Bionic animals

Abstract

The present application provides a bionic animal, comprising a front body, a rear body and a tail. The rear body is rotatably connected to the front body. The tail is connected to the rear body. The tail comprises an elastic body, a plurality of joint assemblies and at least one driving wire. The plurality of joint assemblies are arranged side by side on the elastic body. The at least one driving wire is arranged in the plurality of joint assemblies and connected to the front body. When the rear body rotates relative to the front body, the at least one driving wire is pulled to drive the plurality of joint assemblies to rotate, thereby driving the elastic body to elastically deform. After the at least one driving wire is released, the elastic body provides an elastic force to reset the plurality of joint assemblies.

Description

Technical Field

[0001] This invention relates to a biomimetic animal, and more particularly to a biomimetic animal that allows for natural tail movement and reduces the complexity of the tail mechanism. Background Technology

[0002] With the advancement of technology, the types of bionic animals are becoming increasingly diverse. Generally speaking, the tail of a bionic animal must be able to curl and swing from side to side to make the animal's imitation more realistic. The tails of existing bionic animals are composed of complex mechanisms, which not only result in high manufacturing costs but also make the movement of the tails less flexible and natural. Summary of the Invention

[0003] The purpose of this invention is to provide a biomimetic animal that allows for natural tail movement and reduces the complexity of the tail mechanism, thereby solving the aforementioned problems.

[0004] This invention provides a biomimetic animal comprising a forebody, a hindbody, and a tail. The hindbody is rotatably connected to the forebody. The tail is connected to the hindbody. The tail includes an elastomer, a plurality of joint components, and at least one drive line. The plurality of joint components are arranged side-by-side on the elastomer. The at least one drive line passes through the plurality of joint components and is connected to the forebody. When the hindbody rotates relative to the forebody, the at least one drive line is pulled, driving the plurality of joint components to rotate relative to each other, thereby causing the elastomer to elastically deform. After the at least one drive line is released, the elastomer provides an elastic force to reset the plurality of joint components.

[0005] In one embodiment, the rear body includes a first rotating member and a second rotating member, the first rotating member being rotatably connected to the front body, the second rotating member being rotatably connected to the first rotating member, and the tail being connected to the second rotating member.

[0006] In one embodiment, the first rotating member rotates relative to the forebody about a first axis to drive the tail to curl; the second rotating member rotates relative to the forebody about a second axis to drive the tail to swing left and right; the first axis is perpendicular to the second axis.

[0007] In one embodiment, the front body includes a frame and a connector. The frame has an arc-shaped guide portion, and the connector has a guide groove. The arc-shaped guide portion is disposed in the guide groove. When the first rotating member rotates relative to the front body about the first axis, the connector slides along the arc-shaped guide portion along with the first rotating member and the second rotating member.

[0008] In one embodiment, the number of at least one drive line is three, each joint assembly has a three-way hole, the three drive lines pass through the three-way hole of each joint assembly, one of the three drive lines is connected to the frame to drive the tail to curl, and the other two of the three drive lines are connected to the connector to drive the tail to swing left and right.

[0009] In one embodiment, the elastomer has a plurality of positioning portions, and each joint assembly has a positioning groove fitted onto the positioning portion to position the joint assembly onto the elastomer.

[0010] In one embodiment, a plurality of joints are formed between the plurality of joint components, and the elastomer has a plurality of deformable spring structures positioned to correspond to the positions of the plurality of joints.

[0011] In one embodiment, each of the joint components has two limiting ramps that limit the left and right swing angle of the joint component.

[0012] In one embodiment, the biomimetic animal further includes a plurality of shells, each shell having a locking portion and each joint assembly having a locking groove, the locking portion engaging with the locking groove to secure the shell to the joint assembly.

[0013] In one embodiment, the elastomer is integrally formed by 3D printing.

[0014] In one embodiment, the elastomer is made of thermoplastic polyurethane.

[0015] In summary, this invention utilizes an elastomer to fix and connect the joint assembly of the tail, and uses a drive line to drive the relative rotation of the joint assembly, thereby causing the elastomer to elastically deform. After the drive line is released, the elastomer provides elastic force to reset the joint assembly. This invention connects the drive line to the forebody, so that the rotation of the hindbody relative to the forebody drives the tail to curl and / or swing left and right. In this way, the tail can move synchronously with the body, eliminating the need for an additional motor, which not only reduces the complexity of the tail mechanism but also makes the tail movement more realistic and natural. Furthermore, this invention can provide two limiting ramps on each joint assembly to limit the left and right swing angle of the joint assembly. This ensures that the joint assembly does not swing excessively, thereby improving the stability of the biomimetic animal when walking. Moreover, the elastomer can be integrally molded using 3D printing, making the manufacturing of the elastomer fast and convenient.

[0016] The advantages and spirit of the present invention can be further understood from the following detailed description of the invention and the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a perspective view of a biomimetic animal according to an embodiment of the present invention.

[0018] Figure 2 This is a three-dimensional view of the interior of a biomimetic animal.

[0019] Figure 3 This is a side view of the biomimetic animal's tail before it curls up.

[0020] Figure 4 This is a side view of the tail of a biomimetic animal after it has curled up.

[0021] Figure 5 This is a side view of the biomimetic animal before its tail swings.

[0022] Figure 6 This is a side view of the biomimetic animal's tail swinging to the left.

[0023] Figure 7 This is a side view of the biomimetic animal's tail swinging to the right.

[0024] Figure 8 This is a three-dimensional diagram of the forebody and hindbody.

[0025] Figure 9 This is an exploded view of the forebody and hindbody.

[0026] Figure 10 An exploded view of the forebody and hindbody from another perspective.

[0027] Figure 11 This is an exploded view of the tail section.

[0028] Figure 12 This is an exploded view of the shell and joint assembly.

[0029] Explanation of reference numerals in the attached drawings: 1-Bionic animal; 10-Forequarters; 12-Ribbons; 14-Tail; 16-Shell; 100-Frame; 102-Connector; 120-First rotating component; 122-Second rotating component; 140-Elastomer; 142-Joint assembly; 144a, 144b, 144c-Drive lines; 160-Engine; 1000-Arc-shaped guide; 1020-Guide groove; 1400-Positioning part; 1402-Deformable spring-loaded structure; 1420-Positioning groove; 1422-Fixing block; 1424-Slot; 1426-Through hole; 1428-Joint; 1430-Limiting inclined surface; A1-First axis; A2-Second axis. Detailed Implementation

[0030] Please see Figures 1 to 12 , Figure 1 A perspective view of a biomimetic animal 1 according to an embodiment of the present invention. Figure 2 This is a three-dimensional internal view of the biomimetic animal 1. Figure 3 This is a side view of the tail 14 of the biomimetic animal 1 before it curls up. Figure 4 This is a side view of the curled tail 14 of the biomimetic animal 1. Figure 5 This is a side view of the tail 14 of the bionic animal 1 before it swings. Figure 6 This is a side view of the tail 14 of the bionic animal 1 after it has swung to the left. Figure 7 This is a side view of the tail 14 of the bionic animal 1 after it has swung to the right. Figure 8 This is a three-dimensional view of the forequarters 10 and the hindquarters 12. Figure 9 This is an exploded view of the forebody 10 and the hindbody 12. Figure 10 This is an exploded view of the forebody 10 and rearbody 12 from another perspective. Figure 11 This is an exploded view of the tail section 14. Figure 12 This is an exploded view of the housing 16 and the joint assembly 142.

[0031] The biomimetic animal 1 of this invention can be a biomimetic pangolin, but is not limited thereto. The type of biomimetic animal 1 can be determined according to the actual application. Figure 1 and Figure 2 As shown, the present invention provides a biomimetic animal 1, comprising a forebody 10, a hindbody 12, a tail 14, and a plurality of shell parts 16. The hindbody 12 is rotatably connected to the forebody 10, and the tail 14 is connected to the hindbody 12. When the hindbody 12 rotates relative to the forebody 10, the tail 14 is driven to curl or swing from side to side, as... Figures 3 to 7 As shown. The shell 16 covers the forebody 10, hindbody 12, and tail 14 for decorative purposes. In this embodiment, the shell 16 can be the carapace of a pangolin, but is not limited thereto. In practical applications, the forebody 10 and hindbody 12 are used to support the main structural and electronic components (e.g., motors, batteries, circuit boards, sensors, etc.) of the biomimetic animal 1.

[0032] like Figures 8 to 10 As shown, the front body 10 may include a frame 100 and a connector 102. The frame 100 has an arc-shaped guide portion 1000, and the connector 102 has a guide groove 1020. The arc-shaped guide portion 1000 is disposed in the guide groove 1020, such that the connector 102 can slide relative to the frame 100 along the arc-shaped guide portion 1000. In this embodiment, the frame 100 may have two arc-shaped guide portions 1000 on both sides, and the connector 102 may have two guide grooves 1020 on both sides, but this is not a limitation.

[0033] Furthermore, the rear body 12 may include a first rotating member 120 and a second rotating member 122. The first rotating member 120 is rotatably connected to the front body 10, the second rotating member 122 is rotatably connected to the first rotating member 120, and the tail 14 is connected to the second rotating member 122. In this embodiment, the first rotating member 120 can rotate relative to the front body 10 about a first axis A1 to drive the tail 14 to curl, such as... Figures 2 to 4 As shown. Furthermore, the second rotating member 122 can rotate relative to the front body 10 about a second axis A2 to drive the tail 14 to swing left and right, as shown. Figure 2 as well as Figures 5 to 7 As shown. The first axis A1 is perpendicular to the second axis A2. In this embodiment, the first rotating member 120 is rotatably connected to the frame 100 of the front body 10, and the second rotating member 122 is rotatably connected to the connector 102 of the front body 10. Therefore, when the first rotating member 120 rotates relative to the front body 10 about the first axis A1, the connector 102 will slide along the arc-shaped guide portion 100 along with the first rotating member 120 and the second rotating member 122. Furthermore, when the second rotating member 122 rotates relative to the front body 10 about the second axis A2, the connector 102 remains stationary.

[0034] like Figures 2 to 7 as well as Figure 11 As shown, the tail portion 14 includes an elastomer 140, a plurality of joint assemblies 142, and at least one drive line 144a, 144b, 144c. The plurality of joint assemblies 142 are arranged side-by-side on the elastomer 140. In this embodiment, the elastomer 140 may have a plurality of positioning portions 1400, and each joint assembly 142 may have a positioning groove 1420. The positioning groove 1420 is fitted onto the positioning portion 1400 to position the joint assembly 142 on the elastomer 140. In this embodiment, each joint assembly 142 may consist of two fixing blocks 1422, such that the elastomer 140 is sandwiched between the two fixing blocks 1422 of each joint assembly 142, but this is not a limitation. Furthermore, as... Figure 12 As shown, each housing 16 may have a locking portion 160, and each joint assembly 142 may have a locking groove 1424. The locking portion 160 engages with the locking groove 1424 to fix the housing 16 to the joint assembly 142.

[0035] like Figures 3 to 7 As shown, at least one drive line 144a, 144b, 144c passes through a plurality of joint assemblies 142 and is connected to the front body 10. In this embodiment, the number of at least one drive line 144a, 144b, 144c can be three, that is, the tail 14 includes three drive lines 144a, 144b, 144c. Figure 12 As shown, each joint assembly 142 may have a three-way hole 1426. Three drive lines 144a, 144b, and 144c are respectively passed through the three-way hole 1426 of each joint assembly 142. One of the three drive lines 144a, 144b, and 144c is connected to the frame 100 of the front body 10 to drive the tail 14 to curl, and the other two of the three drive lines 144a, 144b, and 144c are connected to the connector 102 of the front body 10 to drive the tail 14 to swing left and right. Figure 3 and Figure 4As shown, drive line 144a is connected to the frame 100 of the front body 10 to drive the tail 14 to curl. Figures 5 to 7 As shown, drive lines 144b and 144c are connected to connector 102 of the front body 10 to drive the tail 14 to swing left and right.

[0036] In this embodiment, a plurality of joints can be formed between a plurality of joint components 142, and the elastomer 140 can have a plurality of deformable spring structures 1402, wherein the positions of the plurality of deformable spring structures 1402 correspond to the positions of the plurality of joints 1428, such as Figure 2 and Figure 11 As shown, when the rear body 12 rotates relative to the front body 10, at least one drive line 144a, 144b, or 144c is pulled, driving the plurality of joint components 142 to rotate relative to each other, thereby causing the elastomer 140 to elastically deform. Furthermore, at least one drive line 144a, 144b, or 144c drives the plurality of joint components 142 to rotate relative to each other at joint 1428, causing the deformable spring structure 1424 at joint 1428 to elastically deform. After at least one drive line 144a, 144b, or 144c is released, the elastomer 140 provides elastic force to reset the plurality of joint components 142.

[0037] like Figure 4 As shown, when the first rotating member 120 of the rear body 12 rotates downward relative to the front body 10, the drive line 144a is pulled, causing the tail 14 to curl. After the drive line 144a is released, the elastic body 140 provides elastic force to return the plurality of joint components 142 to their original positions. Figure 3 The state shown. Furthermore, as... Figure 6 and Figure 7 As shown, when the second rotating member 122 of the rear body 12 rotates left and right relative to the front body 10, the drive lines 144b and 144c are pulled, driving the tail 14 to swing left and right. After the drive lines 144b and 144c are released, the elastic body 140 provides elastic force to reset the plurality of joint components 142 to their original positions. Figure 5 The state shown. In this way, the tail 14 can move synchronously with the rear body 12 without the need for an additional motor, which not only reduces the complexity of the tail 14 mechanism, but also makes the movement of the tail 14 more realistic and natural.

[0038] This invention allows for adjustment of the elastomer 140's structural shape, density, and / or material to control its elastic strength, simulating the natural movement of the tails of various biomimetic animals. For example, in this embodiment, the elastomer 140 can be made of thermoplastic polyurethane (e.g., TPU 95A), and can be integrally molded using 3D printing. TPU 95A is a semi-flexible material between rubber and plastic, possessing high chemical resistance and suitable for industrial applications. TPU 95A exhibits excellent interlayer bonding, significantly improving structural stability. Compared to other TPU materials, TPU 95A is easier and faster to print, making it ideal for rapidly manufactured mechanical structures.

[0039] In this embodiment, each joint assembly 142 may have two limiting inclined surfaces 1430. For example... Figures 5 to 7 As shown, the two limiting ramps 1430 are used to limit the left and right swing angle of the joint assembly 142 to ensure that the tail 14 does not bend excessively.

[0040] In summary, this invention utilizes an elastomer to fix and connect the joint assembly of the tail, and uses a drive line to drive the relative rotation of the joint assembly, thereby causing the elastomer to elastically deform. After the drive line is released, the elastomer provides elastic force to reset the joint assembly. This invention connects the drive line to the forebody, so that the rotation of the hindbody relative to the forebody drives the tail to curl and / or swing left and right. In this way, the tail can move synchronously with the body, eliminating the need for an additional motor, which not only reduces the complexity of the tail mechanism but also makes the tail movement more realistic and natural. Furthermore, this invention can provide two limiting ramps on each joint assembly to limit the left and right swing angle of the joint assembly. This ensures that the joint assembly does not swing excessively, thereby improving the stability of the biomimetic animal when walking. Moreover, the elastomer can be integrally molded using 3D printing, making the manufacturing of the elastomer fast and convenient.

Claims

1. A biomimetic animal, characterized in that, Include: One precord; A posterior body, rotatably connected to the forebody; and A tail, attached to the hindquarters, comprising: An elastomer; A plurality of joint components are arranged side-by-side on the elastomer; and At least one drive line passes through the plurality of joint components and is connected to the precursor body; When the rear body rotates relative to the front body, the at least one drive line is pulled to drive the plurality of joint components to rotate relative to each other, thereby causing the elastomer to deform elastically; after the at least one drive line is released, the elastomer provides elastic force to reset the plurality of joint components.

2. The biomimetic animal as described in claim 1, characterized in that, The posterior body contains: A first rotating member, rotatably connected to the forebody; and A second rotating member is rotatably connected to the first rotating member, and the tail is connected to the second rotating member.

3. The biomimetic animal as described in claim 2, characterized in that: The first rotating member rotates relative to the forebody about a first axis to drive the tail to curl; the second rotating member rotates relative to the forebody about a second axis to drive the tail to swing left and right; the first axis is perpendicular to the second axis.

4. The biomimetic animal as described in claim 3, characterized in that: The front body includes a frame and a connector. The frame has an arc-shaped guide portion, and the connector has a guide groove. The arc-shaped guide portion is disposed in the guide groove. When the first rotating member rotates relative to the front body about the first axis, the connector slides along the arc-shaped guide portion along with the first rotating member and the second rotating member.

5. The biomimetic animal as described in claim 4, characterized in that: The number of at least one drive line is three, each joint assembly has three through holes, the three drive lines pass through the three through holes of each joint assembly, one of the three drive lines is connected to the frame to drive the tail to curl, and the other two of the three drive lines are connected to the connector to drive the tail to swing left and right.

6. The biomimetic animal as described in claim 1, characterized in that: The elastomer has a plurality of positioning portions, and each joint assembly has a positioning groove, which is fitted onto the positioning portion to position the joint assembly on the elastomer.

7. The biomimetic animal as described in claim 1, characterized in that: The plurality of joint components form a plurality of joints, and the elastomer has a plurality of deformable and resilient structures, the positions of which correspond to the positions of the plurality of joints.

8. The biomimetic animal as described in claim 1, characterized in that: Each joint assembly has two limiting ramps that limit the left and right swing angle of the joint assembly.

9. The biomimetic animal as described in claim 1, characterized in that: It also includes a plurality of housings, each housing having a locking portion and each joint assembly having a locking groove, the locking portion engaging with the locking groove to secure the housing to the joint assembly.

10. The biomimetic animal as described in claim 1, characterized in that: The elastomer is formed in one piece by 3D printing.

11. The biomimetic animal as described in claim 1, characterized in that: The material of this elastomer is thermoplastic polyurethane.

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