Bionic sea turtle

Abstract

A bionic sea turtle comprises a body, a head part, two front foot parts and a driving module. The head part is arranged at the front end of the body in the front-back direction and can move in the front-back direction relative to the body. The two front foot pieces are arranged on the front section of the body and extend towards the two sides in the left-right direction respectively, each front foot piece can rotate around a front foot rotating shaft relative to the body to swing up and down in the up-down direction, and each front foot piece is provided with a bent hard part with a backward notch and a soft part arranged in the notch of the hard part. The driving module is arranged on the body and used for driving the head part and the two front foot parts. The bionic sea turtle can freely swim in water through a simple structure, the internal mechanism is relatively simple, and therefore the manufacturing cost is reduced.

Description

Technical Field

[0001] The invention relates to a bionic creature, in particular to a bionic turtle. Background Art

[0002] With the advancement of technology, the types of bionic turtles on the market are becoming more and more diverse. However, in order to swim freely in the water, the internal structures of the bionic turtles on the market are usually quite complex, and the manufacturing cost is therefore very expensive. Summary of the invention

[0003] An object of the present invention is to provide a bionic turtle that can improve at least one problem in the background art.

[0004] The bionic turtle of the present invention comprises a main body, a head component, two front foot components, and a driving module. The head component is arranged at the front end of the main body in the front-back direction, and can move relative to the main body in the front-back direction. The two front foot components are arranged at the front section of the main body and extend toward both sides along the left-right direction respectively. Each of the front foot components can rotate around the front foot rotation axis relative to the main body and swing up and down in the up-down direction. Each of the front foot components has a hard part that is curved and has a notch facing backwards, and a soft part that is arranged in the notch of the hard part. The driving module is arranged at the main body and is used to drive the head component and the two front foot components.

[0005] In some implementations, the head component is provided with at least one high-density mass block.

[0006] In some implementations, the head component is provided with at least one low-density mass block.

[0007] In some implementations, the main body further has a sliding column extending forward, and the head component can be slidably mounted on the sliding column in the front-to-back direction.

[0008] In some embodiments, the head component can move between a front position relatively to the front and a rear position relatively to the rear relative to the main body, the bionic turtle also includes two hind foot components, the two hind foot components are arranged at the rear section of the main body and extend rearward, the driving module includes a linkage mechanism connected between the head component and the two hind foot components and used to link the head component and the two hind foot components; when the head component is located at the front position, the rear ends of the two hind foot components are tilted downward, and when the head component is located at the rear position, the rear ends of the two hind foot components are tilted upward.

[0009] In some embodiments, the head component moves between the front position and the rear position and also passes through a front transition position and a rear transition position. When the head component moves between the front transition position and the rear transition position, the rear ends of the two rear foot components extend straight backwards.

[0010] In some embodiments, the two rear foot members can rotate relative to the main body around a rear foot rotation axis parallel to the left and right directions, each of the rear foot members has a pivot section arranged on the main body, and a rear foot section extending rearward from the pivot section, the pivot section has a connecting protrusion protruding downward, the main body also has a slide rail extending along the front-to-back direction, the linkage mechanism includes a connecting rod extending along the left and right directions and respectively connected to the connecting protrusions of the two rear foot members, a rear sliding rod slidably arranged on the slide rail and connected to the connecting rod along the front-to-back direction, and a front sliding rod slidably arranged on the slide rail and connected to the head member along the front-to-back direction, the front sliding rod is used to push the rear sliding rod in the front-to-back direction so that the head member and the two rear foot members are linked to each other.

[0011] In some implementations, the rear sliding rod has a rear rod portion connected to the connecting rod, and a rear hook portion extending forward from the rear rod portion, and the front sliding rod has a front rod portion connected to the head component, and a front hook portion extending rearward from the front rod portion; when the head component is in the front transition position, the front hook portion of the front sliding rod leans forward against the rear hook portion of the rear sliding rod, and when the head component moves forward from the front transition position to the front position, the front hook portion of the front sliding rod hooks the rear hook portion of the rear sliding rod forward, linking the connecting rod to move forward so that the rear ends of the two rear foot components tilt downward; when the head component is in the rear transition position, the front rod portion of the front sliding rod leans backward against the rear hook portion of the rear sliding rod, and when the head component moves backward from the rear transition position to the rear position, the front rod portion of the front sliding rod pushes the rear hook portion of the rear sliding rod backward, linking the connecting rod to move backward so that the rear ends of the two rear foot components tilt upward.

[0012] In some implementations, the two front foot members are independently driven by the driving module.

[0013] The beneficial effect of the present invention is that the soft parts of the two front foot parts of the bionic turtle of the present invention can be deformed and generate a forward propulsion force when the two front foot parts swing up and down. In addition, the head part can move relative to the main body in the front-to-back direction to control the center of gravity (or the position where buoyancy is generated) of the bionic turtle in the front-to-back direction, thereby making the front part of the bionic turtle tilt upward or downward, thereby making the bionic turtle float or dive in the water. The present invention enables the bionic turtle to swim freely in the water through a simple structure, and the internal mechanism is relatively simple, so there is room for reduction in manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Other features and effects of the present invention will be clearly presented in the embodiments with reference to the accompanying drawings, in which:

[0015] Figure 1 is a stereogram of an embodiment of a bionic turtle of the present invention;

[0016] Figure 2 yes Figure 1 A stereogram of the embodiment described in the embodiment viewed from another viewing angle;

[0017] Figure 3 is a side view of the embodiment;

[0018] Figure 4 is a bottom view of the embodiment, in which the bottom cover of the embodiment is omitted;

[0019] Figure 5 is a schematic cross-sectional view of one of the front foot members of the embodiment, illustrating the force condition of one of the front foot members when swinging downward in water;

[0020] Figure 6 is a cross-sectional schematic diagram of one of the front foot members of the embodiment, illustrating the force condition of one of the front foot members when swinging upward in water;

[0021] Figure 7 is a side view of the embodiment, in which the head component of the embodiment is located in a front transition position and the front portion of the embodiment is tilted downward;

[0022] Figure 8 is a bottom view of the embodiment, in which the bottom cover of the embodiment is omitted, and the head component of the embodiment is located at the front transition position;

[0023] Fig. 9 is a side view of the embodiment, in which the head component of the embodiment is located in the front position, driving the rear ends of the two rear foot components of the embodiment to tilt downward;

[0024] Fig.10 is similar Fig. 9 A side view of the embodiment of the present invention, wherein the front portion of the embodiment described in the figure is tilted downward;

[0025] Fig.11 is a bottom view of the embodiment, in which the bottom cover of the embodiment is omitted and the head component of the embodiment is located at the front position;

[0026] Fig.12 is a side view of the embodiment, wherein the head member of the embodiment is located in a rear transition position and the rear portion of the embodiment is tilted downward;

[0027] Fig.13is a bottom view of the embodiment, in which the bottom cover of the embodiment is omitted, and the head component of the embodiment is located at the rear transition position;

[0028] Fig.14 is a side view of the embodiment, in which the head component of the embodiment is located at a rear position, driving the rear ends of the two rear foot components of the embodiment to tilt upward;

[0029] Fig.15 is similar Fig.14 A side view of the embodiment of the present invention, wherein the front portion of the embodiment is tilted upward;

[0030] Fig.16 It is a bottom view of the embodiment, in which the bottom cover of the embodiment is omitted and the head component of the embodiment is located at the rear position. DETAILED DESCRIPTION

[0031] See also Figure 1 and Figure 2 The embodiment of the bionic turtle 100 of the present invention is suitable for moving in water. The bionic turtle 100 comprises a body 1, a bottom cover 2, a head component 3, two front foot components 4, two rear foot components 5, and a driving module 6.

[0032] The main body 1 has a sliding post 11 extending forward along a front-to-back direction D1, and a sliding rail 12 (see FIG. Figure 4 ), the bottom cover 2 covers the slide rail 12 from the bottom of the main body 1.

[0033] The head component 3 is sleeved on the sliding column 11 at the front end of the body 1 in the front-to-back direction D1, and can slide relative to the sliding column 11 of the body 1 in the front-to-back direction D1. The head component 3 is hollow, and a plurality of high-density mass blocks 31 (see FIG. 1 ) having a density greater than that of water are arranged inside the head component 3. Figure 3), the high-density mass block 31 can be, for example, a lead block, but is not limited thereto. Specifically, the head component 3 can move between a front position relative to the front and a rear position relative to the rear relative to the body 1, and the head component 3 will also pass through a front transition position and a rear transition position when moving between the front position and the rear position. The center of gravity offset of the entire bionic turtle 100 in the water can be controlled by the forward and backward movement of the head component 3. It should be noted that, in a variant embodiment, the high-density mass block 31 can also be replaced by a plurality of low-density mass blocks (not shown) having a density less than that of water, such as foam blocks, but is not limited thereto. In the variant embodiment, the buoyancy generated by the low-density mass blocks can be reversely controlled by the forward and backward movement of the head component 3.

[0034] The two front foot members 4 are arranged at the front section of the main body 1 and extend toward both sides along a left-right direction D2 respectively. Each of the front foot members 4 can rotate relative to the main body 1 around its own front foot rotation axis A1 and swing up and down in a vertical direction D3. Each of the front foot members 4 has a rotating shaft portion 41 that can rotate relative to the main body 1 around its own front foot rotation axis A1, a hard portion 42 that extends outward from the rotating shaft portion 41 in a curved shape along the left-right direction D2 and has a recess 421 facing backward, and a soft portion 43 arranged at the recess 421 of the hard portion 42. Specifically, the material of the hard portion 42 can be plastic, and the material of the soft portion 43 can be a flexible material such as silicone, but it is not limited thereto.

[0035] See also Figure 5 When each of the front foot members 4 swings downward, the rear section of the soft portion 43 bends upward due to the upward resistance F1 of the water, and the upward resistance F1 can be divided into an upward component force F 11 and the forward force F 12 , the forward force F 12 The front foot member 4 can be pushed forward. Figure 6 When each of the front foot members 4 swings upward, the rear section of the soft portion 43 bends and deforms downward due to the downward resistance F2 of the water, and the downward resistance F2 can be divided into a downward component force F 21 and the forward force F 22 , the forward force F 22 It is possible to push the front foot member 4 forward. In other words, the soft parts 43 of the two front foot members 4 can be deformed and generate a forward propulsion force when the two front foot members 4 swing up and down.

[0036] The two rear foot members 5 are arranged at the rear section of the main body 1 and extend rearward, and the two rear foot members 5 can rotate relative to the main body 1 around a rear foot rotation axis A2 parallel to the left-right direction D2, and each rear foot member 5 has a rotation shaft section 51 arranged on the main body 1, and a rear foot section 52 extending rearward from the rotation shaft section 51. The rotation shaft section 51 has a connecting protrusion 511 protruding downward.

[0037] The driving module 6 is disposed on the body 1, and includes a driving unit 61 for driving the head component 3 and the two front foot components 4, and a linkage mechanism 62 connected between the head component 3 and the two rear foot components 5 and for linking the head component 3 and the two rear foot components 5. The driving unit 61 may include a first servo motor 611 for driving the head component 3, a driving gear 612 disposed on the first servo motor 611, and two second servo motors 613 for driving the two front foot components 4 respectively. In other words, the two front foot components 4 are independently driven by the two second servo motors 613 of the driving module 6, and the two front foot components 4 that can swing at different swing speeds allow the bionic turtle 100 to have the ability to turn when moving forward.

[0038] See also Figure 4 The linkage mechanism 62 includes a connecting rod 621 extending along the left-right direction D2 and connected to the connecting protrusions 511 of the two rear foot members 5, a rear sliding rod 622 slidably provided on the slide rail 12 along the front-back direction D1 and extending rearward to be connected to the connecting rod 621, and a front sliding rod 623 slidably provided on the slide rail 12 along the front-back direction D1 and extending forward to be connected to the head member 3. The front sliding rod 623 is used to push the rear sliding rod 622 in the front-back direction D1 so that the head member 3 and the two rear foot members 5 are linked to each other. The rear sliding rod 622 has a rear rod portion 622a connected to the connecting rod 621, and a rear hook portion 622b extending forward from the rear rod portion 622a, and the front sliding rod 623 has a front rod portion 623a connected to the head component 3, a front hook portion 623b extending backward from the front rod portion 623a, and a side tooth portion 623c formed at the side of the front rod portion 623a. In this embodiment, the side tooth portion 623c of the front sliding rod 623 is meshed with the driving gear 612, and the first servo motor 611 drives the head component 3 to move forward and backward through the driving gear 612 and the front sliding rod 623.

[0039] See also Figure 7 and Figure 8When the head component 3 is at the front transition position, the front hook 623b of the front sliding rod 623 leans forward against the rear hook 622b of the rear sliding rod 622, and the rear ends of the two rear foot components 5 extend straightly backward. At this time, since the position of the head component 3 is relatively forward, the high-density mass block 31 in the head component 3 makes the center of gravity of the entire bionic turtle 100 biased forward, so that the front part of the bionic turtle 100 tilts downward in the water. On this basis, in conjunction with the up and down swinging of the two front foot components 4, the bionic turtle 100 can dive in the water.

[0040] See also Figures 9 to 11 If the head component 3 is at the front transition position and the front part of the bionic turtle 100 has not tilted downward in the water, the driving module 6 can drive the head component 3 to move to the front position. When the head component 3 moves forward from the front transition position to the front position, the front hook 623b of the front sliding rod 623 hooks the rear hook 622b of the rear sliding rod 622 forward, driving the connecting rod 621 to move forward and driving the connecting protrusions 511 of the two rear foot components 5 to move forward together, so that the rear ends of the two rear foot components 5 tilt downward, as shown in FIG. Fig. 9 In this state, if the bionic turtle 100 moves forward in the water due to the up and down swinging of the two front foot members 4, the water resistance pushes the two rear foot members 5 backward, which will generate a force that makes the front part of the bionic turtle 100 tilt downward in the water. In addition, the head member 3 located relatively further forward also makes it easier for the front part of the bionic turtle 100 to tilt downward in the water, so that the bionic turtle 100 can dive in the water. Fig.10 shown.

[0041] See also Fig.12 and Fig.13 When the head component 3 is in the rear transition position, the front rod portion 623a of the front sliding rod 623 leans against the rear hook portion 622b of the rear sliding rod 622, and the rear ends of the two rear foot components 5 extend straightly backward. At this time, since the position of the head component 3 is relatively rearward, the high-density mass block 31 in the head component 3 makes the center of gravity of the entire bionic turtle 100 deviate to the rear, so that the front part of the bionic turtle 100 tilts upward in the water. On this basis, in conjunction with the up and down swinging of the two front foot components 4, the bionic turtle 100 can float in the water.

[0042] See also Figures 14 to 16If the head component 3 is at the rear transition position and the front part of the bionic turtle 100 has not tilted upward in the water, the driving module 6 can drive the head component 3 to move to the rear position. When the head component 3 moves backward from the rear transition position to the rear position, the front rod portion 623a of the front sliding rod 623 pushes the rear hook portion 622b of the rear sliding rod 622 backward, driving the connecting rod 621 to move backward and driving the connecting protrusions 511 of the two rear foot components 5 to move backward together, so that the rear ends of the two rear foot components 5 tilt upward, as shown in FIG. Fig.14 In this state, if the bionic turtle 100 moves forward in the water due to the up and down swinging of the two front foot members 4, the water resistance pushes the two rear foot members 5 backward, which will generate a force that makes the front part of the bionic turtle 100 tilt upward in the water. In addition, the head member 3 located relatively further back also makes it easier for the front part of the bionic turtle 100 to tilt upward in the water, so that the bionic turtle 100 can float in the water, as shown in FIG. Fig.15 shown.

[0043] In summary, the soft parts 43 of the two front foot parts 4 of the bionic turtle 100 of the present invention can be deformed and generate forward propulsion when the two front foot parts 4 swing up and down. In addition, the head part 3 can move relative to the body 1 in the front-to-back direction D1 to control the center of gravity (or the position where buoyancy is generated) of the bionic turtle 100 in the front-to-back direction D1, thereby making the front part of the bionic turtle 100 tilt upward or downward, thereby making the bionic turtle 100 float or dive in the water. The present invention enables the bionic turtle 100 to swim freely in the water through a simple structure, and the internal mechanism is relatively simple, so there is room for reduction in manufacturing costs.

[0044] 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, characterized in that: The bionic turtle comprises: ontology; A head component, which is disposed at the front end of the body in the front-rear direction and can move relative to the body in the front-rear direction; Two front foot members are arranged at the front section of the main body and extend toward both sides in the left and right directions respectively, each of the front foot members can rotate relative to the main body around the front foot rotation axis and swing up and down in the vertical direction, each of the front foot members has a hard part that is curved and has a rearward notch, and a soft part arranged in the notch of the hard part; as well as The driving module is arranged on the main body and is used for driving the head component and the two front foot components.

2. The bionic sea turtle according to claim 1, characterized in that: The head component is provided with at least one high-density mass block.

3. The bionic sea turtle according to claim 1, characterized in that: The head component is provided with at least one low-density mass block.

4. The bionic sea turtle according to claim 1, characterized in that: The main body also has a sliding column extending forward, and the head component can be slidably sleeved on the sliding column in the front-rear direction.

5. The bionic sea turtle according to claim 1, characterized in that: The head component can move between a front position relatively to the front and a rear position relatively to the rear relative to the main body. The bionic turtle also includes two rear foot components, which are arranged at the rear section of the main body and extend backward. The driving module includes a linkage mechanism connected between the head component and the two rear foot components and used to link the head component and the two rear foot components; when the head component is located at the front position, the rear ends of the two rear foot components are tilted downward, and when the head component is located at the rear position, the rear ends of the two rear foot components are tilted upward.

6. The bionic sea turtle according to claim 5, characterized in that: The head component also passes through a front transition position and a rear transition position when moving between the front position and the rear position. When the head component moves between the front transition position and the rear transition position, the rear ends of the two rear foot components extend straightly backwards.

7. The bionic sea turtle according to claim 6, characterized in that: The two rear foot parts can rotate relative to the main body around the rear foot rotation axis parallel to the left and right directions, each of the rear foot parts has a rotating shaft section arranged on the main body, and a rear foot section extending rearward from the rotating shaft section, the rotating shaft section has a connecting protrusion protruding downward, and the main body also has a slide rail extending along the front-to-back direction, the linkage mechanism includes a connecting rod extending along the left and right directions and respectively connected to the connecting protrusions of the two rear foot parts, a rear sliding rod slidably arranged on the slide rail and connected to the connecting rod along the front-to-back direction, and a front sliding rod slidably arranged on the slide rail and connected to the head component along the front-to-back direction, the front sliding rod is used to push the rear sliding rod in the front-to-back direction so that the head component and the two rear foot parts are linked to each other.

8. The bionic sea turtle according to claim 7, characterized in that: The rear sliding rod has a rear rod portion connected to the connecting rod, and a rear hook portion extending forward from the rear rod portion, and the front sliding rod has a front rod portion connected to the head component, and a front hook portion extending backward from the front rod portion; when the head component is in the front transition position, the front hook portion of the front sliding rod leans forward against the rear hook portion of the rear sliding rod, and when the head component moves forward from the front transition position to the front position, the front hook portion of the front sliding rod hooks the rear hook portion of the rear sliding rod forward, linking the connecting rod to move forward so that the rear ends of the two rear foot components tilt downward; when the head component is in the rear transition position, the front rod portion of the front sliding rod leans backward against the rear hook portion of the rear sliding rod, and when the head component moves backward from the rear transition position to the rear position, the front rod portion of the front sliding rod pushes the rear hook portion of the rear sliding rod backward, linking the connecting rod to move backward so that the rear ends of the two rear foot components tilt upward.

9. The bionic sea turtle according to claim 1, characterized in that: The two front foot members are independently driven by the driving module.

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