Bionic fish device

Abstract

A bionic fish device comprises a fish-shaped shell unit and a plurality of rotating mechanisms. The fish-shaped shell unit comprises a plurality of shell assemblies which are sequentially arranged in the front-back direction. Each rotating mechanism comprises a first motor module and a first rotating component, wherein the first motor module is arranged on the former of the two adjacent shell assemblies, and the first rotating component is arranged on the latter of the two adjacent shell assemblies. When each first rotating component is driven by the corresponding first motor module to rotate by a preset angle by taking the first axis as the axis, the first rotating component drives the latter of the two adjacent shell assemblies to rotate relative to the former of the two adjacent shell assemblies. According to the bionic fish device, the rotating mechanisms respectively drive the connected shell assemblies to rotate by respective preset angles relative to the front shell assemblies, so that the fish-shaped shell units can be bent in multiple sections in a small range, the whole fish-shaped shell units swing in a large range, the bionic fish device simulates fish tail swinging more naturally, and then the effect of high simulation degree is achieved.

Description

Technical Field

[0001] The present invention relates to a biomimetic device, and particularly to a biomimetic fish device. Background Art

[0002] With the progress of technology, people's requirements for the simulation degree of biomimetic devices are getting higher and higher. Among them, the biomimetic fish device is required to be able to imitate the tail swinging, floating, diving, avoidance and other actions of fish in water. Therefore, how to make the biomimetic fish device swim naturally is the focus of current developers of biomimetic fish devices. Summary of the Invention

[0003] The purpose of the present invention is to provide a biomimetic fish device with a high simulation degree.

[0004] The biomimetic fish device of the present invention is applicable to an underwater environment and includes a fish-shaped housing unit and a plurality of rotating mechanisms. The fish-shaped housing unit includes a plurality of housing components arranged in sequence in the front-rear direction. The rotating mechanisms are respectively disposed inside two adjacent housing components. Each rotating mechanism includes a first motor module installed on the former of two adjacent housing components, and a first rotating member installed on the latter of two adjacent housing components. The first motor modules can be controlled to operate independently. Each first rotating member is pivotally connected to the corresponding first motor module with a first axis parallel to the up-down direction as the axis. When each first rotating member is driven by the corresponding first motor module to rotate a respective predetermined angle with the first axis as the axis, it will drive the latter of two adjacent housing components to rotate relative to the former of two adjacent housing components.

[0005] In the biomimetic fish device of the present invention, when the first rotating members are respectively driven by the first motor modules to cyclically change between forward rotation and reverse rotation with the first axis as the axis, they will respectively drive the latter of two adjacent housing components to rotate left and right reciprocally relative to the former of two adjacent housing components, so that the biomimetic fish device swings left and right and advances in the underwater environment.

[0006] The bionic fish device described in the present invention further includes a center of gravity transfer mechanism. The center of gravity transfer mechanism is disposed inside the foremost housing assembly and includes a second motor module mounted on the foremost housing assembly, a second rotating member pivotally connected to the second motor module about a second axis parallel to the front-rear direction, and a heavy object unit capable of moving back and forth relative to the second motor module. The second motor module can be controlled to operate. The second rotating member has a cylindrical cam. A cam groove spirally extending around the second axis is recessed on the outer peripheral surface of the cam. The heavy object unit has a guiding protrusion movably inserted into the cam groove. When the cam of the second rotating member is driven by the second motor module to rotate about the second axis, the guiding protrusion moves in the cam groove to drive the heavy object unit to move back and forth relative to the second motor module, causing the center of gravity position of the bionic fish device to displace back and forth.

[0007] The bionic fish device described in the present invention further includes a control module and a sensor module. The control module is disposed inside the foremost housing assembly and is electrically connected to the first motor module and the second motor module. The first motor modules can be controlled by the control module to operate independently. The second motor module can be controlled by the control module to operate. The sensor module is electrically connected to the control module and is disposed inside the foremost housing assembly. The sensor module includes at least one sensor assembly for sensing the presence of an object in the water environment. When the sensor assembly senses the presence of an object, the sensor assembly transmits a sensing signal to the control module. When the control module receives the sensing signal transmitted by the sensor assembly, the control module controls at least one of the first motor module and the second motor module to change its operation, causing the forward direction of the bionic fish device to change.

[0008] The bionic fish device described in the present invention, the sensor module includes three of the sensor assemblies. The sensor assemblies are all electrically connected to the control module and are respectively located on the left, right, and front sides inside the foremost housing assembly. When any one of the sensor assemblies senses the presence of an object, the sensor assembly transmits the sensing signal to the control module.

[0009] For the bionic fish device of the present invention, each of the housing components has two outer covers respectively arranged on the left and right sides of the rotating mechanism. The outer covers of each housing component define a receiving groove for receiving a part of the rotating mechanism. Each of the latter of two adjacent housing components further has two arc-shaped covers respectively extending forward and facing each other from the leading edge of the outer cover of the corresponding housing component. The arc-shaped covers of each of the latter of two adjacent housing components can be retractably inserted into the receiving groove of the former of two adjacent housing components to shield the gap between the front and rear adjacent outer covers.

[0010] For the bionic fish device of the present invention, at least one of the housing components further has two inner partitions respectively connected to the outer cover of the corresponding housing component. The inner partitions are used to cooperate with the outer cover and the arc-shaped cover to divide the receiving groove into a main groove part and two air chamber parts located on the left and right sides of the main groove part. The air chamber parts are isolated from the underwater environment.

[0011] For the bionic fish device of the present invention, each of the inner partitions has at least one through hole penetrating its left and right sides. At least one screw hole corresponding to the through hole is formed on one side of each outer cover adjacent to the inner partition. At least one of the housing components further has at least one screw and at least one waterproof washer. The screw passes through the waterproof washer, the through hole and is screwed with the screw hole, so that the corresponding inner partition can be detachably fixed to the corresponding outer cover.

[0012] For the bionic fish device of the present invention, at least one of the housing components further has two waterproof rings respectively arranged on the inner partitions. Each waterproof ring is arranged on one side of the corresponding inner partition facing the corresponding outer cover and is arranged around the periphery of the corresponding inner partition. Each waterproof ring is used to block the gap between the corresponding inner partition and the corresponding outer cover and the arc-shaped cover.

[0013] For the bionic fish device of the present invention, the fish-shaped housing unit further includes a fish tail assembly installed on the last of the housing components. The fish tail assembly defines a fish tail air chamber space.

[0014] The beneficial effects of the present invention are as follows: By driving the connected housing components to rotate by respective predetermined angles relative to the front housing components through the rotation mechanisms, the fish-shaped housing unit can be bent in small multi-segments, causing the overall fish-shaped housing unit to swing significantly, making the biomimetic fish device imitate the tail swing of fish more naturally, and thus achieving a high simulation degree. In addition, by moving the center of gravity of the biomimetic fish device back and forth through the center of gravity transfer mechanism and cooperating with the rotation mechanism to drive the housing components to rotate and swing the fish-shaped housing unit, the biomimetic fish device can perform actions such as floating or diving, also achieving a high simulation degree. On the other hand, by controlling at least one of the first motor module and the second motor module to change its operation when the sensor module senses an object through the control module, the forward direction of the biomimetic fish device can be changed to achieve an avoidance action, also achieving a high simulation degree. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a perspective view showing the implementation manner of the embodiment of the biomimetic fish device of the present invention in an initial state;

[0016] Figure 2 is a cross-sectional view taken along line II-II in Figure 1 ;

[0017] Figure 3 is a partial exploded perspective view of the embodiment;

[0018] Figure 4 is a perspective view showing the implementation details of the embodiment and removing parts of two housing components of the embodiment;

[0019] Figure 5 is a cross-sectional view taken along line V-V in Figure 1 ;

[0020] Figure 6 is a corresponding Figure 5 incomplete enlarged view;

[0021] Figure 7 is a cross-sectional view taken along line VII-VII in Figure 1 ;

[0022] Figure 8 is a corresponding Figure 7 incomplete enlarged view;

[0023] Figure 9 is a perspective view showing the implementation manner of the embodiment in a bent state;

[0024] Figure 10 is a cross-sectional view taken along line X-X in Figure 9 ;

[0025] Figure 11 is an incomplete enlarged view corresponding to Figure 10 ;

[0026] Figure 12 is a perspective view from a different Figure 1 viewpoint;

[0027] Figure 13 is an incomplete perspective view, showing the implementation details of the described embodiment and removing the first housing assembly of the described embodiment;

[0028] Figure 14 is an incomplete exploded perspective view;

[0029] Figure 15 is from a different Figure 14 viewpoint than the exploded perspective view;

[0030] Figure 16 is from a different Figure 14 , Figure 15 viewpoint than the exploded perspective view;

[0031] Figure 17 is an incomplete enlarged view corresponding to Figure 5 and showing the implementation of the center-of-gravity transfer mechanism of the described embodiment;

[0032] Figure 18 is an incomplete enlarged view showing the state change of the center-of-gravity transfer mechanism;

[0033] Figure 19 is an incomplete enlarged view showing another state change of the center-of-gravity transfer mechanism. Detailed implementation mode

[0034] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0035] Refer to Figure 1 and Figure 2 , which is an embodiment of the bionic fish device of the present invention. In the subsequent description, the orientation descriptions of "front", "rear", "left", and "right" regarding the structural configuration of the bionic fish device are defined based on the usage environment of the bionic fish device and the left, right, upper, and lower orientations of the drawing. In Figure 2 , the left side of the drawing is defined as the "front side", the right side of the drawing is defined as the "rear side", the lower side of the drawing is defined as the "left side", and the upper side of the drawing is defined as the "right side". The bionic fish device is applicable to an underwater environment (not shown) and includes a fish-shaped housing unit 1, a control module 2 disposed inside the fish-shaped housing unit 1 (see Figure 4 ), a plurality of rotating mechanisms 3, a center-of-gravity transfer mechanism 4, and a sensor module 5.

[0036] Refer to Figure 1 , the overall shape of the fish-shaped housing unit 1 is in the shape of a fish, such as a bluefin tuna, and is provided with components such as fins, fish eyes, and a fish mouth, and includes a plurality of housing components 11 arranged in sequence along a front-rear direction X, and a fish tail component 13 installed on the last of the housing components 11. Two adjacent housing components 11 can rotate relative to each other through one of the rotation mechanisms 3, so as to enable the fish-shaped housing unit 1 to imitate the tail swing of a fish. In this embodiment, the number of the housing components 11 is exemplified by four, but the number of the housing components 11 can also be two, three, or more than five. The more the number of the housing components 11, the less obvious the step difference between the housing components 11 when the fish-shaped housing unit 1 imitates the tail swing of a fish, and it is more natural. However, the number of the housing components 11 is not limited to a specific number and depends on actual needs. Subsequently, for the convenience of description and to simplify the description content, the housing components 11 are sequentially defined as a first housing component 11a, a second housing component 11b, a third housing component 11c, and a fourth housing component 11d from front to back. The front section of the first housing component 11a is in the shape of a fish head, and the rear section of the first housing component 11a is in the shape of one of the multi-segment fish bodies; the shapes of the second housing component 11b, the third housing component 11c, and the fourth housing component 11d are respectively in the shapes of the remaining of the multi-segment fish bodies, and the fourth housing component 11d is for installing the fish tail component 13 with a shape similar to a triangular pyramid. In this way, the fish-shaped housing unit 1 is similar to a fish in appearance.

[0037] Refer to Figure 2 and Figure 3, each of the housing assemblies 11 is generally mirror-symmetric along a left-right direction Y and has two outer covers 111 respectively disposed on the left and right sides of the rotating mechanism 3. The outer cover 111 of each housing assembly 11 defines a receiving groove 117 for receiving a part of the rotating mechanism 3. Preferably, each of the latter of two adjacent housing assemblies 11 (i.e., the second housing assembly 11b, the third housing assembly 11c, and the fourth housing assembly 11d) further has two arc-shaped covers 112 respectively extending forward and towards each other from the leading edge of the outer cover 111 of the corresponding housing assembly 11. The arc-shaped covers 112 of the latter of two adjacent housing assemblies 11 can be retractably inserted into the receiving grooves 117 of the former of two adjacent housing assemblies 11 (i.e., the first housing assembly 11a, the second housing assembly 11b, and the third housing assembly 11c) to shield the gap between two adjacent outer covers 111. And when the fish-shaped housing unit 1 imitates the right tail swing of a fish and causes the housing assemblies 11 to rotate relative to each other in pairs, the outer cover 111 of the latter of two adjacent housing assemblies 11 located on the right side (above Figure 11 on the right side of the fish-shaped housing unit 1) will, together with the arc-shaped cover 112 on the same side, be inserted into the receiving groove 117 of the former of two adjacent housing assemblies 11, while the outer cover 111 of the latter of two adjacent housing assemblies 11 located on the left side (below Figure 11 on the left side of the fish-shaped housing unit 1) will have an increased distance from the outer cover 111 of the former of two adjacent housing assemblies 11, causing the arc-shaped cover 112 on the same side to withdraw from the receiving groove 117 of the former of two adjacent housing assemblies 11 to shield the gap between two outer covers 111 on the same side. Thus, when the tail of the bionic fish device swings, the latter of the housing assemblies 11 can be retracted into the former of the housing assemblies 11, making the bionic fish device more consistent as a whole during swimming without steps or discontinuities. Figure 11 above) of the outer cover 111 will, together with the arc-shaped cover 112 on the same side, be inserted into the receiving groove 117 of the former of two adjacent housing assemblies 11, while the outer cover 111 of the latter of two adjacent housing assemblies 11 located on the left side (below Figure 11 of the fish-shaped housing unit 1) will have an increased distance from the outer cover 111 of the former of two adjacent housing assemblies 11, causing the arc-shaped cover 112 on the same side to withdraw from the receiving groove 117 of the former of two adjacent housing assemblies 11 to shield the gap between two outer covers 111 on the same side.

[0038] Continue to refer to Figure 2 and Figure 3, Preferably, the second housing assembly 11b and the third housing assembly 11c each further have two inner partitions 113 respectively connected to the outer covers 111 of the corresponding housing assemblies 11. The inner partitions 113 are used to cooperate with the outer covers 111 and the arc-shaped covers 112 to divide the accommodation groove 117 into a main groove portion 118 for accommodating a part of the rotating mechanism 3, and two air chamber portions 119 located on the left and right sides of the main groove portion 118. The air chamber portions 119 of the second housing assembly 11b and the third housing assembly 11c are left-right symmetric, which is beneficial for the bionic fish device to maintain left-right balance. Specifically, each of the inner partitions 113, the corresponding outer cover 111, and the arc-shaped cover 112 are all approximately arc-shaped sheets, and the concave openings of each inner partition 113 face the concave openings of the outer cover 111 and the arc-shaped cover 112, thereby forming the air chamber portions 119. The air chamber portions 119 are isolated from the underwater environment and are used to accommodate gas. By adjusting the number and size of the air chamber portions 119, the specific gravity of the bionic fish device can be made close to that of water, that is, the specific gravity is approximately 1, which is beneficial for controlling the floating and diving of the bionic fish device.

[0039] Preferably, the inner partitions 113 of the second housing assembly 11b and the third housing assembly 11c are detachably connected to the corresponding outer covers 111. Specifically, each of the inner partitions 113 has a plurality of through holes 121 penetrating its left and right sides, and on the side of each outer cover 111 adjacent to the inner partition 113, a plurality of screw holes 120 are formed corresponding to the number and position of the through holes 121. In addition, the second housing assembly 11b and the third housing assembly 11c each further have a plurality of screws 114 and a plurality of waterproof washers 115 corresponding to the number and position of the through holes 121. The screws 114 respectively pass through the waterproof washers 115, the through holes 121 and are respectively screwed with the screw holes 120, so that the corresponding inner partitions 113 can be detachably fixed to the corresponding outer covers 111, facilitating the assembly and construction of the air chamber portions 119. The waterproof washers 115 can prevent water from passing through the gaps between the screws 114 and the through holes 121, thereby increasing the tightness of the air chamber portions 119.

[0040] Preferably, the second housing assembly 11b and the third housing assembly 11c each further have two waterproof rings 116 respectively disposed on the inner partitions 113. Each of the waterproof rings 116 is disposed on the side of the corresponding inner partition 113 facing the corresponding outer cover 111 and is arranged around the periphery of the corresponding inner partition 113. The waterproof rings 116 are used to block the gaps between the corresponding inner partitions 113 and the corresponding outer covers 111 and the arc-shaped covers 112, thereby increasing the tightness of the air chamber portions 119.

[0041] Preferably, the tail fin assembly 13 is hollow inside and defines a fish tail air chamber space 131 for accommodating gas and isolated from the underwater environment. In this way, the specific gravity of the bionic fish device can also be close to that of water, which is beneficial to controlling the floating and diving of the bionic fish device.

[0042] Refer to Figure 4 and Figure 5 , the control module 2 is disposed inside the front section of the first housing assembly 11a. The control module 2 can be a circuit board provided with electronic components and is electrically connected to the rotating mechanism 3, the center-of-gravity transfer mechanism 4, and the sensor module 5. The control module 2 can receive a sensing signal transmitted by the sensor module 5 and can transmit control signals to the rotating mechanism 3 and the center-of-gravity transfer mechanism 4.

[0043] Refer to Figures 5 to 8 , the rotating mechanisms 3 are respectively disposed inside two adjacent housing assemblies 11. Each rotating mechanism 3 includes a first motor module 31 mounted on the former of two adjacent housing assemblies 11 and a first rotating member 32 mounted on the latter of two adjacent housing assemblies 11. The first motor modules 31 are all electrically connected to the control module 2 and are provided with a motor body, a seat body for carrying the motor body, and circuits for connecting the control module 2, etc. The first motor modules 31 can be controlled by the control module 2 to operate independently. Each first rotating member 32 is provided with a coupling for connecting the rotating shaft of the motor body, a bracket for connecting the corresponding housing assembly 11, etc., and can be pivotally connected to the corresponding first motor module 31 with a first axis L1 parallel to a vertical direction Z as the axis. In this embodiment, the number of the rotating mechanisms 3 is exemplified in a manner that is one less than the number of the housing assemblies 11, so that the rotating mechanisms 3 can rotate relative to each other.

[0044] Refer to Figures 7 to 11 , each first rotating member 32 can be driven by the corresponding first motor module 31 to rotate a respective predetermined angle about the first axis L1 and drive the latter of two adjacent housing assemblies 11 to rotate forward (clockwise) or backward (counterclockwise) relative to the former of two adjacent housing assemblies 11. In this way, the bionic fish device can change between an initial state and a bent state. It should be noted that the rear section of the bionic fish device can bend to the left or right relative to the front section of the bionic fish device. For the sake of simplicity of description, Figures 9 to 11 only the actuation condition of the bionic fish device imitating the right tail swing (bending to the right side) of a fish is described. As Figure 7As shown, in the initial state, the first axis L1 of the rotating mechanism 3 is aligned in the front-rear direction X, and the fish-shaped housing unit 1 extends substantially straight along the front-rear direction X. As Figure 10 shown, in the bent state, the first axis L1 of the rotating mechanism 3 is misaligned in the front-rear direction X, that is, the first axis L1 of the latter of two adjacent housing components 11 deviates from the center of the fish-shaped housing unit 1 compared to the first axis L1 of the former of two adjacent housing components 11 (i.e., Figure 10 the extension of a second axis L2 in the figure), causing the fish-shaped housing unit 1 to be slightly bent.

[0045] Referring to Figures 12 to 16 , the center-of-gravity transfer mechanism 4 is disposed inside the foremost housing component 11 (i.e., the first housing component 11a) and is located below the control module 2. The center-of-gravity transfer mechanism 4 is provided with a second motor module 41 mounted on the first housing component 11a, a second rotating member 42 pivotally connected to the second motor module 41 about the second axis L2 parallel to the front-rear direction X, and a weight unit 43 capable of moving back and forth relative to the second motor module 41. The second motor module 41 is electrically connected to the control module 2 and can be controlled by the control module 2 to operate. Specifically, the second motor module 41 has a motor base 411, a motor body 412 disposed on the motor base 411, and two guide rods 414 extending along the front-rear direction X and inserted into the front side of the motor base 411 at left and right intervals. A recessed groove 413 is formed by the backward depression of the front side of the motor base 411. The second rotating member 42 is connected to the rotating shaft of the motor body 412 and can be driven by the motor body 412 to pivot. The second rotating member 42 is provided with objects such as a coupling and a shaft rod, and has a cylindrical cam 421. The axial direction of the cam 421 is parallel to the front-rear direction X. A cam groove 422 spirally extending around the second axis L2 is formed by the depression of the outer peripheral surface of the cam 421. In this embodiment, the motor body 412 is disposed inside the motor base 411 to reduce the overall volume of the center-of-gravity transfer mechanism 4, but the motor body 412 can also be disposed outside the motor base 411 or on the inner wall of the first housing component 11a, depending on actual requirements. In addition, the cam groove 422 is exemplified by one circle around the second axis L2 and has a first end 423 adjacent to the front side of the cam 421 (see Figure 15 , Figure 16 ), and a second end 424 adjacent to the rear side of the cam 421 (see Figure 15 , Figure 16 ).

[0046] Refer to Figures 17 to 19 The heavy object unit 43 has a follower 431 and an internal battery assembly 432 that is movably embedded in the slot 413 and into which the guide rod 414 is inserted. The guide rod 414 can provide a supporting force to the internal battery assembly 432 and allow the internal battery assembly 432 to move along the guide rod 414. However, the guide rod 414 can also be omitted. The internal battery assembly 432 is restricted by the slot wall of the slot 413 and cannot move up, down, left, or right. Specifically, the internal battery assembly 432 can be a combined structure provided with a battery case and a plurality of batteries, and is electrically connected to the first motor module 31 and the second motor module 41 to supply power to the first motor module 31 and the second motor module 41. The follower 431 is disposed on the top of the internal battery assembly 432 and has a guiding protrusion 433 that passes through the battery case of the internal battery assembly 432 and extends downward. The guiding protrusion 433 is movably inserted into the cam groove 422. When the cam 421 of the second rotating member 42 is driven by the second motor module 41 to rotate about the second axis L2, the portion of the cam groove 422 with the notch facing upward moves in the front-rear direction X as the cam 421 rotates. At this time, the guiding protrusion 433 moves in the cam groove 422 as the position of the upward notch of the cam groove 422 changes, thereby driving the heavy object unit 43 to move back and forth relative to the second motor module 41, causing the center of gravity position of the bionic fish device to move back and forth. The center of gravity transfer mechanism 4 uses the internal battery assembly 432 as a heavy object for adjusting the center of gravity position of the bionic fish device, which can avoid the problem of the bionic fish device being too heavy caused by adding additional heavy objects. In addition, through the design of the internal battery assembly 432 being fitted into the slot 413, the overall volume occupied by the center of gravity transfer mechanism 4 can be reduced, which is beneficial to the miniaturization of the bionic fish device.

[0047] Refer to Figure 13, the sensor module 5 is electrically connected to the control module 2 and is disposed inside the foremost one of the housing assemblies 11 (i.e., the first housing assembly 11a). Specifically, the sensor module 5 is disposed in front of the center-of-gravity transfer mechanism 4. The sensor module 5 includes three sensor components 51, such as infrared sensors, for sensing the presence of objects in the underwater environment. The sensor components 51 are all electrically connected to the control module 2 and are respectively located on the left, right, and front sides inside the foremost housing assembly 11 (i.e., the first housing assembly 11a), and are adjacent to the fish mouth position of the first housing assembly 11a. When any one of the sensor components 51 senses the presence of an object, the sensor component 51 will transmit the sensing signal to the control module 2. However, in some other embodiments, the number of the sensor components 51 may also be one, two, or more than four, and is not limited to a specific number.

[0048] The usage of the bionic fish device will be specifically described below. Refer to Figure 7 , Figure 8 , Figure 10 , Figure 11 , when the first rotating member 32 is respectively driven by the first motor module 31 and cyclically changes between forward rotation (clockwise rotation when viewed from above) and reverse rotation (counterclockwise rotation when viewed from above) with the first axis L1 as the axis, it will respectively drive the latter of two adjacent housing assemblies 11 to reciprocally rotate left and right relative to the former of two adjacent housing assemblies 11, so that the bionic fish device can swing left and right like a fish wagging its tail and can swing forward in the underwater environment. Further, when the first rotating member 32 is respectively driven by the first motor module 31 and cyclically changes between forward rotation (clockwise rotation when viewed from above) and reverse rotation (counterclockwise rotation when viewed from above) with the first axis L1 as the axis, and the amplitudes of forward rotation and reverse rotation are different, the forward direction of the bionic fish device will be biased to the left or right, and its rotation direction depends on the actual situation.

[0049] Refer to Figures 17 to 19 , when the guiding protrusion 433 is located in the middle section of the cam groove 422 as Figure 17 , the position of the weight unit 43 keeps the bionic fish device moving forward horizontally. When the cam 421 is driven by the first motor module 31 to rotate half a turn, the guiding protrusion 433 will be as Figure 18The one shown is moved to the first end 423 of the cam groove 422. At this time, the position of the weight unit 43 moves forward and partially exits the slot 413, and the overall center of gravity of the biomimetic fish device also moves forward, thereby causing the biomimetic fish device to tilt forward and downward to imitate the diving action of a fish. When the cam 421 is driven by the first motor module 31 to rotate counterclockwise for one full turn, the guiding lug 433 will be as Figure 19 shown and move to the second end 424 of the cam groove 422. At this time, the position of the weight unit 43 moves backward and almost completely fits into the slot 413, and the overall center of gravity of the biomimetic fish device also moves backward, thereby causing the biomimetic fish device to tilt forward and upward to imitate the floating action of a fish.

[0050] Furthermore, in cooperation with the function of the sensor assembly 51 to sense the presence of an object, when the biomimetic fish device moves forward and any one of the sensor assemblies 51 senses the presence of an object in front, on the left, or on the right, the sensor assembly 51 that senses the object will transmit the sensing signal to the control module 2. When the control module 2 receives the sensing signal transmitted by the sensor assembly 51, the control module 2 will control at least one of the first motor module 31 and the second motor module 41 to change its operation, so that the forward direction of the biomimetic fish device changes, such as turning left, turning right, or floating or diving, thereby avoiding objects (obstacles) in the underwater environment.

[0051] In summary, by the rotation mechanism 3 respectively driving the connected housing assemblies 11 to rotate by their respective predetermined angles relative to the front housing assembly 11, the fish-shaped housing unit 1 can be bent in small amplitude and in multiple segments, so that the overall fish-shaped housing unit 1 presents a large amplitude of swing, and the biomimetic fish device imitates the fish tail wagging more naturally, thereby achieving a high degree of simulation. In addition, by the center-of-gravity transfer mechanism 4 causing the center-of-gravity position of the biomimetic fish device to move back and forth, and cooperating with the rotation mechanism 3 to drive the housing assembly 11 to rotate and make the fish-shaped housing unit 1 swing, the biomimetic fish device can realize actions such as floating or diving, and can also achieve a high degree of simulation. On the other hand, by the control module 2 controlling at least one of the first motor module 31 and the second motor module 41 to change its operation when the sensor module 5 senses an object, the forward direction of the biomimetic fish device can be changed to achieve an avoidance action, and a high degree of simulation can also be achieved. Therefore, the object of the present invention can indeed be achieved.

Claims

1. A bionic fish device, applicable to the underwater environment; characterized in that: The bionic fish device includes: A fish-shaped housing unit, including a plurality of housing components arranged in sequence in the front-rear direction; and A plurality of rotating mechanisms, which are respectively arranged inside two adjacent housing components. Each rotating mechanism includes a first motor module installed on the former of two adjacent housing components, and a first rotating member installed on the latter of two adjacent housing components. The first motor module can be controlled to operate independently. Each first rotating member is pivotally connected to the corresponding first motor module with a first axis parallel to the up-down direction as the axis. When each first rotating member is driven by the corresponding first motor module to rotate a respective predetermined angle around the first axis, it will drive the latter of two adjacent housing components to rotate relative to the former of two adjacent housing components.

2. The bionic fish device according to claim 1, characterized in that: When the first rotating members are respectively driven by the first motor modules to cyclically change between forward rotation and reverse rotation around the first axis, they will respectively drive the latter of two adjacent housing components to reciprocally rotate left and right relative to the former of two adjacent housing components, causing the bionic fish device to swing left and right and move forward in the water environment.

3. The bionic fish device according to claim 2, wherein: The bionic fish device further includes a center-of-gravity transfer mechanism, which is arranged inside the foremost housing component. The center-of-gravity transfer mechanism includes a second motor module installed on the foremost housing component, a second rotating member pivotally connected to the second motor module with a second axis parallel to the front-rear direction as the axis, and a heavy object unit capable of moving back and forth relative to the second motor module. The second motor module can be controlled to operate. The second rotating member has a cylindrical cam, and a cam groove spirally extending around the second axis is recessed on the outer peripheral surface of the cam. The heavy object unit has a guiding convex block that can be inserted into the cam groove and move relatively. When the cam of the second rotating member is driven by the second motor module to rotate around the second axis, the guiding convex block will move in the cam groove and drive the heavy object unit to move back and forth relative to the second motor module, causing the center-of-gravity position of the bionic fish device to displace back and forth.

4. The bionic fish device according to claim 3, characterized in that: The bionic fish device further includes a control module and a sensor module. The control module is arranged inside the foremost housing component and is electrically connected to the first motor module and the second motor module. The first motor module can be controlled by the control module to operate independently. The second motor module can be controlled by the control module to operate. The sensor module is electrically connected to the control module and is arranged inside the foremost housing component. The sensor module includes at least one sensor component for sensing the presence of an object in the water environment. When the sensor component senses the presence of an object, the sensor component will transmit a sensing signal to the control module. When the control module receives the sensing signal transmitted by the sensor assembly, the control module controls at least one of the first motor module and the second motor module to change its operation, so as to change the advancing direction of the bionic fish device.

5. The bionic fish device according to claim 4, wherein: The sensor module includes three of the sensor assemblies. The sensor assemblies are all electrically connected to the control module and are respectively located on the left, right and front sides inside the foremost housing assembly. When any one of the sensor assemblies senses the presence of an object, the sensor assembly transmits the sensing signal to the control module.

6. The bionic fish device according to claim 1, characterized in that: Each of the housing assemblies has two outer covers respectively disposed on the left and right sides of the rotating mechanism. The outer covers of each housing assembly define an accommodation groove for accommodating a part of the rotating mechanism. Each of the latter of two adjacent housing assemblies further has two arc-shaped covers respectively extending forward and facing each other from the front edge of the outer cover of the corresponding housing assembly. The arc-shaped covers of each of the latter of two adjacent housing assemblies can be retracted into the accommodation groove of the former of two adjacent housing assemblies to shield the gap between the outer covers adjacent in the front and back.

7. The bionic fish device according to claim 6, wherein: At least one of the housing assemblies further has two inner partitions respectively connected to the outer cover of the corresponding housing assembly. The inner partitions are used to cooperate with the outer cover and the arc-shaped cover to divide the accommodation groove into a main groove portion and two air chamber portions located on the left and right sides of the main groove portion. The air chamber portions are isolated from the underwater environment.

8. The bionic fish device according to claim 7, characterized in that: Each of the inner partitions has at least one through hole penetrating its left and right sides. At least one screw hole corresponding to the through hole is formed on one side of each outer cover adjacent to the inner partition. At least one of the housing assemblies further has at least one screw and at least one waterproof washer. The screw passes through the waterproof washer, the through hole and is screwed with the screw hole, so that the corresponding inner partition can be detachably fixed to the corresponding outer cover.

9. The bionic fish device according to claim 8, wherein: At least one of the housing assemblies further has two waterproof rings respectively disposed on the inner partition. Each waterproof ring is disposed on one side of the corresponding inner partition facing the corresponding outer cover and is arranged around the periphery of the corresponding inner partition. Each waterproof ring is used to block the gap between the corresponding inner partition and the corresponding outer cover and the arc-shaped cover.

10. The bionic fish device according to claim 1, wherein: The fish-shaped housing unit further includes a tail fin assembly installed on the last of the housing assemblies. The tail fin assembly defines a tail fin air chamber space.

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