Bionic animal

Abstract

The utility model discloses a bionic animal which comprises a body, a head, a neck, a plurality of joint wire coils, a plurality of joint driving wires and a plurality of joint driving mechanisms. The neck part comprises a base, a plurality of first joints and a second joint. The base is arranged on the body. The plurality of first joints are pivoted with each other. The second joint is fixed to the head. The joint wire coils are arranged on the body. The plurality of joint driving wires are wound around the plurality of joint wire coils and are connected to the plurality of first joints and the plurality of second joints. The plurality of joint driving mechanisms are arranged in the body and are connected to the plurality of joint wire coils. The joint driving mechanisms drive the joint wire coils to rotate, the joint wire coils pull the joint driving wires, and the joint driving wires drive the first joints and the second joints to rotate.

Description

Technical Field

[0001] The utility model relates to a bionic animal, in particular to a bionic animal applicable to a bionic water bird. Background Art

[0002] At present, the neck joint mechanism of the existing bionic water bird uses multiple interconnected motors to control each joint. Since the distance between joints needs to be at least the length of one motor, the gap between joints will become very large. In addition, the angle that the joint can rotate is limited by the width of the motor. Moreover, the weight of multiple motors is too heavy, which is likely to greatly change the overall center of gravity of the bionic water bird during the movement of the head and neck, resulting in capsizing. After capsizing, the motors will also be damaged due to soaking in water. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a bionic animal applicable to a bionic water bird to solve the above problems.

[0004] The utility model provides a bionic animal, comprising a body, a head, a neck, a plurality of joint wire reels, a plurality of joint drive wires and a plurality of joint drive mechanisms. The neck comprises a base, a plurality of first joints and a second joint. The base is arranged on the body. The plurality of first joints are pivotally connected to each other. The second joint is fixed to the head. One of the plurality of first joints is pivotally connected to the base. The second joint is pivotally connected to another one of the plurality of first joints. The plurality of joint wire reels are arranged on the body. The plurality of joint drive wires are wound around the plurality of joint wire reels and are connected to the plurality of first joints and the second joint. The plurality of joint drive mechanisms are arranged in the body and are connected to the plurality of joint wire reels. The plurality of joint drive mechanisms drive the plurality of joint wire reels to rotate, the plurality of joint wire reels pull the plurality of joint drive wires, and the plurality of joint drive wires drive the plurality of first joints and the second joint to rotate.

[0005] In one embodiment, each of the first joints is triangular.

[0006] In one embodiment, two protrusions extend from both sides of each of the first joints, and the joint drive wire is fixed to the two protrusions.

[0007] In one embodiment, two limiting inclined surfaces are provided on both sides of each of the first joints, and the bottom of one of the plurality of first joints cooperates with the two limiting inclined surfaces of another one of the plurality of first joints to limit the rotation angle of the first joint.

[0008] In one embodiment, each of the joint drive mechanisms comprises a joint motor, a coupling, a transmission shaft, an oil seal and a bearing. The coupling is connected to the joint motor, the transmission shaft is connected to the coupling and the joint wire reel, and the oil seal and the bearing are sleeved on the transmission shaft.

[0009] In one embodiment, the bionic animal further includes a neck driving mechanism disposed in the body and connected to the base. The neck driving mechanism drives the base to rotate so as to drive the head to rotate.

[0010] In one embodiment, the plurality of first joints and the second joint rotate about a first axis, and the head rotates about a second axis, and the first axis is perpendicular to the second axis.

[0011] In one embodiment, the neck driving mechanism includes a rotating shaft, a first gear, a second gear, and a neck motor. The first gear is connected to the neck motor, the second gear meshes with the first gear, and the rotating shaft is connected to the second gear and the base.

[0012] In one embodiment, the bionic animal further includes a hip, a hip spool, a hip driving wire, and a hip driving mechanism. The hip is pivotally connected to the body. The hip spool is disposed on the body. The hip driving wire is wound around the hip spool and connected to the hip. The hip driving mechanism is disposed in the body and connected to the hip spool. The hip driving mechanism drives the hip spool to rotate, the hip spool pulls the hip driving wire, and the hip driving wire drives the hip to rotate.

[0013] In one embodiment, the bionic animal further includes a propeller disposed in the hip. The hip has an opening and at least one slot, and the propeller is exposed through the opening. When the propeller rotates in water, water flows into or out of the hip through the at least one slot.

[0014] In one embodiment, the bionic animal further includes two feet pivotally connected to both sides of the body. The two feet bend towards each other and approach each other.

[0015] In one embodiment, the bionic animal further includes three distance sensors disposed in the body. The positions of the three distance sensors respectively correspond to the front, left, and right of the bionic animal.

[0016] In summary, the present utility model drives the joint to rotate in a wire-driven manner by using the joint wire disc, the joint drive wire and the joint drive mechanism, enabling the head and neck to flexibly perform various actions (e.g., stretching forward, leaning backward, raising the head, lowering the head, shaking the neck, etc.). The present utility model can make small joints using lightweight materials so that the joints are closely connected to each other. In addition, the present utility model can also control the hips, feet and / or propellers to enable the bionic animal to perform actions such as moving forward, backward, turning, and accelerating in water. Since the motors of the joint drive mechanism and the hip drive mechanism are both arranged in the waterproof space in the body, the motors will not be affected by water vapor. Furthermore, the motors arranged in the body can stabilize the overall center of gravity at the lower half of the bionic animal, so that the center of gravity can still remain stable when the head and neck move, without causing the bionic animal to capsize. In one embodiment, the positions of the three distance sensors respectively correspond to the front, left and right of the bionic animal, and can be used to sense obstacles in the front, left and right of the bionic animal, enabling the bionic animal to achieve the effect of avoiding obstacles.

[0017] The advantages and spirit of the present utility model can be further understood through the following detailed description of the utility model and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A perspective view of a bionic animal according to an embodiment of the present utility model.

[0019] Figure 2 is Figure 1 another perspective view of the bionic animal in

[0020] Figure 3 is Figure 1 another perspective view of the bionic animal in

[0021] Figure 4 is Figure 2 a side view of the neck in

[0022] Figure 5 is Figure 1 a partial perspective view of the bionic animal in

[0023] Figure 6 is Figure 1 another partial perspective view of the bionic animal in

[0024] Figure 7 is Figure 5 a partial sectional view of the bionic animal in

[0025] Figure 8 is Figure 1 a perspective view of the bionic animal from another perspective in

[0026] Figure 9 isFigure 1 Stereogram of the bionic animal from another perspective.

[0027] Figure 10 is Figure 9 Internal view of the bionic animal in

[0028] Explanation of reference numerals: 1 - bionic animal; 10 - body; 12 - head; 14 - neck; 16 - hip; 18 - foot; 20 - outer cover; 22a, 22b, 22c, 22d - joint line plate; 24a, 24b, 24c, 24d - joint drive line; 26a, 26b, 26c, 26d - joint drive mechanism; 28 - neck drive mechanism; 30 - hip line plate; 32 - hip drive line; 34 - hip drive mechanism; 36 - propeller; 38 - propeller motor; 40 - foot motor; 42 - distance sensor; 44 - charging hole; 46 - button; 140 - base; 142a, 142b, 142c - first joint; 142d - second joint; 160 - opening; 162 - slot; 260 - joint motor; 262 - coupling; 264 - transmission shaft; 266 - oil seal; 268 - bearing; 280 - rotating shaft; 282 - first gear; 284 - second gear; 286 - neck motor; 1420 - protrusion; 1422 - limiting inclined plane; 1424 - bottom; θ1, θ2 - angle; A1 - first axis; A2 - second axis; X - section line. Detailed implementation manners

[0029] Please refer to Figures 1 to 10 , Figure 1 which is a stereogram of the bionic animal 1 according to an embodiment of the present utility model, Figure 2 is Figure 1 another stereogram of the bionic animal 1 in Figure 3 is Figure 1 another stereogram of the bionic animal 1 in Figure 4 is Figure 2 a side view of the neck 14 in Figure 5 is Figure 1 a partial stereogram of the bionic animal 1 in Figure 6 is Figure 1 another partial stereogram of the bionic animal 1 in Figure 7 is Figure 5 a partial sectional view of the bionic animal 1 along the line X - X in Figure 8 is Figure 1 a stereogram of the bionic animal 1 from another perspective in Figure 9 is Figure 1 a stereogram of the bionic animal 1 from another perspective in Figure 10 is Figure 9 an internal view of the bionic animal 1 in

[0030] The bionic animal 1 of the present utility model can be a bionic water bird, but is not limited thereto. The type of the bionic animal 1 can be determined according to actual applications. For example, Figures 1 to 3 As shown, the bionic animal 1 can include a body 10, a head 12, a neck 14, a hip 16, two feet 18, and a housing 20. The body 10 is used to accommodate the main mechanical components and electronic components of the bionic animal 1. The housing 20 is covered on the body 10 for decoration purposes. In this embodiment, the housing 20 can be in the shape of the upper body of a water bird with wings, but is not limited thereto. The neck 14 is connected above the body 10 and extends out from the housing 20. The head 12 is connected to the neck 14. The hip 16 is connected to the rear of the body 10. The two feet 18 are connected to the lower part of the body 10. The head 12, the hip 16, and the housing 20 can adopt a lightweight thin-shell design so that the center of gravity of the bionic animal 1 can be stably maintained in the lower body 10, and thus the bionic animal 1 is not easily overturned when swimming on the water surface. The present utility model can perform a waterproof design on the body 10 to prevent the electronic components (such as motors, batteries, circuit boards, sensors, etc.) in the body 10 from being damaged by soaking in water.

[0031] For example, Figures 2 to 4 As shown, the neck 14 includes a base 140, a plurality of first joints 142a, 142b, 142c, and a second joint 142d. The base 140 is disposed on the body 10. The plurality of first joints 142a, 142b, 142c are pivotally connected to each other. The second joint 142d is fixed to the head 12. One of the plurality of first joints 142a, 142b, 142c is pivotally connected to the base 140, and the second joint 142d is pivotally connected to another one of the plurality of first joints 142a, 142b, 142c. In this embodiment, the first joint 142a is pivotally connected to the base 140, and the second joint 142d is pivotally connected to the first joint 142c. It should be noted that the number of the first joints can be determined according to actual applications and is not limited to the embodiment shown in the figure.

[0032] For example, Figure 2 , Figure 3 and Figure 5As shown, the bionic animal 1 further includes a plurality of joint wire reels 22a, 22b, 22c, 22d, a plurality of joint drive wires 24a, 24b, 24c, 24d, and a plurality of joint drive mechanisms 26a, 26b, 26c, 26d. The plurality of joint wire reels 22a, 22b, 22c, 22d are arranged on the body 10. The plurality of joint drive wires 24a, 24b, 24c, 24d are wound around the plurality of joint wire reels 22a, 22b, 22c, 22d and are connected to the plurality of first joints 142a, 142b, 142c and the second joint 142d. In this embodiment, the joint drive wires 24a, 24b, 24c are respectively connected to the first joints 142a, 142b, 142c, and the joint drive wire 24d is connected to the second joint 142d. The plurality of joint drive mechanisms 26a, 26b, 26c, 26d are arranged in the body 10 and are connected to the plurality of joint wire reels 22a, 22b, 22c, 22d.

[0033] In this embodiment, two protrusions 1420 can extend from both sides of each of the first joints 142a, 142b, 142c, so that each of the first joints 142a, 142b, 142c is triangular, as Figure 4 shown. Both ends of each of the joint drive wires 24a, 24b, 24c can be fixed to the two protrusions 1420 of the corresponding first joints 142a, 142b, 142c. In this embodiment, fixing holes can be formed on the protrusions 1420 to fix the joint drive wires 24a, 24b, 24c. Similarly, fixing holes can be formed on the second joint 142d to fix the joint drive wire 24d.

[0034] The joint drive mechanisms 26a, 26b, 26c, and 26d can drive the joint wire reels 22a, 22b, 22c, and 22d to rotate. For example, when the joint drive mechanism 26a drives the joint wire reel 22a to rotate, the joint wire reel 22a will pull the joint drive wire 24a. At this time, the joint drive wire 24a will drive the first joint 142a to rotate. Similarly, when the joint drive mechanisms 26b, 26c, and 26d drive the joint wire reels 22b, 22c, and 22d to rotate, the joint wire reels 22b, 22c, and 22d will pull the joint drive wires 24b, 24c, and 24d. At this time, the joint drive wires 24b, 24c, and 24d will drive the first joints 142b, 142c and the second joint 142d to rotate. Further, when the joint drive mechanisms 26a, 26b, 26c, and 26d drive the joint wire reels 22a, 22b, 22c, and 22d to rotate clockwise or counterclockwise, the driven joint wire reels 22a, 22b, 22c, and 22d can drive the joint drive wires 24a, 24b, 24c, and 24d to retract and extend, so as to drive the corresponding first joints 142a, 142b, 142c and the second joint 142d to rotate clockwise or counterclockwise. Therefore, the joint drive mechanisms 26a, 26b, 26c, and 26d can drive the first joints 142a, 142b, 142c and the second joint 142d to rotate simultaneously or individually, enabling the head 12 and the neck 14 to flexibly perform various movements (such as, stretching forward, leaning backward, raising the head, lowering the head, shaking the neck, etc.).

[0035] As Figure 4 shown, both sides of each of the first joints 142a, 142b, 142c may have two limiting inclined surfaces 1422. Therefore, the bottom 1424 of one of the multiple first joints 142a, 142b, 142c can cooperate with the two limiting inclined surfaces 1422 of another one of the multiple first joints 142a, 142b, 142c to limit the rotation angle of the first joints 142a, 142b, 142c (for example, Figure 4 the θ1 + θ2 shown).

[0036] In this embodiment, each of the joint drive mechanisms 26a, 26b, 26c, and 26d may include a joint motor, a coupling, a transmission shaft, an oil seal, and a bearing. As Figure 7As shown, taking the joint drive mechanism 26d as an example, the joint drive mechanism 26d may include a joint motor 260, a coupling 262, a transmission shaft 264, a oil seal 266, and a bearing 268. The coupling 262 is connected to the joint motor 260, the transmission shaft 264 is connected to the coupling 262 and the joint wire reel 22d, and the oil seal 266 and the bearing 268 are sleeved on the transmission shaft 264. In other words, the joint wire reel 22d is connected to the joint motor 260 through the transmission shaft 264 and the coupling 262, so that the joint motor 260 can drive the joint wire reel 22d to rotate. The transmission shaft 264 is covered by the oil seal 266 to provide a waterproof effect inside the body 10. In addition, the axis of the transmission shaft 264 can be stabilized by the bearing 268. It should be noted that the structural designs of the joint drive mechanisms 26a, 26b, and 26c can be the same as that of the joint drive mechanism 26d, which will not be elaborated here.

[0037] As Figure 6 shown, the bionic animal 1 may further include a neck drive mechanism 28, which is disposed in the body 10 and connected to the base 140 of the neck 14 (as Figure 2 shown). The neck drive mechanism 28 can drive the base 140 to rotate, so as to drive the head 12 to rotate via the neck 14. In this embodiment, the neck drive mechanism 28 may include a rotating shaft 280, a first gear 282, a second gear 284, and a neck motor 286. The first gear 282 is connected to the neck motor 286, the second gear 284 meshes with the first gear 282, and the rotating shaft 280 is connected to the second gear 284 and the base 140. Therefore, when the neck motor 286 drives the first gear 282 to rotate, the first gear 282 will drive the second gear 284 and the rotating shaft 280 to rotate, and the rotating shaft 280 will drive the base 140 to rotate, and then drive the head 12 to rotate via the neck 14. As Figure 2 shown, the first joints 142a, 142b, 142c and the second joint 142d can rotate around a first axis A1, and the head 12 can rotate around a second axis A2, where the first axis A1 is perpendicular to the second axis A2. Thus, the head 12 and the neck 14 can flexibly perform various actions (for example, stretching forward, leaning backward, raising the head, lowering the head, shaking the neck, etc.).

[0038] In this embodiment, the hip 16 can be pivotally connected to the body 10, so that the hip 16 can rotate relative to the body 10. As Figure 2 and Figure 6As shown, the bionic animal 1 may further include a hip cable drum 30, a hip driving line 32 and a hip driving mechanism 34. The hip cable drum 30 is disposed on the body 10. The hip driving line 32 is wound around the hip cable drum 30 and connected to the hip 16. In this embodiment, a fixing hole may be formed on the hip 16 to fix the hip driving line 32. The hip driving mechanism 34 is disposed in the body 10 and connected to the hip cable drum 30. The hip driving mechanism 34 can drive the hip cable drum 30 to rotate. When the hip driving mechanism 34 drives the hip cable drum 30 to rotate, the hip cable drum 30 will pull the hip driving line 32. At this time, the hip driving line 32 will drive the hip 16 to rotate. Further, when the hip driving mechanism 34 drives the hip cable drum 30 to rotate clockwise or counterclockwise, the hip cable drum 30 can drive the hip driving line 32 to be retracted and released to drive the hip 16 to rotate clockwise or counterclockwise. It should be noted that the structural design of the hip driving mechanism 34 may be the same as that of the joint driving mechanism 26d, which will not be described in detail herein.

[0039] like Figure 6 and Figure 8 As shown, the bionic animal 1 may further include a propeller 36 and a propeller motor 38, wherein the propeller 36 and the propeller motor 38 are both disposed in the buttocks 16, and the propeller 36 is connected to the propeller motor 38. In addition, the buttocks 16 has an opening 160 and at least one slot 162, wherein the propeller 36 is exposed in the opening 160. The propeller motor 38 can drive the propeller to rotate clockwise or counterclockwise. When the propeller 36 rotates in the water, the water flows into or out of the buttocks 16 through the at least one slot 162, so that the bionic animal 1 moves forward or backward quickly.

[0040] In this embodiment, the two legs 18 can be pivotally connected to the two sides of the body 10, and the two legs 18 are bent toward each other. Figure 8 As shown. Thus, when the bionic animal 1 moves in the water, the two legs 18 bent close to each other can make the water flow more concentrated to reduce the water flow resistance. Figure 6 As shown, the bionic animal 1 may further include two foot motors 40, and the two feet 18 are respectively connected to the two foot motors 40. The foot motors 40 can drive the feet 18 to rotate clockwise or counterclockwise, so that the feet 18 swing forward or backward.

[0041] By controlling the buttocks 16, the feet 18 and / or the propeller 36, the bionic animal 1 can move forward, backward, turn, accelerate, etc. in the water.

[0042] like Figure 9 and Figure 10As shown, the bionic animal 1 may further include three distance sensors 42, a charging hole 44, and a button 46. Among them, the three distance sensors 42 are disposed in the body 10, and the charging hole 44 and the button 46 are disposed at the bottom of the body 10. The positions of the three distance sensors 42 respectively correspond to the front, left, and right sides of the bionic animal 1, and can be used to sense obstacles in the front, left, and right sides of the bionic animal 1, so that the bionic animal 1 can make an effect of dodging obstacles. The charging hole 44 is used to charge the bionic animal 1. The inside of the button 46 may be a light-emitting diode combined with a switch module, and the outer layer of the button 46 may use a soft material to take into account the characteristics of waterproof, light-transmitting, and pressable.

[0043] In summary, the present invention uses a joint wire reel, a joint drive wire, and a joint drive mechanism to drive the joint to rotate in a wire drive manner, so that the head and neck can flexibly make various movements (for example, stretching forward, leaning backward, raising the head, lowering the head, swinging the neck, etc.). The present invention can use lightweight materials to make small joints so that the joints are closely connected to each other. In addition, the present invention can also make the bionic animal move forward, backward, turn, accelerate, etc. in water by controlling the hips, feet, and / or propellers. Since the motors of the joint drive mechanism and the hip drive mechanism are both disposed in the waterproof space in the body, the motors will not be affected by water vapor. Furthermore, the motor disposed in the body can stabilize the overall center of gravity in the lower half of the bionic animal, so that the center of gravity can still remain stable when the head and neck move, and the bionic animal will not overturn. In one embodiment, the positions of the three distance sensors respectively correspond to the front, left, and right sides of the bionic animal, and can be used to sense obstacles in the front, left, and right sides of the bionic animal, so that the bionic animal can make an effect of dodging obstacles.

[0044] The above are only the preferred embodiments of the present invention. All equivalent changes and modifications made according to the claims of the present invention shall fall within the scope of the present invention.

Claims

1. A bionic animal, characterized in that: Include: a body; 1 head; A neck, comprising a base, a plurality of first joints and a second joint, wherein the base is disposed on the body, the plurality of first joints are pivotally connected to each other, the second joint is fixed to the head, one of the plurality of first joints is pivotally connected to the base, and the second joint is pivotally connected to another of the plurality of first joints; a plurality of joint discs disposed on the body; A plurality of joint driving wires are wound around the plurality of joint wire discs and connected to the plurality of first joints and the second joint; as well as A plurality of joint drive mechanisms are disposed in the body and connected to the plurality of joint discs; The multiple joint driving mechanisms drive the multiple joint cable discs to rotate, the multiple joint cable discs pull the multiple joint driving wires, and the multiple joint driving wires drive the multiple first joints and the second joint to rotate.

2. The bionic animal according to claim 1, characterized in that: Each of the first joints is in a triangular shape.

3. The bionic animal according to claim 1, characterized in that: Two protrusions extend from both sides of each first joint, and the joint driving line is fixed to the two protrusions.

4. The bionic animal according to claim 1, characterized in that: Two limiting inclined surfaces are provided on both sides of each of the first joints, and the bottom of one of the first joints cooperates with the two limiting inclined surfaces of another of the first joints to limit the rotation angle of the first joint.

5. The bionic animal according to claim 1, characterized in that: Each of the joint drive mechanisms includes a joint motor, a coupling, a transmission shaft, an oil seal and a bearing. The coupling is connected to the joint motor, the transmission shaft is connected to the coupling and the joint reel, and the oil seal and the bearing are sleeved on the transmission shaft.

6. The bionic animal according to claim 1, characterized in that: The invention also comprises a neck driving mechanism which is arranged in the body and connected to the base. The neck driving mechanism drives the base to rotate so as to drive the head to rotate.

7. The bionic animal according to claim 6, characterized in that: The plurality of first joints and the second joint rotate around a first axis, the head rotates around a second axis, and the first axis is perpendicular to the second axis.

8. The bionic animal according to claim 6, characterized in that: The neck driving mechanism comprises a rotating shaft, a first gear, a second gear and a neck motor, wherein the first gear is connected to the neck motor, the second gear is meshed with the first gear, and the rotating shaft is connected to the second gear and the base.

9. The bionic animal according to claim 1, characterized in that: Also includes: a buttocks pivotally connected to the torso; a hip coil disposed on the torso; a hip drive line, wound around the hip cable drum and connected to the hip; as well as a hip drive mechanism disposed in the torso and connected to the hip cable drum; The hip driving mechanism drives the hip cable drum to rotate, the hip cable drum pulls the hip driving line, and the hip driving line drives the hip to rotate.

10. The bionic animal according to claim 9, characterized in that: It also includes a propeller, which is arranged in the buttocks. The buttocks have an opening and at least one slot, and the propeller is exposed in the opening. When the propeller rotates in water, water flows into or out of the buttocks through the at least one slot.

11. The bionic animal according to claim 1, characterized in that: The utility model further comprises two legs which are pivotally connected to two sides of the body, and the two legs are bent toward each other and approach each other.

12. The bionic animal according to claim 1, characterized in that: The device further comprises three distance sensors which are arranged in the body. The positions of the three distance sensors correspond to the front, left and right of the bionic animal respectively.

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