Fish type biomimetics device

Abstract

To provide a fish type biomimetics device capable of imitating swimming motion of fish.SOLUTION: A fish type biomimetics device includes a fish-shaped casing unit 1 having a plurality of casing members 11 arranged adjacent to each other in a front-to-back direction X, and a plurality of rotation means 3 disposed between any two adjacent casing members 11. When respective first motor modules, each disposed in the casing member 11 on the front side and belonging to the respective rotation means 3, rotationally drive respective first rotational members disposed in the casing member 11 on the rear side, relative oscillation between the front side casing member 11 and the rear side casing member 11 is driven to imitate the swimming motion of a fish.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a biomimetic robot that can operate underwater, and particularly to a fish-shaped biomimetic device.

Background Art

[0002] A conventional example of a fish-shaped biomimetic device is described in Patent Document 1. The members corresponding to the fish head, fish body, and fish tail are all independent watertight shell structures, and a transparent and pressure-resistant waterproof material applied to the surface of this watertight shell structure ensures the waterproof performance of the watertight shell structure. In addition, since a controller module, a wireless communication module, a water quality monitoring module, a fish detection module, and an autonomous navigation module are installed inside, it can be used for observing fish habits and educational purposes while mingling with a school of fish.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Such a conventional fish-shaped biomimetic device cannot imitate the swimming motion caused by the swinging of the fish body and tail fin. Therefore, an object of the present invention is to provide a fish-shaped biomimetic device that can more highly imitate the swimming motion of fish.

Means for Solving the Problems

[0005] In order to achieve the above object, the present invention provides a fish-shaped biomimetic device capable of moving forward in an underwater environment, comprising a fish-shaped housing unit having a plurality of housing members arranged adjacent to each other in the front-rear direction, a first motor module disposed between any two adjacent housing members and attached to one of the housing members on the front side of the two housing members, and a plurality of rotating means each having a first rotating member attached to one of the housing members on the rear side of the two housing members and rotatably connected to the first motor module with a first axis extending in the vertical direction as a rotation axis. Each of the first motor modules of each of the rotating means is individually controlled to perform a rotational movement of a predetermined angle about the first axis with respect to the corresponding first rotating member, thereby driving a relative rotation of the housing member on the rear side of the housing member on the front side. A fish-shaped biomimetic device is provided.

Advantages of the Invention

[0006] In the fish-shaped biomimetic device of the present invention, by interposing rotating means between two housing members adjacent to each other in the front-rear direction among the plurality of housing members constituting the fish-shaped housing unit, the housing member on the rear side can swing left and right with respect to the housing member on the front side, so that the swimming motion of fish can be more highly imitated.

Brief Description of the Drawings

[0007]

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Mode for Carrying Out the Invention

[0008] To more clearly explain the objectives, technical means, and advantages of the embodiments of the present invention, hereinafter, in combination with the accompanying drawings of the embodiments of the present invention, the technical means in the embodiments of the present invention will be clearly and completely described. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present invention. Generally, the components of the embodiments of the present invention depicted and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, hereinafter, the detailed description of the embodiments of the present invention provided in the accompanying drawings does not constitute any limitation to the protection scope of the present invention, but merely shows the selected embodiments of the present invention.

[0009] Before describing the present invention in more detail, it should be noted that, when considered appropriate, reference numerals or the end portions of reference numerals are repeated between figures to indicate corresponding or similar elements, and these can optionally have similar characteristics.

[0010] In the description of the present invention, terms indicating orientations and positional relationships such as "upper", "lower", "inner", "outer", "left", "right", "front", "rear", etc. are based on the orientations and positional relationships shown in the drawings or the orientations and positional relationships habitually assumed when using the products of the present invention for the purpose of more simply and clearly explaining, and do not teach or imply that the corresponding devices or apparatuses have specific orientations, structures, operations, etc. in a specific orientation, and are not limitations to the present invention.

[0011] Also, in the description of the present invention, terms such as "first", "second", etc. are used only for the purpose of distinction and do not teach or imply relative importance.

[0012] As used herein, the term "electrically connected" can mean both a "wired connection" in which a plurality of electrical facilities, electrical devices, or electrical appliances are connected via a conductive material, and a "wireless connection (i.e., a signal connection)" that is one-way or two-way wireless communication performed by wireless communication technology. Further, the term "electrically connected" can mean both a "direct connection" in which a plurality of electrical facilities, electrical devices, or electrical appliances are directly connected, and an "indirect connection" in which a plurality of electrical facilities, electrical devices, or electrical appliances are indirectly connected via other electrical facilities, electrical devices, or electrical appliances.

[0013] FIGS. 1 and 2 show the fish-shaped biomimetic device of this embodiment. This fish-shaped biomimetic device is configured to be movable forward in an underwater environment (not shown), and includes a fish-shaped housing unit 1, a control module 2 (see FIG. 4), a plurality of rotating means 3, a center-of-gravity movement mechanism 4, and a sensor module 5.

[0014] As shown in FIG. 1, the fish-shaped housing unit 1 has, for example, the shape of a bluefin tuna, and fins, eyes, a mouth, etc. are formed. This housing unit 1 has a plurality of housing members 11 (11a, 11b, 11c, 11d) arranged adjacent to each other along the front-rear direction X, and a tail fin member 13 disposed on the rearmost housing member 11d.

[0015] In the plurality of housing members 11a, 11b, 11c, 11d, two adjacent housing members 11 (for example, housing members 11a and 11b, or housing members 11b and 11c, etc.) are connected by one rotating means 3 disposed therebetween. Due to the left - right swinging of the rear housing member 11 relative to the front housing member 11 caused by the rotation of the rotating means 3, the housing unit 1 can imitate the swimming motion of fish wagging its body. In this embodiment, the housing unit 1 is configured to have four housing members 11a, 11b, 11c, 11d. However, in the implementation of the present invention, the number of housing members 11 that the housing unit 1 has is two or more. And the more the number of housing members 11, the more precisely the housing unit 1 can imitate the swimming motion of fish wagging its body.

[0016] In the following description, for the sake of easy explanation, among the four housing members 11a, 11b, 11c, 11d of the housing unit 1 in this embodiment, the housing member 11a disposed at the foremost side is referred to as the foremost - side housing member 11a, the housing member 11b disposed immediately behind it is referred to as the first intermediate housing member 11b, the housing member 11c disposed further behind it is referred to as the second intermediate housing member 11c, and the housing member 11d disposed at the rearmost side is referred to as the rearmost - side housing member 11d. The foremost - side housing member 11a is formed in a shape imitating the head of a fish, the first intermediate housing member 11b and the second intermediate housing member 11c are formed in shapes imitating the body part of a fish, and the rearmost - side housing member 11d is formed in a shape imitating the tail of a fish and has a tail fin member 13 attached thereto.

[0017] As shown in FIGS. 2 and 3, each housing member 11 is formed in a shape that is symmetric in the left - right direction Y, and the half - housings 111 arranged one on each side in the left - right direction are engaged with each other to define an accommodation slot 117 between the two half - housings 111 and accommodate a part of the corresponding rotating means 3. At the front end of each of the two half - housings 111 of one housing member 11 on the rear side among two adjacent housing members 11, that is, the first intermediate housing member 11b in the first intermediate housing member 11b and the foremost housing member 11a, or the second intermediate housing member 11c in the second intermediate housing member 11c and the first intermediate housing member 11b, or the last - side housing member 11d in the last - side housing member 11d and the second intermediate housing member 11c, extends forward and inserts into the housing member 11 on its front side, and extends so as to bend toward the accommodation slot 117 between the two half - housings 111, thereby shielding the gap between the half - housing 111 of the one housing member 11 on the rear side and the half - housing 111 of the housing member 11 on the front side among two adjacent housing members 11. One curved flange 112 is formed for each.

[0018] That is, for example, one curved flange 112 is formed at the front end of each of the two half - housings 111 of the second intermediate housing member 11c among the first intermediate housing member 11b and the second intermediate housing member 11c adjacent to each other. These two curved flanges 112 insert into the first intermediate housing member 11b and extend so as to bend toward the accommodation slot 117 surrounded by the second intermediate housing member 11c, thereby shielding the gap between the two half - housings 111 of the first intermediate housing member 11b and the two half - housings 111 of the second intermediate housing member 11c.

[0019] Further, as shown in FIG. 11, due to the left - right swinging of the rear housing member 11 with respect to the front housing member 11 caused by the rotation of the rotating means 3, for example, the gap on one side (the lower side in the figure) between the foremost housing member 11a and the first intermediate housing member 11b in the figure widens. However, the curved flange 112 formed in the half - housing 111 on the lower side in the figure of the first intermediate housing member 11b and extending into the foremost housing member 11a shields this gap, preventing the relative movement of the two housing members 11 and blocking the spatial communication between the accommodation slot 117 and the outside. Thus, it is prevented that external water easily enters the accommodation slot 117 through this gap whose size changes due to the relative swinging of the housing members 11 adjacent to each other.

[0020] That is, the curved flanges 112 formed in the first intermediate housing member 11b, the second intermediate housing member 11c, and the rearmost housing member 11d extend inside the foremost housing member 11a, the first intermediate housing member 11b, and the second intermediate housing member 11c in front of them, respectively.

[0021] Also, as shown in FIGS. 2 and 3, the first intermediate housing member 11b and the second intermediate housing member 11c each have two inner partition walls 113 disposed in the accommodation slot 117, and these two inner partition walls 113 are respectively connected corresponding to the two half - housings 111 of the corresponding first intermediate housing member 11b or second intermediate housing member 11c.

[0022] For example, the two inner partition walls 113 of the first intermediate housing member 11b, together with the curved flanges 112 formed on the two half-housings 111 of the first intermediate housing member 11b, partition the accommodation slot 117 inside the first intermediate housing member 11b into a central slot portion 118 in which a part of the rotating means 3 is accommodated, and left and right air chambers 119A and 119B respectively located on both left and right sides of the central slot portion 118. The left and right air chambers 119A and 119B in the first intermediate housing member 11b and the second intermediate housing member 11c are symmetric with each other in the left-right direction Y and maintain the balance of the entire fish-shaped biomimetic device in the left-right direction Y. In particular, the inner partition wall 113, the half-housing 111, and the curved flange 112 are all formed as arched plate-like bodies, and the convex surface 113a of the inner partition wall 113 faces the concave surface 111a of the corresponding half-housing 111 and the curved flange 112, thereby defining the left air chamber 119A or the right air chamber 119B. By defining the left and right air chambers 119A and 119B in this way, even when the fish-shaped housing unit 1 is placed in an underwater environment, air can be accommodated in the left and right air chambers 119A and 119B. Furthermore, by adjusting the number and dimensions of the left and right air chambers 119A and 119B, it is also possible to adjust the center of gravity position of the entire fish-shaped biomimetic device, whereby fish can more precisely imitate the swimming motion of swinging their bodies.

[0023] Each inner partition wall 113 is removably attached to the corresponding half-housing 111. Specifically, a plurality of through holes 121 penetrating along the left-right direction Y are formed in each inner partition wall 113, and a plurality of screw holes 120 facing each other corresponding to the positions of the through holes 121 are formed in the corresponding half-housing 111. With these configurations, each inner partition wall 113 is fixed to the corresponding half-housing 111 by passing through the through holes 121 using a plurality of screws 114 and then screwing them into the corresponding screw holes 120. Furthermore, since a watertight washer 115 is attached to each screw 114, the watertightness of the mounting locations of the screws 114, that is, the through holes 121 and the screw holes 120, can be maintained.

[0024] At the peripheries of the inner partition walls 133 respectively provided in the first intermediate housing member 11b and the second intermediate housing member 11c, there are a pair of watertight rings 116 that watertightly seal the gap between the inner partition wall 133 and the semi-housing 111 and the curved flange 112 so as to face the corresponding semi-housing 111. Therefore, when the housing members 11 adjacent to each other relatively swing due to the drive of the rotating means 3, it is possible to more reliably prevent external water from entering into the accommodation slot 117 inside the semi-housing 111.

[0025] The tail fin member 13 attached to the rearmost housing member 11d arranged at the rearmost side in each housing member 11 is formed hollow so as to surround the tail fin space 131. This tail fin space 131 is shielded from the underwater environment, and by having a hollow configuration imitating the shape of a fish's tail fin, the center of gravity position of the entire fish-shaped bionic device can be adjusted closer to the front side. Further, if the specific gravity of the entire fish-shaped bionic device of the present invention is configured to be close to that of water, it becomes easier to control the movement and the change of the forward direction in the underwater environment.

[0026] As shown in FIGS. 4 and 5, the control module 2 is arranged inside the housing member 11 arranged at the foremost side, that is, the foremost housing member 11a. As the control module 2, for example, it can be configured using a circuit board that is electrically connected to each rotating means 3, the center of gravity movement mechanism 4, and the sensor module 5. With this configuration, the control module 2 can output control signals to each rotating means 3 and the center of gravity movement mechanism 4 based on the detection signals from the sensor module 5.

[0027] As shown in FIGS. 5 to 8, each rotating means 3 is disposed between two adjacent housing members. That is, each rotating means 3 includes a first motor module 31 disposed among the foremost housing member 11a, the first intermediate housing member 11b, and the second intermediate housing member 11c, which can be the housing member 11 on the front side of two adjacent housing members 11, and a first rotating member 32 disposed among the first intermediate housing member 11b, the second intermediate housing member 11c, and the rearmost housing member 11d, which can be the housing member 11 on the rear side of two adjacent housing members 11. The first motor module 31 has a motor electrically connected to the control module 2, a holding base for holding the motor, and an electric wire for electrically connecting the motor and the control module 2. The first rotating member 32 can transmit the driving force from the motor to the corresponding housing member 11 by connecting to both the motor and the corresponding housing member 11 (the housing member 11 on the rear side of two adjacent housing members 11). The first rotating member 32 is rotatably attached to the first motor module 31 with the first axis L1 extending in the vertical direction Z as the rotation axis. In this embodiment, the number of the rotating means 3 is one less than the number of the housing members 11.

[0028] As shown in FIGS. 7 to 11, each first motor module 31 individually receives a control signal from the control module 2, and rotates a corresponding first rotating member 32 by a predetermined angle with the first axis L1 as the rotation axis, thereby driving a housing member 11 to which the first rotating member 32 is connected. That is, the first intermediate housing member 11b, the second intermediate housing member 11c, and the last housing member 11d, which can be the housing member 11 on the rear side in two adjacent housing members 11, are driven to rotate by the predetermined angle with respect to the foremost housing member 11a, the first intermediate housing member 11b, and the second intermediate housing member 11c, which can be the housing member 11 on the front side in two adjacent housing members 11. Specifically, when the first rotating member 32 corresponding to the first motor module 31 is driven clockwise or counterclockwise with the first axis L1 as the rotation axis, the first intermediate housing member 11b, the second intermediate housing member 11c, and the last housing member 11d, which can be the housing member 11 on the rear side in two adjacent housing members 11, can be swung to the left or right with respect to the foremost housing member 11a, the first intermediate housing member 11b, and the second intermediate housing member 11c, which can be the housing member 11 on the front side in two adjacent housing members 11. Therefore, the fish-shaped bionic device of the present invention can transition between the initial state and the curved state. That is, when the fish-shaped bionic device of the present invention moves forward in an underwater environment, the rear part of the fish-shaped bionic device of the present invention swings left and right in the left-right direction Y with respect to the front part of the fish-shaped bionic device of the present invention. FIGS. 9 to 11 show the state when the rear part of the fish-shaped bionic device of the present invention swings to the right in the left-right direction Y with respect to the front part of the fish-shaped bionic device of the present invention. Also, in the initial state shown in FIG. 7, since the first axes L1, which are the rotation axes of the respective rotating means 3, are arranged along the front-rear direction X, the housing unit 1 extends along the front-rear direction X. In the curved state shown in FIG. 10, the arrangement of the respective first axes L1 is shifted rearward from the front-rear direction X.Therefore, the relatively rearward first axis L1 is the central axis of the housing member 11 arranged at the most forward side, i.e., the foremost housing member 11a, and is shifted relatively to the right from the second axis L2 extending along the front-rear direction X, thus creating a curvature of the entire housing unit 1.

[0029] As shown in FIGS. 12 to 16, the center-of-gravity movement mechanism 4 is arranged below the control module 2 within the foremost housing member 11a. The center-of-gravity movement mechanism 4 includes a second motor module 41 attached within the foremost housing member 11a, a second rotating member 42 rotatably attached to the second motor module 41 with the second axis L2 as the rotation axis, and a weight member 43 arranged to be movable along the front-rear direction X with respect to the second motor module 41. The second motor module 41 is electrically connected to the control module 2 and operates under the control of the control module 2. Specifically, the second motor module 41 includes a motor case 411, a motor 412 arranged within the motor case 411, and two guide columns 414 extending along the front-rear direction X on both sides of the motor case 411. An engagement slot 413 extending along the front-rear direction X is formed at the front end of the motor case 411. The second rotating member 42 is attached to the output shaft of the motor 412 by a connecting member and has a cylindrical cam 421 rotatable with the second axis L2 as the rotation axis. A helical groove 422 extending helically around the second axis L2 is formed on the outer surface of the cylindrical cam 421. In this embodiment, the motor 412 is arranged within the motor case 411, thereby achieving miniaturization of the center-of-gravity movement mechanism 4. On the other hand, the motor 412 can also be mounted on the outside of the motor case 411 or the inner wall of the foremost housing member 11a. Further, the helical groove 422 extends helically around the second axis L2 on the outer surface of the cylindrical cam 421 and has a first end 423 (see FIGS. 15 and 16) on the front side of the cylindrical cam 421 and a second end 424 (see FIGS. 15 and 16) on the rear side of the cylindrical cam 421.

[0030] As shown in FIGS. 17 to 19, the weight member 43 has a passive portion 431 and a battery unit 432 that movably engages with the engagement slot 413 in the front-rear direction X. The two guide columns 414 are movably inserted into the battery unit 432 to hold the battery unit 432 and guide the movement of the battery unit 432. In some embodiments, the two guide columns 414 are omitted. The engagement slot 413 prevents the battery unit 432 from moving in the vertical direction Z. Specifically, the battery unit 432 can be composed of a battery box and a plurality of batteries, and by being electrically connected to each of the first motor module 31 and the second motor module 41, it supplies power to each of the first motor module 31 and the second motor module 41. The passive portion 431 is disposed at the upper end of the battery unit 432, extends downward through the battery box, and has a guide block 433 that is movably engaged with the helical groove 422 along the helical groove 422. When the second motor module 41 is controlled to rotationally drive the cylindrical cam 421 of the second rotating member 42 and the cylindrical cam 421 of the second rotating member 42 rotates about the second axis L2, when the guide block 433 moves relative to the cylindrical cam 421 of the second rotating member 42 along the helical groove 422, the weight member 43 moves relative to the second motor module 41 along the front-rear direction X, whereby the center of gravity of the entire fish-shaped bionic device of the present invention can be moved along the front-rear direction X. Since the battery unit 432 serves as the center of gravity of the head of the fish-shaped bionic device, an additional weight member is not required, and an increase in the weight of the entire fish-shaped bionic device can be avoided. Further, since the battery unit 432 engages with the engagement slot 413, it is also possible to miniaturize the center-of-gravity movement mechanism 4 and make the entire fish-shaped bionic device smaller.

[0031] As shown in FIG. 13, the sensor module 5 is electrically connected to the control module 2 and is disposed in front of the center-of-gravity movement mechanism 4 within the foremost housing member 11a. The sensor module 5 in this embodiment specifically has three sensor elements 51, and by using an infrared sensor as the sensor element 51, it is possible to detect surrounding objects such as obstacles in an underwater environment. The three sensor elements 51 are respectively disposed at the front end and the left and right ends of the portion of the foremost housing member 11a that mimics the mouth of a fish and are electrically connected to the control module 2. When any one of the sensor elements 51 detects a surrounding object, it generates a detection signal and transmits it to the control module 2, and the control module 2 generates a corresponding control signal in response and transmits it to each of the first motor modules 31 or the second motor modules 41, thereby changing the moving direction of the entire fish-shaped biomimetic device to avoid a collision with the detected object. In other embodiments, the number of sensor elements 51 can be other than three.

[0032] Hereinafter, the operating state of the fish-shaped biomimetic device of the present invention will be described in detail. As shown in FIGS. 7, 8, 10, and 11, when each of the first rotating members 32 is controlled to rotate clockwise or counterclockwise about the first axis L1 with respect to the corresponding first motor module 31, the first intermediate housing member 11b, the second intermediate housing member 11c, and the rearmost housing member 11d, which can be the housing members 11 on the rear side of two adjacent housing members 11, swing left and right with respect to the foremost housing member 11a, the first intermediate housing member 11b, and the second intermediate housing member 11c, which can be the housing members 11 on the front side of two adjacent housing members 11. Therefore, the fish-shaped biomimetic device of the present invention can swing in the left-right direction Y to mimic the swimming motion of fish in an underwater environment and move forward. Furthermore, by finely adjusting the clockwise or counterclockwise rotation angle and rotation range of each of the first rotating members 32 controlled by the control module 2, it is also possible to change the forward direction angle of the entire fish-shaped biomimetic device of the present invention.

[0033] As shown in FIGS. 17 to 19, FIG. 17 shows a state in which the guide block 433 is engaged with the middle portion of the spiral groove 422. In this state, the center of gravity position of the entire fish-shaped bionic device determined by the weight member 43 corresponds to the horizontal forward movement direction. Then, as the cylindrical cam 421 rotates, when the guide block 433 moves relatively to the first end 423 along the spiral groove 422 as shown in FIG. 18, the weight member 43 moves forward away from the engagement slot 413, and the center of gravity position of the entire fish-shaped bionic device also moves forward, so that the fish-shaped bionic device can move forward while diving downward. Further, as the cylindrical cam 421 rotates, when the guide block 433 moves relatively to the second end 424 along the spiral groove 422 as shown in FIG. 19, the weight member 43 retreats into the engagement slot 413 and the center of gravity position of the entire fish-shaped bionic device also moves backward, so that the fish-shaped bionic device can rise to the upper side (water surface side).

[0034] Also, when each sensor element 51 senses an object around that may become an obstacle in the underwater environment, a sensing signal is transmitted from each sensor element 51 to the control module 2. The control module 2 controls each first motor module 31 and the second motor module 41 according to the received sensing signal, and adjusts the forward direction of the entire fish-shaped bionic device to the left or right or up and down. That is, movements such as turning left or right or rising or sinking are possible, so that collisions with surrounding objects, that is, obstacles, can be avoided.

[0035] According to the above description, the present invention has a plurality of rotating means 3 disposed between any two adjacent housing members 11, enabling the entire housing unit 1 to be curved and imitating the swimming motion caused by the swinging of the body and tail fins of fish. Further, since it has a center-of-gravity shifting mechanism 4, it is possible to adjust the overall center of gravity of the fish-shaped bionic device back and forth by the forward and backward movement of the weight member 43, and thereby it is also possible to adjust the overall forward direction of the fish-shaped bionic device up and down. Furthermore, since the control module 2 can individually control each of the first motor modules 31 and the second motor modules 41, when each sensor element 51 of the sensor module 5 senses a surrounding object that may become an obstacle, it transmits a sensing signal to the control module 2, and the control module 2 individually controls each of the first motor modules 31 and the second motor modules 41 in response to the received sensing signal, thereby avoiding a collision between the fish-shaped bionic device and the obstacle during movement. Therefore, the fish-shaped bionic device of the present invention can more highly imitate the swimming motion of fish and can surely achieve the object of the present invention.

[0036] The above embodiments exemplarily explain the principles and effects of the present invention and do not limit the present invention. Those skilled in the art can make some changes and modifications to the above embodiments on the premise of not departing from the spirit and scope of the present invention. Therefore, all changes and modifications made on the premise that those skilled in the art do not depart from the gist of the present invention should be included in the protection scope of the present invention.

Industrial Applicability

[0037] The fish-shaped bionic device provided by the present invention can be used, for example, to observe the ecology of fish by blending in with fish or for educational purposes.

Explanation of Reference Numerals

[0038] 1 Housing unit 11 Housing member 11a Frontmost housing member 11b First intermediate housing member 11c Second intermediate housing member 11d Last housing member 111 Half housing 112 Curved flange 113 Inner partition wall 114 Screw 115 Washer 116 Watertight ring 117 Receiving slot 118 Central slot portion 119A Left air chamber 119B Right air chamber 120 Screw hole 121 Through hole 13 Tail fin member 131 Tail fin space 2 Control module 3 Rotating means 31 First motor module 32 First rotating member 4 Center of gravity moving mechanism 41 Second motor module 411 Motor case 412 Motor 413 Engagement slot 414 Guide post 42 Second rotating member 421 Cylindrical cam 422 Helical groove 423 First end 424 Second end 43 Weight member 431 Passive part 432 Battery unit 433 Guide block 5 Sensor module 51 Sensor element L1 First axis L2 Second axis X Front - rear direction Y Left - right direction Z Up - down direction

Claims

1. A fish-shaped biomimetic device capable of moving forward in an underwater environment, comprising: a fish-shaped housing unit having a plurality of housing members arranged adjacent to each other in the front-rear direction; a plurality of rotating means, each rotating means including a first motor module disposed between any two adjacent housing members and attached to one of the housing members on the front side of the two housing members, and a first rotating member attached to one of the housing members on the rear side of the two housing members and rotatably connected to the first motor module with a first axis extending in the vertical direction as a rotation axis; The first motor modules of each of the rotating means are individually controlled to perform a rotational movement of a predetermined angle about the first axis with respect to the corresponding first rotating member, thereby driving a relative rotation of the housing member on the rear side of the housing member on the front side, the fish-shaped biomimetic device.

2. The fish-shaped biomimetic device according to claim 1, wherein the housing member on the rear side is configured to swing left and right with respect to the housing member on the front side by clockwise or counterclockwise rotational driving of the first motor module with respect to the first rotating member, and the cooperation of all the first motor modules generates a propulsive force for moving forward in the underwater environment of the entire fish-shaped biomimetic device.

3. further comprising a center-of-gravity movement mechanism having a second motor module disposed in the housing member disposed most forward in each of the housing members, a second rotating member rotatably connected to the second motor module with a second axis extending in the front-rear direction, and a weight member movably disposed along the front-rear direction with respect to the second motor module; the second rotating member has a cylindrical cam formed in a cylindrical shape and having a spiral groove formed on an outer surface thereof to extend spirally around the second axis; the weight member has a guide block engaging with the spiral groove so as to be relatively movable along the spiral groove formed in the cylindrical cam. The center-of-gravity movement mechanism is configured such that when the second motor module is controlled to rotationally drive the cylindrical cam of the second rotating member about the second axis, the guide block is moved along the spiral groove, so that the weight member is relatively moved with respect to the second motor module along the front-rear direction, thereby moving the center of gravity of the entire fish-shaped bionic device. The fish-shaped bionic device according to claim 2.

4. further comprising a control module and a sensor module, the control module is disposed in the housing member that is disposed most forwardly among the housing members, and is configured to be able to individually control each of the first motor module and the second motor module by being electrically connected to each of the first motor module and the second motor module, the sensor module is electrically connected to the control module and is disposed in the housing member that is disposed most forwardly, and has at least one sensor element capable of sensing surrounding objects in an underwater environment. When the sensor element senses a surrounding object, a corresponding sensing signal is transmitted to the control module, and when the control module receives the sensing signal, at least one of the first motor module and the second motor module is controlled to change the forward direction of the entire fish-shaped bionic device. The fish-shaped bionic device according to claim 3.

5. The sensor module is configured such that when any one of the three sensor elements disposed on the front side, the left side, and the right side of the housing member disposed most forwardly and electrically connected to the control module respectively senses a surrounding object, a corresponding sensing signal is transmitted to the control module. The fish-shaped bionic device according to claim 4.

6. Each of the housing members has a left and a right half housing that are arranged on the left and right sides of one of the rotating means and engage with each other to define a receiving slot for accommodating a part of the corresponding one of the rotating means. At the front ends of the two half housings of one of the housing members on the rear side among two adjacent housing members, there are extensions that extend forward and are inserted into the housing member on the front side, and extend so as to bend toward the receiving slot side between the two half housings, thereby shielding the gap between the half housing of one of the housing members on the rear side and the half housing of the housing member on the front side among two adjacent housing members. One curved flange is formed for each, the fish-shaped bionic device according to claim 1.

7. At least one of the housing members has a pair of inner partition walls that are accommodated in the receiving slot and connected to the two half housings respectively. The pair of inner partition walls, together with the half housings and the curved flanges to which they are respectively connected, are configured to partition the receiving slot into a central slot portion, a left air chamber and a right air chamber that are respectively on both sides of the central slot portion and are blocked from the underwater environment. The fish-shaped bionic device according to claim 6.

8. At least one through hole extending in the left-right direction is formed in each of the inner partition walls of each housing member. Threaded holes corresponding to the through holes formed in the inner partition walls are formed on the inner sides adjacent to the corresponding inner partition walls of the half housings. In addition, each housing member further has a screw that is removably screwed into the threaded hole corresponding to the through hole by inserting through the through hole, and a watertight washer attached to the screw. Thereby, the inner partition wall is removably fixed to the corresponding half housing. The fish-shaped bionic device according to claim 7.

9. At least one of the housing members has a pair of watertight rings that watertightly seal the gap between the inner partition wall and the half housing and the curved flange at the periphery of the inner partition wall so as to face the corresponding half housing. The fish-shaped bionic device according to claim 8.

10. The fish-shaped biomimetic device according to claim 1, wherein a caudal fin member, which is formed hollow so as to surround a caudal fin space, is attached to one of the plurality of housing members of the fish-shaped housing unit that is arranged at the rearmost side.

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