Bionic turtle device

Abstract

A bionic turtle device comprises a body unit, a limb unit and a control unit. The control unit comprises a water depth sensor for detecting water depth and a circuit module. The circuit module receives a signal of the water depth sensor to determine whether the bionic turtle device is at a target water depth position, and if not, controls a driving mechanism for changing the volume of the body unit or a weight adjusting mechanism for changing the weight of the body unit to adjust the density of the body unit. Therefore, the depth position of the bionic turtle device in water is adjusted. The overall density of the bionic turtle device is adjusted by changing the size or weight of the body unit, and the bionic turtle device can be controlled to float upwards or dive or be positioned in a fixed-depth position in water.

Description

Technical Field

[0001] The invention relates to a bionic turtle device, in particular to a bionic turtle device capable of changing density. Background Art

[0002] The bionic turtle device is a mechanical device that mainly imitates the appearance of a turtle and the way it moves in water. Therefore, the bionic turtle has a pair of movable forelimbs and a pair of hind limbs, and can be controlled to float or dive.

[0003] There are currently different mechanisms for controlling the bionic turtle device to float or dive, one of which is through buoyancy regulation. However, there is still room for development in using different technical means to achieve the effect of buoyancy regulation. Summary of the invention

[0004] One object of the present invention is to provide a bionic turtle device that utilizes density change to adjust buoyancy.

[0005] In some embodiments, the bionic turtle device of the present invention includes a body unit, a limb unit and a control unit. The body unit includes a body, a head-shaped body connected to the front side of the body, a back shell connected to the top side of the body, and at least one driving mechanism for driving at least one of the head-shaped body and the back shell to extend and retract to change the volume of the body unit. The limb unit includes a pair of forelimb mechanisms and a pair of hindlimb mechanisms connected to the body unit. The control unit includes a water depth sensor for detecting water depth, and a circuit module electrically connected to the at least one driving mechanism, the limb unit and the water depth sensor. The circuit module receives the signal of the water depth sensor to determine whether the bionic turtle device is at the target water depth position. If not, the circuit module controls the at least one driving mechanism to change the volume of the body unit to adjust the density of the body unit, thereby adjusting the depth position of the bionic turtle device in the water.

[0006] In some embodiments, the head-shaped body has a fixed portion fixedly connected to the body, and a movable portion that can move forward and backward between an extended position and a retracted position relative to the fixed portion.

[0007] When the movable part is in the extended position, the volume of the head-shaped body is greater than the volume of the head-shaped body when the movable part is in the retracted position. The at least one driving mechanism has a driving motor and a transmission module connecting the driving motor and the movable part. The transmission module is driven by the driving motor to drive the movable part to move toward the extended position or to the retracted position.

[0008] In some implementations, the transmission module has a screw driven by the drive motor, and a nut fixed to the movable part and matched with the screw, and the screw is rotated to make the nut move relative to the screw and drive the movable part to move.

[0009] In some implementations, the movable portion is sleeved on the fixed portion, and the head-shaped body further has at least one waterproof sealing ring disposed between the fixed portion and the movable portion to prevent liquid from entering.

[0010] In some implementations, the head-shaped body further has a waterproof elastic sleeve connecting the fixed portion and the movable portion to prevent liquid from entering.

[0011] In some embodiments, the back shell can move up and down relative to the main body between an ascending position and a descending position, and the volume of the main body and the back shell as a whole is larger when the back shell is in the ascending position than when the back shell is in the descending position. The at least one driving mechanism has a driving motor and a transmission module connecting the driving motor and the back shell, and the transmission module is driven by the driving motor to drive the back shell to move to the ascending position or to the descending position.

[0012] In some implementations, the transmission module has a screw driven by the drive motor, and a nut fixed to the back shell and matched with the screw, and the screw is rotated to make the nut move relative to the screw and drive the back shell to move.

[0013] In some embodiments, the main body has a bottom wall and a surrounding wall extending upward from the periphery of the bottom wall, the back shell has a top shell wall opposite to the bottom wall, and a side shell wall extending downward from the periphery of the top shell wall and resting against the inner side of the surrounding wall, and the body unit also includes at least one waterproof sealing ring arranged between the surrounding wall and the side shell wall to prevent liquid from entering.

[0014] In some embodiments, the body unit further includes a waterproof elastic sleeve connecting the main body and the back shell to prevent liquid from entering.

[0015] In some embodiments of the present invention, the bionic turtle device comprises a body unit, a limb unit and a control unit. The body unit comprises a body, a head-shaped body connected to the front side of the body, a back shell connected to the top side of the body, and at least one weight adjustment mechanism provided on the body for storing water and draining water to change the weight of the body unit. The limb unit comprises a pair of forelimb mechanisms and a pair of hindlimb mechanisms connected to the body unit. The control unit comprises a water BCPI-230241 Page 3 / 8 for detecting the water depth.

[0016] A depth sensor and a circuit module electrically connected to the at least one weight adjustment mechanism, the limb unit and the water depth sensor. The circuit module receives a signal from the water depth sensor to determine whether the bionic turtle device is at a target water depth position, and if not, controls the weight adjustment mechanism to change the weight of the body unit to adjust the density of the body unit, thereby adjusting the depth position of the bionic turtle device in the water.

[0017] In some implementations, the weight adjustment mechanism includes a water storage cylinder, a piston module disposed in the water storage cylinder, and a driving motor for driving the piston module.

[0018] The present invention has the following effects: by changing the volume or weight of the body unit to adjust the overall density of the bionic turtle device, the bionic turtle device can be controlled to float up or dive down or be positioned at a fixed depth in the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features and effects of the present invention will be clearly presented in the embodiments with reference to the accompanying drawings, in which:

[0020] Figure 1 is a perspective view of a first embodiment of the bionic turtle device of the present invention;

[0021] Figure 2 is a perspective view of the first embodiment;

[0022] Figure 3 is an exploded perspective view of the first embodiment;

[0023] Figure 4 is a block diagram of the first embodiment;

[0024] Figure 5 is a fragmentary cross-sectional view of the movable portion of the head-shaped body of the first embodiment in the forward extended position;

[0025] Figure 6 is a fragmentary cross-sectional view of the movable portion of the head-shaped body of the first embodiment in a retracted position;

[0026] Figure 7 is a perspective view of a second embodiment of the bionic turtle device of the present invention;

[0027] Figure 8 is an incomplete cross-sectional view of the movable portion of the head-shaped body of the second embodiment in the extended position;

[0028] Fig. 9 is a fragmentary cross-sectional view of the movable portion of the head-shaped body of the second embodiment in a retracted position;

[0029] Fig.10 is a perspective view of a third embodiment of the bionic turtle device of the present invention;

[0030] Fig.11 is a cross-sectional view of the back shell of the third embodiment in a raised position;

[0031] Fig.12 is a cross-sectional view of the back shell of the third embodiment in a lowered position;

[0032] Fig.13is a perspective view of a fourth embodiment of the bionic turtle device of the present invention;

[0033] Fig.14 is a cross-sectional view of the back shell of the fourth embodiment in a raised position;

[0034] BCPI-230241 Page 4 / 8

[0035] Fig.15 is a cross-sectional view of the back shell of the fourth embodiment in a lowered position;

[0036] Fig.16 is a perspective view of a fifth embodiment of the bionic turtle device of the present invention; and

[0037] Fig.17 is a top view of the fifth embodiment with the back shell removed. DETAILED DESCRIPTION

[0038] Before the present invention is described in detail, it should be noted that similar components are denoted by the same reference numerals in the following description.

[0039] See also Figures 1 to 4 The first embodiment of the bionic turtle device of the present invention includes a body unit 1, a limb unit 2 and a control unit 3.

[0040] The body unit 1 includes a main body 11, a head-shaped body 12 connected to the front side of the main body 11, a back shell 13 connected to the top side of the main body 11, and a driving mechanism 14 for driving the head-shaped body 12 to expand and contract to change the volume of the body unit 1. The main body 11 and the back shell 13 together define a receiving space 15. Figure 1 , Figure 5 and Figure 6 In the first embodiment, the head-shaped body 12 has a fixing portion 121 fixedly connected to the body 11, which is sleeved on the fixing portion 121 and can be in a forward position relative to the fixing portion 121 (such as Figure 5 as shown) and a retracted position (as shown Figure 6 The first embodiment includes a movable portion 122 that moves back and forth between the fixed portion 121 and the movable portion 122, and two waterproof sealing rings 123 that are disposed between the fixed portion 121 and the movable portion 122 to prevent liquid from entering. The fixed portion 121 and the movable portion 122 are hollow to accommodate the driving mechanism 14. In the first embodiment, the waterproof sealing rings 123 are arranged around the fixed portion 121 near the front end at intervals, and two barriers are formed by the two waterproof sealing rings 123 to enhance the waterproof effect. Of course, it is also possible to implement with only one waterproof sealing ring 123.

[0041] The driving mechanism 14 has a driving motor 141 and a transmission module 142 connecting the driving motor 141 and the movable part 122. The transmission module 142 has a screw 142a driven by the driving motor 141 and a nut 142b fixed to the movable part 122 and matched with the screw 142a. In the first embodiment, the movable part 122 has a support plate 122a, and the support plate 122a has a through hole for setting the nut 142b. The screw 142a rotates to make the nut 142b move relative to the screw 142a and drive the movable part 122 to move to the extended position or to the retracted position. When the movable part 122 is in the extended position, the volume of the head-shaped body 12 is greater than the volume of the head-shaped body 12 when the movable part 122 is in the retracted position. According to the density calculation formula (density = weight / volume), the larger the volume, the smaller the density. Therefore, when the movable part 122 moves toward the forward position, the volume of the body unit 1 increases and the density decreases. Conversely, when the movable part 122 moves toward the retracted position, the volume of the body unit 1 decreases and the density increases.

[0042] See also Figure 1 and Figure 2 The limb unit 2 includes a pair of forelimb mechanisms 21 and a pair of hindlimb mechanisms 22 connected to the body unit 1. Each forelimb mechanism 21 includes a forelimb sheet 211, a first motor 212, a second motor 213, a third motor 214 and a fourth motor 215. The first motor 212 is used to link the forelimb sheet 211 so that the forelimb sheet 211 can swing forward and backward. The second motor 213 is used to link the forelimb sheet 211 so that the forelimb sheet 211 can swing up and down. The third motor 214 is used to link the forelimb sheet 211 so that the forelimb sheet 211 can be bent. The fourth motor 215 is used to link the forelimb sheet 211 so that the forelimb sheet 211 can rotate. Each hindlimb mechanism 22 includes a hindlimb sheet 221 and a hindlimb motor 222. The hindlimb motor 222 is used to drive the hindlimb sheet 221 to swing left and right.

[0043] See also Figures 2 to 4The control unit 3 is located in the accommodating space 15 and includes a water depth sensor 31 for detecting the water depth, and a circuit module 32 electrically connected to the driving mechanism 14, the limb unit 2 and the water depth sensor 31. In the first embodiment, the water depth sensor 31 is a pressure sensor, and is connected to a connecting pipe 33 extending out of the body 11 by a sealant. The connecting pipe 33 extends into the water so that the water depth sensor 31 can sense the water pressure to measure the water depth. The circuit module 32 includes a microcomputer processor and a drive controller for controlling the driving mechanism 14 and all motors of the limb unit 2. The circuit module 32 receives the signal of the water depth sensor 31 to determine whether the bionic turtle device is at a target water depth position. If not, the circuit module 32 controls the driving mechanism 14 to change the volume of the body unit 1 to adjust the density of the body unit 1, thereby adjusting the depth position of the bionic turtle device in the water. Specifically, if the bionic turtle device is located at a position deeper than the target water depth position, the circuit module 32 controls the drive mechanism 14 to drive the movable part 122 to move to the forward position to increase the volume of the body unit 1 and reduce the overall density of the bionic turtle device. The density of the bionic turtle device is thereby made less than the density of water, so that the bionic turtle device can float. If the bionic turtle device is located at a position shallower than the target water depth position, the circuit module 32 controls the drive mechanism 14 to drive the movable part 122 to move to the retracted position to reduce the volume of the body unit 1 and increase the overall density of the bionic turtle device. The density of the bionic turtle device is thereby made greater than the density of water, so that the bionic turtle device can dive. When the density of the bionic turtle device is the same as the density of water, the bionic turtle device can be positioned at a fixed depth in the water.

[0044] BCPI-230241 Page 6 / 8

[0045] See also Figures 7 to 9 The second embodiment of the bionic turtle device of the present invention is substantially the same as the first embodiment, and the difference is only in the waterproof structure of the head-shaped body 12. In the second embodiment, the head-shaped body 12 also has a waterproof elastic sleeve 124 connecting the fixed part 121 and the movable part 122 to prevent liquid from entering. The two ends of the waterproof elastic sleeve 124 are respectively sleeved with the fixed part 121 and the movable part 122, and the two ends of the waterproof elastic sleeve 124 are respectively fixed to the fixed part 121 and the movable part 122 by two metal fastening rings 125 and coated with sealing colloid to enhance waterproofing. The waterproof elastic sleeve 124 can elastically expand and contract as the movable part 122 moves.

[0046] See also Figures 10 to 12The third embodiment of the bionic turtle device of the present invention is substantially the same as the first embodiment, except that the back shell 13 is extended and retracted to change the volume of the body unit 1. In the third embodiment, the back shell 13 can be in an ascending position (such as Fig.11 ) and a lowered position (as shown Fig.12 The body unit 1 is adapted to move up and down between the body shell 11 and the body shell 13, and the body unit 1 includes two driving mechanisms 14 to jointly drive the back shell 13. The body 11 has a bottom wall 111 and a surrounding wall 112 extending upward from the periphery of the bottom wall 111. The back shell 13 has a top shell wall 131 opposite to the bottom wall 111, a side shell wall 132 extending downward from the periphery of the top shell wall 131 and resting against the inner side of the surrounding wall 112, and a support plate 133 connecting the top shell wall 131. The body unit 1 also includes two waterproof sealing rings 16 arranged between the surrounding wall 112 and the side shell wall 132 to prevent liquid from entering. In the third embodiment, the waterproof sealing rings 16 are arranged around the side shell wall 132 at intervals from each other near the bottom end, and two barriers are formed by the two waterproof sealing rings 16 to enhance the waterproof effect. Of course, it is also possible to implement it with only one waterproof sealing ring 16.

[0047] The driving mechanism 14 is arranged in the accommodating space 15 at intervals on the left and right. Each driving mechanism 14 has a driving motor 141 and a transmission module 142 connecting the driving motor 141 and the back shell 13. The transmission module 142 has a screw 142a driven by the driving motor 141, and a nut 142b fixed to the back shell 13 and matched with the screw 142a. In the third embodiment, the support plate 133 has two perforations to respectively set the nut 142b. The screw 142a is rotated to make the nut 142b move relative to the screw 142a and drive the back shell 13 to move to the rising position or to the falling position. When the back shell 13 is in the rising position, the volume of the body 11 and the back shell 13 as a whole is greater than when the back shell 13 is in the falling position. Similarly, when the back shell 13 moves toward the rising position, the volume of the body unit 1 is larger and the density is smaller. On the contrary, when the back shell 13 moves toward the descending position, the volume of the body unit 1 becomes smaller and the density becomes greater. The third embodiment has the same control unit 3 as the first embodiment, and the method of controlling the bionic turtle device to float or dive is the same as the first embodiment, which will not be repeated here.

[0048] See also Figures 13 to 15The fourth embodiment of the bionic turtle device of the present invention is substantially the same as the third embodiment, and the difference is only in the waterproof structure between the body 11 and the back shell 13. In the fourth embodiment, the body unit 1 further includes a waterproof elastic sleeve 17 connecting the body 11 and the back shell 13 to prevent liquid from entering. The two ends of the waterproof elastic sleeve 17 are respectively connected to the body 11 and the back shell 13, and the two ends of the waterproof elastic sleeve 17 are respectively fixed to the body 11 and the back shell 13 by two metal fastening rings 171 and coated with sealing colloid to enhance waterproofing. The waterproof elastic sleeve 17 can elastically expand and contract as the back shell 13 moves.

[0049] See also Fig.16 and Fig.17 The fifth embodiment of the bionic turtle device of the present invention comprises a body unit 1, a limb unit 2 and a control unit 3. The body unit 1 comprises a main body 11, a head body 12 connected to the front side of the main body 11, a back shell 13 connected to the top side of the main body 11, and two weight adjustment mechanisms 18 provided on the main body 11 for storing water and discharging water to change the weight of the body unit 1. In the fifth embodiment, each weight adjustment mechanism 18 comprises a water storage cylinder 181 with an end 181a extending out of the main body 11, a piston module 182 provided in the water storage cylinder 181, and a driving motor 183 for driving the piston module 182. The piston module 182 moves in the water storage cylinder 181 to control water storage or drainage. When the piston module 182 moves away from the end 181a of the water storage cylinder 181, water can be stored, and when the piston module 182 moves toward the end 181a of the water storage cylinder 181, water can be discharged. When the amount of water in the water storage cylinder 181 is more, the weight of the body unit 1 can be increased. Conversely, when the amount of water in the water storage cylinder 181 is less, the weight of the body unit 1 can be reduced. According to the density calculation formula (density = weight / volume), the greater the weight, the greater the density. Therefore, when the amount of water stored in the weight adjustment mechanism 18 is more, the density of the body unit 1 can be increased. Conversely, when the amount of water discharged by the weight adjustment mechanism 18 is more, the density of the body unit 1 can be reduced.

[0050] In the fifth embodiment, the limb unit 2 and the control unit 3 are substantially the same as those in the first embodiment, and are not described in detail here. In the fifth embodiment, the control unit 3 controls the depth position of the bionic turtle device in the water in a manner substantially the same as that in the first embodiment, which is to adjust the overall density of the bionic turtle device to make the bionic turtle device float or dive. BCPI-230241 Page 8 / 8

[0051] Or locate at a fixed depth in the water.

[0052] In summary, by changing the volume or weight of the body unit 1 to adjust the overall density of the bionic turtle device, the bionic turtle device can be controlled to float up or dive down or be positioned at a fixed depth in the water.

[0053] The above are merely embodiments of the present invention and should not be used to limit the scope of the present invention. That is, any simple equivalent changes and modifications made according to the claims and description of the present invention still fall within the scope of the present invention.

Claims

1. A bionic turtle device, characterized in that: Include: The body unit comprises a body, a head-shaped body connected to the front side of the body, a back shell connected to the top side of the body, and at least one driving mechanism for driving at least one of the head-shaped body and the back shell to extend and retract to change the volume of the body unit; A limb unit, comprising a pair of forelimb mechanisms and a pair of hindlimb mechanisms connected to the body unit; and The control unit includes a water depth sensor for detecting the water depth, and a circuit module electrically connected to the at least one driving mechanism, the limb unit and the water depth sensor. The circuit module receives the signal from the water depth sensor to determine whether the bionic turtle device is at a target water depth position. If not, the circuit module controls the at least one driving mechanism to change the volume of the body unit to adjust the density of the body unit, thereby adjusting the depth position of the bionic turtle device in the water.

2. The bionic turtle device according to claim 1, characterized in that: The head-shaped body has a fixed part fixedly connected to the main body, and a movable part that can move forward and backward relative to the fixed part between an extended position and a retracted position. When the movable part is in the extended position, the volume of the head-shaped body is larger than the volume of the head-shaped body when the movable part is in the retracted position. The at least one driving mechanism has a driving motor and a transmission module connecting the driving motor and the movable part. The transmission module is driven by the driving motor to drive the movable part to move toward the extended position or to the retracted position.

3. The bionic turtle device according to claim 2, characterized in that: The transmission module comprises a screw rod driven by the driving motor, and a nut fixed to the movable part and matched with the screw rod. The screw rod is rotated to make the nut move relative to the screw rod and drive the movable part to move.

4. The bionic turtle device according to claim 2, characterized in that: The movable part is sleeved on the fixed part, and the head-shaped body also has at least one waterproof sealing ring arranged between the fixed part and the movable part to prevent liquid from entering.

5. The bionic turtle device according to claim 2, characterized in that: The head-shaped body also has a waterproof elastic sleeve connecting the fixed part and the movable part to prevent liquid from entering.

6. The bionic turtle device according to claim 1, characterized in that: The back shell can move up and down between an ascending position and a descending position relative to the body. When the back shell is in the ascending position, the volume of the body and the back shell as a whole is larger than that of the body when the back shell is in the descending position. The at least one driving mechanism has a driving motor and a transmission module connecting the driving motor and the back shell. The transmission module is driven by the driving motor to drive the back shell to move to the rising position or to the falling position.

7. The bionic turtle device according to claim 6, characterized in that: The transmission module comprises a screw rod driven by the driving motor, and a nut fixed to the back shell and matched with the screw rod. The screw rod is rotated to make the nut move relative to the screw rod and drive the back shell to move.

8. The bionic turtle device according to claim 6, characterized in that: The main body has a bottom wall and a surrounding wall extending upward from the periphery of the bottom wall, the back shell has a top shell wall opposite to the bottom wall, and a side shell wall extending downward from the periphery of the top shell wall and resting against the inner side of the surrounding wall, and the body unit also includes at least one waterproof sealing ring arranged between the surrounding wall and the side shell wall to prevent liquid from entering.

9. The bionic turtle device according to claim 6, characterized in that: The body unit also includes a waterproof elastic sleeve connecting the main body and the back shell to prevent liquid from entering.

10. A bionic turtle device, characterized in that: Include: The body unit comprises a body, a head-shaped body connected to the front side of the body, a back shell connected to the top side of the body, and at least one weight adjustment mechanism provided on the body for storing water and discharging water to change the weight of the body unit; a limb unit, comprising a pair of front limb mechanisms and a pair of rear limb mechanisms connected to the body unit; and The control unit includes a water depth sensor for detecting the water depth, and a circuit module electrically connected to the at least one weight adjustment mechanism, the limb unit and the water depth sensor. The circuit module receives the signal from the water depth sensor to determine whether the bionic turtle device is at a target water depth position. If not, the weight adjustment mechanism is controlled to change the weight of the body unit to adjust the density of the body unit, thereby adjusting the depth position of the bionic turtle device in the water.

11. The bionic turtle device according to claim 10, characterized in that: The weight adjustment mechanism comprises a water storage cylinder, a piston module arranged in the water storage cylinder, and a driving motor for driving the piston module.

Images