support (12-4), first link (12-5), second link (12-6), the 3rd link (12-7), the 4th link (12-8) that nozzle (12-1), control nozzle rotate; The right-hand member of nozzle pipe support (12-4) is installed in the through hole of left side (11-2-3) of chamber (11-2), the sphere (12-4-1) of nozzle pipe support (12-4) left end is contained in the spherical hollow space (12-1-1) of nozzle (12-1) and is hinged with nozzle (12-1), along the circumferential direction be symmetrically fixed with one group of first link (12-5) and one group of second link (12-6) on the spherical outer surface (12-1-2) of nozzle (12-1), with be fixed with the 3rd link (12-7) on the outer face of the corresponding nozzle pipe support of first link (12-5) (12-4), with be fixed with the 4th link (12-8) on the outer face of the corresponding nozzle pipe support of second link (12-6) (12-4), first link (12-5) is fixedlyed connected with the left end of the marmen (12-2) that the control nozzle rotates, the 3rd link (12-7) is fixedlyed connected with the right-hand member of the marmen (12-2) that the control nozzle rotates, second link (12-6) is fixedlyed connected with the left end of nozzle back-moving spring (12-3), and the 4th link (12-8) is fixedlyed connected with the right-hand member of nozzle back-moving spring (12-3); Described nozzle (12-1) is interlocked by half nozzle (12-1-3) of two splits and is formed by fixedly connecting.
4, bio-robot under the big deep-water submersible of cuttlefish imitation type mollusk according to claim 2 is characterized in that water feed apparatus is made up of the afterbody water feed apparatus (13) that is arranged in the die cavity (11); Described afterbody water feed apparatus (13) is made up of marmen (13-7), wind spring (13-8), the left back water inlet plate (13-9) of left front water inlet plate (13-1), wire pulling rack (13-2), backguy (13-3), rotating shaft (13-4), shaft seating (13-5), actuator frame (13-6), the water inlet of control afterbody; The left side (11-2-3) of chamber (11-2) is provided with left front water inlet (11-2-1) and left back water inlet (11-2-2), shaft seating (13-5) is fixedlyed connected with base plate (11-1-2) with the left side (11-2-3) of chamber (11-2) respectively, rotating shaft (13-4) is housed in the shaft seating (13-5), between rotating shaft (13-4) and the shaft seating (13-5) wind spring (13-8) is housed, one end of wind spring (13-8) is wrapped in the rotating shaft (13-4), the other end of wind spring (13-8) is fixed on the shaft seating (13-5), with be fixed with left front water inlet plate (13-1) in the corresponding rotating shaft of left front water inlet (11-2-1) (13-4) on chamber (11-2) left side (11-2-3), with be fixed with left back water inlet plate (13-9) in the corresponding rotating shaft of left back water inlet (11-2-2) (13-4) on chamber (11-2) left side (11-2-3), left front water inlet plate (13-1) is fixedlyed connected with an end of backguy (13-3) respectively with left back water inlet plate (13-9), the other end of backguy (13-3) is connected with an end of the marmen (13-7) of control afterbody water inlet by the wire pulling rack (13-2) that is fixed on the base plate (11-1-2), and the other end of the marmen (13-7) of control afterbody water inlet is fixedlyed connected with the actuator frame (13-6) on being fixed on base plate (11-1-2).
5, bio-robot under the big deep-water submersible of cuttlefish imitation type mollusk according to claim 2 is characterized in that water feed apparatus is made up of the slidingtype water feed apparatus (14) that is arranged on die cavity (11) bottom; Described slidingtype water feed apparatus (14) is made up of left link (14-1), right link (14-2), left-handed form shape memory alloy actuator (14-3), right marmen (14-4), left back-moving spring (14-5), right back-moving spring (14-6), left intake gate (14-7), right intake gate (14-8), link stopper (14-9), back-moving spring guide rail (14-10); The centre of matrix (6) is provided with slotted hole (6-1), die cavity (11) is contained in the middle slotted hole (6-1) of matrix (6) and with matrix (6) fixedlys connected, the lower surface of the lower surface of base plate (11-1-2) and matrix (6) is in same plane, the centre position of the upper surface of base plate (11-1-2) is fixed with link stopper (14-9), has left water inlet (11-1-2-1) on the left-side bottom (11-1-2) of link stopper (14-9), has right water inlet (11-1-2-2) on the right side base plate (11-1-2) of link stopper (14-9), left side water inlet (11-1-2-1) is symmetrical arranged with right water inlet (11-1-2-2), the left end of the upper surface of base plate (11-1-2) is fixed with left link (14-1), the right-hand member of the upper surface of base plate (11-1-2) is fixed with right link (14-2), with have left intake gate (14-7) on the corresponding base plate of left water inlet (11-1-2-1) (11-1-2), with have right intake gate (14-8) on the corresponding base plate of right water inlet (11-1-2-2) (11-1-2), be fixed with left-handed form shape memory alloy actuator (14-3) between left side link (14-1) and the left intake gate (14-7), be fixed with right marmen (14-4) between right link (14-2) and the right intake gate (14-8), left-handed form shape memory alloy actuator (14-3) is coaxial with right marmen (14-4), on the transverse bottom plate (11-1-2) of left-handed form shape memory alloy actuator (14-3) and right marmen (14-4) both sides respectively symmetry back-moving spring guide rail (14-10) is housed, back-moving spring guide rail (14-10) is fixed on the link stopper (14-9), the left end of back-moving spring guide rail (14-10) is fixedlyed connected with left link (14-1), the right-hand member of back-moving spring guide rail (14-10) is fixedlyed connected with right link (14-2), back-moving spring guide rail (14-10) between left side link (14-1) and the left intake gate (14-7) is gone up left back-moving spring (14-5) fixedly is housed, and the back-moving spring guide rail (14-10) between right link (14-2) and the right intake gate (14-8) is gone up right back-moving spring (14-6) fixedly is housed.
6, bio-robot under the big deep-water submersible of cuttlefish imitation type mollusk according to claim 2 is characterized in that water feed apparatus is made up of the rotary type water feed apparatus (15) that is arranged on die cavity (11) bottom; Described rotary type water feed apparatus (15) is made up of left side water inlet rotary door (15-1), right water inlet rotary door (15-2), left front bearing (15-3), left back bearing (15-4), right front bearing (15-5), right back bearing (15-6), left rotary shaft (15-7), right spindle (15-8), connecting rod (15-9), Connection Block (15-10), first fixed leg (15-11), second fixed leg (15-12), back-moving spring (15-13), marmen (15-14); The centre of matrix (6) is provided with elongated slot (6-2), die cavity (11) is contained in the middle elongated slot (6-2) of matrix (6) and with matrix (6) fixedlys connected, the lower surface of the lower surface of base plate (11-1-2) and matrix (6) is on same horizontal plane, base plate (11-1-2) is provided with left side water inlet port (11-1-2-3) and right water inlet port (11-1-2-4), be fixed with first fixed leg (15-11) and second fixed leg (15-12) on the base plate (11-1-2), be fixed with left front bearing (15-3) and left back bearing (15-4) on the base plate (11-1-2) between left side water inlet port (11-1-2-3) and the right water inlet port (11-1-2-4), be fixed with right front bearing (15-5) and right back bearing (15-6) on the base plate (11-1-2) on right water inlet port (11-1-2-4) right side, left rotary shaft (15-7) is housed in the through hole of left front bearing (15-3) and left back bearing (15-4), with be fixed with water inlet rotary door (15-1) in a left side on the left side water inlet corresponding left rotary shaft of port (11-1-2-3) (15-7), right spindle (15-8) is housed in the through hole of right front bearing (15-5) and right back bearing (15-6), with be fixed with right water inlet rotary door (15-2) on the right side water inlet corresponding right spindle of port (11-1-2-4) (15-8), the rear end of left rotary shaft (15-7) is fixed with Connection Block (15-10), between Connection Block (15-10) and first fixed leg (15-11) back-moving spring (15-13) is housed fixedly, Connection Block (15-10) is hinged with an end of connecting rod (15-9), the other end of connecting rod (15-9) is fixed on the right spindle (15-8), is fixed with marmen (15-14) between connecting rod (15-9) and second fixed leg (15-12).
7, bio-robot under the big deep-water submersible of cuttlefish imitation type mollusk according to claim 1 is characterized in that fin controller (7) is by fin (7-1), first position-limited rack (7-2), second position-limited rack (7-3), fin turning cylinder (7-4), the first axle sleeve frame (7-5), the second axle sleeve frame (7-6), first fixed leg (7-7), second fixed leg (7-8), the 3rd fixed leg (7-9), the first fin-shaped shape memory alloy actuator (7-10), the first fin back-moving spring (7-11), the second fin-shaped shape memory alloy actuator (7-12), the second fin back-moving spring (7-13) is formed; The upper surface of base plate (11-1-2) is fixed with the first axle sleeve frame (7-5) and the second axle sleeve frame (7-6) respectively along horizontal direction, in the through hole of the first axle sleeve frame (7-5) and the second axle sleeve frame (7-6) fin turning cylinder (7-4) is housed, fixedly connected with fin (7-1) respectively in the two ends of fin turning cylinder (7-4), be fixed with first fixed leg (7-7) on the centre position of fin turning cylinder (7-4), be symmetrically fixed with first position-limited rack (7-2) and second position-limited rack (7-3) on vertical base plate (11-1-2) of fin turning cylinder (7-4) both sides, be fixed with second fixed leg (7-8) on vertical base plate (11-1-2) in first position-limited rack (7-2) outside, be fixed with the 3rd fixed leg (7-9) on vertical base plate (11-1-2) in second position-limited rack (7-3) outside, be fixed with the first fin-shaped shape memory alloy actuator (7-10) and the first fin back-moving spring (7-11) between the 3rd fixed leg (7-9) and first fixed leg (7-7) respectively, be fixed with the second fin-shaped shape memory alloy actuator (7-12) and the second fin back-moving spring (7-13) between second fixed leg (7-8) and first fixed leg (7-7) respectively.
8, bio-robot under the big deep-water submersible of cuttlefish imitation type mollusk according to claim 1 is characterized in that pulse propeller (9) also comprises position-limit mechanism (16); Position-limit mechanism (16) is made up of spacing backguy (16-1) and limited post (16-2); Fixedlying connected with top board (11-1-1) with base plate (11-1-2) respectively in the two ends of spacing backguy (16-1), is fixed with limited post (16-2) on the base plate (11-1-2).
9, bio-robot under the big deep-water submersible of cuttlefish imitation type mollusk according to claim 4 is characterized in that constituting dipulse propeller (10) side by side by two pulse propellers (9).
10, bio-robot under the big deep-water submersible of cuttlefish imitation type mollusk according to claim 9 is characterized in that the water feed apparatus of dipulse propeller (10) adopts afterbody water feed apparatus (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100102256A CN100347040C (en) | 2005-10-14 | 2005-10-14 | Deep-water submersible biorobot of cuttlefish imitation type mollush |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100102256A CN100347040C (en) | 2005-10-14 | 2005-10-14 | Deep-water submersible biorobot of cuttlefish imitation type mollush |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1743044A true CN1743044A (en) | 2006-03-08 |
| CN100347040C CN100347040C (en) | 2007-11-07 |
Family
ID=36138661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100102256A Expired - Fee Related CN100347040C (en) | 2005-10-14 | 2005-10-14 | Deep-water submersible biorobot of cuttlefish imitation type mollush |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100347040C (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100386243C (en) * | 2006-06-02 | 2008-05-07 | 浙江大学 | Waving bionic robot fish |
| CN101638144B (en) * | 2009-07-16 | 2011-04-13 | 哈尔滨工业大学 | Quasi-plastic cuttlefish-imitating pulse jet propeller |
| CN102384858A (en) * | 2011-08-23 | 2012-03-21 | 东南大学 | Flexible four-bar sampling mechanical arm |
| CN102631786A (en) * | 2012-04-20 | 2012-08-15 | 南通大学 | Robot octopus |
| CN103935493A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Bionic underwater propeller capable of conducting rapid steering motion |
| CN106184680A (en) * | 2016-07-27 | 2016-12-07 | 中国海洋大学 | Two-way hydraulic propeller based on marmem and control method thereof |
| CN106184673A (en) * | 2016-07-11 | 2016-12-07 | 尹钢 | Peritoneum row pressure formula high-speed and low-noise ship power propulsion plant and arrangement thereof |
| CN107554736A (en) * | 2017-09-13 | 2018-01-09 | 北京航空航天大学 | A kind of bionical flight cuttlefish empty ROV over strait of achievable software structure changes |
| CN109760811A (en) * | 2019-03-11 | 2019-05-17 | 上海海洋大学 | One kind being based on the bionical squid of aquarium ornamental type |
| CN110550169A (en) * | 2019-10-15 | 2019-12-10 | 上海海洋大学 | Bionic line-driven wrist cuttlefish |
| CN110588934A (en) * | 2019-10-15 | 2019-12-20 | 上海海洋大学 | Underwater flexible bionic squid |
| CN110949645A (en) * | 2019-12-24 | 2020-04-03 | 哈尔滨工业大学 | SMA wire radial drive's advancing device under water |
| CN112913723A (en) * | 2021-01-26 | 2021-06-08 | 浙江省海洋水产研究所 | Device for inducing cuttlefish to gather and lay eggs |
| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
| CN114132467A (en) * | 2021-12-15 | 2022-03-04 | 武汉理工大学 | Underwater telescopic device based on shape memory alloy |
| CN114408144A (en) * | 2021-12-31 | 2022-04-29 | 浙江万里学院 | Bionic pulse type jet propulsion device |
| CN114408135A (en) * | 2022-01-27 | 2022-04-29 | 哈尔滨工业大学 | Cuttlefish-imitating robot based on double-pass SMA spring drive |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2313326B (en) * | 1996-05-21 | 1999-09-29 | Alliance Pet Supply Company Li | A pneumatically operable amusement apparatus |
| CN1278503A (en) * | 1999-06-17 | 2001-01-03 | 施仲伟 | Noise-less water-pressing and water-spraying propeller for submarine |
-
2005
- 2005-10-14 CN CNB2005100102256A patent/CN100347040C/en not_active Expired - Fee Related
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100386243C (en) * | 2006-06-02 | 2008-05-07 | 浙江大学 | Waving bionic robot fish |
| CN101638144B (en) * | 2009-07-16 | 2011-04-13 | 哈尔滨工业大学 | Quasi-plastic cuttlefish-imitating pulse jet propeller |
| CN102384858A (en) * | 2011-08-23 | 2012-03-21 | 东南大学 | Flexible four-bar sampling mechanical arm |
| CN102631786A (en) * | 2012-04-20 | 2012-08-15 | 南通大学 | Robot octopus |
| CN103935493A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Bionic underwater propeller capable of conducting rapid steering motion |
| CN106184673A (en) * | 2016-07-11 | 2016-12-07 | 尹钢 | Peritoneum row pressure formula high-speed and low-noise ship power propulsion plant and arrangement thereof |
| CN106184680A (en) * | 2016-07-27 | 2016-12-07 | 中国海洋大学 | Two-way hydraulic propeller based on marmem and control method thereof |
| CN106184680B (en) * | 2016-07-27 | 2018-03-02 | 中国海洋大学 | Two-way hydraulic propeller and its control method based on marmem |
| CN107554736B (en) * | 2017-09-13 | 2023-06-13 | 北京航空航天大学 | Bionic flying cuttlefish sea-air vehicle capable of realizing soft variable structure |
| CN107554736A (en) * | 2017-09-13 | 2018-01-09 | 北京航空航天大学 | A kind of bionical flight cuttlefish empty ROV over strait of achievable software structure changes |
| CN109760811A (en) * | 2019-03-11 | 2019-05-17 | 上海海洋大学 | One kind being based on the bionical squid of aquarium ornamental type |
| CN109760811B (en) * | 2019-03-11 | 2024-04-30 | 上海海洋大学 | Based on bionical squid of sea house ornamental type |
| CN110550169A (en) * | 2019-10-15 | 2019-12-10 | 上海海洋大学 | Bionic line-driven wrist cuttlefish |
| CN110588934B (en) * | 2019-10-15 | 2024-01-30 | 上海海洋大学 | Underwater flexible bionic squid |
| CN110588934A (en) * | 2019-10-15 | 2019-12-20 | 上海海洋大学 | Underwater flexible bionic squid |
| CN110949645A (en) * | 2019-12-24 | 2020-04-03 | 哈尔滨工业大学 | SMA wire radial drive's advancing device under water |
| CN112913723A (en) * | 2021-01-26 | 2021-06-08 | 浙江省海洋水产研究所 | Device for inducing cuttlefish to gather and lay eggs |
| CN112913723B (en) * | 2021-01-26 | 2022-04-05 | 浙江省海洋水产研究所 | Device for inducing cuttlefish to gather and lay eggs |
| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
| CN113525645B (en) * | 2021-07-07 | 2022-05-24 | 华南理工大学 | Bionic underwater robot based on squid |
| CN114132467A (en) * | 2021-12-15 | 2022-03-04 | 武汉理工大学 | Underwater telescopic device based on shape memory alloy |
| CN114408144A (en) * | 2021-12-31 | 2022-04-29 | 浙江万里学院 | Bionic pulse type jet propulsion device |
| CN114408135A (en) * | 2022-01-27 | 2022-04-29 | 哈尔滨工业大学 | Cuttlefish-imitating robot based on double-pass SMA spring drive |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100347040C (en) | 2007-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100347040C (en) | Deep-water submersible biorobot of cuttlefish imitation type mollush | |
| CN202499268U (en) | Bionic ray | |
| CN202464110U (en) | Undulatory fin device applied to bionic research | |
| CN100374352C (en) | Shape memory alloy wire driven pectoral wave pushing bionic underwater robot | |
| CN112091988B (en) | Software bionic underwater detection robot | |
| CN113086136B (en) | Compound propulsion bionic jellyfish robot | |
| CN102514697B (en) | Bionic robot stingray and movement method thereof | |
| CN201002714Y (en) | Underwater hydrofoil imitation propulsion unit | |
| CN109665079A (en) | A kind of underwater robot of jet pump and steering engine combination drive | |
| CN104443331A (en) | Jellyfish imitating underwater propelling device driven by embedded flexible joints | |
| CN100391788C (en) | Shape memory alloy string driven pectoral wave pushing bionic underwater robot | |
| CN104309788A (en) | Double-fluctuation pectoral-fin cooperative-propel ray-imitated underwater vehicle | |
| CN111137427A (en) | Bionic motion device for peeled shrimps | |
| Ye et al. | A centimeter-scale autonomous robotic fish actuated by IPMC actuator | |
| CN113772059B (en) | Underwater multi-degree-of-freedom motion robot imitating Rochebrugia leinii and Rochebrunia praecox | |
| CN110015391A (en) | A kind of devil ray mode underwater fish apparatus and system | |
| CN201980405U (en) | Bionic deep water diving robot device | |
| CN114655405A (en) | Underwater multi-degree-of-freedom motion mechanism for bionic cuttlefish | |
| CN202508276U (en) | Novel undulatory fin device | |
| CN207607316U (en) | A kind of liftable arthrodia that auxiliary amphibious robot is stood and moved | |
| Zhou et al. | Overview of progress in development of the bionic underwater propulsion system | |
| Bao et al. | A Review: From Aquatic Lives Locomotion to Bio-inspired Robot Mechanical Designations | |
| CN115140284B (en) | Underwater robot for bionic frog | |
| CN216916250U (en) | Bionic red hockey robot | |
| CN1256219C (en) | Machine fish |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071107 Termination date: 20121014 |