Bionic animal

Abstract

The utility model provides a bionic animal which comprises a shell, a first front foot driving motor, a first front foot rotating shaft, a transmission mechanism, a frame body, a second front foot driving motor, a second front foot rotating shaft and a front foot assembly. The shell is provided with a first shaft hole. The first front foot rotating shaft is arranged in the first shaft hole. The transmission mechanism is connected to the first forefoot driving motor and the first forefoot rotating shaft. The frame body is connected to the first front foot rotating shaft. The second front foot driving motor is arranged in the frame body. The second forefoot rotating shaft is connected to the second forefoot driving motor. The forefoot assembly is connected to the second forefoot rotating shaft. The first front foot driving motor drives the frame body to rotate around the first shaft through the transmission mechanism and the first front foot rotating shaft so as to drive the front foot assembly to rotate around the first shaft. The second forefoot driving motor drives the forefoot assembly to rotate around the second shaft through the second forefoot rotating shaft.

Description

Technical Field

[0001] The utility model relates to a bionic animal, in particular to an amphibious bionic animal. Background Art

[0002] With the advancement of technology, the types of existing bionic animals are becoming more and more diverse. However, when conventional bionic animals (e.g., bionic turtles) are required to be able to swim underwater and crawl on land at the same time, the internal structure is usually quite complex, and the manufacturing cost is therefore very expensive. In addition, the waterproof structure also requires special design. In order to meet the waterproof requirements, some designs will use waterproof motors. However, the cost of waterproof motors is usually much higher than that of motors without waterproof functions. Utility Model Content

[0003] The utility model aims to provide an amphibious bionic animal to solve the above problems.

[0004] The utility model provides a bionic animal, comprising a shell, a first front foot drive motor, a first front foot rotating shaft, a transmission mechanism, a frame, a second front foot drive motor, a second front foot rotating shaft and a front foot assembly; the shell has a first shaft hole; the first front foot drive motor is arranged in the shell. The first front foot rotating shaft is arranged in the first shaft hole; the transmission mechanism is arranged in the shell and connected to the first front foot drive motor and the first front foot rotating shaft. The frame is connected to the first front foot rotating shaft. The second front foot drive motor is arranged in the frame; the second front foot rotating shaft is arranged in the frame and connected to the second front foot drive motor; the front foot assembly is connected to the second front foot rotating shaft; the first front foot drive motor drives the frame to rotate around a first axis via the transmission mechanism and the first front foot rotating shaft, so as to drive the front foot assembly to rotate around the first axis; the second front foot drive motor drives the front foot assembly to rotate around a second axis via the second front foot rotating shaft; the first axis is perpendicular to the second axis.

[0005] In one embodiment, the shell includes an upper shell, a middle shell, a lower shell, a first sealing ring and a second sealing ring. The first sealing ring is sandwiched between the upper shell and the middle shell, and the second sealing ring is sandwiched between the middle shell and the lower shell.

[0006] In one embodiment, the first sealing ring has an outer flange, an inner flange and a first groove, the first groove is located between the outer flange and the inner flange, the upper shell has a boss, the middle shell has a second groove, the first sealing ring is embedded in the second groove, the boss is embedded in the first groove, and the outer flange and the inner flange are clamped between the upper shell and the middle shell.

[0007] In one embodiment, the transmission mechanism includes a first crank, a rocker arm and a first connecting rod, the first crank is connected to the first forefoot driving motor, the rocker arm is connected to the first forefoot rotating shaft, and the first connecting rod is connected to the first crank and the rocker arm.

[0008] In one embodiment, the rocker arm is formed with a wiring hole.

[0009] In one embodiment, the frame includes a metal front frame, a plastic rear frame and a third sealing ring. The plastic rear frame is connected to the first front leg shaft, and the third sealing ring is sandwiched between the metal front frame and the plastic rear frame.

[0010] In one embodiment, the first front leg shaft further includes a first rust-proof bearing, a fourth sealing ring and a fifth sealing ring. The fourth sealing ring is clamped between the shell and the first rust-proof bearing, and the fifth sealing ring is clamped between the first front leg shaft and the frame.

[0011] In one embodiment, the second forefoot shaft includes a first adapter ring, a second adapter ring, a second rust-proof bearing and a transmission shaft, the first adapter ring is connected to the second forefoot drive motor, the second adapter ring is connected to the first adapter ring, the transmission shaft is connected to the second adapter ring and the forefoot assembly, and the second rust-proof bearing is sleeved on the transmission shaft.

[0012] In one embodiment, the forefoot assembly includes a forefoot support and a soft forefoot component, the forefoot support is connected to the second forefoot shaft, and the soft forefoot component is fixed to the forefoot support.

[0013] In one embodiment, the housing further has a second shaft hole. The bionic animal further comprises a rear foot drive motor, a rear foot shaft and a rear foot assembly. The rear foot drive motor is disposed in the housing. The rear foot shaft is disposed in the second shaft hole and connected to the rear foot drive motor. The rear foot assembly is connected to the rear foot shaft. The rear foot drive motor drives the rear foot assembly to rotate around the first axis via the rear foot shaft.

[0014] In one embodiment, the rear foot assembly includes a rear foot bracket and a flexible rear foot member, the rear foot bracket is connected to the rear foot shaft, and the flexible rear foot member is fixed to the rear foot bracket.

[0015] In one embodiment, the shell further has a third axial hole, a guide member and a limit member. The bionic animal further includes a head drive motor, a head shaft, a second crank, a second connecting rod, a sliding rod and a head. The head drive motor is disposed in the shell. The head shaft is disposed in the third axial hole and is connected to the head drive motor. The second crank is connected to the head shaft. The second connecting rod is connected to the second crank. The sliding rod is connected to the second connecting rod and passes through the guide member and the limit member. The guide member and the limit member limit the moving direction of the sliding rod. The head is connected to the sliding rod. The head drive motor drives the second crank to rotate around the first axis via the head shaft, and the second crank drives the head to move along the second axis via the second connecting rod and the sliding rod.

[0016] In one embodiment, the bionic animal further includes a head, a first infrared sensor, a second infrared sensor and a third infrared sensor. The head extends from the front of the shell. The first infrared sensor, the second infrared sensor and the third infrared sensor are arranged in the shell and located behind the head. The first infrared sensor is located between the second infrared sensor and the third infrared sensor.

[0017] In one embodiment, the angle between the first infrared sensor and the second infrared sensor is greater than 0 degree and less than or equal to 90 degrees, and the angle between the first infrared sensor and the third infrared sensor is greater than 0 degree and less than or equal to 90 degrees.

[0018] In one embodiment, the bionic animal further comprises two electrodes exposed from the shell. The two electrodes are used to sense a voltage difference to determine whether the bionic animal is located in water or on land.

[0019] In one embodiment, the bionic animal further comprises at least one circuit board and a partition, wherein the at least one circuit board and the partition are both disposed in the shell, the first front leg driving motor and the transmission mechanism are located on one side of the partition, and the at least one circuit board is located on the other side of the partition.

[0020] In one embodiment, the bionic animal further includes a hind leg drive motor, a head drive motor and a battery module. The hind leg drive motor, the head drive motor and the battery module are all arranged in the shell, and the first front leg drive motor, the hind leg drive motor and the head drive motor are located around the battery module.

[0021] In one embodiment, the bionic animal further comprises a head and a hind leg driving motor, the head extends from the front of the shell, the hind leg driving motor is disposed in the shell, and the first front leg driving motor is closer to the head than the hind leg driving motor.

[0022] In summary, the first front foot driving motor can drive the front foot assembly to rotate around the first axis via the transmission mechanism and the first front foot rotating shaft, and the second front foot driving motor can drive the front foot assembly to rotate around the second axis via the second front foot rotating shaft. In this way, the front foot assembly of the bionic animal can swing up, down, forward and backward, thereby giving the bionic animal a variety of movements, so that the bionic animal can swim underwater or crawl on land. In addition, the rear foot driving motor can drive the rear foot assembly to rotate around the first axis via the rear foot rotating shaft, so that the rear foot assembly can swing leisurely. Furthermore, the head driving motor can drive the head to move along the second axis via the head rotating shaft, the second crank, the second connecting rod and the sliding rod. The center of gravity of the bionic animal can be transferred by the swing of the front foot assembly and / or the movement of the head to achieve the control of floating and diving. The utility model can achieve the waterproof requirement by setting a plurality of sealing rings. In one embodiment, three infrared sensors are located behind the head, which can be used to detect obstacles in front, left and right of the bionic animal. In one embodiment, the present invention can utilize two electrodes exposed from the shell to sense a voltage difference to determine whether the bionic animal is located in water or on land.

[0023] The advantages and spirit of the present invention can be further understood through the following detailed description of the present invention and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional diagram of a bionic animal according to an embodiment of the utility model.

[0025] Figure 2 for Figure 1 A stereoscopic image of the bionic animals from another perspective.

[0026] Figure 3 for Figure 1 A three-dimensional image of the bionic animal with its cover removed.

[0027] Figure 4 for Figure 3 A stereoscopic image of the bionic animals from another perspective.

[0028] Figure 5 for Figure 3 Exploded view of the shell in .

[0029] Figure 6 for Figure 3 A partial cross-sectional view of the shell in FIG.

[0030] Figure 7 for Figure 3 A three-dimensional image of the bionic animal with the upper shell removed.

[0031] Figure 8 for Figure 7 A three-dimensional image of the bionic animal with the circuit boards and partitions removed.

[0032] Fig. 9 for Figure 8 A partial exploded view of the bionic animal in the video.

[0033] Fig.10 for Fig. 9 Exploded view of the forefoot assembly and its related components.

[0034] Fig.11 for Fig.10 Another partial exploded view of the bionic animal.

[0035] Fig.12 for Fig. 9 Exploded view of the rear foot assembly and its related components.

[0036] Fig.13 for Figure 8 Another partial exploded view of the bionic animal.

[0037] Fig.14 for Fig.13 A stereoscopic image of the bionic animals from another perspective.

[0038] Description of reference numerals: 1-bionic animal; 10-outer cover; 10a-upper cover; 10b-lower cover; 12-shell; 12a-upper shell; 12b-middle shell; 12c-lower shell; 14-head; 16-front foot assembly; 18-rear foot assembly; 20-tail; 22-first front foot drive motor; 24-first front foot shaft; 26-transmission mechanism; 28-frame; 30-second front foot drive motor; 32-second front foot shaft; 34-rear foot drive motor; 36 - rear foot shaft; 38 - head drive motor; 40 - head shaft; 42 - second crank; 44 - second connecting rod; 46 - sliding rod; 48 - first infrared sensor; 50 - second infrared sensor; 52 - third infrared sensor; 54 - electrode; 56 - circuit board; 58 - partition; 60 - battery module; 62 - airtight test hole; 64 - power switch; 66 - electrical connector; 68 - waterproof cover; 120 - first sealing ring; 122 - second sealing ring Sealing ring; 124- boss; 126- second groove; 128- first shaft hole; 130- second shaft hole; 132- third shaft hole; 134- guide piece; 136- limit piece; 160- front foot bracket; 162- soft front foot piece; 180- rear foot bracket; 182- soft rear foot piece; 240- first anti-rust bearing; 242- fourth sealing ring; 244- fifth sealing ring; 260- first crank; 262- rocker arm; 264- first connecting rod; 280 -metal front frame; 282-plastic rear frame; 284-third sealing ring; 320-first adapter ring; 322-second adapter ring; 324-second anti-rust bearing; 326-transmission shaft; 328-sixth sealing ring; 1200-outer flange; 1202-inner flange; 1204-first groove; 2620-wiring hole; A1-first axis; A2-second axis; C-body axis; F-water flow; S1, S2, S3-preload surface; θ1, θ2-angle. DETAILED DESCRIPTION

[0039] See also Figures 1 to 14 , Figure 1 is a stereoscopic diagram of a bionic animal 1 according to an embodiment of the utility model, Figure 2 for Figure 1 A stereoscopic image of the bionic animal 1 from another perspective. Figure 3 for Figure 1 A three-dimensional view of the bionic animal 1 after removing the outer cover 10, Figure 4 for Figure 3 A stereoscopic image of the bionic animal 1 from another perspective. Figure 5 for Figure 3 An exploded view of the housing 12 in FIG. Figure 6 for Figure 3 A partial cross-sectional view of the housing 12 in FIG. Figure 7 for Figure 3 A three-dimensional view of the bionic animal 1 after removing the upper shell 12a, Figure 8 for Figure 7 A three-dimensional view of the bionic animal 1 after removing the circuit board 56 and the partition 58, Fig. 9 for Figure 8 A partial exploded view of the bionic animal 1 in the video. Fig.10 for Fig. 9 An exploded view of the forefoot assembly 16 and its associated components, Fig.11 for Fig.10 Another partial exploded view of the bionic animal 1 in the video. Fig.12 for Fig. 9 An exploded view of the rear foot assembly 18 and its related components, Fig.13 for Figure 8 Another partial exploded view of the bionic animal 1 in the video. Fig.14 for Fig.13 A stereoscopic image of the bionic animal 1 from another perspective.

[0040] The bionic animal 1 of the present invention may be a bionic turtle, but is not limited thereto. The type of bionic animal 1 may be determined according to the actual application. Figures 1 to 4 As shown, the bionic animal 1 may include an outer cover 10, a shell 12, a head 14, a front foot component 16, a rear foot component 18 and a tail 20. The shell 12 is used to accommodate the main mechanical components and electronic components of the bionic animal 1. The outer cover 10 is arranged on the outside of the shell 12 for decoration. In this embodiment, the outer cover 10 may be a tortoise shell, but is not limited to this. The head 14 extends from the front of the shell 10, and the tail 20 extends from the rear of the shell 10. In this embodiment, the bionic animal 1 may include two front foot components 16 and two rear foot components 18, wherein the two front foot components 16 are located on the two sides of the front of the shell 10, and the two rear foot components 18 are located on the two sides of the rear of the shell 10.

[0041] The front foot assembly 16 may include a front foot support 160 and a soft front foot piece 162, wherein the soft front foot piece 162 is fixed to the front foot support 160. The rear foot assembly 18 may include a rear foot support 180 and a soft rear foot piece 182, wherein the soft rear foot piece 182 is fixed to the rear foot support 180. In this embodiment, the soft front foot piece 162, the soft rear foot piece 182 and the tail 20 may be made of silica gel, rubber or other soft materials. In this way, the front foot assembly 16, the rear foot assembly 18 and the tail 20 can achieve a swinging effect that is closer to that of an actual turtle, and will not pollute the water quality.

[0042] In this embodiment, the housing 10 may include an upper cover 10a and a lower cover 10b, and the housing 12 may include an upper shell 12a, a middle shell 12b, and a lower shell 12c. The upper shell 12a, the middle shell 12b, and the lower shell 12c are fixed to each other, the upper cover 10a may be fixed to the upper shell 12a, and the lower cover 10b may be fixed to the lower shell 12c. Figure 5As shown, the housing 12 may further include a first sealing ring 120 and a second sealing ring 122. The first sealing ring 120 is sandwiched between the upper housing 12a and the middle housing 12b, and the second sealing ring 122 is sandwiched between the middle housing 12b and the lower housing 12c, so as to form a waterproof space in the housing 12.

[0043] like Figure 6 As shown, the first sealing ring 120 may have an outer flange 1200, an inner flange 1202 and a first groove 1204, the upper shell 12a may have a boss 124, and the middle shell 12b may have a second groove 126. The first groove 1204 of the first sealing ring 120 is located between the outer flange 1200 and the inner flange 1202. The boss 124 of the upper shell 12a can be used to position the first sealing ring 120. The first sealing ring 120 is embedded in the second groove 126 of the middle shell 12b, the boss 124 of the upper shell 12a is embedded in the first groove 1204 of the first sealing ring 120, and the outer flange 1200 and the inner flange 1202 of the first sealing ring 120 are sandwiched between the upper shell 12a and the middle shell 12b. When the upper shell 12a and the middle shell 12b are fixed, three pre-stressed surfaces S1, S2, and S3 will be formed at the positions corresponding to the outer flange 1200, the boss 124, and the inner flange 1202. The water flow F on the outside of the shell 12 will first be blocked by the pre-stressed surface S1. When the pre-stressed surface S1 fails, the water flow F will be blocked by the pre-stressed surface S2. When the pre-stressed surface S2 also fails, the water flow F will be blocked by the pre-stressed surface S3. With the design of the three pre-stressed surfaces S1, S2, and S3, the shell 12 can achieve a highly reliable waterproof function. It should be noted that the structural design between the middle shell 12b, the lower shell 12c and the second sealing ring 122 can be the same as the structural design between the upper shell 12a, the middle shell 12b and the first sealing ring 120, which will not be repeated here.

[0044] like Fig. 9 As shown, the housing 12 has a first axial hole 128. In this embodiment, the first axial hole 128 can be formed in the middle housing 12b. Fig. 9 and Fig.10 As shown, the bionic animal 1 further comprises a first front foot driving motor 22, a first front foot rotating shaft 24, a transmission mechanism 26, a frame 28, a second front foot driving motor 30 and a second front foot rotating shaft 32. The first front foot driving motor 22 is disposed in the housing 12. The first front foot rotating shaft 24 is disposed in the first shaft hole 128. The transmission mechanism 26 is disposed in the housing 12 and connected to the first front foot driving motor 22 and the first front foot rotating shaft 24.

[0045] In this embodiment, the first front leg shaft 24 further includes a first rust-proof bearing 240, a fourth sealing ring 242 and a fifth sealing ring 244. The fourth sealing ring 242 is sandwiched between the housing 12 and the first rust-proof bearing 240, and the fifth sealing ring 244 is sandwiched between the first front leg shaft 24 and the frame 28. By configuring the first rust-proof bearing 240, the fourth sealing ring 242 and the fifth sealing ring 244, a waterproof function can be achieved. The fourth sealing ring 242 and the fifth sealing ring 244 can be O-rings, but are not limited thereto.

[0046] In this embodiment, the transmission mechanism 26 may include a first crank 260, a rocker arm 262, and a first connecting rod 264, wherein the first crank 260 is connected to the first front foot driving motor 22, the rocker arm 262 is connected to the first front foot rotating shaft 24, and the first connecting rod 264 is connected to the first crank 260 and the rocker arm 262. Thus, the first front foot driving motor 22 can drive the first crank 260 to rotate around the first axis A1, and the first crank 260 can drive the rocker arm 262 to rotate around the first axis A1 via the first connecting rod 264, thereby driving the first front foot rotating shaft 24 to rotate around the first axis A1.

[0047] The frame 28 is connected to the first front foot shaft 24. In this embodiment, the frame 28 may include a metal front frame 280, a plastic rear frame 282 and a third sealing ring 284. The plastic rear frame 282 is connected to the first front foot shaft 24. The third sealing ring 284 is sandwiched between the metal front frame 280 and the plastic rear frame 282 to achieve a waterproof function. It should be noted that the structural design between the metal front frame 280, the plastic rear frame 282 and the third sealing ring 284 can be the same as the structural design between the upper shell 12a, the middle shell 12b and the first sealing ring 120, which will not be repeated here. The second front foot drive motor 30 is disposed in the frame 28. The second front foot shaft 32 is disposed in the frame 28 and connected to the second front foot drive motor 30. The front foot assembly 16 is connected to the second front foot shaft 32. In this embodiment, the front foot bracket 160 of the front foot assembly 16 is connected to the second front foot shaft 32.

[0048] In this embodiment, the second front foot shaft 32 may include a first adapter ring 320, a second adapter ring 322, a second rust-proof bearing 324, a transmission shaft 326 and a sixth sealing ring 328. The first adapter ring 320 is connected to the second front foot drive motor 30. The second adapter ring 322 is connected to the first adapter ring 320. The transmission shaft 326 is connected to the second adapter ring 322 and the front foot assembly 16. The second rust-proof bearing 324 is sleeved on the transmission shaft 326. The sixth sealing ring 328 is sandwiched between the second rust-proof bearing 324 and the metal front frame 280 of the frame body 28. The sixth sealing ring 328 may be an O-ring, but is not limited thereto. In this embodiment, the rocker arm 262 may be formed with a wiring hole 2620, so that the wire of the second front foot drive motor 30 can be connected to the circuit board in the housing 12 through the first front foot shaft 24 and the wiring hole 2620.

[0049] like Figures 8 to 10 As shown, the first front foot driving motor 22 can drive the frame 28 to rotate around the first axis A1 via the transmission mechanism 26 and the first front foot rotating shaft 24, so as to drive the front foot assembly 16 to rotate around the first axis A1. In addition, the second front foot driving motor 30 can drive the front foot assembly 16 to rotate around the second axis A2 via the second front foot rotating shaft 32. The first axis A1 can be perpendicular to the second axis A2. In this embodiment, the first axis A1 can be perpendicular to the body axis C of the bionic animal 1, and the second axis A2 can be parallel to the body axis C of the bionic animal 1, as shown in FIG. Figure 1 As shown. In this embodiment, the output shaft of the first front foot driving motor 22 is parallel to the first axis A1, that is, the output shaft of the first front foot driving motor 22 is perpendicular to the body axis C of the bionic animal 1. In addition, the output shaft of the second front foot driving motor 30 is parallel to the second axis A2, that is, the output shaft of the second front foot driving motor 30 is parallel to the body axis C of the bionic animal 1. When the front foot assembly 16 rotates around the second axis A2, the front foot assembly 16 can swing up and down to move forward in the water or support the body on land. When the front foot assembly 16 rotates around the first axis A1, the front foot assembly 16 can swing back and forth to move forward. In this way, the front foot assembly 16 of the bionic animal 1 can swing up, down, forward and backward, thereby giving the bionic animal 1 a variety of movements, so that the bionic animal 1 can swim underwater or crawl on land. In addition, the center of gravity of the bionic animal 1 can be transferred by the swinging of the front foot assembly 16 to achieve the control of floating and diving.

[0050] like Fig.11 As shown, the housing 12 further has a second shaft hole 130. In this embodiment, the second shaft hole 130 can be formed in the lower housing 12c. Fig.11 and Fig.12As shown, the bionic animal 1 further includes a rear foot drive motor 34 and a rear foot shaft 36. The rear foot drive motor 34 is disposed in the housing 12. In this embodiment, the output shaft of the rear foot drive motor 34 is parallel to the first axis A1, that is, the output shaft of the rear foot drive motor 34 is perpendicular to the body axis C of the bionic animal 1. The rear foot shaft 36 is disposed in the second shaft hole 130 and connected to the rear foot drive motor 34. The rear foot assembly 18 is connected to the rear foot shaft 36. In this embodiment, the rear foot bracket 180 of the rear foot assembly 18 is connected to the rear foot shaft 36. Thereby, the rear foot drive motor 34 can drive the rear foot assembly 18 to rotate around the first axis A1 via the rear foot shaft 36. When the rear foot assembly 18 rotates around the first axis A1, the rear foot assembly 18 can swing freely to achieve the function of controlling the steering.

[0051] like Fig.13 As shown, the housing 12 further has a third shaft hole 132. In this embodiment, the third shaft hole 132 can be formed in the lower housing 12c. Fig.14 As shown, the housing 12 further has a guide member 134 and a stop member 136. In this embodiment, the guide member 134 can be disposed on the lower housing 12c, and the stop member 136 can be disposed on the middle housing 12b. Fig.13 and Fig.14 As shown, the bionic animal 1 further includes a head drive motor 38, a head shaft 40, a second crank 42, a second connecting rod 44 and a sliding rod 46. The head drive motor 38 is disposed in the housing 12. In this embodiment, the output shaft of the head drive motor 38 is parallel to the first axis A1, that is, the output shaft of the head drive motor 38 is perpendicular to the body axis C of the bionic animal 1. The head shaft 40 is disposed in the third shaft hole 132 and connected to the head drive motor 38. The second crank 42 is connected to the head shaft 40. The second connecting rod 44 is connected to the second crank 42. The sliding rod 46 is connected to the second connecting rod 44 and passes through the guide member 134 and the limit member 136. The guide member 134 and the limit member 136 are used to limit the moving direction of the sliding rod 46. The head 14 is connected to the sliding rod 46. Thus, the head driving motor 38 can drive the second crank 42 to rotate around the first axis A1 via the head rotating shaft 40, and the second crank 42 can drive the head 14 to move along the second axis A2 via the second connecting rod 44 and the sliding rod 46, that is, the head 14 can move forward and backward along the body axis C of the bionic animal 1. At the same time, the center of gravity of the bionic animal 1 can be shifted by the movement of the head 14 to achieve the control of floating and diving.

[0052] like Figure 7As shown, the bionic animal 1 may further include a first infrared sensor 48, a second infrared sensor 50 and a third infrared sensor 52. The first infrared sensor 48, the second infrared sensor 50 and the third infrared sensor 52 are all disposed in the housing 12 and are located behind the head 14. The first infrared sensor 48 is located between the second infrared sensor 50 and the third infrared sensor 52. The first infrared sensor 48, the second infrared sensor 50 and the third infrared sensor 52 can be used to detect obstacles in front, on the left and on the right of the bionic animal 1, respectively. By disposing the first infrared sensor 48, the second infrared sensor 50 and the third infrared sensor 52 behind the head 14, the bionic animal 1 can have enough time to make avoidance actions in advance when encountering obstacles. In this embodiment, the orientation of the first infrared sensor 48 can be parallel to the body axis C of the bionic animal 1, the angle θ1 between the orientation of the first infrared sensor 48 and the orientation of the second infrared sensor 50 can be greater than 0 degrees and less than or equal to 90 degrees, and the angle θ2 between the orientation of the first infrared sensor 48 and the orientation of the third infrared sensor 52 can be greater than 0 degrees and less than or equal to 90 degrees. The angles θ1 and θ2 can be determined according to the actual required detection range.

[0053] like Figure 4 and Figure 7 As shown, the bionic animal 1 may further include two electrodes 54, which are exposed from the shell 12. In this embodiment, the two electrodes 54 may be disposed in the middle shell 12b and exposed from the lower surface of the middle shell 12b. The two electrodes 54 are used to sense a voltage difference, so as to determine whether the bionic animal 1 is located in water or on land. In actual applications, the controller (not shown in the figure) of the bionic animal 1 can determine whether the bionic animal 1 is located in water or on land by the voltage difference sensed by the two electrodes 54, and then control the first front leg driving motor 22, the second front leg driving motor 30, the rear leg driving motor 34 and the head driving motor 38 to drive the front leg assembly 16, the rear leg assembly 18 and the head 14 to perform corresponding actions.

[0054] like Figure 7 As shown, the bionic animal 1 may further include at least one circuit board 56 and a partition 58. The at least one circuit board 56 and the partition 58 are both disposed in the housing 12. The first front leg driving motor 22, the rear leg driving motor 34, the head driving motor 38 and the transmission mechanism 26 are located on one side of the partition 58, and the at least one circuit board 56 is located on the other side of the partition 58. In other words, the utility model can use the partition 58 to separate the mechanism space and the circuit space, so that when the mechanism moves, it will not interfere with or rub against the wires in the circuit space and cause damage. In this embodiment, the bionic animal 1 may include four circuit boards 56, but is not limited thereto.

[0055] like Figure 8As shown, the bionic animal 1 may further include a battery module 60. In this embodiment, the bionic animal 1 includes two first front leg driving motors 22, two transmission mechanisms 26 and two rear leg driving motors 34 to drive the two leg components 16 and the two rear leg components 18 respectively. The two first front leg driving motors 22, the two rear leg driving motors 34, the head driving motor 38 and the battery module 60 are all disposed in the housing 12. In this embodiment, the first front leg driving motor 22 is closer to the head 14 than the rear leg driving motor 34. The two first front leg driving motors 22, the two rear leg driving motors 34 and the head driving motor 38 are located around the battery module 60. In other words, an accommodation space is formed between the two first front leg driving motors 22, the two rear leg driving motors 34 and the head driving motor 38 to accommodate the battery module 60. In addition, the two first connecting rods 264 of the two transmission mechanisms 26 are located between the two first front leg driving motors 22. In this way, the size of the bionic animal 1 can be effectively reduced.

[0056] like Figure 4 As shown, the bionic animal 1 may further include an airtightness test hole 62, which is disposed at the bottom of the housing 12. This facilitates the bionic animal 1 to perform an airtightness test before entering the water, and to confirm that there is no air leakage before entering the water. Figure 4 and Fig.14 As shown, the bionic animal 1 may further include a power switch 64, an electrical connector 66 and a waterproof cover 68. The power switch 64 and the electrical connector 66 are also disposed at the bottom of the housing 12. The waterproof cover 68 covers the electrical connector 66 to prevent the electrical connector 66 from malfunctioning when exposed to water.

[0057] In summary, the first front foot driving motor can drive the front foot assembly to rotate around the first axis via the transmission mechanism and the first front foot rotating shaft, and the second front foot driving motor can drive the front foot assembly to rotate around the second axis via the second front foot rotating shaft. In this way, the front foot assembly of the bionic animal can swing up, down, forward and backward, thereby giving the bionic animal a variety of movements, so that the bionic animal can swim underwater or crawl on land. In addition, the rear foot driving motor can drive the rear foot assembly to rotate around the first axis via the rear foot rotating shaft, so that the rear foot assembly can swing leisurely. Furthermore, the head driving motor can drive the head to move along the second axis via the head rotating shaft, the second crank, the second connecting rod and the sliding rod. The center of gravity of the bionic animal can be transferred by the swing of the front foot assembly and / or the movement of the head to achieve the control of floating and diving. The utility model can achieve the waterproof requirement by setting a plurality of sealing rings. In one embodiment, three infrared sensors are located behind the head, which can be used to detect obstacles in front, left and right of the bionic animal. In one embodiment, the present invention can utilize two electrodes exposed from the shell to sense a voltage difference to determine whether the bionic animal is located in water or on land.

[0058] The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made based on the present invention should fall within the scope of the present invention.

Claims

1. A bionic animal, characterized in that: Include: A housing having a first axial hole; a first front foot driving motor, disposed in the housing; A first front leg rotating shaft, disposed in the first shaft hole; a transmission mechanism, disposed in the housing and connected to the first front foot driving motor and the first front foot rotating shaft; A frame connected to the first front leg rotation axis; a second front foot driving motor, disposed in the frame; a second front-leg rotating shaft, disposed in the frame and connected to the second front-leg driving motor; and A front foot assembly connected to the second front foot shaft; Among them, the first forefoot driving motor drives the frame to rotate around a first axis via the transmission mechanism and the first forefoot rotating shaft, so as to drive the forefoot assembly to rotate around the first axis; the second forefoot driving motor drives the forefoot assembly to rotate around a second axis via the second forefoot rotating shaft, and the first axis is perpendicular to the second axis.

2. The bionic animal according to claim 1, characterized in that: The shell comprises an upper shell, a middle shell, a lower shell, a first sealing ring and a second sealing ring. The first sealing ring is sandwiched between the upper shell and the middle shell, and the second sealing ring is sandwiched between the middle shell and the lower shell.

3. The bionic animal according to claim 2, characterized in that: The first sealing ring has an outer flange, an inner flange and a first groove, the first groove is located between the outer flange and the inner flange, the upper shell has a boss, the middle shell has a second groove, the first sealing ring is embedded in the second groove, the boss is embedded in the first groove, and the outer flange and the inner flange are clamped between the upper shell and the middle shell.

4. The bionic animal according to claim 1, characterized in that: The transmission mechanism includes a first crank, a rocker arm and a first connecting rod. The first crank is connected to the first front leg driving motor, the rocker arm is connected to the first front leg rotating shaft, and the first connecting rod is connected to the first crank and the rocker arm.

5. The bionic animal according to claim 4, characterized in that: The rocker arm is formed with a wiring hole.

6. The bionic animal according to claim 1, characterized in that: The frame body comprises a metal front frame, a plastic rear frame and a third sealing ring. The plastic rear frame is connected to the first front leg rotating shaft, and the third sealing ring is sandwiched between the metal front frame and the plastic rear frame.

7. The bionic animal according to claim 1, characterized in that: The first front leg shaft also includes a first rust-proof bearing, a fourth sealing ring and a fifth sealing ring. The fourth sealing ring is sandwiched between the shell and the first rust-proof bearing, and the fifth sealing ring is sandwiched between the first front leg shaft and the frame.

8. The bionic animal according to claim 1, characterized in that: The second front foot shaft includes a first adapter ring, a second adapter ring, a second rust-proof bearing and a transmission shaft. The first adapter ring is connected to the second front foot drive motor, the second adapter ring is connected to the first adapter ring, the transmission shaft is connected to the second adapter ring and the front foot assembly, and the second rust-proof bearing is sleeved on the transmission shaft.

9. The bionic animal according to claim 1, characterized in that: The forefoot component comprises a forefoot bracket and a soft forefoot component. The forefoot bracket is connected to the second forefoot rotating shaft, and the soft forefoot component is fixed to the forefoot bracket.

10. The bionic animal according to claim 1, characterized in that: The shell also has a second axial hole, and the bionic animal also includes: a rear foot drive motor disposed in the housing; a rear leg rotating shaft, disposed in the second shaft hole and connected to the rear leg driving motor; and a rear foot assembly connected to the rear foot shaft; The rear foot driving motor drives the rear foot assembly to rotate around the first axis via the rear foot rotating shaft.

11. The bionic animal according to claim 10, characterized in that: The rear foot component comprises a rear foot bracket and a soft rear foot piece. The rear foot bracket is connected to the rear foot rotating shaft, and the soft rear foot piece is fixed to the rear foot bracket.

12. The bionic animal according to claim 1, characterized in that: The shell also has a third shaft hole, a guide member and a limit member. The bionic animal also includes: a head drive motor disposed in the housing; A head rotating shaft is disposed in the third shaft hole and connected to the head driving motor; a second crank connected to the head shaft; a second connecting rod connected to the second crank; a sliding rod connected to the second connecting rod and passing through the guide member and the limiting member, wherein the guide member and the limiting member limit the moving direction of the sliding rod; and a head connected to the sliding rod; The head driving motor drives the second crank to rotate around the first axis via the head rotating shaft, and the second crank drives the head to move along the second axis via the second connecting rod and the sliding rod.

13. The bionic animal according to claim 1, characterized in that: It also includes a head, a first infrared sensor, a second infrared sensor and a third infrared sensor. The head extends from the front of the shell. The first infrared sensor, the second infrared sensor and the third infrared sensor are arranged in the shell and located behind the head. The first infrared sensor is located between the second infrared sensor and the third infrared sensor.

14. The bionic animal according to claim 13, characterized in that: The angle between the first infrared sensor and the second infrared sensor is greater than 0 degree and less than or equal to 90 degrees, and the angle between the first infrared sensor and the third infrared sensor is greater than 0 degree and less than or equal to 90 degrees.

15. The bionic animal according to claim 1, characterized in that: The invention also comprises two electrodes exposed from the shell, and the two electrodes are used for sensing voltage difference so as to judge whether the bionic animal is located in water or on land.

16. The bionic animal according to claim 1, characterized in that: It also includes at least one circuit board and a partition. Both the at least one circuit board and the partition are arranged in the shell. The first front foot driving motor and the transmission mechanism are located on one side of the partition, and the at least one circuit board is located on the other side of the partition.

17. The bionic animal according to claim 1, characterized in that: It also includes a rear leg driving motor, a head driving motor and a battery module. The rear leg driving motor, the head driving motor and the battery module are all arranged in the shell, and the first front leg driving motor, the rear leg driving motor and the head driving motor are located around the battery module.

18. The bionic animal according to claim 17, characterized in that: It also includes a head and a rear foot driving motor. The head extends from the front of the shell. The rear foot driving motor is arranged in the shell. The first front foot driving motor is closer to the head than the rear foot driving motor.

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