Bionic animals

Abstract

To provide bionic animals applicable to bionic waterfowl. [Solution] The bionic animal includes a body, a head, a neck, a plurality of articulation reels, a plurality of articulation drive wires, and a plurality of articulation drive mechanisms. The neck includes a base, a plurality of first joints, and second joints. The base is located on the body. The first joints are rotatably connected to each other. The second joints are fixed to the head. The articulation reels are located on the body. The articulation drive wires are wound around the articulation reels and connected to the first and second joints. The articulation drive mechanisms are located on the body and connected to the articulation reels. The articulation drive mechanisms drive the articulation reels to rotate, the articulation reels pull the articulation drive wires, and the articulation drive wires drive the first and second joints to rotate.

Description

Technical Field

[0001] The present invention relates to bioionic animals, and more specifically, to bioionic animals applicable to bioionic water birds.

Background Art

[0002] Currently, the neck joint mechanism of conventional bioionic water birds uses a plurality of interconnected motors to control each joint. Since the distance between joints needs to be at least equal to the length of the motor, the gap between joints becomes very large. Furthermore, the angle by which the joint can rotate is limited by the width of the motor. Moreover, because the weight of the plurality of motors is too heavy, the overall center of gravity of the bioionic water bird changes easily and significantly during the movement of the head and neck, and as a result, the water bird may fall. After the water bird falls, the motor may also be damaged by immersion in water.

Summary of the Invention

Problems to be Solved by the Invention

[0003] In order to solve the above problems, the present invention provides a bioionic animal applicable to bioionic water birds.

Means for Solving the Problems

[0004] According to one embodiment of the present invention, a bionic animal includes a torso, a head, a neck, a plurality of articulation reels, a plurality of articulation drive wires, and a plurality of articulation drive mechanisms. The neck includes a base, a plurality of first joints, and a second joint. The base is located in the torso. The plurality of first joints are rotatably connected to each other. The second joint is fixed to the head. One of the plurality of first joints is rotatably connected to the base. The second joint is rotatably connected to another of the plurality of first joints. The plurality of articulation reels are located in the torso. The plurality of articulation drive wires are wound around the plurality of articulation reels and connected to the plurality of first and second joints. The plurality of articulation drive mechanisms are located in the torso and connected to the plurality of articulation reels. The plurality of articulation drive mechanisms drive the plurality of articulation reels to rotate, the plurality of articulation reels pull the plurality of articulation drive wires, and the plurality of articulation drive wires drive the plurality of first and second joints to rotate.

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

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

[0007] In one embodiment, each of the two sides of the plurality of first joints has two inclined constraint surfaces, and the bottom of one of the plurality of first joints cooperates with the two inclined constraint surfaces of another of the plurality of first joints to constrain the rotation angle of the first joint.

[0008] In one embodiment, each of the plurality of joint drive mechanisms includes a joint motor, a coupling, a transmission shaft, an oil seal, and a bearing, wherein 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 fitted onto the transmission shaft.

[0009] In one embodiment, the bionic animal further includes a neck drive mechanism located within the torso and connected to the base, the neck drive mechanism drives the base to rotate, and drives the head to rotate.

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

[0011] In one embodiment, the neck drive mechanism includes 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 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 buttock, a buttock reel, a buttock drive wire, and a buttock drive mechanism. The buttock is rotatably connected to the torso. The buttock reel is positioned on the torso. The buttock drive wire is wound around the buttock reel and connected to the buttock. The buttock drive mechanism is positioned on the torso and connected to the buttock reel. The buttock drive mechanism drives the buttock reel to rotate, the buttock reel pulls the buttock drive wire, and the buttock drive wire drives the buttock to rotate.

[0013] In one embodiment, the bionic animal further includes a propeller positioned in the rump, the rump having an opening and at least one slot, the propeller being exposed within the opening. When the propeller rotates in water, water flows into or out of the rump through at least one of the slots.

[0014] In one embodiment, the bionic animal further includes two legs rotatably connected to two sides of the torso, the two legs being curved toward each other.

[0015] In one embodiment, the bionic animal further includes three distance sensors located within its torso, the positions of which correspond to the front, left, and right sides of the bionic animal, respectively. [Effects of the Invention]

[0016] As described above, the present invention utilizes joint reels, joint drive wires, and joint drive mechanisms to drive the joints to rotate in a wire-driven manner, thereby enabling the head and neck to flexibly perform a variety of movements (e.g., extending forward, tilting backward, raising the head, lowering the head, shaking the head, etc.). The present invention ensures that the joints are closely connected to each other by manufacturing small joints using lightweight materials. Furthermore, the present invention enables the bionic animal to move forward, backward, turn, accelerate, etc. in water by controlling the hips, feet, and / or propellers. The motors of the joint drive mechanism and the hip drive mechanism are located within the waterproof space of the torso and are therefore unaffected by moisture. In addition, the motors located inside the torso stabilize the overall center of gravity in the lower body of the bionic animal, so the center of gravity remains stable when the head and neck move, preventing the bionic animal from tipping over. In one embodiment, the three distance sensors can be configured to detect obstacles in front of, to the left of, and to the right of the bionic animal, with their positions corresponding to the front, left of, and right of the bionic animal, thereby enabling the bionic animal to avoid the obstacles.

[0017] These and other objects of the present invention will become undoubtedly apparent to those skilled in the art after reading the following detailed description of preferred embodiments shown in various figures and drawings. [Brief explanation of the drawing]

[0018] [Figure 1] This is a perspective view showing a bionic animal related to one embodiment of the present invention. [Figure 2] Figure 1 shows another perspective view of the bionic animal. [Figure 3]Another perspective view showing the bioionic animal shown in FIG. 1. [Figure 4] A side view showing the neck shown in FIG. 2. [Figure 5] A partial perspective view showing the bioionic animal shown in FIG. 1. [Figure 6] Another partial perspective view showing the bioionic animal shown in FIG. 1. [Figure 7] A partial cross-sectional view showing the bioionic animal shown in FIG. 5. [Figure 8] A perspective view showing the bioionic animal shown in FIG. 1. [Figure 9] A perspective view showing the bioionic animal shown in FIG. 1. [Figure 10] An internal view showing the bioionic animal shown in FIG. 9.

BEST MODE FOR CARRYING OUT THE INVENTION

[0019] Referring to FIGS. 1 to 10, FIG. 1 is a perspective view showing a bioionic animal 1 according to an embodiment of the present invention, FIG. 2 is another perspective view showing the bioionic animal 1 shown in FIG. 1, FIG., FIG. 4 is a side view showing the neck 14 shown in FIG. 2, FIG. 5 is a partial perspective view showing the bioionic animal 1 shown in FIG. 1, FIG. 6 is another partial perspective view showing the bioionic animal 1 shown in FIG. 1, FIG. 7 is a partial cross-sectional view showing the bioionic animal 1 shown in FIG. 5 along the line X-X, FIG. 8 is a perspective view showing the bioionic animal 1 shown in FIG. 1, FIG. 9 is a perspective view showing the bioionic animal 1 shown in FIG. 1, and FIG. 10 is an internal view showing the bioionic animal 1 shown in FIG. 9.

[0020] <The bioionic animal 1 of the present invention may be a bioionic water bird, but is not limited thereto. The type of the bioionic animal 1 can be determined according to the actual use. As shown in FIGS. 1 to 3, the bioionic animal 1 includes a body 10, a head 12, a neck 14, a hip 16, two legs 18, and an outer cover 20. The body 10 is configured to accommodate the main mechanical and electronic components of the bioionic animal 1. The outer cover 20 is disposed on the body 10 for decoration. In this embodiment, the outer cover 20 may have the shape of the upper body of a water bird with wings, but the present invention is not limited thereto. The neck 14 is connected to the top of the body 10 and extends from the outer cover 20. The head 12 is connected to the neck 14. The hip 16 is connected to the rear of the body 10. The two legs 18 are connected to the bottom of the body 10. By designing the head 12, the hip 16, and the outer cover 20 to have a lightweight and thin shell, the center of gravity of the bioionic animal 1 is stably maintained in the lower body 10, thereby preventing the bioionic animal 1 from tipping over when swimming on the water surface. The present invention can prevent the electronic components (such as motors, batteries, circuit boards, sensors, etc.) in the body 10 from being damaged by water by applying a waterproof design to the body 10. <​​​​​As shown in Figures 2, 3, and 5, the bionic animal 1 further includes a plurality of articulation reels 22a, 22b, 22c, 22d, a plurality of articulation drive wires 24a, 24b, 24c, 24d, and a plurality of articulation drive mechanisms 26a, 26b, 26c, 26d. The plurality of articulation reels 22a, 22b, 22c, 22d are arranged on the body 10. The plurality of articulation drive wires 24a, 24b, 24c, 24d are wound around the plurality of articulation reels 22a, 22b, 22c, 22d and connected to a plurality of first joints 142a, 142b, 142c and second joints 142d. In this embodiment, the articulation drive wires 24a, 24b, 24c are connected to the first joints 142a, 142b, 142c, respectively, and the articulation drive wire 24d is connected to the second joint 142d. Multiple joint drive mechanisms 26a, 26b, 26c, and 26d are arranged inside the torso 10 and connected to multiple joint reels 22a, 22b, 22c, and 22d.

[0023] In this embodiment, as shown in Figure 4, the two extensions 1420 extend from two sides (both sides) of each of the first joints 142a, 142b, and 142c, so that each of the first joints 142a, 142b, and 142c is triangular. The two ends of each of the joint drive wires 24a, 24b, and 24c may be fixed to the two extensions 1420 of the corresponding first joints 142a, 142b, and 142c. In this embodiment, fixing holes may be formed in the extensions 1420 for fixing the joint drive wires 24a, 24b, and 24c. Similarly, fixing holes may be formed in the second joint 142d for fixing the joint drive wire 24d.

[0024] The joint drive mechanisms 26a, 26b, 26c, and 26d can drive the joint reels 22a, 22b, 22c, and 22d to rotate. For example, when joint drive mechanism 26a drives joint reel 22a to rotate, joint reel 22a pulls joint drive wire 24a. At this time, joint drive wire 24a drives the first joint 142a to rotate. Similarly, when joint drive mechanisms 26b, 26c, and 26d drive joint reels 22b, 22c, and 22d to rotate, joint reels 22b, 22c, and 22d pull joint drive wires 24b, 24c, and 24d. At this time, joint drive wires 24b, 24c, and 24d drive the first joints 142b, 142c, and the second joint 142d to rotate. To further explain, when the joint drive mechanisms 26a, 26b, 26c, and 26d drive the joint reels 22a, 22b, 22c, and 22d to rotate clockwise or counterclockwise, the joint reels 22a, 22b, 22c, and 22d can drive the joint drive wires 24a, 24b, 24c, and 24d to retract and extend, thereby driving the corresponding first joints 142a, 142b, 142c, and second joints 142d to rotate clockwise or counterclockwise. Thus, the joint drive mechanisms 26a, 26b, 26c, and 26d can drive the first joints 142a, 142b, 142c, and second joints 142d to rotate simultaneously or individually, thereby allowing the head 12 and neck 14 to flexibly perform a variety of movements (e.g., extending forward, tilting backward, raising the head, lowering the head, shaking the neck, etc.).

[0025] As shown in Figure 4, each of the two sides of the first joints 142a, 142b, and 142c may have two inclined constraint surfaces 1422. Thus, the bottom 1424 of one of the first joints 142a, 142b, and 142c can cooperate with the two inclined constraint surfaces 1422 of another first joint 142a, 142b, and 142c to constrain the rotation angle of the first joints 142a, 142b, and 142c (for example, θ1 + θ2 as shown in Figure 4).

[0026] In this embodiment, each of the articulated drive mechanisms 26a, 26b, 26c, and 26d may include an articulated motor, a coupling, a transmission shaft, an oil seal, and a bearing. As shown in Figure 7, taking the articulated drive mechanism 26d as an example, the articulated drive mechanism 26d includes an articulated motor 260, a coupling 262, a transmission shaft 264, an oil seal 266, and a bearing 268, wherein the coupling 262 is connected to the articulated motor 260, the transmission shaft 264 is connected to the coupling 262 and the articulated reel 22d, and the oil seal 266 and bearing 268 are fitted onto the transmission shaft 264 (forming a sleeve for the transmission shaft 264). In other words, since the articulated reel 22d is connected to the articulated motor 260 via the transmission shaft 264 and the coupling 262, the articulated motor 260 can drive the articulated reel 22d to rotate. The transmission shaft 264 is covered by the oil seal 266, providing a waterproofing effect inside the body 10. Furthermore, the axis of the transmission shaft 264 can be stabilized by the bearing 268. Note that the structural design of the joint drive mechanisms 26a, 26b, and 26c may be the same as the structural design of the joint drive mechanism 26d, so a detailed explanation is omitted here.

[0027] As shown in Figure 6, the bionic animal 1 may further include a neck drive mechanism 28 located within the torso 10 and connected to the base 140 (shown in Figure 2) of the neck 14. The neck drive mechanism 28 can drive the base 140 to rotate, thereby driving the head 12 to rotate by 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. Thus, when the neck motor 286 drives the first gear 282 to rotate, the first gear 282 drives the second gear 284 and the rotating shaft 280 to rotate, thereby driving the head 12 to rotate by the neck 14. As shown in Figure 2, the first joints 142a, 142b, 142c and the second joint 142d rotate around the first axis A1, the head 12 rotates around the second axis A2, and the first axis A1 is perpendicular to the second axis A2. Therefore, the head 12 and neck 14 can flexibly perform a variety of movements (e.g., stretching forward, tilting backward, raising the head, lowering the head, shaking the head, etc.).

[0028] In this embodiment, the buttocks 16 are rotatably connected to the body 10 and can therefore rotate relative to the body 10. As shown in Figures 2 and 6, the bionic animal 1 may further include a buttock reel 30, a buttock drive wire 32, and a buttock drive mechanism 34. The buttock reel 30 is located in the body 10. The buttock drive wire 32 is wound around the buttock reel 30 and connected to the buttocks 16. In this embodiment, the buttocks 16 may have fixing holes for securing the buttock drive wire 32. The buttock drive mechanism 34 is located inside the body 10 and connected to the buttock reel 30. The buttock drive mechanism 34 can drive the buttock reel 30 to rotate. When the hip drive mechanism 34 drives the hip reel 30 to rotate, the hip reel 30 pulls the hip drive wire 32. At this time, the hip drive wire 32 drives the hip 16 to rotate. More specifically, when the hip drive mechanism 34 drives the hip reel 30 to rotate clockwise or counterclockwise, the hip reel 30 drives the hip drive wire 32 to retract and extend, thereby driving the hip 16 to rotate clockwise or counterclockwise. Note that the structural design of the hip drive mechanism 34 may be the same as the structural design of the joint drive mechanism 26d, so a detailed explanation is omitted here.

[0029] As shown in Figures 6 and 8, the bionic animal 1 may further include a propeller 36 and a propeller motor 38, the propeller 36 and propeller motor 38 being located within the rump 16, and the propeller 36 being connected to the propeller motor 38. Furthermore, the rump 16 has an opening 160 and at least one slot 162, and the propeller 36 is exposed within the opening 160. The propeller motor 38 can drive the propeller 36 to rotate clockwise or counterclockwise. As the propeller 36 rotates in water, water flows into or out of the rump 16 through at least one slot 162, thereby causing the bionic animal 1 to move rapidly forward or backward.

[0030] In this embodiment, as shown in Figure 8, the two legs 18 are rotatably connected to two sides of the body 10 and are curved toward each other. Thus, when the bionic animal 1 moves in water, the two legs 18, which are curved toward each other, can concentrate the water flow and reduce water flow resistance. As shown in Figure 6, the bionic animal 1 may further include two leg motors 40, and the two legs 18 are each connected to the two leg motors 40. The leg motors 40 can drive the legs 18 to rotate clockwise or counterclockwise, thereby causing the legs 18 to swing forward or backward.

[0031] The bionic animal 1 can move forward, backward, turn, accelerate, etc. in water by controlling its buttocks 16, legs 18, and / or propeller 36.

[0032] As shown in Figures 9 and 10, the bionic animal 1 may further include three distance sensors 42, a charging hole 44, and a button 46, the three distance sensors 42 being located inside the body 10, and the charging hole 44 and button 46 being located at the bottom of the body 10. The three distance sensors 42 can be configured to detect obstacles in front of, to the left of, and to the right of the bionic animal 1, so that their positions correspond to the front, left of, and right of the bionic animal 1, respectively, thereby enabling the bionic animal 1 to avoid obstacles. The charging hole 44 is configured 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 be made of a soft material to achieve waterproofness, light transmittance, and pressability.

[0033] As described above, the present invention utilizes joint reels, joint drive wires, and joint drive mechanisms to drive the joints to rotate in a wire-driven manner, thereby enabling the head and neck to flexibly perform a variety of movements (e.g., extending forward, tilting backward, raising the head, lowering the head, shaking the head, etc.). The present invention ensures that the joints are closely connected to each other by manufacturing small joints using lightweight materials. Furthermore, the present invention enables the bionic animal to move forward, backward, turn, accelerate, etc. in water by controlling the hips, feet, and / or propellers. The motors of the joint drive mechanism and the hip drive mechanism are located within the waterproof space of the torso and are therefore unaffected by moisture. In addition, the motors located inside the torso stabilize the overall center of gravity in the lower body of the bionic animal, so the center of gravity remains stable when the head and neck move, preventing the bionic animal from tipping over. In one embodiment, the three distance sensors can be configured to detect obstacles in front of, to the left of, and to the right of the bionic animal, with their positions corresponding to the front, left of, and right of the bionic animal, thereby enabling the bionic animal to avoid the obstacles.

[0034] Those skilled in the art will readily see that many modifications and changes can be made to the apparatus and method while maintaining the teachings of the present invention. Accordingly, the above disclosure should be construed as being limited only by the boundaries of the appended claims. [Explanation of symbols]

[0035] 1. Bionic animals 10 Torso 12 heads 14 Neck 140 base 142a, 142b, 142c First joint 142d Second joint 1420 Extension 1422 Inclined restraint surface 1424 Bottom 16 Buttocks 160 opening 162 slots 18 pairs 20 Outer cover 22a, 22b, 22c, 22d Articulated reels 24a, 24b, 24c, 24d Joint drive wires 26a, 26b, 26c, 26d Joint drive mechanism 260 joint motors 262 Joints 264 Transmission shaft 266 Oil seal 268 Bearings 28. Neck drive mechanism 280 Rotation axis 282 First Gear 284 Second Gear 286 Head motor 30 Hip Reels 32. Buttock drive wire 34. Hip drive mechanism 36 Propellers 38 Propeller Motors 40-legged motor 42 Distance Sensor 44 charging holes 46 buttons A1 1st axis A2 2nd axis

Claims

1. Torso and, The head and, A neck comprising a base, a plurality of first joints, and a second joint, wherein the base is positioned on the torso, the plurality of first joints are rotatably connected to each other, the second joint is fixed to the head, one of the plurality of first joints is rotatably connected to the base, and the second joint is rotatably connected to another of the plurality of first joints, Multiple articulated reels arranged on the torso, Multiple joint drive wires are wound around multiple joint reels and connected to multiple first joints and second joints, A plurality of joint drive mechanisms are arranged inside the torso and connected to a plurality of joint reels. A bionic animal comprising a plurality of joint drive mechanisms which drive a plurality of joint reels to rotate, the plurality of joint reels which pull a plurality of joint drive wires which drive a plurality of the first joint and the second joint to rotate.

2. The bionic animal according to claim 1, wherein each of the plurality of first joints is triangular.

3. The bionic animal according to claim 1, wherein two extensions extend from two sides of each of the plurality of first joints, and the joint drive wires are fixed to the two extensions.

4. The bionic animal according to claim 1, wherein each of the two sides of the plurality of first joints has two inclined restraining surfaces, and the bottom of one of the plurality of first joints cooperates with the two inclined restraining surfaces of another of the plurality of first joints to restrain the rotation angle of the first joint.

5. Each of the plurality of joint drive mechanisms includes a joint motor, a coupling, a transmission shaft, an oil seal, and a bearing, wherein 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 fitted onto the transmission shaft, the bionic animal according to claim 1.

6. The bionic animal according to claim 1, further comprising a neck drive mechanism disposed within the torso and connected to the base, the neck drive mechanism drives the base to rotate, thereby driving the head to rotate.

7. The bionic animal according to claim 6, wherein a plurality of the first and second joints rotate about a first axis, the head rotates about a second axis, and the first axis is perpendicular to the second axis.

8. The bionic animal according to claim 6, wherein the neck drive mechanism includes a rotating shaft, a first gear, a second gear, and a neck motor, the first gear being connected to the neck motor, the second gear meshing with the first gear, and the rotating shaft being connected to the second gear and the base.

9. The buttocks are rotatably connected to the torso, A hip reel positioned on the torso, A buttock drive wire is wound around the buttock reel and connected to the buttocks, A buttock drive mechanism is located inside the torso and connected to the buttock reel. The bionic animal according to claim 1, further comprising: the buttock drive mechanism drives the buttock reel to rotate; the buttock reel pulls the buttock drive wire; and the buttock drive wire drives the buttock to rotate.

10. The bionic animal according to claim 9, further comprising a propeller disposed within the rump, the rump having an opening and at least one slot, the propeller being exposed within the opening, and when the propeller rotates in water, water flows into or out of the rump through at least one slot.

11. The bionic animal according to claim 1, further comprising two legs rotatably connected to two sides of the torso, the two legs being curved toward each other.

12. The bionic animal according to claim 1, further comprising three distance sensors disposed within the torso, the positions of the three distance sensors corresponding to the front, left, and right sides of the bionic animal, respectively.

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