CN111746767B - A bionic robotic fish based on bionic fins and pumps for propulsion - Google Patents
A bionic robotic fish based on bionic fins and pumps for propulsion Download PDFInfo
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- CN111746767B CN111746767B CN202010644234.5A CN202010644234A CN111746767B CN 111746767 B CN111746767 B CN 111746767B CN 202010644234 A CN202010644234 A CN 202010644234A CN 111746767 B CN111746767 B CN 111746767B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 74
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 66
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 238000007689 inspection Methods 0.000 claims abstract description 9
- 210000000006 pectoral fin Anatomy 0.000 claims description 22
- 230000005484 gravity Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 4
- 230000002146 bilateral effect Effects 0.000 claims 1
- 230000001141 propulsive effect Effects 0.000 claims 1
- 230000009182 swimming Effects 0.000 abstract description 9
- 230000001174 ascending effect Effects 0.000 abstract description 6
- 230000009189 diving Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种基于仿生鳍和泵结合推进的仿生机器鱼，用于油浸式变压器内部巡检，包括顺序连接的头段壳体、中段和尾段壳体，头段壳体设置有巡检摄像头，其中，在头段壳体两侧对称分别设置有两自由度仿生鳍机构，中段为沉浮控制机构，沉浮控制机构上端设置有平衡控制舵仓，在尾段壳体后端设置有泵式推进器；本发明的两自由度仿生鳍机构，可以方便的实现前进、后退、上升、下潜、转弯等多种复杂的组合运动模式，更加接近真实鱼类的游动状态，同时提高了仿生鱼的游动速度与机动性，增加了仿生鱼狭小空间的适应能力。
The present invention discloses a bionic robot fish based on bionic fin and pump combined propulsion, which is used for internal inspection of oil-immersed transformers. The robot fish comprises a head section shell, a middle section and a tail section shell which are connected in sequence. The head section shell is provided with an inspection camera, wherein two-degree-of-freedom bionic fin mechanisms are symmetrically arranged on both sides of the head section shell, the middle section is a sinking and floating control mechanism, a balance control rudder compartment is arranged on the upper end of the sinking and floating control mechanism, and a pump-type propeller is arranged at the rear end of the tail section shell; the two-degree-of-freedom bionic fin mechanism of the present invention can conveniently realize a variety of complex combined motion modes such as moving forward, backward, ascending, diving, turning, etc., which is closer to the swimming state of real fish, while improving the swimming speed and maneuverability of the bionic fish and increasing the adaptability of the bionic fish to a small space.
Description
Technical Field
The invention relates to a bionic robot fish based on the combination propulsion of a bionic fin and a pump.
Background
The fish survives hundreds of millions of years on the earth, develops a body structure and an outline which are suitable for underwater sports, and has high-efficiency and stable swimming capability. The swimming device has the characteristics of high efficiency, high speed, high maneuverability, low noise and the like, and is not acceptable for artificial aircrafts. The human being designs the bionic robot fish according to the strong swimming capability of fish, and the bionic robot fish is used for activities such as underwater monitoring, investigation, resource detection and the like.
At present, the propulsion modes of the bionic robot fish mainly comprise tail fin propulsion and propeller propulsion. The tail fin propulsion has the alternating force with periodic variation, the bionic robot fish body is affected by the alternating force in the motion process of the bionic robot fish body to shake periodically, stability of the bionic robot fish body is not facilitated, the length of the bionic robot fish is long and is not easy to miniaturize due to the tail fin, and the propeller propulsion mainly has the defects of large noise, low concealment, poor motion flexibility and the like, so that the bionic robot fish body is difficult to play a role in the field of the bionic robot fish.
Disclosure of Invention
The invention aims to provide a bionic robot fish based on the combination of a bionic fin and a pump for pushing, which is used for detecting internal faults or foreign matters of a large-sized oil immersed transformer, and compared with a robot pushed by a pump, the bionic robot fish has less image interference on a camera due to the bionic pushing, and can realize low distortion acquisition of an internal detection image of the transformer.
In order to achieve the above object, the technical scheme of the present invention is as follows:
A bionic robot fish based on combination propulsion of bionic fins and pumps is used for inspection of the inside of an oil immersed transformer and comprises a head section shell, a middle section and a tail section shell which are sequentially connected, wherein the head section shell is provided with inspection cameras, two-degree-of-freedom bionic fin mechanisms are symmetrically arranged on two sides of the head section shell respectively, the middle section is a sinking and floating control mechanism, the upper end of the sinking and floating control mechanism is provided with a balance control dorsal fin, and the rear end of the tail section shell is provided with a pump type propeller, wherein:
The two-degree-of-freedom bionic fin mechanism comprises pectoral fin blades, a first-stage steering engine and a second-stage steering engine, wherein the first-stage steering engine and the second-stage steering engine are arranged in a head section shell, the pectoral fin blades are arranged on the outer side of the head section shell, the pectoral fin blades are connected to a second-stage steering engine rotating output shaft, the rotation of the second-stage steering engine output shaft realizes the rotating swing of the pectoral fin blades in the two degrees of freedom, which is parallel to the front and back directions of the bionic robot fish, the output shaft of the first-stage steering engine is perpendicular to the second-stage steering engine output shaft and is connected with the second-stage steering engine, and the rotation of the first-stage steering engine output shaft realizes the circular arc swing of the pectoral fin blades in the two degrees of freedom, which is perpendicular to the front and back directions of the bionic robot fish, through the second-stage steering engine;
The sinking and floating control mechanism is located at the gravity center of the bionic robot fish and comprises a cylindrical air chamber perpendicular to the front and rear of the bionic robot fish, the upper end of the cylindrical air chamber is closed, the lower end of the cylindrical air chamber is open, a piston is arranged in the cylindrical air chamber and connected with the lifting control mechanism, the lifting control mechanism controls the lifting or the descending of the piston so as to change the size of the closed space of the cylindrical air chamber, and the sinking and floating control of the bionic robot fish is realized.
The scheme is that two pump-type propellers are arranged at the rear end of the tail section shell in parallel, and the jet water outlets of the two pump-type propellers are parallel to the front-rear direction of the bionic robot fish.
The lifting control mechanism further comprises a screw rod and a nut rotation control device, wherein the screw rod and the nut rotation control device are arranged in the center of the upper end face of the piston, and the screw rod is controlled to lift or descend through the nut rotation control device.
The scheme is that the piston is made of rubber.
The nut rotation control device comprises a driven large gear and a driving pinion engaged with the driven large gear, wherein the center of the driven large gear is provided with an upper protruding center column and a lower protruding center column with threaded holes, the driven large gear is fixed on an upper base and a lower base through bearings sleeved outside the upper protruding center column and the lower protruding center column, a screw rod arranged at the center of the upper end face of a piston penetrates through the threaded holes to be engaged with each other, a driving motor is fixed on the lower base, an output shaft of the driving motor is connected with the driving pinion, and rotation of an output shaft of the driving motor is controlled to drive the screw rod to lift or descend.
The scheme is that limit switches are arranged on the upper inner side wall and the lower inner side wall of the cylindrical air chamber, and the limit switches are connected with a driving circuit of a motor and used for limiting the limit position of the piston moving up and down in the cylindrical air chamber.
The scheme is that the limit switch is a Hall sensor, a magnet is arranged on the side wall of the piston, and the magnet drives the Hall sensor to act to send out a travel limit signal.
The scheme is that the primary steering engine and the secondary steering engine are waterproof steering engines.
The beneficial effects of the invention are as follows:
The bionic fin structure with two degrees of freedom can conveniently realize various complex combined motion modes such as advancing, retreating, ascending, diving, turning and the like, is closer to the swimming state of real fishes, improves the swimming speed and maneuverability of the bionic fishes, and increases the adaptability of the bionic fishes in a narrow space.
The gravity center of the bionic fish is provided with a sinking and floating control device, so that the displacement of the bionic robot fish can be adjusted, the relation between buoyancy and gravity is changed, and the ascending and descending motion in the vertical direction is realized. The ascending and descending movement is quicker and more sensitive in a short distance and a small space, and various complex combined movement modes such as ascending, descending, turning and the like can be realized, so that the swimming state of the real fish is more similar. The pump pushing mechanism arranged at the tail part has small volume, greatly reduces the whole length of the bionic fish pushed by the tail fin, and has simple driving force control.
The bionic robot fish can move in liquid to perform various detection works, such as detecting faults or foreign matters in a large oil immersed transformer, compared with a pure pump pushing robot, the bionic robot fish has small image interference on a camera caused by bionic pushing, and low distortion acquisition of detection images in the transformer can be realized.
The invention is described in detail below with reference to the drawings and examples.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a two-degree-of-freedom bionic fin mechanism according to the present invention;
FIG. 3 is an exploded view of the heave control mechanism according to the invention;
FIG. 4 is a schematic diagram of the assembly of the heave control mechanism according to the invention;
fig. 5 is a schematic view of a pump-type propeller according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present embodiment, it should be noted that the terms "connected" and "disposed" should be interpreted broadly, for example, "connected" may be a wire connection or a mechanical connection, and "disposed" may be a fixed connection or an integrally formed connection. The specific meaning of the above terms in the present embodiment can be understood by those of ordinary skill in the art according to the specific circumstances.
The bionic robot fish based on the combination of bionic fins and pumps for the internal inspection of the oil immersed transformer is shown in fig. 1 to 5, the bionic robot fish comprises a head section shell 6, a middle section 2 and a tail section shell 4 which are sequentially connected, the head section shells 6 and 2 are in a perspective state, the head section shells are provided with inspection cameras (not shown in the drawings), the inspection cameras can be arranged on the outer sides of the head section shells but can be sealed, and can also be arranged in the head section shells, inspection images are acquired through transparent windows, two-degree-of-freedom bionic fin mechanisms 1 are symmetrically arranged on two sides of the head section shells respectively, the middle section is a sinking and floating control mechanism, the upper end of the sinking and floating control mechanism is provided with balance control dorsal fins 5, and the rear end of the tail section shell is provided with a pump type propeller 3, wherein:
the two-degree-of-freedom bionic fin mechanism 1 is fixedly connected with the head section shell 6 of the robot fish through a steering engine support 105, the two-degree-of-freedom bionic fin mechanism comprises a pectoral fin blade 101, a primary steering engine 106 and a secondary steering engine 103, and the pectoral fin blade 101 has two degrees of freedom which rotate and flap up and down along the direction of the output axis of the secondary steering engine 102. The primary steering engine and the secondary steering engine are arranged in a sealed head section shell, the primary steering engine and the secondary steering engine rotating part are subjected to sealing treatment again to form a waterproof steering engine, pectoral fin blades are arranged on the outer side of the head section shell, two pectoral fin blades are symmetrically arranged on the two sides of the outer side of the head section shell, pectoral fin blades 101 are connected to a secondary steering engine rotating output shaft through pectoral fin fixing clamps 102, the rotation of the secondary steering engine output shaft realizes the rotating and swinging of the pectoral fin blades parallel to the front-rear direction of the bionic robot fish in two degrees of freedom, the output shaft of the primary steering engine is perpendicular to the secondary steering engine output shaft and is connected with the secondary steering engine 103 through a rudder stand 104, and the rotation of the primary steering engine output shaft realizes the circular arc swinging of the pectoral fin blades perpendicular to the front-rear direction of the bionic robot fish in two degrees of freedom through the secondary steering engine;
The sinking and floating control mechanism is located the focus position in bionical robot fish middle part, the sinking and floating control mechanism includes the tube-shape air chamber 208 of perpendicular to bionical robot fish fore-and-aft direction, and tube-shape air chamber upper end seals the lower extreme opening, is provided with piston 210 in the tube-shape air chamber, and the piston can be the plastics outside and wrap rubber, in this embodiment, the piston is rubber material piston, and the piston is connected with lifting control mechanism, and lifting control mechanism controls the ascending or the decline of piston and then changes tube-shape air chamber airtight space's size, realizes the sinking and floating control of bionical robot fish. The lifting control mechanism comprises a screw 209 and a nut rotation control device which are arranged in the center of the upper end face of the piston, and the screw is controlled to lift or descend by the nut rotation control device.
In the embodiment, the pump type propeller 3 is divided into a left pump type propeller 303 and a right pump type propeller 301, the pump type propeller 3 is fixedly connected with the tail bracket 302 through screws, the two pump type propellers are arranged at the rear end of the tail section shell in a left-right parallel manner, the distance between the two pump type propellers can be adjusted and placed according to the situation, and the jet water outlet of the two pump type propellers is parallel to the front-back direction of the bionic robot fish.
The nut rotation control device comprises a driven large gear 203 and a driving pinion 204 meshed with the driven large gear, an upper protruding center column and a lower protruding center column with threaded holes are arranged at the center of the driven large gear, the driven large gear is respectively fixed with an upper base 201 and a lower base 205 through two angular contact ball bearings 202 sleeved on the outer sides of the upper protruding center column and the lower protruding center column, a screw rod arranged at the center of the upper end face of a piston penetrates through the threaded holes to be meshed with the upper base 201 and the lower base 205, an air chamber 208 shell is connected with a shell of a robot fish balance control skeg 5 through sealing glue, a rubber piston 210 is arranged in the air chamber 208 shell, a driving motor 206 is fixed on the lower base 205, an output shaft of the driving motor is connected with the driving pinion 204, the driving pinion 204 is connected with the power for transmitting the driving motor 206 through a gear pair and the driven large gear 203, through holes are reserved on the edges of semicircular bosses of the lower base 205, the semicircular bosses on the bottom surface of the upper base 201 are matched with the semicircular bosses of the lower base 205, the air chamber 208 shell is matched with the lower base 205 through a pressing plate 207, the bolts are used for fixing the upper base 201, the lower base 205 and the pressing plate 207, and the pressing plate 207 are used for controlling the rotation of the output shaft of the driving motor to drive or lower.
In the embodiment, limit switches are arranged on the upper inner side wall and the lower inner side wall of the cylindrical air chamber, and the limit switches are connected with a driving circuit of a motor and used for limiting the limit position of the piston moving up and down in the cylindrical air chamber. The limit switch is a Hall sensor, a magnet is arranged on the side wall of the piston, and the magnet drives the Hall sensor to act and send out a travel limit signal.
In the embodiment, the balance control dorsal fin 5 and the tail section shell 4 are sealed by a rubber gasket, and the outer edges of the balance control dorsal fin and the tail section shell are fastened and connected by a boss hole by using a bolt.
In the swimming process of the bionic robot fish, the pump type propeller 3 provides main driving force when the bionic robot fish moves forward, the bionic fin mechanism 1 plays a role in assisting in propulsion and balance maintenance, when the bionic robot fish needs to float upwards and move downwards, the driving motor 206 drives the driven large gear 203 to rotate through the driving small gear 204, the lifting screw 209 starts to move upwards and downwards under the driving of the driven large gear 203, the rubber piston 210 discharges or sucks liquid into the air chamber 208, the buoyancy of the bionic robot fish changes, the movement of the lifting screw 209 can be controlled to float upwards or move downwards, when the bionic robot fish needs to turn or move backwards in a relatively narrow space, the bionic robot fish can turn and move backwards in situ only by virtue of the bionic fin mechanism 1, the left pectoral fin blade 101 and the right pectoral fin blade 101 can turn left and right in situ under the driving of the first-stage steering engine 106 and the second-stage steering engine 103, the left pectoral fin blade 101 and the right pectoral fin blade 101 can keep negative attack angles, and the bionic robot fish can move backwards under the driving of the first-stage steering engine 106 and the second-stage steering engine 103.
The foregoing embodiments are merely for illustrating the technical solutions of the present embodiments, and are not intended to limit the technical solutions of the present embodiments, and well-known fields are not illustrated in detail, and it should be understood by those skilled in the art that modifications may still be made to the technical solutions described in the foregoing embodiments or equivalents may be substituted for some of the technical features thereof, and the modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. Bionic robot fish based on bionic fin and pump combine propulsive for inside inspection of oil immersed transformer, including the first section casing, middle section and the tail section casing of connecting in proper order, first section casing is provided with the camera of inspecting, its characterized in that is provided with two degree of freedom bionic fin mechanisms respectively in first section casing bilateral symmetry, and the middle section is sinking and floating control mechanism, and sinking and floating control mechanism upper end is provided with balanced control dorsal fin, is provided with the pump type propeller at tail section casing rear end, wherein:
The two-degree-of-freedom bionic fin mechanism comprises pectoral fin blades, a first-stage steering engine and a second-stage steering engine, wherein the first-stage steering engine and the second-stage steering engine are arranged in a head section shell, the pectoral fin blades are arranged on the outer side of the head section shell, the pectoral fin blades are connected to a second-stage steering engine rotating output shaft, the rotation of the second-stage steering engine output shaft realizes the rotating swing of the pectoral fin blades in the two degrees of freedom, which is parallel to the front and back directions of the bionic robot fish, the output shaft of the first-stage steering engine is perpendicular to the second-stage steering engine output shaft and is connected with the second-stage steering engine, and the rotation of the first-stage steering engine output shaft realizes the circular arc swing of the pectoral fin blades in the two degrees of freedom, which is perpendicular to the front and back directions of the bionic robot fish, through the second-stage steering engine;
The sinking and floating control mechanism is positioned at the gravity center of the bionic robot fish and comprises a cylindrical air chamber which is vertical to the front and rear parts of the bionic robot fish, the upper end of the cylindrical air chamber is closed, the lower end of the cylindrical air chamber is opened, a piston is arranged in the cylindrical air chamber, the piston is connected with a lifting control mechanism, and the lifting control mechanism controls the lifting or the lowering of the piston so as to change the size of the closed space of the cylindrical air chamber, so that the sinking and floating control of the bionic robot fish is realized;
The two pump-type propellers are arranged at the rear end of the tail section shell in a left-right parallel manner, and the jet water outlets of the two pump-type propellers are parallel to the front-rear direction of the bionic robot fish;
The lifting control mechanism comprises a screw rod and a nut rotation control device, wherein the screw rod and the nut rotation control device are arranged in the center of the upper end face of the piston, and the screw rod is controlled to lift or descend through the nut rotation control device.
2. The biomimetic robotic fish of claim 1, wherein the piston is a rubber piston.
3. The bionic robot fish according to claim 1, wherein the nut rotation control device comprises a driven big gear and a driving pinion engaged with the driven big gear, the center of the driven big gear is provided with an upper and a lower protruding center posts with threaded holes, the driven big gear is fixed on the upper and the lower base through bearings sleeved outside the upper and the lower protruding center posts, a screw rod arranged at the center of the upper end face of the piston penetrates through the threaded holes to be engaged with each other, a driving motor is fixed on the lower base, an output shaft of the driving motor is connected with the driving pinion, and the rotation of the output shaft of the driving motor is controlled to drive the screw rod to lift or descend.
4. A biomimetic robotic fish according to claim 3, wherein the cylindrical air chamber is provided with limit switches on the upper and lower inner side walls, the limit switches being connected to a driving circuit of the motor for limiting the limit position of the piston moving up and down in the cylindrical air chamber.
5. The biomimetic robotic fish according to claim 4, wherein the limit switch is a hall sensor, and a magnet is disposed on a side wall of the piston, and the magnet drives the hall sensor to act to send a travel limit signal.
6. The biomimetic robotic fish of claim 1, wherein the primary steering engine and the secondary steering engine are waterproof steering engines.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010644234.5A CN111746767B (en) | 2020-07-07 | 2020-07-07 | A bionic robotic fish based on bionic fins and pumps for propulsion |
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| CN202010644234.5A CN111746767B (en) | 2020-07-07 | 2020-07-07 | A bionic robotic fish based on bionic fins and pumps for propulsion |
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| CN111746767B true CN111746767B (en) | 2024-12-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7530569B2 (en) * | 2020-10-28 | 2024-08-08 | 株式会社リコー | Buoyancy adjustment mechanism and housing |
| CN113184149B (en) * | 2021-06-04 | 2022-11-25 | 海南热带海洋学院 | Bionic robotic fish with tail pectoral fin propelled cooperatively |
| CN113320664B (en) * | 2021-06-30 | 2023-06-06 | 贵州大学明德学院 | Underwater object taking monitoring bionic fish based on double control systems |
| CN113955057B (en) * | 2021-11-16 | 2024-10-01 | 上海市育思青少年计算科学发展中心 | Bionic dolphin machine device and system for underwater |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
| CN115107960B (en) * | 2022-08-01 | 2024-05-14 | 清华大学 | Bionic machine penguin |
| CN115610625B (en) * | 2022-10-09 | 2023-04-21 | 桂林电子科技大学 | Aquatic convertible submerged robot |
| CN117245677B (en) * | 2023-11-14 | 2024-03-19 | 国网天津市电力公司电力科学研究院 | Internal inspection robot |
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| CN212637871U (en) * | 2020-07-07 | 2021-03-02 | 国网安徽省电力有限公司电力科学研究院 | A bionic robotic fish based on combined propulsion of bionic fins and pumps |
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| JP4399526B2 (en) * | 2000-01-05 | 2010-01-20 | 直三 加藤 | Underwater navigation equipment |
| CN105711778B (en) * | 2016-03-11 | 2018-01-12 | 北京大学 | New autonomous type bionic machine fish |
| CN106516059B (en) * | 2016-11-24 | 2018-08-03 | 中国科学技术大学 | A kind of more fin propulsion devices based on reciprocal screw mechanism |
| CN110304223B (en) * | 2019-07-04 | 2020-09-29 | 中国科学院自动化研究所 | Bionic machine bat ray |
| CN210618442U (en) * | 2019-09-25 | 2020-05-26 | 百奥创新(天津)科技有限公司 | Bionic robotic fish with rotatable tail fins |
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| CN212637871U (en) * | 2020-07-07 | 2021-03-02 | 国网安徽省电力有限公司电力科学研究院 | A bionic robotic fish based on combined propulsion of bionic fins and pumps |
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