CN203996849U - A kind of underwater camera Biomimetic Fish - Google Patents
A kind of underwater camera Biomimetic Fish Download PDFInfo
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- CN203996849U CN203996849U CN201420447271.7U CN201420447271U CN203996849U CN 203996849 U CN203996849 U CN 203996849U CN 201420447271 U CN201420447271 U CN 201420447271U CN 203996849 U CN203996849 U CN 203996849U
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- 230000003592 biomimetic effect Effects 0.000 title claims abstract description 29
- 241000251468 Actinopterygii Species 0.000 claims abstract description 121
- 238000009432 framing Methods 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000013461 design Methods 0.000 abstract description 17
- 230000000694 effects Effects 0.000 description 4
- 238000007667 floating Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000002427 irreversible effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 241000251539 Vertebrata <Metazoa> Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
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- Farming Of Fish And Shellfish (AREA)
Abstract
The utility model provides a kind of underwater camera Biomimetic Fish, comprises fish main framing, camera, T shape support, control circuit board, swinging gear and sink-float mechanism: the end in the middle of described U-shaped fish main framing is installed with camera; In described fish main framing, have T shape support, described T shape support both sides are connected with the inwall of fish body ring skeleton by fixed part, and there is control circuit board the below of the rear end of described T shape support; Described sink-float mechanism is fixed on T shape support top.The utility model designs a kind of underwater camera Biomimetic Fish, design to existing Biomimetic Fish is optimized, and the front end at Biomimetic Fish installs camera additional, therefore can utilize Biomimetic Fish to realize underwater camera, because this Biomimetic Fish unit design is simple, it is easy to control, therefore there are utmost point market outlook widely.
Description
Technical field
The utility model relates to bio-robot field, particularly relates to a kind of underwater camera Biomimetic Fish.
Background technology
Along with bioscience and engineering technology the reach of science, upsurge is risen in robot bionic research.Fish, as realm of nature vertebrate the earliest, through the survival of the fittest of 1 years, have possessed the immeasurable ability of moving about, and they can either keep low energy consumption, high efficiency under lasting trip speed, also can under outburst trip speed, realize high maneuverability.Fish, in hydrogymnastic perfection, have excited the research interest of biologist to fish locomotion mechanism just, and wish to design the bionic machine fish that approaches true fish.
Bionic machine fish is the propelling mechanism with reference to fish swimming, utilize machinery, electronic devices and components are realized the running gear of underwater propulsion, it is by theoretical modelling, 3 kinds of means of numerical modelling and experiment measuring match, can understand the solid coupling process of stream of " fish body-fluid " in depth, thereby disclose the internal mechanism that fish efficiently move about, but there is many unreasonable parts in the design of existing Biomimetic Fish, in addition because Biomimetic Fish has high degree of freedom in moving under water compared with traditional underwater instrument, if therefore it is combined with camera, can realize high-freedom degree shooting under water.
Utility model content
For above problem, the utility model designs a kind of underwater camera Biomimetic Fish, design to existing Biomimetic Fish is optimized, make whole device convenient disassembly, and the front end at Biomimetic Fish installs camera additional, therefore can utilize Biomimetic Fish to realize underwater camera, because this Biomimetic Fish unit design is simple, it is easy to control, therefore there are utmost point market outlook widely, for reaching this object, the utility model provides a kind of underwater camera Biomimetic Fish, comprises fish main framing, camera, T shape support, control circuit board, swinging gear and sink-float mechanism:
Described fish main framing comprises fish tail elastic sheet, U-shaped fish main framing, fish tail semi-circular skeleton and fish body ring skeleton, described fish tail elastic sheet comprises afterbody and connecting portion, the middle part of the connecting portion of described fish tail elastic sheet is jagged, described fish tail semi-circular skeleton is fixed on the both sides of the connecting portion of fish tail elastic sheet by fastener symmetry, the two ends of described U-shaped fish main framing are connected with the upper and lower end parts of the connecting portion of fish tail elastic sheet respectively, described U-shaped fish main framing is symmetrically arranged with boss up and down, described fish body ring skeleton is sleeved in the groove between two boss of corresponding U-shaped fish main framing by fastener,
End in the middle of described U-shaped fish main framing is installed with camera;
In described fish main framing, have T shape support, described T shape support both sides are connected with the inwall of fish body ring skeleton by fixed part, and there is control circuit board the below of the rear end of described T shape support;
Described swinging gear comprises fork, commutation bevel gear set, main servomotor and main encoder, described fork is in the breach at the middle part of the connecting portion of fish tail elastic sheet, described fork tail end has bayonet lock, described bayonet lock is installed on by stepped shaft in the fixed orifice of fork tail end, the upper and lower end parts of described bayonet lock has groove, the connecting portion of described fish tail elastic sheet is installed in the groove of bayonet lock, described control circuit board below is installed with main servomotor and main encoder, described main encoder is fixed on the tail end of main servomotor, described commutation bevel gear set comprises longitudinal finishing bevel gear cuter and horizontal finishing bevel gear cuter, described longitudinal finishing bevel gear cuter and laterally finishing bevel gear cuter are below the front end of T shape support, the rotating shaft part of described longitudinal finishing bevel gear cuter is connected with fork front end through T shape support, the tapering of described longitudinal finishing bevel gear cuter and the laterally tapering of finishing bevel gear cuter are meshed, the rotating shaft part of described horizontal finishing bevel gear cuter is connected with the rotating shaft of main servomotor through the dividing plate of T shape support below,
Described sink-float mechanism is above T shape support, described sink-float mechanism comprises guide rod, slide plate, battery pack, fixed mount, coupler, float with servomotor torque constant, float with coder and guide screw, described guide screw is below guide rod, described guide screw and guide rod are fixed on the below of the upper skeleton of U-shaped fish main framing by fixed mount, described guide screw and guide rod are through slide plate, two groups of described battery components are separately fixed at slide plate both sides, described guide screw front end is connected with the rotating shaft of servomotor torque constant with floating by coupler, the described unsteady tail end with servomotor torque constant has to float uses coder.
As further improvement of the utility model, there is flash light the end of described camera, and described flash light equal angles, around the camera lens of camera end one week, can improve photographic effect greatly by light compensating lamp is set.
As further improvement of the utility model, described fixed mount one side has a pair of contact disk, described contact disk end is in the both sides on the top of the connecting portion of fish tail elastic sheet, after contact disk is set, can prevent fish tail elastic sheet generation irreversible transformation, thereby improve the service life of fish tail elastic sheet.
The utility model designs its each several part tool of a kind of underwater camera Biomimetic Fish and has the following advantages:
1) the oval skeleton of this application machine fish, utilizes line cutting processing, reaches required SPL, ensures accuracy of shape, makes it have stream line pattern, reduces parade resistance, effect attractive in appearance true to nature thereby play; And main framing adopts boss mechanism, makes bolted between fish-bone frame and fixed mount, is conducive to like this assembly and disassembly, and install accurately, reduced again the damage rate of fish-skin simultaneously.
2) this application swinging gear is to adopt servomotor directly to drive the mechanism of fork, and motor is fixed by T shape support and fish body, and changes rotation direction by bevel-gear sett, thereby drives fork to swing.A bayonet lock is added in the end of fork, minor axis can be done circumferentially to rotate in fork end aperture, the two ends of bayonet lock respectively have the groove of 1mm, can be by upper and lower afterbody thin slice card entry slot, afterbody fork drives fish tail wafer warpage like this, and thin slice can slide in groove, adds that bayonet lock can rotate aloft, make fish tail thin slice become one end and fix, the equivalent structure of the free-ended cantilever beam in one end.In addition, on bayonet lock, add again stepped shaft, can prevent that bayonet lock from doing longitudinal movement on fork by actv. like this.
3) what this application sink-float mechanism adopted is the method that changes center-of-gravity position.Select battery pack as mass, i.e. 4 groups of power supplys.For machinery fish system, it is larger that electric power system accounts for anharmonic ratio example, can reach 1 0%-20%, use change gravity model appoach can compact design mechanism, and battery pack is as motive objects, quality can ensure enough.The imitative health front 2/3 of sitting machine fish is rigidity, can have enough length to ensure the activity space that battery pack moves, and the position that changes battery pack by utilization changes the center-of-gravity position of machine fish, thereby realizes the floating dive campaign of machine fish.In the time that battery pack is moved to a fish direction, the position of center of gravity is reach thereupon also, causes the phenomenon that nose heave tail is light, makes head downward, realizes dive campaign; In the time that battery pack deviates from the motion of fish direction, the position of center of gravity also with after move, cause the heavy phenomenon of the light tail of head, make head upwards, realization is floated and is moved; In the time that battery pack moves to the position that just in time makes machine fish balance, realize the suspended state of machine fish.
4) this application fish tail mechanism designs according to the shape of crucian afterbody.According to the profile of the actual proportional sizes design afterbody of crucian, and the width that reduces of line taking: to the real profile of fish, design according to the proportional sizes of actual fish, to realize human simulation.
5) this application is optimized whole Biomimetic Fish integral structure, convenient disassembly between each parts, and user can remove and install fast, if single part is damaged, can is changed and can be continued to use by corresponding component.
6) this application machine fish Front-end Design has camera, and is designed with light compensating lamp etc., can the actual conditions in water carry out corresponding light filling according to fish, thereby obtain the picture of high-quality.
Brief description of the drawings
Fig. 1 is the utility model schematic perspective view;
Fig. 2 is the utility model lateral plan;
Fig. 3 is the utility model inner structure schematic diagram;
Fig. 4 is the utility model inner structure lateral plan;
Member in figure is:
1, fish tail elastic sheet; 2, U-shaped fish main framing; 3, fish tail semi-circular skeleton;
4, camera; 5, flash light; 6, fish body ring skeleton;
7, fork; 8, guide rod; 9, T shape support;
10, slide plate; 11, contact disk; 12, battery pack;
13, longitudinal finishing bevel gear cuter; 14, horizontal finishing bevel gear cuter; 15, main servomotor;
16, fixed mount; 17, bayonet lock; 18, coupler;
19, float with servomotor torque constant; 20, main encoder; 21, float with coder;
22, guide screw; 23, control circuit board.
Detailed description of the invention
Below in conjunction with drawings and Examples, utility model is described in detail:
The utility model designs a kind of underwater camera Biomimetic Fish, design to existing Biomimetic Fish is optimized, make whole device convenient disassembly, and the front end at Biomimetic Fish installs camera additional, therefore can utilize Biomimetic Fish to realize underwater camera, because this Biomimetic Fish unit design is simple, it is easy to control, therefore there are utmost point market outlook widely.
As a kind of embodiment of the utility model, the utility model provides a kind of underwater camera Biomimetic Fish, comprises fish main framing, camera 4, T shape support 9, control circuit board 23, swinging gear and sink-float mechanism:
Fish main framing described in the utility model comprises fish tail elastic sheet l, U-shaped fish main framing 2, fish tail semi-circular skeleton 8 and fish body ring skeleton 6, described fish tail elastic sheet 1 comprises afterbody and connecting portion, the middle part of the connecting portion of described fish tail elastic sheet 1 is jagged, described fish tail semi-circular skeleton 8 is fixed on the both sides of the connecting portion of fish tail elastic sheet 1 by fastener symmetry, the two ends of described U-shaped fish main framing 2 are connected with the upper and lower end parts of the connecting portion of fish tail elastic sheet 1 respectively, described U-shaped fish main framing 2 is symmetrically arranged with boss up and down, described fish body ring skeleton 6 is sleeved in the groove between 2 two boss of corresponding U-shaped fish main framing by fastener,
End in the middle of U-shaped fish main framing 2 described in the utility model is installed with camera 4;
In fish main framing described in the utility model, have T shape support 9, described T shape support 9 both sides are connected with the inwall of fish body ring skeleton 6 by fixed part, and there is control circuit board 23 below of the rear end of described T shape support 9;
Swinging gear described in the utility model comprises fork 7, commutation bevel gear set, main servomotor 15 and main encoder 20, described fork 7 is in the breach at the middle part of the connecting portion of fish tail elastic sheet 1, described fork 7 tail ends have bayonet lock 17, described bayonet lock 17 is installed on by stepped shaft in the fixed orifice of fork 7 tail ends, the upper and lower end parts of described bayonet lock 17 has groove, the connecting portion of described fish tail elastic sheet 1 is installed in the groove of bayonet lock 17, described control circuit board 23 belows are installed with main servomotor 15 and main encoder 20, described main encoder 20 is fixed on the tail end of main servomotor 15, described commutation bevel gear set comprises longitudinal finishing bevel gear cuter 13 and laterally bores the tooth cross board at the rear of an ancient carriage 14, described longitudinal finishing bevel gear cuter 13 and laterally finishing bevel gear cuter 14 are below the front end of T shape support 9, the rotating shaft part of described longitudinal finishing bevel gear cuter 13 is connected with fork 7 front ends through T shape support 9, the tapering of described longitudinal finishing bevel gear cuter 13 and the laterally tapering of finishing bevel gear cuter 14 are meshed, the rotating shaft part of described horizontal finishing bevel gear cuter 14 is connected with the rotating shaft of main servomotor 15 through the dividing plate of T shape support 9 belows,
Sink-float described in the utility model mechanism is above T shape support 9, described sink-float mechanism comprises guide rod 8, slide plate 10, battery pack 12, fixed mount 16, coupler 18, float with servomotor torque constant 19, float with coder 21 and guide screw 22, described guide screw 22 is below guide rod 8, described guide screw 22 and guide rod 8 are fixed on the below of the upper skeleton of U-shaped fish main framing 2 by fixed mount 16, described guide screw 22 and guide rod 8 are through slide plate 10, 12 points two groups of described battery pack are separately fixed at slide plate 10 both sides, described guide screw 22 front ends are connected with the rotating shaft of servomotor torque constant 19 with floating by coupler 18, the described unsteady tail end with servomotor torque constant 19 has to float uses coder 21.
As a kind of best specific embodiment of the utility model, the utility model provides a kind of underwater camera Biomimetic Fish as illustrated in fig. 1 and 2, comprises fish main framing, camera 4, T shape support 9, control circuit board 23, swinging gear and sink-float mechanism:
Fish main framing described in the utility model comprises fish tail elastic sheet l, U-shaped fish main framing 2, fish tail semi-circular skeleton 8 and fish body ring skeleton 6, described fish tail elastic sheet 1 comprises afterbody and connecting portion, the middle part of the connecting portion of described fish tail elastic sheet 1 is jagged, described fish tail semi-circular skeleton 8 is fixed on the both sides of the connecting portion of fish tail elastic sheet 1 by fastener symmetry, the two ends of described U-shaped fish main framing 2 are connected with the upper and lower end parts of the connecting portion of fish tail elastic sheet 1 respectively, described U-shaped fish main framing 2 is symmetrically arranged with boss up and down, described fish body ring skeleton 6 is sleeved in the groove between 2 two boss of corresponding U-shaped fish main framing by fastener,
Ends in the middle of U-shaped fish main framing described in the utility model 2 are installed with camera 4, and there is flash light 5 end of described camera 4, and described flash light equal angles, around the camera lens of camera end one week, can improve photographic effect greatly by light compensating lamp is set;
In fish main framing described in the utility model, have T shape support 9, described T shape support 9 both sides are connected with the inwall of fish body ring skeleton 6 by fixed part, and there is control circuit board 23 below of the rear end of described T shape support 9;
The utility model inner structure is as shown in Figures 3 and 4:
Swinging gear described in the utility model comprises fork 7, commutation bevel gear set, main servomotor 15 and main encoder 20, described fork 7 is in the breach at the middle part of the connecting portion of fish tail elastic sheet 1, described fork 7 tail ends have bayonet lock 17, described bayonet lock 17 is installed on by stepped shaft in the fixed orifice of fork 7 tail ends, the upper and lower end parts of described bayonet lock 17 has groove, the connecting portion of described fish tail elastic sheet 1 is installed in the groove of bayonet lock 17, described control circuit board 23 belows are installed with main servomotor 15 and main encoder 20, described main encoder 20 is fixed on the tail end of main servomotor 15, described commutation bevel gear set comprises longitudinal finishing bevel gear cuter 13 and laterally bores the tooth cross board at the rear of an ancient carriage 14, described longitudinal finishing bevel gear cuter 13 and laterally finishing bevel gear cuter 14 are below the front end of T shape support 9, the rotating shaft part of described longitudinal finishing bevel gear cuter 13 is connected with fork 7 front ends through T shape support 9, the tapering of described longitudinal finishing bevel gear cuter 13 and the laterally tapering of finishing bevel gear cuter 14 are meshed, the rotating shaft part of described horizontal finishing bevel gear cuter 14 is connected with the rotating shaft of main servomotor 15 through the dividing plate of T shape support 9 belows,
Sink-float described in the utility model mechanism is above T shape support 9, described sink-float mechanism comprises guide rod 8, slide plate 10, battery pack 12, fixed mount 16, coupler 18, float with servomotor torque constant 19, float with coder 21 and guide screw 22, described guide screw 22 is below guide rod 8, described guide screw 22 and guide rod 8 are fixed on the below of the upper skeleton of U-shaped fish main framing 2 by fixed mount 16, described guide screw 22 and guide rod 8 are through slide plate 10, 12 points two groups of described battery pack are separately fixed at slide plate 10 both sides, described guide screw 22 front ends are connected with the rotating shaft of servomotor torque constant 19 with floating by coupler 18, the described unsteady tail end with servomotor torque constant 19 has to float uses coder 21, described fixed mount 16 1 sides have a pair of contact disk 22, described contact disk 22 ends are in the both sides on the top of the connecting portion of fish tail elastic sheet 1, after being set, contact disk can prevent fish tail elastic sheet generation irreversible transformation, thereby improve the service life of fish tail elastic sheet.
The above; it is only preferred embodiment of the present utility model; be not the restriction of the utility model being made to any other form, and according to any amendment or equivalent variations that technical spirit of the present utility model is done, still belong to the utility model scope required for protection.
Claims (3)
1. a underwater camera Biomimetic Fish, comprises fish main framing, camera (4), T shape support (9), control circuit board (23), swinging gear and sink-float mechanism, it is characterized in that:
Described fish main framing comprises fish tail elastic sheet (1), U-shaped fish main framing (2), fish tail semi-circular skeleton (8) and fish body ring skeleton (6), described fish tail elastic sheet (1) comprises afterbody and connecting portion, the middle part of the connecting portion of described fish tail elastic sheet (1) is jagged, described fish tail semi-circular skeleton (8) is fixed on the both sides of the connecting portion of fish tail elastic sheet (1) by fastener symmetry, the two ends of described U-shaped fish main framing (2) are connected with the upper and lower end parts of the connecting portion of fish tail elastic sheet (1) respectively, described U-shaped fish main framing (2) is symmetrically arranged with boss up and down, described fish body ring skeleton (6) is sleeved in the groove between (2) two boss of corresponding U-shaped fish main framing by fastener,
End in the middle of described U-shaped fish main framing (2) is installed with camera (4);
In described fish main framing, have T shape support (9), described T shape support (9) both sides are connected with the inwall of fish body ring skeleton (6) by fixed part, and there is control circuit board (23) below of the rear end of described T shape support (9);
Described swinging gear comprises fork (7), commutation bevel gear set, main servomotor (15) and main encoder (20), described fork (7) is in the breach at the middle part of the connecting portion of fish tail elastic sheet (1), described fork (7) tail end has bayonet lock (17), described bayonet lock (17) is installed on by stepped shaft in the fixed orifice of fork (7) tail end, the upper and lower end parts of described bayonet lock (17) has groove, the connecting portion of described fish tail elastic sheet (1) is installed in the groove of bayonet lock (17), described control circuit board (23) below is installed with main servomotor (15) and main encoder (20), described main encoder (20) is fixed on the tail end of main servomotor (15), described commutation bevel gear set comprises longitudinal finishing bevel gear cuter (13) and horizontal finishing bevel gear cuter (14), described longitudinal finishing bevel gear cuter (13) and laterally finishing bevel gear cuter (14) are in the below of the front end of T shape support (9), the rotating shaft part of described longitudinal finishing bevel gear cuter (13) is connected with fork (7) front end through T shape support (9), the tapering of described longitudinal finishing bevel gear cuter (13) and the laterally tapering of finishing bevel gear cuter (14) are meshed, the rotating shaft part of described horizontal finishing bevel gear cuter (14) is connected with the rotating shaft of main servomotor (15) through the dividing plate of T shape support (9) below,
Described sink-float mechanism is in T shape support (9) top, described sink-float mechanism comprises guide rod (8), slide plate (10), battery pack (12), fixed mount (16), coupler (18), float with servomotor torque constant (19), float with coder (21) and guide screw (22), described guide screw (22) is in guide rod (8) below, described guide screw (22) and guide rod (8) are fixed on the below of the upper skeleton of U-shaped fish main framing (2) by fixed mount (16), described guide screw (22) and guide rod (8) are through slide plate (10), described battery pack (12) is divided two groups and is separately fixed at slide plate (10) both sides, described guide screw (22) front end is connected with the rotating shaft of servomotor torque constant (19) with unsteady by coupler (18), the described unsteady tail end with servomotor torque constant (19) has to float uses coder (21).
2. a kind of underwater camera Biomimetic Fish according to claim 1, is characterized in that: there is flash light (5) end of described camera (4), and described flash light (5) equal angles was around the camera lens of camera (4) end one week.
3. a kind of underwater camera Biomimetic Fish according to claim 1, is characterized in that: described fixed mount (16) one sides have a pair of contact disk (22), and described contact disk (22) end is in the both sides on the top of the connecting portion of fish tail elastic sheet (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420447271.7U CN203996849U (en) | 2014-08-11 | 2014-08-11 | A kind of underwater camera Biomimetic Fish |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420447271.7U CN203996849U (en) | 2014-08-11 | 2014-08-11 | A kind of underwater camera Biomimetic Fish |
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| CN203996849U true CN203996849U (en) | 2014-12-10 |
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| CN201420447271.7U Expired - Fee Related CN203996849U (en) | 2014-08-11 | 2014-08-11 | A kind of underwater camera Biomimetic Fish |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931091A (en) * | 2015-06-24 | 2015-09-23 | 金陵科技学院 | Bionic robot fish measuring platform and using method thereof |
| CN105059511B (en) * | 2015-07-28 | 2018-02-23 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | A kind of underwater highly emulated device fish |
| CN111182782A (en) * | 2017-08-01 | 2020-05-19 | 卡尔沃坎普创新有限责任公司 | self-propelled work machine |
-
2014
- 2014-08-11 CN CN201420447271.7U patent/CN203996849U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931091A (en) * | 2015-06-24 | 2015-09-23 | 金陵科技学院 | Bionic robot fish measuring platform and using method thereof |
| CN104931091B (en) * | 2015-06-24 | 2016-12-21 | 金陵科技学院 | A kind of bionic machine fish measuring table and using method thereof |
| CN105059511B (en) * | 2015-07-28 | 2018-02-23 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | A kind of underwater highly emulated device fish |
| CN111182782A (en) * | 2017-08-01 | 2020-05-19 | 卡尔沃坎普创新有限责任公司 | self-propelled work machine |
| US11805717B2 (en) | 2017-08-01 | 2023-11-07 | Kalverkamp Innovation Gmbh | Self-propelled machine |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141210 Termination date: 20170811 |
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| CF01 | Termination of patent right due to non-payment of annual fee |