Bionic Animals

Abstract

To provide a bionic animal that can achieve a natural and stable swimming posture and realistic swimming. [Solution] The bionic animal includes a torso (10), legs (14), and a foot mechanism (16). The legs are pivotally connected to the torso. The foot mechanism includes a foot bracket (160), a first claw (162), a second claw (164), a third claw (166), and a flipper (168). The foot bracket is pivotally connected to the legs. The first claw is fixed to the foot bracket and rotates together with the foot bracket about a first axis of rotation. The second claw is pivotally connected to a side of the first claw and rotates about a second axis of rotation. The third claw is pivotally connected to another side of the first claw and rotates about a third axis of rotation. The flipper is fixed to the first claw, the second claw, and the third claw. A first angle between the first axis of rotation and the second axis of rotation is equal to a second angle between the first axis of rotation and the third axis of rotation.

Description

[Technical Field]

[0001] (Field)

[0002] The present invention relates to bionic animals, and more particularly to bionic animals applicable to bionic waterfowl. [Background technology]

[0003] Description of the Prior Art

[0004] Currently, the legs and feet of conventional bionic waterfowl are mostly designed as a single unit, ensuring that the waterfowl swim unnaturally and minimize posture fluctuations. Furthermore, special waterproofing structures are also required. To meet the waterproofing requirements, some designs use waterproof motors. However, the cost of waterproof motors is usually much higher than that of non-waterproof motors. Furthermore, the mouths of conventional bionic waterfowl are usually immobile and cannot produce sounds corresponding to the mouth movements. Furthermore, the mechanical design for controlling the center of gravity of conventional bionic waterfowl is usually complex, affecting the smoothness and reliability of operation. An overly complex mechanism increases friction and shortens the lifespan of the drive mechanism. Summary of the Invention [Problem to be solved by the invention]

[0005] To solve the above problems, the present invention provides a bionic animal that can be applied to bionic waterfowl. [Means for solving the problem]

[0006] According to one embodiment of the present invention, a bionic animal comprises a body, legs, and a foot mechanism. The legs are pivotally connected to the body. The foot mechanism comprises a foot bracket, a first claw, a second claw, a third claw, and a flipper. The foot bracket is pivotally connected to the legs. The first claw is fixed to the foot bracket. The first claw rotates together with the foot bracket around a first axis of rotation. The second claw is pivotally connected to a side of the first claw. The second claw rotates around a second axis of rotation. The third claw is pivotally connected to another side of the first claw. The third claw rotates around a third axis of rotation. The flipper is fixed to the first claw, the second claw, and the third claw. A first angle between the first rotation axis and the second rotation axis is greater than 0 degrees and less than 90 degrees, a second angle between the first rotation axis and the third rotation axis is greater than 0 degrees and less than 90 degrees, and the first angle is equal to the second angle.

[0007] In one embodiment, the leg has a first protrusion, the foot bracket has a first top dead center and a first bottom dead center, the first protrusion configured to provide stops at the first top dead center and the first bottom dead center to limit a rotation angle of the first claw, the second claw has a second protrusion, the first claw has a second top dead center and a second bottom dead center, the second protrusion configured to provide stops at the second top dead center and the second bottom dead center to limit a rotation angle of the second claw, and the third claw has a third protrusion, the first claw has a third top dead center and a third bottom dead center, the third protrusion configured to provide stops at the third top dead center and the third bottom dead center to limit a rotation angle of the third claw.

[0008] In one embodiment, the foot mechanism further comprises three fixed seats, which are respectively fixed to the first claw, the second claw and the third claw to clamp the flipper.

[0009] In one embodiment, the bionic animal further comprises a wire guide bracket, a first neck bracket, a second neck bracket, a first reel, a first wire fixation bracket, two first drive wires, and a first neck motor. The wire guide bracket is disposed on the torso. The first neck bracket is rotatably connected to the wire guide bracket. The second neck bracket is pivotally connected to the first neck bracket. The first reel is disposed on the torso. The first wire fixation bracket is disposed on the torso and adjacent to the first reel. One end of each of the two first drive wires is fixed to the first reel, and the other end of each of the two first drive wires passes through the first wire fixation bracket and the wire guide bracket and is fixed to the second neck bracket. The first neck motor is disposed in the torso and connected to the first reel.

[0010] In one embodiment, the bionic animal further comprises a third neck bracket, a second reel, a second wire fixing bracket, two second drive wires, and a second neck motor. The third neck bracket is pivotally connected to the second neck bracket. The second reel is disposed on the torso. The second wire fixing bracket is disposed on the torso and adjacent to the second reel. One end of each of the two second drive wires is fixed to the second reel, and the other end of each of the two second drive wires passes through the second wire fixing bracket and the wire guide bracket and is fixed to the third neck bracket. The second neck motor is disposed within the torso and connected to the second reel.

[0011] In one embodiment, the bionic animal further comprises a fourth neck bracket, a third reel, a third wire fixing bracket, two third drive wires, a third neck motor, and a head shell. The fourth neck bracket is pivotally connected to the third neck bracket. The third reel is disposed on the torso. The third wire fixing bracket is disposed on the torso and adjacent to the third reel. One end of each of the two third drive wires is fixed to the third reel, and the other end of each of the two third drive wires passes through the third wire fixing bracket and the wire guide bracket and is fixed to the fourth neck bracket. The third neck motor is disposed within the torso and connected to the third reel. The head shell is connected to the fourth neck bracket.

[0012] In one embodiment, the bionic animal further comprises a mandibular adapter bracket, a mandible, a fourth reel, a fourth wire fixation bracket, two fourth drive wires, and a mandibular motor. The mandibular adapter bracket is connected to the fourth neck bracket. The mandibular adapter bracket is pivotally connected to the mandibular adapter bracket. The mandibular jaw, together with the upper jaw of the head shell, forms a mouth of the bionic animal. The fourth reel is disposed on the torso. The fourth wire fixation bracket is disposed on the torso and adjacent to the fourth reel. One end of each of the two fourth drive wires is fixed to the fourth reel, and the other end of each of the two fourth drive wires passes through the fourth wire fixation bracket and the wire guide bracket and is fixed to the mandibular jaw. The mandibular motor is disposed in the torso and connected to the fourth reel.

[0013] In one embodiment, the mandibular adapter bracket and the fourth neck bracket are integrally formed.

[0014] In one embodiment, the bionic animal further comprises a speaker disposed on the torso that emits sounds when the mouth opens and closes.

[0015] In one embodiment, the bionic animal further comprises an adapter, a first gear, a thrust bearing, a second gear, and a head motor. The adapter is disposed on the body. The first gear is rotatably disposed on the adapter. The first neck bracket is fixed to the first gear. The thrust bearing is sandwiched between the adapter and the first gear. The second gear meshes with the first gear. The head motor is disposed within the body and connected to the second gear.

[0016] In one embodiment, the fuselage comprises an upper shell and a lower shell. The bionic animal further comprises a tail swinging arm, a tail motor, a tail fixation bracket, a tail adapter bracket, and a tail shell. The tail swinging arm is pivotally connected to the upper shell. The tail swinging arm has an engagement portion. The tail motor is disposed within the fuselage and connected to the tail swing arm. The tail fixation bracket is fixed to the lower shell. The tail adapter bracket is pivotally connected to the tail fixation bracket. The tail adapter bracket has an engagement hole. The engagement portion engages with the engagement hole. The tail shell is fixed to the tail adapter bracket.

[0017] In one embodiment, the fuselage comprises an upper shell, a lower shell, and a first seal ring, the first seal ring being sandwiched between the upper shell and the lower shell, the first seal ring having an outer flange, an inner flange, and a first recess, the first recess being located between the outer flange and the inner flange, the lower shell having a boss, the upper shell having a second recess, the first seal ring being embedded in the second recess, the boss being embedded in the first recess, and the outer flange and the inner flange being sandwiched between the upper shell and the lower shell.

[0018] In one embodiment, the lower shell of the torso has a first sleeve portion, the legs have second sleeve portions, the second sleeve portions are sleeved outside the first sleeve portion, and the bionic animal further comprises leg motors, leg adapter brackets, a transmission shaft, a second seal ring, and a bearing, the leg motors are disposed within the torso, the leg adapter brackets are connected to the leg motors, the transmission shafts are connected to the legs and the leg adapter brackets, and the second seal ring and the bearing are sleeved onto the transmission shaft and located within the second sleeve portion.

[0019] In one embodiment, the bionic animal further includes a center of gravity mechanism disposed within the torso. The center of gravity mechanism includes a fixed plate, a bracket, a center of gravity control motor, two guide rods, two linear bearings, a battery module, and a transmission assembly. The bracket is fixed to the fixed plate. The center of gravity control motor is disposed on the bracket. The two guide rods are fixed to both sides of the fixed plate. The two linear bearings are disposed on the two guide rods. The battery module is connected to the two linear bearings. The transmission assembly is connected to the center of gravity control motor and the battery module. The center of gravity control motor drives the battery module to move along the two guide rods via the transmission assembly, thereby moving the center of gravity of the bionic animal.

[0020] In one embodiment, the transmission assembly includes a crank, a connecting rod, and a transition plate, the crank connected to the center of gravity control motor, the transition plate connected to the battery module, and the connecting rod connected to the crank and the transition plate.

[0021] In one embodiment, the bionic animal further comprises three infrared sensors disposed within the torso, the positions of the three infrared sensors corresponding to the front, left, and right sides of the bionic animal, respectively. [Effects of the Invention]

[0022] As described above, by designing the angles between the first, second, and third rotation axes of the foot mechanism, the bionic animal can achieve a natural and stable swimming posture. When the leg swims backward, the first, second, and third claws drive the flippers to unfold, increasing the flipper area and thus increasing thrust. When the leg swims forward, the first, second, and third claws drive the flippers to fold, decreasing the flipper area and thus decreasing thrust. Therefore, the bionic animal can achieve realistic swimming. The present invention may achieve waterproofing requirements through the placement of flanges on the sealing ring. Furthermore, the foot mechanism may cooperate with the movements of the head, mouth, neck, legs, and tail to achieve bionic effects. Furthermore, a speaker may emit sounds as the mouth opens and closes to achieve synchronized sound effects corresponding to the mouth movement. Furthermore, the present invention may utilize the center of gravity control motor of the center of gravity mechanism to drive and move the battery module, shifting the center of gravity of the bionic animal and achieving floating and diving control. Because the battery module moves along the guide rod via a linear bearing, the linear movement of the battery module is very smooth, and the load on the center of gravity control motor is smaller and more stable, reducing the failure rate of the center of gravity control motor.

[0023] These and other objectives of the present invention will no doubt become obvious to those of ordinary skill in the art after reading the following detailed description of the preferred embodiment that is illustrated in the various figures and drawings. [Brief explanation of the drawings]

[0024] [Figure 1] FIG. 1 is a perspective view of a bionic animal according to one embodiment of the present invention.

[0025] [Figure 2] FIG. 2 is another perspective view of the bionic animal shown in FIG. 1.

[0026] [Figure 3]FIG. 3 is an exploded view of the fuselage shown in FIG. 2.

[0027] [Figure 4] FIG. 3 is a partial cross-sectional view showing the fuselage shown in FIG. 2.

[0028] [Figure 5] FIG. 3 is an exploded view of the leg and foot mechanism shown in FIG. 2.

[0029] [Figure 6] FIG. 3 is a top view of the foot mechanism shown in FIG. 2.

[0030] [Figure 7] 10A and 10B are perspective views showing the foot mechanism unfolding and folding;

[0031] [Figure 8] FIG. 10 is a perspective view of the deployed foot mechanism from another viewing angle.

[0032] [Figure 9] FIG. 10 is a perspective view of the folded foot mechanism from another viewing angle.

[0033] [Figure 10] FIG. 3 is a partial cross-sectional view of the leg and lower shell shown in FIG. 2.

[0034] [Figure 11] FIG. 3 is a partial perspective view showing the neck mechanism of the bionic animal shown in FIG. 2.

[0035] [Figure 12] FIG. 3 is another partial perspective view of the neck mechanism of the bionic animal shown in FIG. 2.

[0036] [Figure 13] FIG. 3 is another partial perspective view of the neck mechanism of the bionic animal shown in FIG. 2.

[0037] [Figure 14]FIG. 3 is another partial perspective view of the neck mechanism of the bionic animal shown in FIG. 2.

[0038] [Figure 15] FIG. 3 is a perspective view showing the inside of the lower shell shown in FIG. 2.

[0039] [Figure 16] FIG. 3 is a perspective view of the upper shell and some components shown in FIG. 2.

[0040] [Figure 17] FIG. 17 is a cross-sectional view of the upper shell and some components shown in FIG. 16.

[0041] [Figure 18] FIG. 2 is a partial perspective view of the bionic animal shown in FIG. 1.

[0042] [Figure 19] FIG. 19 is a perspective view of the bionic animal shown in FIG. 18 from a different viewing angle.

[0043] [Figure 20] FIG. 16 is a perspective view showing the center of gravity mechanism shown in FIG.

[0044] [Figure 21] FIG. 21 is a partial exploded view showing the center of gravity mechanism shown in FIG. 20.

[0045] [Figure 22] FIG. 3 is a perspective view showing the inside of the lower shell shown in FIG. 2.

[0046] [Figure 23] FIG. 2 is a side view showing the bionic animal shown in FIG. 1 diving. DETAILED DESCRIPTION OF THE INVENTION

[0047] 1 to 9, FIG. 1 is a perspective view showing a bionic animal 1 according to an embodiment of the present invention, FIG. 2 is another perspective view showing the bionic animal 1 shown in FIG. 1, FIG. 3 is an exploded view showing the torso 10 shown in FIG. 2, FIG. 4 is a partial cross-sectional view showing the torso 10 shown in FIG. 2, FIG. 5 is an exploded view of the legs 14 and foot mechanism 16 shown in FIG. 2, FIG. 6 is a top view of the foot mechanism 16 shown in FIG. 2, FIG. 7 is a perspective view showing the foot mechanism 16 unfolded and folded, FIG. 8 is a perspective view showing the unfolded foot mechanism 16 from a different viewing angle, and FIG. 9 is a perspective view showing the folded foot mechanism 16 from a different viewing angle.

[0048] The bionic animal 1 of the present invention may be, but is not limited to, a bionic waterfowl. The type of the bionic animal 1 may be determined according to the actual application. As shown in FIGS. 1 and 2 , the bionic animal 1 includes a body 10 and an outer cover 12. The body 10 is configured to house the main mechanical and electronic components of the bionic animal 1. The outer cover 12 is disposed on the body 10 for decoration. In this embodiment, the outer cover 12 may be in the shape of a waterfowl with wings, but the present invention is not limited thereto.

[0049] In this embodiment, the fuselage 10 may include an upper shell 100, a lower shell 102, and a first seal ring 104, as shown in FIG. 3. The first seal ring 104 is sandwiched between the upper shell 100 and the lower shell 102 to form a waterproof space within the fuselage 10. As shown in FIG. 4, the first seal ring 104 may have an outer flange 1040, an inner flange 1042, and a first recess 1044, the lower shell 102 may have a boss 1020, and the upper shell 100 may have a second recess 1000. The first recess 1044 of the first seal ring 104 is located between the outer flange 1040 and the inner flange 1042. The boss 1020 of the lower shell 102 may be configured to position the first seal ring 104. The first seal ring 104 is embedded in the second recess 1000 of the upper shell 100, the boss 1020 of the lower shell 102 is embedded in the first recess 1044 of the first seal ring 104, and the outer flange 1040 and inner flange 1042 of the first seal ring 104 are sandwiched between the upper shell 100 and the lower shell 102. When the upper shell 100 and the lower shell 102 are fixed together, three pressure surfaces S1, S2, and S3 are formed at positions corresponding to the outer flange 1040, the boss 1020, and the inner flange 1042. Water flow F outside the fuselage 10 is first blocked by pressure surface S1. If pressure surface S1 fails, the water flow F is blocked by pressure surface S2. If pressure surface S2 also fails, the water flow F is blocked by pressure surface S3. The design of the three pre-load surfaces S1, S2, S3 allows the fuselage 10 to achieve reliable waterproof function.

[0050] 1 and 2, the bionic animal 1 further includes legs 14 and foot mechanisms 16. In this embodiment, the bionic animal 1 may include two legs 14 and two foot mechanisms 16, each disposed on either side of the torso 10. The legs 14 are pivotally connected to the torso 10 so that the legs 10 can rotate relative to the torso 10 to drive the foot mechanisms 16 and swim in water. As shown in FIG. 5, the foot mechanism 16 includes a foot bracket 160, a first claw 162, a second claw 164, a third claw 166, a flipper 168, and three fixed seats 170a, 170b, and 170c. The foot bracket 160 is pivotally connected to the leg 14, and the first claw 162 is fixed to the foot bracket 160 such that the first claw 162 can rotate together with the foot bracket 160 about a first axis of rotation A1 (as shown in FIG. 6 ). In this embodiment, a bearing 172a may be disposed at the pivot connection between the foot bracket 160 and the leg 14 to allow smooth rotation of the foot bracket 160. The second claw 164 is pivotally connected to a side of the first claw 162 such that the second claw 164 can rotate about a second axis of rotation A2 (as shown in FIG. 6 ). In this embodiment, a bearing 172b may be disposed at the pivot connection between the second claw 164 and the first claw 162 to allow smooth rotation of the second claw 164. The third pawl 166 is pivotally connected to another side of the first pawl 162 such that the third pawl 166 can rotate about a third axis of rotation A3 (as shown in FIG. 6 ). In this embodiment, a bearing 172c may be disposed at the pivotal connection between the third pawl 166 and the first pawl 162 to enable smooth rotation of the third pawl 166. The flipper 168 is fixed to the first pawl 162, the second pawl 164, and the third pawl 166. In this embodiment, three fixing sheets 170a, 170b, and 170c may be fixed to the first pawl 162, the second pawl 164, and the third pawl 166, respectively, to clamp the flipper 168. In practical use, the three fixing sheets 170a, 170b, 170c may be fixed to the first claw 162, the second claw 164, and the third claw 166, respectively, by a plurality of screws 174 to clamp the flipper 168.It should be noted that the flipper 168 may be fixed to the first claw 162, the second claw 164, and the third claw 166 by other methods (e.g., adhesive), and the present invention is not limited to the above embodiment. The material of the flipper 168 may be, but is not limited to, silicone.

[0051] As shown in FIG. 6 , the first angle θ1 between the first rotation axis A1 and the second rotation axis A2 is greater than 0 degrees and less than 90 degrees, and the second angle θ2 between the first rotation axis A1 and the third rotation axis A3 is greater than 0 degrees and less than 90 degrees, and the first angle θ1 is equal to the second angle θ2. The design of the angles θ1 and θ2 between the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3 of the foot mechanism 16 allows the bionic animal 1 to achieve a natural and stable swimming posture. For further explanation, when the leg 14 swims backward, the first claw 162, the second claw 164, and the third claw 166 rotate around the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3, respectively. At this time, the first claw 162, the second claw 164, and the third claw 166 drive the flipper 168 to unfold (as shown in FIGS. 7 and 8), increasing the area of ​​the flipper 168 and thus increasing the thrust. When the leg 14 swims forward, the first claw 162, the second claw 164, and the third claw 166 also rotate around the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3, respectively. At this time, the first claw 162, the second claw 164, and the third claw 166 drive the flipper 168 to fold (as shown in FIGS. 7 and 9), reducing the area of ​​the flipper 168 and thus decreasing the thrust. In this way, excessive impact on the body movement can be avoided, resulting in stable swimming and reduced body shaking. Therefore, the bionic animal can achieve realistic swimming.

[0052] As shown in FIGS. 7 to 9 , the leg 14 may have a first protrusion 140, and the foot bracket 160 may have a first top dead center 1600 and a first bottom dead center 1602. The first protrusion 140 is configured to stop the first top dead center 1600 and the first bottom dead center 1602 when the first claw 162 rotates together with the foot bracket 160, thereby limiting the angle of rotation of the first claw 162. Similarly, the second claw 164 may have a second protrusion 1640, and the first claw 162 may have a second top dead center 1620 and a second bottom dead center 1622. The second protrusion 1640 is configured to stop the second top dead center 1620 and the second bottom dead center 1622 when the second claw 164 rotates, thereby limiting the angle of rotation of the second claw 164. Similarly, the third pawl 166 may have a third protrusion 1660, and the first pawl 162 may have a third top dead center 1624 and a third bottom dead center 1626. The third protrusion 1660 is configured to stop the third top dead center 1624 and the third bottom dead center 1626 as the third pawl 166 rotates, thereby limiting the angle of rotation of the third pawl 166.

[0053] Referring to FIG. 10, FIG. 10 is a partial cross-sectional view of the leg 14 and lower shell 102 shown in FIG.

[0054] As shown in FIG. 10 , the lower shell 102 of the torso 10 may have a first sleeve portion 1022, and the leg 14 may have a second sleeve portion 142, which is sleeved over the first sleeve portion 1022. The bionic animal 1 may further include a leg motor 144, a leg adapter bracket 146, a transmission shaft 148, a second seal ring 150, and a bearing 152. The leg motor 144 is disposed within the lower shell 102 of the torso 10. The leg adapter bracket 146 is connected to the leg motor 144. The transmission shaft 148 is connected to the leg 14 and the leg adapter bracket 146. The second seal ring 150 and the bearing 152 are sleeved onto the transmission shaft 146 and located within the second sleeve portion 142. The second sleeve portion 142 is sleeved on the outside of the first sleeve portion 1022, thereby increasing the fitting surface between the leg 14 and the lower shell 102. When the leg motor 144 rotates the transmission shaft 148, the leg 14 can be effectively prevented from rotating and shaking, improving stability and preventing the second seal ring 150 from shaking and causing a waterproof failure.

[0055] 11 to 15, FIG. 11 is a partial perspective view showing the neck mechanism of the bionic animal 1 shown in FIG. 2, FIG. 12 is another partial perspective view showing the neck mechanism of the bionic animal 1 shown in FIG. 2, FIG. 13 is another partial perspective view showing the neck mechanism of the bionic animal 1 shown in FIG. 2, FIG. 14 is another partial perspective view showing the neck mechanism of the bionic animal 1 shown in FIG. 2, and FIG. 15 is a perspective view showing the inside of the lower shell 102 shown in FIG. 2.

[0056] As shown in FIGS. 2, 11, and 15, the bionic animal 1 may further include a wire guide bracket 18, a first neck bracket 20, a second neck bracket 22, a first reel 24, a first wire fixing bracket 26, two first drive wires 28, and a first neck motor 30. The wire guide bracket 18 is disposed on the torso 10. The first neck bracket 20 is rotatably connected to the wire guide bracket 18. In this embodiment, the first neck bracket 20 may have a through hole 200, and the wire guide bracket 18 may have a post 180, which is sleeved onto the post 180 so that the first neck bracket 20 is rotatably connected to the wire guide bracket 18. The second neck bracket 22 is pivotally connected to the first neck bracket 20. The first reel 24 is disposed on the torso 10. The first wire fixing bracket 26 is disposed on the fuselage 10 and adjacent to the first reel 24. One end of each of the two first drive wires 28 is fixed to the first reel 24, and the other end of each of the two first drive wires 28 passes through the first wire fixing bracket 26 and the wire guide bracket 18 and is fixed to the second neck bracket 22. In this embodiment, the first drive wire 28 may be composed of a hollow tube and a high-strength cable, and the high-strength cable passes through the hollow tube. Both ends of the hollow tube are restrained in holes in the first wire fixing bracket 26 and the wire guide bracket 18. Both ends of the high-strength cable are fixed to the first reel 24 and the second neck bracket 22, respectively. The first wire fixing bracket 26 can control the distance between the two first drive wires 28 and achieve a wire management function. Furthermore, a cover 240 may be disposed on the first reel 24 to secure the high-strength cable. The first neck motor 30 is disposed in the lower shell 102 of the body 10 and is connected to the first reel 24. When the first neck motor 30 drives the first reel 24 to rotate, the first reel 24 pulls the first drive wire 28. At this time, the first drive wire 28 drives the second neck bracket 22 to rotate relative to the first neck bracket 20.

[0057] As shown in FIGS. 2 , 12 , and 15 , the bionic animal 1 may further include a third neck bracket 32, a second reel 34, a second wire fixing bracket 36, two second drive wires 38, and a second neck motor 40. The third neck bracket 32 ​​is pivotally connected to the second neck bracket 22. The second reel 34 is disposed on the torso 10. The second wire fixing bracket 36 is disposed on the torso 10 and adjacent to the second reel 34. One end of each of the two second drive wires 38 is fixed to the second reel 34, and the other end of each of the two second drive wires 38 passes through the second wire fixing bracket 36 and the wire guide bracket 18 and is fixed to the third neck bracket 32. In this embodiment, the arrangement and principle of the second reel 34, the second wire fixing bracket 36, and the second drive wire 38 may be the same as the arrangement and principle of the first reel 24, the first wire fixing bracket 26, and the first drive wire 28, so repeated explanations will not be given again in this specification. The second neck motor 40 is disposed in the lower shell 102 of the fuselage 10 and connected to the second reel 34. When the second neck motor 40 rotates and drives the second reel 34, the second reel 34 pulls the second drive wire 38. At this time, the second drive wire 38 rotates and drives the third neck bracket 32 ​​relative to the second neck bracket 22.

[0058] 2, 13, and 15, the bionic animal 1 may further include a fourth neck bracket 42, a third reel 44, a third wire fixing bracket 46, two third drive wires 48, a third neck motor 50, and a head shell 52. The fourth neck bracket 42 is pivotally connected to the third neck bracket 32. The third reel 44 is disposed on the torso 10. The third wire fixing bracket 46 is disposed on the torso 10 and adjacent to the third reel 44. One end of each of the two third drive wires 48 is fixed to the third reel 44, and the other end of each of the two third drive wires 48 passes through the third wire fixing bracket 46 and the wire guide bracket 18 and is fixed to the fourth neck bracket 42. In this embodiment, the arrangement and principle of the third reel 44, the third wire fixing bracket 46, and the third drive wire 48 may be the same as the arrangement and principle of the first reel 24, the first wire fixing bracket 26, and the first drive wire 28, so repeated explanations will not be given again in this specification. The third neck motor 50 is disposed in the lower shell 102 of the fuselage 10 and connected to the third reel 44. When the third neck motor 50 rotates the third reel 44, the third reel 44 pulls the third drive wire 48. At this time, the third drive wire 48 rotates the fourth neck bracket 42 relative to the third neck bracket 32.

[0059] The head shell 52 is connected to the fourth neck bracket 42. In this embodiment, the fourth neck bracket 42 may have a positioning hole 420, and the head shell 52 may have a positioning rod 520 that is inserted into the positioning hole 420 so that the head shell 52 is connected to the fourth neck bracket 42. When the second neck bracket 22, the third neck bracket 32, and / or the fourth neck bracket 42 rotate, the second neck bracket 22, the third neck bracket 32, and / or the fourth neck bracket 42 drive the head shell 52 to flexibly perform various movements (e.g., forward extension, backward tilt, head lift, head lowering, neck swing, etc.).

[0060] As shown in FIGS. 2, 14, and 15, the bionic animal 1 may further include a lower jaw adapter bracket 54, a lower jaw 56, a fourth reel 58, a fourth wire fixation bracket 60, two fourth drive wires 62, and a lower jaw motor 64. The lower jaw adapter bracket 54 is connected to the fourth neck bracket 42. In another embodiment, the lower jaw adapter bracket 54 and the fourth neck bracket 42 may be integrally formed. The lower jaw 56 is pivotally connected to the lower jaw adapter bracket 54, and the lower jaw 56, together with the upper jaw 522 of the head shell 52, form a mouth 66 of the bionic animal 1. The fourth reel 58 is disposed on the torso 10. The fourth wire fixation bracket 60 is disposed on the torso 10 and adjacent to the fourth reel 58. One end of each of the two fourth drive wires 62 is fixed to the fourth reel 58, and the other end of each of the two fourth drive wires 62 passes through the fourth wire fixing bracket 60 and the wire guide bracket 18 and is fixed to the lower jaw 56. In this embodiment, the arrangement and principle of the fourth reel 58, the fourth wire fixing bracket 60, and the fourth drive wire 62 may be the same as the arrangement and principle of the first reel 24, the first wire fixing bracket 26, and the first drive wire 28, so repeated explanations will not be repeated herein. The lower jaw motor 64 is disposed in the lower shell 102 of the fuselage 10 and connected to the fourth reel 58. When the lower jaw motor 64 rotates and drives the fourth reel 58, the fourth reel 58 pulls the fourth drive wire 62. At this time, the fourth drive wire 62 rotates and drives the lower jaw 56 relative to the lower jaw adapter bracket 54 so that the lower jaw 56 opens and closes relative to the upper jaw 522 of the head shell 52. This allows the mouth 66 of the bionic animal 1 to perform opening and closing movements.

[0061] In this embodiment, the wire guide bracket 18 may have a guide hole 182, as shown in Fig. 11. The second drive wire 38, the third drive wire 48, and the fourth drive wire 62 may pass through the guide hole 182 to achieve wire management via the wire guide bracket 18. Furthermore, as shown in Fig. 15, the first neck motor 30, the second neck motor 40, the third neck motor 50, and the lower jaw motor 64 are symmetrically arranged on both sides of the body 10 to prevent the body 10 from tilting left or right.

[0062] As shown in FIG. 2, the bionic animal 1 may further include a speaker 68 disposed on the body 10. The speaker 68 can emit sounds when the mouth 66 opens and closes, achieving synchronized sound effects corresponding to the mouth movements. Synchronous control of the speaker 68 and the mouth 66 may be achieved by software design. In practical applications, the speaker 68 may be composed of a speaker body, a waterproof and breathable mesh, a sound hole cover, a speaker cover, a sealing ring, and other components, but the present invention is not limited thereto.

[0063] Referring to Figures 16 and 17, Figure 16 is a perspective view showing the upper shell 100 and some components shown in Figure 2, and Figure 17 is a cross-sectional view showing the upper shell 100 and some components shown in Figure 16.

[0064] As shown in FIGS. 2 , 15 , 16 , and 17 , the bionic animal 1 may further include an adapter 70, a first gear 72, a thrust bearing 74, a second gear 76, and a head motor 78. The adapter 70 is disposed in the upper shell 100 of the torso 10. The first gear 72 is rotatably disposed on the adapter 70. In this embodiment, the first gear 72 may be rotatably fixed to the adapter 70 by a screw and a washer. The first neck bracket 20 is fixed to the first gear 72. The thrust bearing 74 is sandwiched between the adapter 70 and the first gear 72. The second gear 76 is disposed in the upper shell 100 of the torso 10 and meshes with the first gear 72. The head motor 78 is disposed in the lower shell 102 of the torso 10 and is connected to the second gear 76. Therefore, when the head motor 78 rotates the second gear 76, the second gear 76 rotates the first gear 72, which rotates the head shell 52 via the first neck bracket 20, the second neck bracket 22, the third neck bracket 32, and the fourth neck bracket 42. This allows the bionic animal 1 to rotate its head. Furthermore, the thrust bearing 74 allows the head to rotate more smoothly.

[0065] 18 and 19, FIG. 18 is a partial perspective view showing the bionic animal 1 shown in FIG. 1, and FIG. 19 is a perspective view showing the bionic animal 1 shown in FIG. 18 from a different viewing angle.

[0066] 15, 18, and 19, the bionic animal 1 may further include a tail swing arm 80, a tail motor 82, a tail fixing bracket 84, a tail adapter bracket 86, and a tail shell 88. The tail swing arm 80 is pivotally connected to an upper shell 100 of the fuselage 10 so that the tail swing arm 80 can rotate about a swing arm rotation axis A4. The tail motor 82 is disposed within a lower shell 102 of the fuselage 10 and connected to the tail swing arm 80. The tail fixing bracket 84 is fixed to the lower shell 102 of the fuselage 10. The tail adapter bracket 86 is pivotally connected to the tail fixing bracket 84 so that the tail adapter bracket 86 can rotate about a tail rotation axis A5. The tail shell 88 is fixed to the tail adapter bracket 86. In this embodiment, the tail swing arm 80 has an engagement portion 800, and the tail adapter bracket 86 has an engagement hole 860, with the engagement portion 800 engaging with the engagement hole 860. When the tail motor 82 drives the tail swing arm 80 to rotate about the swing arm rotation axis A4, the tail swing arm 80 drives the tail adapter bracket 86 to rotate about the tail rotation axis A5 via the engagement portion 800, thereby driving the tail shell 88 to swing.

[0067] 20 and 21, FIG. 20 is a perspective view showing the center of gravity mechanism 90 shown in FIG. 15, and FIG. 21 is a partial exploded view showing the center of gravity mechanism 90 shown in FIG.

[0068] As shown in FIGS. 15, 20, and 21, the bionic animal 1 includes a center-of-gravity mechanism 90 disposed within the torso 10. In this embodiment, the center-of-gravity mechanism 90 may be disposed within the lower shell 102. The center-of-gravity mechanism 90 includes a fixed plate 900, a bracket 902, a center-of-gravity control motor 904, two guide rods 906, two linear bearings 908, a battery module 910, and a transmission assembly 912. The bracket 902 is fixed to the fixed plate 900. The center-of-gravity control motor 904 is disposed on the bracket 902. The two guide rods 906 are fixed to both sides of the fixed plate 900. The two linear bearings 908 are disposed on the two guide rods 906. The battery module 910 is connected to the two linear bearings 908. The transmission assembly 912 is connected to the center-of-gravity control motor 904 and the battery module 910. The center-of-gravity control motor 904 drives the battery module 910 to move along the two guide rods 906 via the transmission assembly 912, thereby shifting the center of gravity of the bionic animal 1 to achieve floating and submersion control. Because the battery module 910 moves along the guide rods 906 via the linear bearings 908, the linear movement of the battery module 910 becomes very smooth, and the load on the center-of-gravity control motor 904 becomes smaller and more stable, thereby reducing the failure rate of the center-of-gravity control motor 904.

[0069] In this embodiment, the transmission assembly 912 may include a crank 9120, a connecting rod 9122, and a transition plate 9124. The crank 9120 is connected to the center of gravity control motor 904, the transition plate 9124 is connected to the battery module 910, and the connecting rod 9122 is connected to the crank 9120 and the transition plate 9124. Thus, the center of gravity control motor 904 may drive the crank 9120 to rotate, and the crank 9120 may drive the battery module 910 to move along the two guide rods 906 via the connecting rod 9122 and the transition plate 9124.

[0070] In this embodiment, the battery module 910 may include a battery box 9100, a battery 9102, and a baffle 9104. The transition plate 9124 of the transfer assembly 912 is connected to the battery box 9100, and the battery 9102 is disposed within the battery box 9100. The baffle 9104 is fixed to an end of the battery box 9100 and restrains the battery 9102 within the battery box 9100.

[0071] Referring to FIG. 22, FIG. 22 is a perspective view showing the inside of the lower shell 102 shown in FIG.

[0072] 22, the bionic animal 1 may further include three infrared sensors 92 arranged on the lower shell 102 of the torso 10. The positions of the three infrared sensors 92 correspond to the front, left, and right sides of the bionic animal 1, respectively, and the three infrared sensors 92 may be configured to detect obstacles in front, left, and right of the bionic animal 1, thereby enabling the bionic animal 1 to avoid the obstacles. In this embodiment, avoidance holes 120 (shown in FIG. 1) corresponding to the infrared sensors 92 may be formed in the outer cover 12 so as not to affect signal transmission of the infrared sensors 92.

[0073] Referring to FIG. 23, FIG. 23 is a side view showing the bionic animal 1 shown in FIG. 1 diving.

[0074] When the battery module 910 (shown in FIG. 20) of the center of gravity mechanism 90 moves forward and drives the head shell 52 to tilt forward, the center of gravity of the bionic animal 1 moves forward and the body of the bionic animal 1 tilts forward. At this time, the foot mechanism 16 of the bionic animal 1 swims backward to generate thrust, and the tail shell 88 swings to generate thrust, allowing the bionic animal 1 to exhibit the effects of diving or hunting, as shown in FIG.

[0075] As described above, by designing the angles between the first, second, and third rotation axes of the foot mechanism, the bionic animal can achieve a natural and stable swimming posture. When the leg swims backward, the first, second, and third claws drive the flippers to unfold, increasing the flipper area and thus increasing thrust. When the leg swims forward, the first, second, and third claws drive the flippers to fold, decreasing the flipper area and thus decreasing thrust. Therefore, the bionic animal can achieve realistic swimming. The present invention may achieve waterproofing requirements through the placement of flanges on the sealing ring. Furthermore, the foot mechanism may cooperate with the movements of the head, mouth, neck, legs, and tail to achieve bionic effects. Furthermore, a speaker may emit sounds as the mouth opens and closes to achieve synchronized sound effects corresponding to the mouth movement. Furthermore, the present invention may utilize the center of gravity control motor of the center of gravity mechanism to drive and move the battery module, shifting the center of gravity of the bionic animal and achieving floating and diving control. Because the battery module moves along the guide rod via a linear bearing, the linear movement of the battery module is very smooth, and the load on the center of gravity control motor is smaller and more stable, reducing the failure rate of the center of gravity control motor.

[0076] Those skilled in the art will readily appreciate that numerous modifications and variations of the apparatus and method may be made while retaining the teachings of the present invention. Accordingly, the above disclosure should be construed as limited only by the metes and bounds of the appended claims.

Claims

1. A bionic animal, The torso and legs pivotally connected to the torso; A foot mechanism comprising: a foot bracket pivotally connected to the leg; a first claw fixed to the foot bracket, the first claw rotating with the foot bracket about a first axis of rotation; a second pawl pivotally connected to a side of the first pawl, the second pawl rotating about a second axis of rotation; a third pawl pivotally connected to another side of the first pawl, the third pawl rotating about a third axis of rotation; flippers fixed to the first claw, the second claw, and the third claw; a foot mechanism comprising: Equipped with a first angle between the first axis of rotation and the second axis of rotation that is greater than 0 degrees and less than 90 degrees, a second angle between the first axis of rotation and the third axis of rotation that is greater than 0 degrees and less than 90 degrees, and the first angle is equal to the second angle.

2. the leg has a first protrusion, the foot bracket has a first top dead center and a first bottom dead center, the first protrusion stops the first top dead center and the first bottom dead center to limit a rotation angle of the first claw; the second claw has a second protrusion, the first claw has a second top dead center and a second bottom dead center, the second protrusion stops the second top dead center and the second bottom dead center to limit a rotation angle of the second claw, 2. The bionic animal of claim 1, wherein the third claw has a third protrusion, the first claw has a third top dead center and a third bottom dead center, and the third protrusion stops the third top dead center and the third bottom dead center to limit a rotation angle of the third claw.

3. 2. The bionic animal of claim 1, wherein the foot mechanism further comprises three fixing sheets, the three fixing sheets being fixed to the first claw, the second claw, and the third claw, respectively, and clamping the flipper.

4. a wire guide bracket disposed on the fuselage; a first neck bracket rotatably connected to the wire guide bracket; a second neck bracket pivotally connected to the first neck bracket; a first reel disposed on the body; a first wire fixing bracket disposed on the body and adjacent to the first reel; two first drive wires, one end of each of the two first drive wires being fixed to the first reel and the other end of each of the two first drive wires passing through the first wire fixing bracket and the wire guide bracket and fixed to the second neck bracket; a first neck motor disposed within the body and connected to the first reel; 10. The bionic animal of claim 1, further comprising:

5. a third neck bracket pivotally connected to the second neck bracket; a second reel disposed on the body; a second wire fixing bracket disposed on the body and adjacent to the second reel; two second drive wires, one end of each of the two second drive wires being fixed to the second reel and the other end of each of the two second drive wires passing through the second wire fixing bracket and the wire guide bracket and fixed to the third neck bracket; a second neck motor disposed within the body and connected to the second reel; 5. The bionic animal of claim 4, further comprising:

6. a fourth neck bracket pivotally connected to the third neck bracket; a third reel disposed on the body; a third wire fixing bracket disposed on the body and adjacent to the third reel; two third drive wires, one end of each of the two third drive wires being fixed to the third reel and the other end of each of the two third drive wires passing through the third wire fixing bracket and the wire guide bracket and fixed to the fourth neck bracket; a third neck motor disposed within the body and connected to the third reel; a head shell connected to the fourth neck bracket; 6. The bionic animal of claim 5, further comprising:

7. a mandibular adapter bracket connected to the fourth neck bracket; a lower jaw pivotally connected to a lower jaw adapter bracket, the lower jaw forming a mouth of the bionic animal together with the upper jaw of the head shell; a fourth reel disposed on the body; a fourth wire fixing bracket disposed on the body and adjacent to the fourth reel; two fourth drive wires, one end of each of the two fourth drive wires being fixed to the fourth reel and the other end of each of the two fourth drive wires passing through the fourth wire fixing bracket and the wire guide bracket and fixed to the mandible; a lower jaw motor disposed within the body and connected to the fourth reel; 7. The bionic animal of claim 6, further comprising:

8. 8. The bionic animal of claim 7, wherein the mandibular adapter bracket and the fourth neck bracket are integrally formed.

9. 8. The bionic animal of claim 7, further comprising a speaker disposed on the body, the speaker emitting sounds when the mouth opens and closes.

10. an adapter disposed on the fuselage; a first gear rotatably disposed on the adapter, the first neck bracket being fixed to the first gear; a thrust bearing sandwiched between the adapter and the first gear; a second gear that meshes with the first gear; a head motor disposed in the body and connected to the second gear; 5. The bionic animal of claim 4, further comprising:

11. The body comprises an upper shell and a lower shell, and the bionic animal comprises: a tail swing arm pivotally connected to the upper shell, the tail swing arm having an engagement portion; a tail motor disposed within the fuselage and connected to the tail swing arm; a tail fixing bracket fixed to the lower shell; a tail adapter bracket pivotally connected to the tail fixing bracket, the tail adapter bracket having an engagement hole, the engagement portion engaging with the engagement hole; a tail shell fixed to the tail adapter bracket; 10. The bionic animal of claim 1, further comprising:

12. 2. The bionic animal of claim 1, wherein the body comprises an upper shell, a lower shell, and a first seal ring, the first seal ring being sandwiched between the upper shell and the lower shell, the first seal ring having an outer flange, an inner flange, and a first recess, the first recess being located between the outer flange and the inner flange, the lower shell having a boss, the upper shell having a second recess, the first seal ring being embedded in the second recess, the boss being embedded in the first recess, and the outer flange and the inner flange being sandwiched between the upper shell and the lower shell.

13. 2. The bionic animal of claim 1, wherein the lower shell of the torso has a first sleeve portion, the legs have second sleeve portions, the second sleeve portions sleeved over the first sleeve portions, and the bionic animal further comprises leg motors, leg adapter brackets, a transmission shaft, a second seal ring, and a bearing, the leg motors are disposed within the torso, the leg adapter brackets are connected to the leg motors, the transmission shafts are connected to the legs and the leg adapter brackets, and the second seal ring and the bearings are sleeved over the transmission shafts and located within the second sleeve portions.

14. The center of gravity mechanism further includes: A fixing plate and a bracket fixed to the fixing plate; a center of gravity control motor disposed on the bracket; Two guide rods fixed to both sides of the fixed plate; two linear bearings disposed on the two guide rods; a battery module connected to the two linear bearings; a transmission assembly connected to the center of gravity control motor and the battery module; Equipped with 2. The bionic animal of claim 1, wherein the center of gravity control motor drives the battery module to move along the two guide rods via the transmission assembly to move the center of gravity of the bionic animal.

15. 15. The bionic animal of claim 14, wherein the transmission assembly comprises a crank, a connecting rod, and a transition plate, the crank connected to the center of gravity control motor, the transition plate connected to the battery module, and the connecting rod connected to the crank and the transition plate.

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

Images