A bionic robot with a single power source

Abstract

The present invention relates to the field of robot bionic technology, and in particular, to a bionic robot with a single power source. The bionic robot comprises an abdominal mechanism, a hip mechanism is arranged on one side of the abdominal mechanism, and hind leg mechanisms are arranged on both sides of the hind leg mechanism. The present invention causes the abdominal mechanism and the hip mechanism to swing on the power mechanism through the rotation of a body fixing crankshaft and a hip connecting crankshaft on the power mechanism, and at the same time, the power mechanism and the hip mechanism cooperate with each other to drive the front leg mechanism and the hind leg mechanism to stretch backward and bend forward, and at the same time, when the abdominal mechanism swings up and down, the head mechanism is driven to swing up and down, so that the head mechanism performs bionic movements of swinging ears, opening the mouth and sticking out the tongue, and the power mechanism uniformly transmits power to the abdominal mechanism, the hip mechanism, the hind leg mechanism, the front leg mechanism and the head mechanism, so that the movements of the entire device are unified, and the incoordination of the movements between limbs caused by the use of multiple power sources is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of robot bionics, in particular to a bionic robot with a single power source. Background Art

[0002] A bionic robot is a machine that simulates the dynamics of living things. It makes the robot move like a real living thing by imitating the bionics of the robot. At present, when making bionic robots based on cats and dogs in nature, the bionic robots have simple structures and cannot flexibly reflect the actual running effects of cats and dogs.

[0003] For example, a bionic robot based on a feline inner knee leg structure with application number CN202210384896.2 includes: a trunk unit including a main trunk and a first drive device installed on the main trunk; a hip joint unit including a hip joint connected to the first drive device and a second drive device installed on the hip joint; a front leg unit including a front thigh assembly connected to the second drive device and a front calf assembly connected to the front thigh assembly; a hind leg unit including a hind thigh assembly connected to the second drive device and a hind calf assembly connected to the hind thigh assembly; a front palm unit, a hind palm unit and a calf drive unit. Among them, the front thigh assembly is connected to the front calf assembly in an elbow joint, and the hind thigh assembly is connected to the hind calf assembly in a knee joint;

[0004] In the process of using the above-mentioned patent, the limbs are driven by multiple power sources. When simulating the running of a living organism, multiple power sources need to cooperate with each other, and then the movements of each joint are coordinated through debugging to make the robot's limbs imitate the running of the living organism. However, the movement of this structure is too slow, and there is a significant difference from the movement of animals in the natural environment. It lacks the natural agility and feeling of running. At the same time, when multiple power sources realize the display of the movements of different joints, because the movement of each joint is subject to different power sources, when the origin of a certain movement is missing or fails, it will cause the entire movement to be deformed, and even the deviation of one movement will cause multiple interferences or collisions as a whole, which will cause damage to the equipment and affect the normal use of the bionic robot. Summary of the invention

[0005] The purpose of the present invention is to provide a bionic robot with a single power source to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, a bionic robot with a single power source is provided, comprising an abdominal mechanism, a hip mechanism is arranged on one side of the abdominal mechanism, hind leg mechanisms are arranged on both sides of the hip mechanism, front leg mechanisms are arranged on both sides of the abdominal mechanism away from one end of the hip mechanism, a head mechanism is arranged on the end of the abdominal mechanism away from the hip mechanism, and a power mechanism is arranged on the lower side of the abdominal mechanism near the hip mechanism, the power mechanism drives the abdominal mechanism with power, and while driving the abdominal mechanism, the power mechanism drives the hip mechanism to make the hip mechanism swing up and down, and during the process of the hip mechanism swinging up and down, the power mechanism and the hip mechanism drive the hind leg mechanism to make the hind leg mechanism perform bionic operations of retracting and extending the legs, and at the same time, the power mechanism drives the hip mechanism while the abdominal mechanism swings up and down, and during the swinging of the abdominal mechanism, the power mechanism drives the front leg mechanism to perform bionic operations of retracting and extending the legs, and at the same time, during the process of the abdominal mechanism swinging up and down, the abdominal mechanism drives the head mechanism to swing up and down with the help of the force of the hip mechanism swinging up and down, and performs bionic operations during the process of the head mechanism swinging up and down.

[0007] As a further improvement of the present technical solution, the power mechanism includes a connecting base frame, a transverse connecting frame is fixed to the upper end of the connecting base frame, the transverse connecting frame extends to one side of the connecting base frame, and the body fixed crankshaft and the hip connecting crankshaft are rotatably connected at both ends inside the transverse connecting frame, two sprockets are installed on the rotating axes of the body fixed crankshaft and the hip connecting crankshaft, a base is provided at the bottom of the connecting base frame, the base fixes the position of the connecting base frame, and a driving mechanism is provided on the base, and the corresponding two sprockets on the body fixed crankshaft and the hip connecting crankshaft, as well as the driving mechanism and the sprocket on the hip connecting crankshaft are connected by chains.

[0008] As a further improvement of the present technical solution, the abdominal mechanism includes a top back plate, a front chest frame is fixed to one side of the top back plate, an abdominal cavity frame is fixed to the lower side of the front chest frame, the other end of the abdominal cavity frame is fixedly connected to an end of the top back plate away from the front chest frame, the top back plate, the front chest frame and the abdominal cavity frame are combined to form an abdominal cavity, the transverse connecting frame is arranged in the abdominal cavity, and a crank connecting plate arranged in the abdominal cavity is symmetrically fixed to the lower side of the top back plate, one end of the crank connecting plate is rotatably connected to the crankshaft end of a body fixed crankshaft, and when the body fixed crankshaft rotates, it drives the crank connecting plate to move up and down.

[0009] As a further improvement of the technical solution, a tail connecting tripod inclined toward and away from the bottom of the top back plate is fixed on one side of the top back plate away from the front chest frame, and another corner of the tail connecting tripod is rotatably connected to the crankshaft of the hip connecting crankshaft. The hip mechanism includes a hip frame, a hip connecting shaft is fixed on one side of the hip frame, and the hip connecting shaft is rotatably connected to a corner of the tail connecting tripod, an inclined rod inclined obliquely upward away from the transverse connecting frame is fixed on one side of the connecting base frame, a hip guide rod is fixed to one end of the inclined rod, an arc-shaped slide plate with an arc surface facing upward is provided inside the hip frame, and the middle position of the hip guide rod slides in the arc-shaped slide plate, a tail fixing column is fixed on one end of the hip frame away from the hip connecting shaft, and one end of the tail fixing column is hinged with a plurality of tail hinges in sequence.

[0010] As a further improvement of the technical solution, the hind leg mechanism includes a hind thigh rod, the end of the hind thigh rod is hinged with a hind calf triangular power plate, a hind thigh auxiliary power rod is hinged on one side of the hind thigh rod and the hind calf triangular power plate on the hind thigh rod, the other end of the hind thigh rod is hinged with a hind calf connecting rod, the other end of the hind thigh auxiliary power rod is also hinged to the hind calf connecting rod, the hind thigh rod and the hind thigh auxiliary power rod are hinged at different positions on the hind calf connecting rod, and a hind foot plate is hinged at the other end of the hind calf connecting rod, and a hind palm power connecting rod is hinged on one side of the hind foot plate close to the hinge position of the hind calf connecting rod. The other end of the connecting rod is hinged at a position near the rear thigh rod and the rear calf connecting rod, and hind limb fixed shafts are fixed on both sides of the hip frame away from one end of the hip connecting shaft, the position where the rear thigh rod and the rear calf triangular power plate are hinged is rotatably connected to one end of the hind limb fixed shaft, the other end of the rear calf triangular power plate is hinged with a rear calf auxiliary power connecting rod, the rear thigh rod is hinged with a rear thigh power connecting rod on the side wall of the rear thigh rod close to the rear calf triangular power plate, the other end of the rear thigh power connecting rod is hinged with a hind limb power output rod, the other end of the hind limb power output rod is fixed on the hip guide rod, and the other end of the rear calf auxiliary power connecting rod is rotatably connected to the hip guide rod.

[0011] As a further improvement of the technical solution, a forelimb power output plate is fixed on the body fixed crankshaft shaft, and the foreleg mechanism includes a forelimb auxiliary power connecting rod, a front thigh power connecting rod and a front thigh power pull rod coaxially hinged on one end of the forelimb power output plate in sequence, the other end of the front thigh power pull rod is hinged with a front thigh auxiliary rod and a front thigh auxiliary connecting rod, the other end of the front thigh auxiliary rod is connected to the abdominal frame, and the side wall of the abdominal frame away from one end of the tripod connected to the tail is symmetrically hinged with a forelimb triangular power plate and a front thigh rod coaxially in sequence, the other end of the forelimb auxiliary power connecting rod is hinged on the forelimb triangular power plate, and the front thigh rod is connected to the front thigh rod in the direction along the length of the front thigh rod. A front thigh sliding plate is slidingly arranged, the other end of the front thigh auxiliary connecting rod is hinged to one end of the front thigh sliding plate close to the front thigh rod, the other end of the front thigh sliding plate is hinged to the front calf rod, the other end of the front calf rod is hinged to the front palm plate, the front palm plate is hinged to the front palm power connecting rod at the hinged position close to the front calf rod, the other end of the front palm power connecting rod is hinged to the front lower limb auxiliary power connecting rod, one end of the front lower limb auxiliary power connecting rod close to the forepalm power connecting rod is hinged to the front calf rod, the other end of the front lower limb auxiliary power connecting rod is hinged to the forelimb triangular power plate, and the other end of the front thigh power connecting rod is hinged to the position of the front thigh rod close to the forelimb triangular power plate.

[0012] As a further improvement of the present technical solution, the head mechanism includes a head frame, a power transmission component is arranged inside the head frame, an ear and eyebrow component is arranged between the power transmission component and the head frame, the power transmission component drives the ear and eyebrow component to move the ears and nose when moving, a mouth and tongue component is arranged on one side of the power transmission component, the power transmission component synchronously drives the mouth and tongue component to open the mouth and stick out the tongue when moving, and a connecting component is arranged between the hip mechanism and the head mechanism, when the hip mechanism swings up and down, the connecting component transmits power to the head mechanism, so that the head mechanism swings following the movement of the hip mechanism.

[0013] As a further improvement of the present technical solution, the head frame includes a neck plate, an arc-shaped head frame is fixed on one side of the neck plate, an eye mounting plate arranged on the lower side of the arc-shaped head frame is fixed on the other end of the arc-shaped head frame, a nose bridge plate is fixed on the end of the eye mounting plate away from the neck plate, a limiting sliding shaft is fixed between the neck plate and the nose bridge plate, the power transmission component includes a head organ power plate, the head organ power plate is arranged on a side of the neck plate close to the arc-shaped head frame, the head organ power plate is slidably arranged on the limiting sliding shaft, and a head power guide slide rod is fixed at a position close to the upper and lower ends on one side of the head organ power plate, one end of the head power guide slide rod is slidably plugged into the neck plate, an eyebrow guide inclined slide plate and a beard output plate are fixed on the upper end of the head organ power plate away from the neck plate, and the eyebrow guide Ear auxiliary shafts are fixed on both sides of the inclined slide plate, and the ear and eyebrow parts include two beard driving rods rotatably arranged on the lower side of the nose bridge plate, the two beard driving rods are symmetrically arranged, and the other ends of the beard driving rods are slidably connected with the pin shaft at one end of the beard output plate through a slide groove, and a beard panel is fixed to the end of the beard driving rod close to the nose bridge plate, and an eyebrow frame is slidably connected with the eyebrow guide inclined slide plate through a pin shaft, and a plurality of eyebrow guide shafts are fixed on the upper side of the eye mounting plate, and the eyebrow frame is slidably arranged on the eyebrow guide shaft, and an ear power connecting rod is hinged on the ear auxiliary shaft, and the other end of the ear power connecting rod is hinged on the ear pushing rod, and the other end of the ear pushing rod is fixed with the ear plate through a shaft rod, and the ear main axis plate is rotatably connected to the shaft rod, and the ear main axis plate is fixed to the side wall of the neck plate.

[0014] As a further improvement of the present technical solution, a lower jaw connecting plate fixed to the side wall of the neck plate is provided on the lower side of the ear spindle plate, the mouth and tongue piece includes a lower jaw driving auxiliary rod rotatably connected to the lower jaw connecting plate, a lower jaw plate is fixed between the two lower jaw driving auxiliary rods, one end of the lower jaw driving auxiliary rod is hinged with a lower jaw auxiliary connecting rod, a lower jaw conversion connecting rod is hinged with a position near the middle of the ear spindle plate, the other end of the lower jaw auxiliary connecting rod is hinged at the middle position of the lower jaw conversion connecting rod, and the other end of the lower jaw conversion connecting rod is hinged with a lower jaw power connecting rod. Rod, the two sides of the head organ power plate near the top are symmetrically fixed with lower jaw power fixing plates, the other end of the lower jaw power connecting rod is hinged with the end of the lower jaw power fixing plate, the upper side of the lower jaw plate is symmetrically fixed with lower jaw sliding frames, a tongue plate is slidably arranged between the two lower jaw sliding frames, the tongue plate is arranged on the side of the head organ power plate away from the neck plate, one end of the tongue plate close to the head organ power plate is hinged with a tongue power output connecting rod, and one end of the tongue power output connecting rod is hinged to the side wall of the head organ power plate.

[0015] As a further improvement of the technical solution, a neck connecting plate is fixed to the middle position of one end of the front chest frame away from the top back plate, a neck tripod is symmetrically fixed to one side of the neck plate, one end of the neck tripod is hinged to a position near the middle of one end of the neck connecting plate, a head auxiliary connecting rod is hinged to the side of the head organ power plate close to the neck plate, a head transfer connecting rod is hinged on the head auxiliary connecting rod, the head transfer connecting rod is hinged at a position near the middle of the upper side of the neck tripod, the other end of the head transfer connecting rod is hinged to a head power connecting rod, the other end of the head power connecting rod is hinged to the top position of the end of the neck connecting plate, a neck pulling plate is hinged between the positions where the neck connecting plate and the head power connecting rod are hinged and the neck tripod and the neck connecting plate are hinged, and the neck pulling plate and the neck connecting plate are hinged. The hinged position is set in the direction close to the front chest frame, and the neck plate is fixed with neck positioning frames on both sides close to the neck triangle, and the ends of the neck positioning frames are slidably set at the ends of the neck pulling plate, and the connecting member includes a transmission triangle plate hinged on both sides of the neck connecting plate, one end of the transmission triangle plate is hinged with a neck power rod, and the other end of the neck power rod is hinged at the lowest point of the neck triangle close to the abdomen mechanism, the other end of the transmission triangle plate is hinged with a transmission rod, and the other end of the transmission rod is hinged with a connecting plate frame, one end of the connecting plate frame passes through the top back plate and extends to the upper side of the top back plate, a back connecting frame is fixed on the side of the connecting plate frame close to the hip mechanism, and the hip frame is located on the upper side of the hip connecting shaft and is fixed with a power connecting shaft, and the other end of the back connecting frame is hinged on the power connecting shaft.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the bionic robot with a single power source, the body fixing crankshaft and the hip connecting crankshaft on the power mechanism are rotated to make the abdomen mechanism and the hip mechanism swing on the power mechanism, so as to imitate the movement trend of the back and hips of animals when running. At the same time, in the process of the hip mechanism swinging up and down, the power mechanism and the hip mechanism cooperate with each other to drive the hind leg mechanism to extend backward and bend forward, so as to imitate the movement of the hind legs of animals when running. At the same time, the swinging abdomen mechanism cooperates with the power mechanism to drive the front leg mechanism to extend the legs forward and bend backward, so as to imitate the movement of the front legs of animals when running. When the hind leg mechanism is retracted forward, the front leg mechanism moves The legs are retracted, and the front leg mechanism moves forward when the hind leg mechanism pushes backward, so that the hind leg mechanism and the front leg mechanism simulate the state of an animal running. At the same time, the head mechanism is driven to swing up and down when the abdominal mechanism swings up and down. At the same time, the connecting piece transmits the power of the hip mechanism swinging to the head mechanism, so that the head mechanism makes bionic movements such as swinging ears, opening the mouth and sticking out the tongue, making the head mechanism closer to the state of an animal running. At the same time, the power mechanism transmits power to the abdominal mechanism, hip mechanism, hind leg mechanism, front leg mechanism and head mechanism in a unified manner, so that the movements of the entire device are unified, eliminating the incoordination of movements between limbs caused by the use of multiple power sources, and ensuring that the device is more realistic in bionics of cats and dogs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the overall device of the present invention when running with four limbs spread out;

[0019] Figure 2 It is a schematic diagram of the structure of the overall device of the present invention with the limbs retracted during running;

[0020] Figure 3 It is a schematic diagram of the combined structure of the power mechanism and part of the abdominal mechanism of the present invention;

[0021] Figure 4 It is a schematic diagram of the power mechanism structure of the present invention;

[0022] Figure 5 It is a schematic diagram of the abdominal mechanism structure of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the abdominal mechanism of the present invention;

[0024] Figure 7 It is a schematic diagram of the combined structure of the power mechanism, the abdomen mechanism, the hip mechanism and the hind leg mechanism of the present invention;

[0025] Figure 8 It is a schematic diagram of the combined structure of the power mechanism, hip mechanism and hind leg mechanism of the present invention;

[0026] Fig. 9 It is a schematic diagram of the hip mechanism structure of the present invention;

[0027] Fig.10 This is one of the schematic diagrams of the rear leg mechanism structure of the present invention;

[0028] Fig.11 This is the second schematic diagram of the rear leg mechanism structure of the present invention;

[0029] Fig.12 This is one of the schematic diagrams of the front leg mechanism structure of the present invention;

[0030] Fig.13 This is the second schematic diagram of the front leg mechanism structure of the present invention;

[0031] Fig.14 This is the third schematic diagram of the front leg mechanism structure of the present invention;

[0032] Fig.15 It is a schematic diagram of the combined structure of the abdomen mechanism and the head mechanism of the present invention;

[0033] Fig.16 It is a schematic diagram of the structure of the combined part of the abdomen mechanism and the head mechanism of the present invention;

[0034] Fig.17 This is one of the schematic diagrams of the head mechanism structure of the present invention;

[0035] Fig.18 This is the second schematic diagram of the head mechanism structure of the present invention;

[0036] Fig.19 It is a schematic diagram of the partial structure of the head mechanism of the present invention;

[0037] Fig. 20 It is a schematic diagram of the combined structure of the head frame, power transmission component and ear and eyebrow component of the present invention;

[0038] Fig.21 This is one of the schematic diagrams of the head frame structure of the present invention;

[0039] Fig. 22 This is the second schematic diagram of the head frame structure of the present invention;

[0040] Fig.23 It is a schematic diagram of the combined structure of the power transmission member and the ear and eyebrow member of the present invention;

[0041] Fig.24 This is the second schematic diagram of the power transmission component structure of the present invention;

[0042] Fig.25 It is a schematic diagram of the combined structure of the head frame, power transmission component and ear and eyebrow component of the present invention;

[0043] Fig.26It is a schematic diagram of the structure of the power transmission member and the mouthpiece member of the present invention;

[0044] Fig. 27 It is a schematic diagram of the structure of the mouth and tongue piece of the present invention.

[0045] The meaning of each number in the figure is:

[0046] 1. Power mechanism; 11. Connecting base frame; 12. Transverse connecting frame; 13. Body fixing crankshaft; 14. Hip connecting crankshaft; 15. Sprocket; 16. Chain; 17. Forelimb power output plate; 18. Diagonal rod; 19. Hip guide rod;

[0047] 2. Abdominal mechanism; 21. Top back plate; 22. Front chest frame; 23. Neck connecting plate; 24. Abdominal frame; 25. Back connecting frame; 26. Tail connecting tripod; 27. Connecting plate frame; 28. Crank connecting plate; 29. ​​Transmission rod; 291. Transmission triangular plate; 292. Neck power rod;

[0048] 3. Hip mechanism; 31. Hip frame; 32. Arc-shaped slide plate; 33. Hind limb fixed axis; 34. Hip connecting axis; 35. Power connecting axis; 36. Tail fixed column; 37. Tail hinge frame;

[0049] 4. Rear leg mechanism; 41. Rear thigh rod; 42. Rear thigh auxiliary power rod; 43. Rear calf triangle power plate; 44. Rear calf auxiliary power connecting rod; 45. Rear limb power output rod; 46. Rear thigh power connecting rod; 47. Rear palm power connecting rod; 48. Rear calf connecting rod; 49. Rear foot plate;

[0050] 5. Foreleg mechanism; 51. Forelimb triangular power plate; 511. Front thigh auxiliary connecting rod; 52. Forelimb auxiliary power connecting rod; 53. Front thigh power pull rod; 54. Front thigh power connecting rod; 55. Front thigh auxiliary rod; 56. Front lower limb auxiliary power connecting rod; 561. Forepalm power connecting rod; 57. Front thigh sliding plate; 571. Front thigh rod; 58. Front calf rod; 59. Forepalm plate;

[0051] 6. Head mechanism;

[0052] 61. Head frame; 611. Neck plate; 6111. Neck positioning frame; 612. Neck tripod; 613. Arc head frame; 614. Nose bridge plate; 615. Eye mounting plate; 616. Limiting sliding shaft; 617. Mandibular connecting plate; 618. Ear main axis plate; 619. Eyebrow guide shaft;

[0053] 62, power transmission part; 621, head organ power plate; 622, jaw power fixing plate; 623, beard output plate; 624, eyebrow guide inclined slide plate; 625, head power guide slide bar; 626, ear auxiliary shaft;

[0054] 63. Ear and eyebrow parts; 631. Ear push rod; 632. Ear power connecting rod; 633. Ear plate; 634. Head auxiliary connecting rod; 635. Head transfer connecting rod; 636. Head power connecting rod; 637. Eyebrow frame; 638. Beard driving rod; 639. Beard panel;

[0055] 64, mouth and tongue parts; 641, jaw plate; 642, jaw sliding stand; 643, tongue plate; 644, tongue power output connecting rod; 645, jaw drive auxiliary rod; 646, jaw auxiliary connecting rod; 647, jaw power connecting rod; 648, jaw conversion connecting rod;

[0056] 65. Neck pull plate. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention. Example

[0059] In order to ensure that the running movements of the bionic robot are consistent with the running state of animals, and to avoid the stiffness and distortion of the bionic robot's movements caused by inconsistent coordination between multiple power sources, please refer to Figure 1-Figure 2As shown, the purpose of this embodiment is to provide a bionic robot with a single power source, including an abdominal mechanism 2, a hip mechanism 3 is arranged on one side of the abdominal mechanism 2, hind leg mechanisms 4 are arranged on both sides of the hip mechanism 3, front leg mechanisms 5 are arranged on both sides of the end of the abdominal mechanism 2 away from the hip mechanism 3, and a head mechanism 6 is arranged on the end of the abdominal mechanism 2 away from the hip mechanism 3, wherein the two hind leg mechanisms 4 and the front leg mechanisms 5 constitute the limbs of the bionic robot. At this time, there is no power connection between the above structures. The improvement of this scheme is that a power mechanism 1 is arranged on the lower side of the abdominal mechanism 2 near the hip mechanism 3, the power mechanism 1 is used to provide power to the above mechanisms, and the power mechanism 1 is the only power source in this scheme, the power mechanism 1 drives the abdominal mechanism 2 so that the abdominal mechanism 2 can swing up and down, and while driving the abdominal mechanism 2, the power mechanism 1 drives the hip mechanism 3 so that the hip mechanism 3 swings up and down, and in the process of the hip mechanism 3 swinging up and down, the power mechanism 1 The hip mechanism 3 drives the hind leg mechanism 4, so that the hind leg mechanism 4 performs the bionic operation of retracting and extending the legs. The leg extending action of the hind leg mechanism 4 imitates the action of the animal extending its legs when running, and the leg retracting action of the hind leg mechanism 4 imitates the action of the animal's hind legs passing forward to run next time when running. At the same time, the power mechanism 1 drives the hip mechanism 3 while the abdomen mechanism 2 also swings up and down synchronously, so as to imitate the movement state of the animal's back when running, and in the process of the swinging of the abdomen mechanism 2, the power mechanism 1 drives the front leg mechanism 5 to perform the bionic operation of retracting and extending the legs, the front leg mechanism 5 performs the bionic operation of retracting and extending the legs on both sides of the abdomen mechanism 2, and the leg extending action of the front leg mechanism 5 imitates the action of the animal passing the front legs forward to run next time. At the same time, in the process of the up and down swinging of the abdomen mechanism 2, the abdomen mechanism 2 drives the head mechanism 6 to swing up and down with the help of the up and down swinging force of the hip mechanism 3, and performs bionic operation in the process of the up and down swinging of the head mechanism 6, so that the head mechanism 6 makes movements such as raising eyebrows, moving mouth hair, opening mouth, sticking out tongue, and moving ears.

[0060] The power mechanism 1 drives the abdomen mechanism 2 and the hip mechanism 3, so that the abdomen mechanism 2 and the hip mechanism 3 swing on the power mechanism 1, so as to imitate the movement trend of the back and hips of the animal when running. At the same time, in the process of the hip mechanism 3 swinging up and down, the power mechanism 1 and the hip mechanism 3 cooperate with each other to drive the hind leg mechanism 4 to extend backward and bend forward, so as to imitate the movement of the hind legs of the animal when running. At the same time, the swinging abdomen mechanism 2 cooperates with the power mechanism 1 to drive the front leg mechanism 5 to extend the legs forward and bend backward, so as to imitate the movement of the front legs of the animal when running. When the hind leg mechanism 4 retracts its legs forward, the front leg mechanism 5 retracts its legs backward, and when the hind leg mechanism 4 moves forward, the front leg mechanism 5 retracts its legs backward. When kicking back, the front leg mechanism 5 moves forward, so that the hind leg mechanism 4 and the front leg mechanism 5 simulate the state of an animal running. At the same time, when the abdominal mechanism 2 swings up and down, the head mechanism 6 is driven to swing up and down. At the same time, the connecting piece transmits the power of the swing of the hip mechanism 3 to the head mechanism 6, so that the head mechanism 6 makes bionic movements of swinging ears, opening the mouth and sticking out the tongue, making the head mechanism 6 closer to the state of an animal running. At the same time, the power mechanism 1 uniformly transmits power to the abdominal mechanism 2, the hip mechanism 3, the hind leg mechanism 4, the front leg mechanism 5 and the head mechanism 6, so that the movements of the entire device are unified, eliminating the incoordination of movements between limbs caused by the use of multiple power sources, and ensuring that the device is more realistic in bionics of cats and dogs.

[0061] Please refer to the following Figure 3-Figure 27 As shown, the above structure is described in detail:

[0062] Wherein, the power mechanism 1 includes a connecting base frame 11, a base is arranged at the bottom of the connecting base frame 11, the base is fixed on the ground, the base is used to fix the position of the connecting base frame 11, and a driving mechanism is arranged on the base, a transverse connecting frame 12 is fixed at the upper end of the connecting base frame 11, the transverse connecting frame 12 extends to one side of the connecting base frame 11, and a body fixing crankshaft 13 and a hip connecting crankshaft 14 are rotatably connected at both ends inside the transverse connecting frame 12, and the crankshaft directions of the body fixing crankshaft 13 and the hip connecting crankshaft 14 are consistent, the body fixing crankshaft 13 is used to drive the middle position of the abdominal mechanism 2 to swing up and down and the front leg mechanism 5 to extend and retract the legs, and the hip connecting crankshaft 14 is used to drive the end of the abdominal mechanism 2 close to the hip mechanism 3 to swing up and down and the hip mechanism 3 Swinging up and down, two sprockets 15 are installed on the rotating axes of the body-fixing crankshaft 13 and the hip-connecting crankshaft 14, and the corresponding two sprockets 15 on the body-fixing crankshaft 13 and the hip-connecting crankshaft 14, as well as the driving mechanism and the sprocket 15 near the hip-connecting crankshaft 14 are connected by chains 16. The driving mechanism includes a driving motor fixed on the base, and the rotating shaft of the driving motor is fixed with a sprocket 15 that is the same as that installed on the body-fixing crankshaft 13 and the hip-connecting crankshaft 14. The driving motor drives the sprocket 15 so that the sprocket 15 transmits the rotating power to the sprocket 15 of the body-fixing crankshaft 13 and the hip-connecting crankshaft 14 through the chain 16, so that the body-fixing crankshaft 13 and the hip-connecting crankshaft 14 rotate on the transverse connecting frame 12 around the position where they are rotationally connected to the transverse connecting frame 12.

[0063] The abdominal mechanism 2 includes a top back plate 21, a front chest frame 22 is fixed to one side of the top back plate 21, the front chest frame 22 is arranged on the side of the top back plate 21 away from the hip mechanism 3, an abdominal cavity frame 24 is fixed to the lower side of the front chest frame 22, the other end of the abdominal cavity frame 24 is fixedly connected to the end of the top back plate 21 away from the front chest frame 22, the top back plate 21, the front chest frame 22 and the abdominal cavity frame 24 are combined to form an abdominal cavity, the bottom and both ends of the abdominal cavity are connected to the outside, and the transverse connecting frame 12 is arranged in the abdominal cavity. A crank connecting plate 28 arranged in the abdominal cavity is fixed symmetrically on the lower side of the top back plate 21. One end of the crank connecting plate 28 is rotatably connected to the crankshaft end of the body fixed crankshaft 13. When the body fixed crankshaft 13 rotates, the crank connecting plate 28 is driven to move up and down. When the crank connecting plate 28 moves up and down, the crank connecting plate 28 pushes up the end of the top back plate 21 close to the front chest frame 22, so that the abdominal mechanism 2 appears to be lifted upward. At the same time, when the top back plate 21 is away from the front chest, One side of the frame 22 is fixed to a tail connecting tripod 26 that is inclined away from the bottom of the top back plate 21. One corner of the tail connecting tripod 26 is fixed to the side wall of one end of the top back plate 21, and the other corner of the tail connecting tripod 26 is rotatably connected to the crank of the hip connecting crank 14. When the hip connecting crank 14 rotates, the hip connecting crank 14 lifts the tail connecting tripod 26 upward. In the process of the tail connecting tripod 26 being lifted, the end of the top back plate 21 close to the hip mechanism 3 is lifted upward. At this time, the end of the top back plate 21 and the position of the top back plate 21 close to the front chest frame 22 both move upward. In the process of the body fixing crank 13 and one end of the hip connecting crank 14 rotating upward, the abdominal mechanism 2 translates obliquely upward away from the hip mechanism 3. In the process of the body fixing crank 13 and one end of the hip connecting crank 14 rotating downward, the abdominal mechanism 2 translates obliquely downward close to the hip mechanism 3, thereby forming a moving state of the abdominal cavity when the animal runs.

[0064] The hip mechanism 3 includes a hip frame 31, which imitates the hip of an animal. A hip connecting shaft 34 is fixed on one side of the hip frame 31. The hip connecting shaft 34 is rotatably connected to the remaining corner of the tail connecting tripod 26. At the same time, an inclined rod 18 is fixed on one side of the connecting base frame 11, which is inclined upward away from the horizontal connecting frame 12. A hip guide rod 19 is fixed to one end of the inclined rod 18. An arc-shaped slide plate 32 with an arc surface upward is arranged inside the hip frame 31. The middle position of the hip guide rod 19 slides in the arc-shaped slide plate 32, and the hip connecting crankshaft 14 is connected to the hip. In the process of driving the tail connecting tripod 26 to swing up and down, the tail connecting tripod 26 drives one end of the hip frame 31 up and down, and in the process of the hip frame 31 being driven to move by the tail connecting tripod 26, the hip guide rod 19 slides along the arc groove in the arc groove of the arc slide plate 32. When the abdominal mechanism 2 moves obliquely upward away from the hip mechanism 3, the hip guide rod 19 slides in the arc groove of the arc slide plate 32 in the direction away from the hip connecting shaft 34, and the end of the hip frame 31 close to the abdominal mechanism 2 is driven upward by the abdominal mechanism 2, and the hip guide rod 19 The other end of the hip frame 31 is restricted so that the end of the hip frame 31 away from the hip connecting shaft 34 moves downward, thereby simulating the state in which the front half of the animal moves upward and the back half of the animal moves downward when running forward. This state is the state when the animal's legs just exert force to kick out. When the abdominal mechanism 2 moves obliquely downward close to the hip mechanism 3, the hip guide rod 19 slides in the arc groove of the arc-shaped slide groove plate 32 in the direction close to the hip connecting shaft 34, and the end of the hip frame 31 close to the abdominal mechanism 2 is driven downward by the abdominal mechanism 2, while the hip guide rod 19 controls the other end of the hip frame 31. The hip frame 31 is restricted so that one end away from the hip connecting shaft 34 moves upward, so as to simulate the state of the front half of the animal moving downward and the back half moving upward when the animal runs forward. This state is the state when the animal's leg kicking force is exhausted. At the same time, a tail fixing column 36 is fixed to the end of the hip frame 31 away from the hip connecting shaft 34. One end of the tail fixing column 36 is hinged with a plurality of tail hinges 37 in sequence. The plurality of tail hinges 37 are combined to form the tail of the animal. The plurality of tail hinges 37 are hinged in sequence so that the tail composed of the tail hinges 37 can swing flexibly.

[0065] The hind leg mechanism 4 includes a rear thigh rod 41, the end of which is hinged with a rear calf triangular power plate 43, one end of the rear thigh rod 41 is hinged at a corner of the rear calf triangular power plate 43, and hind limb fixed shafts 33 are fixed on both sides of the hip frame 31 away from one end of the hip connecting shaft 34, the hinged position of the rear thigh rod 41 and the rear calf triangular power plate 43 is rotatably connected to one end of the hind limb fixed shaft 33, and a rear calf auxiliary power connecting rod 44 is hinged at the other end of the rear calf triangular power plate 43, and the rear calf auxiliary power connecting rod 44 is hinged at another corner of the rear calf triangular power plate 43, and the other end of the rear calf auxiliary power connecting rod 44 is rotatably connected to the hip guide rod 19, and at the same time, the rear calf triangular power plate 43 is connected to the rear thigh. The leg rod 41 and one side of the rear calf triangle power plate 43 are hinged with a rear thigh auxiliary power rod 42, and the rear thigh auxiliary power rod 42 is hinged at the remaining corner of the rear calf triangle power plate 43. The rear calf triangle power plate 43 is an acute triangle as a whole. The rear thigh rod 41 and the rear thigh auxiliary power rod 42 are hinged at two corners of the rear calf triangle power plate 43 that are closer to each other. The rear thigh rod 41 is hinged with a rear thigh power connecting rod 46 on the side wall of the rear calf triangle power plate 43. The other end of the rear thigh power connecting rod 46 is hinged with a hind limb power output rod 45. The other end of the hind limb power output rod 45 is fixed on the hip guide rod 19. The other end of the rear thigh rod 41 is hinged with a rear calf connecting rod 48. The other end of the rear thigh auxiliary power rod 42 The ends are also hinged on the rear calf connecting rod 48, and the positions at which the rear thigh rod 41 and the rear thigh auxiliary power rod 42 are hinged on the rear calf connecting rod 48 are different, wherein the rear thigh rod 41 is hinged at the end position of the rear calf connecting rod 48, and the rear thigh auxiliary power rod 42 is hinged at the end position of the rear calf connecting rod 48 close to the hinge of the rear calf connecting rod 48 and the rear thigh rod 41, and the position at which the rear thigh auxiliary power rod 42 and the rear calf connecting rod 48 are hinged extends in the direction away from the rear thigh rod 41, so that there is space at the position where the rear thigh rod 41 and the rear thigh auxiliary power rod 42 are hinged to the rear calf connecting rod 48, and the space is used for the activity space when the rear thigh rod 41 and the rear thigh auxiliary power rod 42 rotate, so as to avoid the contact between the rear thigh rod 41 and the rear thigh auxiliary power rod 42. The hind legs 48 are connected to the hind legs 49 to prevent them from colliding with each other. At the same time, a hind foot plate 49 is hinged at the other end of the hind leg connecting rod 48. The hind foot plate 49 imitates the hind sole of an animal. A hind sole power connecting rod 47 is hinged on one side of the hind foot plate 49 and the hind leg connecting rod 48. The hinged position of the hind sole power connecting rod 47 and the hind foot plate 49 is on one side of the hinged position of the hind foot plate 49 and the hind leg connecting rod 48. After one end of the hind leg connecting rod 48 and the hind sole power connecting rod 47 is hinged on the hind foot plate 49, there is a space between the hind leg connecting rod 48 and the hind sole power connecting rod 47. The space is the activity space between the hind sole power connecting rod 47 and the hind leg connecting rod 48 to avoid collision between the hind sole power connecting rod 47 and the hind leg connecting rod 48, which makes the hind sole power connecting rod 47 and the hind leg connecting rod 48 unable to move.The other end of the rear palm power connecting rod 47 is hinged at the position of the rear thigh rod 41 close to the rear calf connecting rod 48.

[0066] When the hip guide rod 19 moves toward the direction close to the hip connecting shaft 34, the end of the hip frame 31 away from the abdominal mechanism 2 tilts upward, and the hip guide rod 19 pulls the rear calf auxiliary power connecting rod 44. When the rear calf auxiliary power connecting rod 44 is pulled, it drives one end of the rear calf triangular power plate 43 to rotate toward the direction close to the hip guide rod 19. When the hip guide rod 19 rotates, the rear calf triangular power plate 43 pulls one end of the rear thigh auxiliary power rod 42 upward. When the rear thigh auxiliary power rod 42 is pulled, the other end of the rear thigh auxiliary power rod 42 pulls the rear calf connecting rod 48, causing the rear calf connecting rod 48 to rotate in the direction away from the abdominal mechanism 2. At the same time, the moving hip guide rod 19 pulls the hind limb power output rod 45, causing the hind limb power output rod 45 to pull the rear thigh power connecting rod 46. The hip guide rod 19 moves in the direction close to the hip connecting axis 34. At this time, the hip guide rod 19 is away from the hind limb fixed axis 33. The rear thigh power connecting rod 46 pulled by the hind limb power output rod 45 pulls the rear thigh rod 41, so that the rear thigh rod 41 rotates around the position hinged with the hind limb fixed axis 33 in the direction close to the abdomen mechanism 2. At this time, the rear palm power connecting rod 47 swings together with the rear thigh rod 41. Because the rear shank connecting rod 48 rotates in the direction away from the abdomen mechanism 2, the rear shank connecting rod 48 drives the transmission rod 29 to move upward. At this time, the other ends of the rear thigh rod 41 and the rear shank connecting rod 48 are close to each other, and the other end of the rear palm power connecting rod 47 pushes the rear foot plate 49, so that one end of the rear foot plate 49 rotates downward. At this time, the hind leg mechanism 4 imitates the action of the animal's hind legs retracting their legs while running, and the rear foot plate 49 rotating downward imitates the action of the animal's hind palm touching the ground;

[0067] When the hip guide rod 19 moves in the direction away from the hip connecting shaft 34, the hip guide rod 19 pushes the rear calf auxiliary power connecting rod 44, so that the rear calf auxiliary power connecting rod 44 pushes the rear calf triangular power plate 43 to rotate in the direction away from the abdominal mechanism 2. At this time, the rear calf triangular power plate 43 pushes the rear thigh auxiliary power rod 42 in the direction away from the hind limb fixed shaft 33, and the pushed rear thigh auxiliary power rod 42 pushes the rear calf connecting rod 48, so that the rear calf connecting rod 48 rotates in the direction close to the abdominal mechanism 2. At the same time, the hip guide rod 19 drives the rear thigh power connecting rod 46 to approach the hind limb fixed shaft 33. At this time, the rear thigh power connecting rod 46 The rod 46 pushes one end of the rear thigh rod 41 downward, causing the rear thigh rod 41 to rotate around the position hinged with the hind limb fixed axis 33 in the direction away from the abdominal mechanism 2. At this time, the rear thigh rod 41 and the other end of the rear calf connecting rod 48 move away from each other. At the same time, in the process of the other end of the rear calf connecting rod 48 moving away from the rear thigh rod 41, the rear palm power connecting rod 47 pulls one end of the rear foot plate 49, causing the rear foot plate 49 to rotate in the direction away from the abdominal mechanism 2. At this time, the rear foot plate 49 rotates upward. At this time, the hind leg mechanism 4 imitates the action of the animal's hind legs extending their legs while running, and the upward rotating rear foot plate 49 imitates the action of the animal's hind palm after pushing off the ground.

[0068] A forelimb power output plate 17 is fixed on the rotating shaft of the body fixed crankshaft 13, and the direction of the forelimb power output plate 17 is consistent with the direction of the crankshaft on the body fixed crankshaft 13. The front leg mechanism 5 includes a forelimb auxiliary power connecting rod 52, a front thigh power connecting rod 54 and a front thigh power pull rod 53 coaxially hinged at one end of the forelimb power output plate 17 in sequence, and the other end of the front thigh power pull rod 53 is hinged with a front thigh auxiliary rod 55 and a front thigh auxiliary connecting rod 511, wherein the other end of the front thigh auxiliary rod 55 is connected to the abdominal frame 24, and the front thigh auxiliary rod 55 is hinged on the abdominal frame 24 near the crank connecting plate 28. At the same time, on the side wall of the abdominal frame 24 away from the end of the tail connecting tripod 26, forelimb triangle power connecting rods are coaxially hinged in sequence symmetrically on the left and right. The forelimb triangular power plate 51 is triangular, the position where the forelimb triangular power plate 51 and the abdominal frame 24 are hinged is a corner on the forelimb triangular power plate 51, the other end of the forelimb auxiliary power connecting rod 52 is hinged on the forelimb triangular power plate 51, and the position where the forelimb auxiliary power connecting rod 52 is hinged on the forelimb triangular power plate 51 is the other end corner of the forelimb triangular power plate 51, and the front thigh rod 571 is provided with a front thigh sliding plate 57 sliding along the length direction of the front thigh rod 571, and the front thigh rod 571 is provided with a track plate for the front thigh sliding plate 57 to slide linearly, and the front thigh sliding plate 57 can only slide linearly along the track of the track plate by means of the restriction of the front thigh sliding plate 57 by the track plate. At the same time, the other end of the front thigh auxiliary connecting rod 511 is hinged to the end of the front thigh sliding plate 57 close to the front thigh rod 571, the other end of the front thigh sliding plate 57 is hinged to the front calf rod 58, the other end of the front calf rod 58 is hinged to the front palm plate 59, and the front palm plate 59 is hinged to the front palm power connecting rod 561 at the position close to the front calf rod 58. There is a gap between the positions where the front calf rod 58 and the forepalm power connecting rod 561 are hinged on the front palm plate 59, that is, the positions where the front calf rod 58 and the forepalm power connecting rod 561 are hinged on the front palm plate 59 are not on the same axis, and the other end of the forepalm power connecting rod 561 is hinged to the front lower limb auxiliary power connecting rod 56, and the end of the front lower limb auxiliary power connecting rod 56 close to the forepalm power connecting rod 561 is hinged to the front On the calf rod 58, the axis of the forefoot power link 561 and the front lower limb auxiliary power link 56 is not in a straight line, that is, there is a space between the position where the forefoot power link 561 and the front lower limb auxiliary power link 56 are hinged and the position where the front calf rod 58 and the front lower limb auxiliary power link 56 are hinged, and the space is provided for the front calf rod 58 and the forefoot power link 561 to move when the front calf rod 58 and the forefoot power link 561 rotate. At the same time, the position where the front lower limb auxiliary power link 56 and the front calf rod 58 are hinged is close to the position where the front calf rod 58 and the front thigh sliding plate 57 are hinged, and the other end of the front lower limb auxiliary power link 56 is hinged on the forelimb triangular power plate 51.The position where the front lower limb auxiliary power link 56 is hinged on the forelimb triangular power plate 51 is at a remaining corner of the forelimb triangular power plate 51, and the other end of the front thigh power link 54 is hinged on the front thigh rod 571 near the forelimb triangular power plate 51, and there is a space between the position where the front thigh power link 54 is hinged to the front thigh rod 571 and the position where the forelimb triangular power plate 51 is hinged to the front thigh rod 571.

[0069] When the forelimb power output plate 17 rotates in the direction away from the hip mechanism 3, the forelimb power output plate 17 pushes the forelimb auxiliary power connecting rod 52, so that the forelimb auxiliary power connecting rod 52 pushes one end of the forelimb triangular power plate 51, and the pushed forelimb triangular power plate 51 rotates around the hinged position with the abdominal frame 24. At this time, the front thigh auxiliary rod 55 pulls the front thigh power pull rod 53, so that the front thigh power pull rod 53 drives the front thigh auxiliary connecting rod 511 to move downward, and the downward moving front thigh auxiliary connecting rod 511 pushes the front thigh sliding plate 57, so that the front thigh sliding plate 57 moves away from the front thigh sliding plate 57 on the front thigh rod 571. In the process of the front thigh sliding plate 57 moving away from the front thigh rod 571, the front thigh sliding plate 57 pushes one end of the front calf rod 58. At this time, the front lower limb auxiliary rod 55 pulls the front thigh power pull rod 53, so that the front thigh power pull rod 53 drives the front thigh auxiliary connecting rod 511 to move downward. The front thigh auxiliary connecting rod 511 that moves downward pushes the front thigh sliding plate 57 The auxiliary power link 56 pulls the front calf rod 58 to rotate around the position where it is hinged with the front lower limb auxiliary power link 56. At this time, the front calf rod 58 drives the front palm plate 59 to rotate in the direction away from the hip mechanism 3. When the front calf rod 58 drives the front palm plate 59 to move away from the hip mechanism 3, the front palm power link 561 pushes the front palm plate 59 to rotate upward. At the same time, when the forelimb power output plate 17 rotates in the direction away from the hip mechanism 3, the front thigh power link 54 pushes the front thigh rod 571 to rotate the end of the front thigh rod 571 away from the forelimb triangular power plate 51 in the direction away from the hip mechanism 3. At this time, the front leg mechanism 5 imitates the movement of the animal's front legs extending their legs while running, and the front palm plate 59 rotating upward imitates the movement of the animal's front palm moving upward from the ground.

[0070] When the forelimb power output plate 17 rotates in the direction close to the hip mechanism 3, the forelimb power output plate 17 pulls the forelimb auxiliary power connecting rod 52, so that the forelimb auxiliary power connecting rod 52 pulls one end of the forelimb triangular power plate 51, and the pulled forelimb triangular power plate 51 rotates around the hinged position with the abdominal frame 24. At this time, the front thigh auxiliary rod 55 pushes the front thigh power pull rod 53, so that the front thigh power pull rod 53 drives the front thigh auxiliary connecting rod 511 to move upward, and the upward moving front thigh auxiliary connecting rod 511 pulls the front thigh sliding plate 57, so that the front thigh sliding plate 57 moves on the front thigh rod 571 to approach the front thigh sliding plate 57. In the process of the front thigh sliding plate 57 approaching the front thigh rod 571, the front thigh sliding plate 57 pulls one end of the front calf rod 58. At this time, the front lower limb The auxiliary power link 56 supports the front calf rod 58, so that the front calf rod 58 rotates around the position where it is hinged with the front lower limb auxiliary power link 56. At this time, the front calf rod 58 drives the front palm plate 59 to rotate in the direction close to the hip mechanism 3. When the front calf rod 58 drives the front palm plate 59 to move close to the hip mechanism 3, the front palm power link 561 pulls the front palm plate 59 to rotate the front palm plate 59 downward. At the same time, when the forelimb power output plate 17 rotates in the direction close to the hip mechanism 3, the front thigh power link 54 pulls the front thigh rod 571 to rotate the end of the front thigh rod 571 away from the forelimb triangular power plate 51 in the direction close to the hip mechanism 3. At this time, the front leg mechanism 5 imitates the action of the animal's front legs retracting in running, and the downward rotating front palm plate 59 imitates the action of the animal's front palm touching the ground.

[0071] When the hind leg mechanism 4 retracts the legs, the front leg mechanism 5 extends the legs; when the hind leg mechanism 4 extends the legs, the front leg mechanism 5 retracts the legs, that is, the actions of the hind leg mechanism 4 and the front leg mechanism 5 are opposite. The opposite actions of the hind leg mechanism 4 and the front leg mechanism 5 also imitate the staggered movement of the front legs and hind legs of the animal when running. Through this driving method, the hind leg mechanism 4 and the front leg mechanism 5 simulate the movement of the animal when running, so that the hind leg mechanism 4 and the front leg mechanism 5 can simulate the running movement of the animal's front legs and hind legs during the movement, so as to improve the authenticity of the device for animal bionics. At the same time, the power of the movement of the hind leg mechanism 4 and the front leg mechanism 5 is realized by the transmission of the power mechanism 1, so as to ensure the coordinated movement between the hind leg mechanism 4 and the front leg mechanism 5, so that the hind leg mechanism 4 and the front leg mechanism 5 will not have movement confusion and deformation due to the influence of multiple power sources, thereby ensuring the limb bionic effect of the bionic robot on the movement of animals.

[0072] The head mechanism 6 includes a head frame 61, which imitates the head of an animal. A power transmission component 62 is arranged inside the head frame 61, and an ear-brow component 63 is arranged between the power transmission component 62 and the head frame 61. The power transmission component 62 drives the ear-brow component 63 to move the ears and nose when moving. When the power transmission component 62 drives the ear-brow component 63, the ear-brow component 63 imitates the swinging of the animal's ears and the shaking of the nose, thereby improving the authenticity of the head bionics. At the same time, a mouth and tongue component 64 is arranged on one side of the power transmission component 62, and the mouth and tongue component 64 is arranged on the lower side of the head frame 61. When the power transmission component 62 moves, the mouth and tongue component 64 is synchronously driven to open the mouth and stick out the tongue. At the same time, a connecting component is arranged between the hip mechanism 3 and the head mechanism 6. When the hip mechanism 3 swings up and down, the connecting component transmits power to the head mechanism 6, so that the head mechanism 6 swings following the movement of the hip mechanism 3.

[0073] The head frame 61 includes a neck plate 611, one side of the neck plate 611 is fixed with an arc-shaped head frame 613, the arc-shaped head frame 613 is an arc-shaped arc that bulges upwards, the other end of the arc-shaped head frame 613 is fixed with an eye mounting plate 615 arranged on the lower side of the arc-shaped head frame 613, both sides of the eye mounting plate 615 are installed with spheres, the spheres are used to imitate the eyes of animals, the end of the eye mounting plate 615 away from the neck plate 611 is fixed with a nose bridge plate 614, the nose bridge plate 614 is used to imitate the nose bridge of animals, a limited position sliding shaft 616 is fixed between the neck plate 611 and the nose bridge plate 614, and the power transmission member 6 The head organ power board 621 includes a head organ power board 621, which is arranged on a side of the neck plate 611 close to the arc-shaped head frame 613, and the head organ power board 621 is slidably arranged on the limit sliding shaft 616, and a head power guide slide bar 625 is fixed at a position close to the upper and lower ends of one side of the head organ power board 621, and one end of the head power guide slide bar 625 is slidably plugged into the neck plate 611, and an eyebrow guide inclined slide plate 624 and a beard output plate 623 are fixed to the upper end of the head organ power board 621 away from the neck plate 611. 24 is arranged on the upper side of the beard output plate 623, and a slide groove inclined toward one end of the beard output plate 623 is opened on the eyebrow guide inclined slide plate 624, and ear auxiliary shafts 626 are fixed on both sides of the eyebrow guide inclined slide plate 624, and the ear auxiliary shafts 626 are located on the upper side of the beard output plate 623. The ear-eyebrow member 63 includes two beard driving rods 638 rotatably arranged on the lower side of the nose bridge plate 614, and the beard panel 639 swings up and down to both sides of the power transmission member 62. The two beard driving rods 638 are symmetrically arranged, and the other ends of the beard driving rods 638 pass through the slide groove. The beard driving rod 638 is slidably connected to the pin at one end of the beard output plate 623, and a beard panel 639 is fixed to the end close to the nose bridge plate 614. When the beard output plate 623 is close to the beard panel 639, the pin on the beard output plate 623 pushes one end of the beard driving rod 638 upward, so that the other end of the beard driving rod 638 rotates slightly at the hinge position with the nose bridge plate 614. The rotating beard driving rod 638 drives the beard panel 639 to rotate, so that the beard panel 639 imitates the movement of the animal's nose and the muscles on both sides of the nose.

[0074] The eyebrow guide inclined slide plate 624 is slidably connected with an eyebrow frame 637 through a pin shaft, and the pin shaft on the eyebrow frame 637 slides in the slide groove on the eyebrow guide inclined slide plate 624. At the same time, a plurality of eyebrow guide shafts 619 are fixed on the upper side of the eye mounting plate 615, and the eyebrow frame 637 is slidably set on the eyebrow guide shaft 619. The eyebrow guide shaft 619 limits the position of the eyebrow frame 637 so that the eyebrow frame 637 can only slide along the axial direction of the eyebrow guide shaft 619. When the head organ power plate 621 moves toward the direction close to the eye mounting plate 615, the eyebrow guide inclined slide plate 6 One end of the eyebrow frame 637 is pushed upward through the inclined groove. When one end of the eyebrow frame 637 is pushed upward, the eyebrow frame 637 is restricted by the eyebrow guide shaft 619 to move upward. Brackets for imitating eyebrows are fixed on both sides of the eyebrow frame 637. When the head organ power plate 621 is away from the eye mounting plate 615, the head organ power plate 621 drives the eyebrow frame 637 to move downward, so that the eyebrow frame 637 imitates the opening and closing of the animal's eyes and the upward and downward movement of the eyebrows during the upward and downward movement, thereby improving the authenticity of the animal imitation.

[0075] An ear power connecting rod 632 is hinged on the ear auxiliary shaft 626, and an ear pushing rod 631 is hinged on the other end of the ear power connecting rod 632. The other end of the ear pushing rod 631 is fixed with an ear plate 633 through a shaft, and the shaft is rotatably connected with an ear main shaft plate 618, and the ear main shaft plate 618 is fixed on the side wall of the neck plate 611. When the head organ power plate 621 is away from the neck plate 611, the ear auxiliary shaft 626 pulls the ear power connecting rod 632, so that the ear power connecting rod 632 pulls the ear pushing rod 631 downward. When the ear pushing rod 631 is driven to rotate downward, the ear pushing rod 631 drives The shaft rod and the ear plate 633 on the ear pushing rod 631 rotate in the direction away from the abdominal mechanism 2. When the head organ power plate 621 approaches the cervical plate 611, the ear auxiliary shaft 626 pushes the ear power connecting rod 632, so that the ear power connecting rod 632 pushes the ear pushing rod 631 upward. When the ear pushing rod 631 is driven to rotate upward, the ear pushing rod 631 drives the shaft rod and the ear plate 633 on the ear pushing rod 631 to rotate in the direction close to the abdominal mechanism 2. When the ear plate 633 rotates in the direction close to and away from the abdominal mechanism 2, the ear plate 633 imitates the movement of the animal's ears.

[0076] A lower jaw connecting plate 617 fixed to the side wall of the neck plate 611 is arranged on the lower side of the ear main axis plate 618, the mouth and tongue piece 64 includes a lower jaw driving auxiliary rod 645 rotatably connected to the lower jaw connecting plate 617, a lower jaw plate 641 is fixed between the two lower jaw driving auxiliary rods 645, the lower jaw plate 641 is used to imitate the lower jaw of an animal, a lower jaw auxiliary connecting rod 646 is hinged at one end of the lower jaw driving auxiliary rod 645, a lower jaw conversion connecting rod 648 is hinged near the middle of the ear main axis plate 618, the other end of the lower jaw auxiliary connecting rod 646 is hinged at the middle position of the lower jaw conversion connecting rod 648, the other end of the lower jaw conversion connecting rod 648 is hinged to the lower jaw power connecting rod 647, and the head organ power plate 621 is close to the The two sides of the top are symmetrically fixed with a mandibular power fixing plate 622, the other end of the mandibular power connecting rod 647 is hinged to the end of the mandibular power fixing plate 622, the upper side of the mandibular plate 641 is symmetrically fixed with a mandibular sliding frame 642, a tongue plate 643 is slidably arranged between the two mandibular sliding frames 642, the tongue plate 643 and the mandibular sliding frame 642 are slidably connected by a pin shaft, the tongue plate 643 is arranged on the side of the head organ power plate 621 away from the neck plate 611, the end of the tongue plate 643 close to the head organ power plate 621 is hinged with a tongue power output connecting rod 644, and one end of the tongue power output connecting rod 644 is hinged to the side wall of the head organ power plate 621.

[0077] When the head organ power plate 621 moves toward the direction close to the tongue plate 643, the head organ power plate 621 pushes the tongue power output link 644, so that the tongue power output link 644 pushes the tongue plate 643, and the pushed tongue plate 643 moves in the slide groove of the mandibular sliding stand 642 in the direction away from the abdominal mechanism 2, and at the same time, the head organ power plate 621 pulls the mandibular power link 647, and the pulled mandibular power link 647 pulls one end of the mandibular conversion link 648, so that the mandibular conversion link 648 revolves around the ear The hinged position of the main axis plate 618 rotates in the direction away from the abdominal mechanism 2. During the rotation of the lower jaw conversion link 648, the lower jaw conversion link 648 pushes the lower jaw auxiliary link 646. The pushed lower jaw auxiliary link 646 pushes the lower jaw driving auxiliary rod 645, so that the lower jaw plate 641 rotates downward around the hinged position with the lower jaw connecting plate 617. At this time, the lower jaw plate 641 imitates the action of an animal opening its mouth. During the downward rotation of the lower jaw plate 641, the tongue plate 643 extends from the upper side of the lower jaw plate 641 to imitate the action of an animal sticking out its tongue.

[0078] When the head organ power plate 621 moves away from the tongue plate 643, that is, the head organ power plate 621 moves towards the direction close to the cervical plate 611, the head organ power plate 621 pulls the tongue power output connecting rod 644, so that the tongue power output connecting rod 644 pulls the tongue plate 643, and the pulled tongue plate 643 moves in the slide groove of the mandibular sliding stand 642 towards the direction close to the abdominal mechanism 2, and at the same time, the head organ power plate 621 pushes the mandibular power connecting rod 647, and the pushed mandibular power connecting rod 647 pushes one end of the mandibular conversion connecting rod 648, so that the lower jaw sliding stand 642 is moved closer to the abdominal mechanism 2. The jaw conversion link 648 rotates around the position hinged with the ear main axis plate 618 toward the direction close to the abdominal mechanism 2. During the rotation of the lower jaw conversion link 648, the lower jaw conversion link 648 pulls the lower jaw auxiliary link 646. The pulled lower jaw auxiliary link 646 pulls the lower jaw driving auxiliary rod 645, so that the lower jaw plate 641 rotates upward around the position hinged with the lower jaw connecting plate 617. At this time, the lower jaw plate 641 imitates the action of the animal closing its mouth. During the upward rotation of the lower jaw plate 641, the tongue plate 643 is retracted from the upper side of the lower jaw plate 641 to imitate the action of the animal retracting its tongue.

[0079] At the same time, a neck connecting plate 23 is fixed to the middle position of one end of the front chest frame 22 away from the top back plate 21, and a neck tripod 612 is symmetrically fixed to one side of the neck plate 611. The neck tripod 612 is arranged on the side of the neck plate 611 away from the arc-shaped head frame 613. The neck tripod 612 is similar to a quadrilateral shape, and one end of the neck tripod 612 is hinged to one end of the neck connecting plate 23 near the middle position, wherein the position where the neck tripod 612 and the neck connecting plate 23 are hinged is the corner of the upper end of the neck tripod 612 away from one end of the neck plate 611, and a head auxiliary connecting rod 634 is hinged to the side of the head organ power plate 621 close to the neck plate 611, and a head transfer rod is hinged on the head auxiliary connecting rod 634. Connecting rod 635, the head transfer connecting rod 635 is hinged at a position near the middle of the upper side of the neck tripod 612, the other end of the head transfer connecting rod 635 is hinged with a head power connecting rod 636, the other end of the head power connecting rod 636 is hinged at the top position of the end of the neck connecting plate 23, a neck pulling plate 65 is hinged between the positions where the neck connecting plate 23 and the head power connecting rod 636 are hinged, and the neck tripod 612 and the neck connecting plate 23 are hinged, the position where the neck pulling plate 65 and the neck connecting plate 23 are hinged is set in a direction close to the front chest frame 22, and a neck positioning frame 6111 is fixed on both sides of the neck plate 611 close to the neck tripod 612, and the end of the neck positioning frame 6111 is slidably set at the end of the neck pulling plate 65.

[0080] The connecting part includes a transmission triangle plate 291 hinged on both sides of the neck connecting plate 23, one end of the transmission triangle plate 291 is hinged with a neck power rod 292, the other end of the neck power rod 292 is hinged to the lowest point of the neck triangle frame 612 close to the abdomen mechanism 2, the other end of the transmission triangle plate 291 is hinged with a transmission rod 29, the other end of the transmission rod 29 is hinged with a connecting plate frame 27, one end of the connecting plate frame 27 passes through the top back plate 21 and extends to the upper side of the top back plate 21, a back connecting frame 25 is fixed to one side of the connecting plate frame 27 close to the hip mechanism 3, the hip frame 31 is located on the upper side of the hip connecting shaft 34 and is fixed with a power connecting shaft 35, and the other end of the back connecting frame 25 is hinged on the power connecting shaft 35.

[0081] When the hip guide rod 19 moves toward the direction close to the abdomen mechanism 2, the power connecting shaft 35 pushes the back connecting frame 25, causing the back connecting frame 25 to move away from the hip mechanism 3. When the back connecting frame 25 moves, it drives the connecting plate frame 27 to push the transmission rod 29, causing the transmission rod 29 to push the transmission triangle plate 291 to rotate around the position where it is hinged with the neck connecting plate 23. At this time, the direction in which the transmission triangle plate 291 rotates away from a point on the transmission rod 29 is upward. The upwardly rotating end of the transmission triangle plate 291 pulls the neck power rod 292, causing the neck power rod 292 to pull the bottom end of the neck tripod 612. When the neck tripod 612 is subjected to the pulling force, it drives the entire head mechanism 6 to rotate downward around the position where the neck tripod 612 and the neck connecting plate 23 are hinged. When the neck tripod 612 rotates downward, the head power connecting rod 636 pulls one end of the head transfer connecting rod 635, causing the head transfer connecting rod 635 to move away from the head power connecting rod 636. One end of the head rotates in the direction away from the abdominal mechanism 2, at this time, one end of the head transfer link 635 pulls the head auxiliary link 634, and the pulled head auxiliary link 634 drives the eyebrow guide inclined slide plate 624 to approach the neck plate 611, and the head power guide slide bar 625 and the limit slide shaft 616 limit the sliding trajectory of the head organ power plate 621. In the process of the head organ power plate 621 approaching the neck plate 611, the ear plate 633 rotates in the direction close to the abdominal mechanism 2, and the eyebrow frame 637 moves in the direction close to the eye mounting plate 615, so that the head mechanism 6 imitates the closing of the eyes and the rotation of the ears backward. At the same time, the moving beard output plate 623 drives one end of the beard driving rod 638 to move downward, so that one end of the beard panel 639 rotates downward, so as to imitate the movement of the animal's nose and the muscles on both sides of the nose. At the same time, the lower jaw plate 641 rotates upward to imitate the action of closing the mouth, and the tongue plate 643 moves in the direction close to the abdominal mechanism 2, so as to imitate the action of the animal retracting the tongue.

[0082] When the hip guide rod 19 moves in the direction away from the abdominal mechanism 2, the power connecting shaft 35 pulls the back connecting frame 25, so that the back connecting frame 25 moves in the direction close to the hip mechanism 3. When the back connecting frame 25 moves, it drives the connecting plate frame 27 to pull the transmission rod 29, so that the transmission rod 29 pulls the transmission triangle plate 291 to rotate around the position where it is hinged with the neck connecting plate 23. At this time, the direction in which the transmission triangle plate 291 rotates away from a point on the transmission rod 29 is downward. The downward rotating end of the transmission triangle plate 291 pushes the neck power rod 292, so that the neck power rod 292 pushes the bottom end of the neck tripod 612. When the neck tripod 612 is pushed, it drives the entire head mechanism 6 to rotate upward around the position where the neck tripod 612 and the neck connecting plate 23 are hinged. When the neck tripod 612 rotates upward, the head power connecting rod 636 pushes one end of the head transfer connecting rod 635, so that the head transfer connecting rod 635 is away from the head power connecting rod 636. One end of the head rotates toward the direction close to the abdominal mechanism 2, at this time, one end of the head transfer connecting rod 635 pushes the head auxiliary connecting rod 634, and the pushed head auxiliary connecting rod 634 drives the eyebrow guide inclined slide plate 624 away from the neck plate 611, and the head power guide slide bar 625 and the limit slide shaft 616 limit the sliding trajectory of the head organ power plate 621. In the process of the head organ power plate 621 moving away from the neck plate 611, the ear plate 633 rotates in the direction away from the abdominal mechanism 2, and the eyebrow frame 637 moves in the direction away from the eye mounting plate 615, so that the head mechanism 6 imitates the action of opening the eyes and rotating the ears forward. At the same time, the moving beard output plate 623 drives one end of the beard driving rod 638 to move upward, so that one end of the beard panel 639 rotates upward, so as to imitate the movement state of the animal's nose and the muscles on both sides of the nose. At the same time, the lower jaw plate 641 rotates downward to imitate the action of opening the mouth, and the tongue plate 643 moves in the direction away from the abdominal mechanism 2, so as to imitate the action of the animal sticking out the tongue.

[0083] In this scheme, the body-fixed crankshaft 13 and the hip-connected crankshaft 14 on the power mechanism 1 are rotated to make the abdomen mechanism 2 and the hip mechanism 3 swing on the power mechanism 1, so as to imitate the movement trend of the back and hips of an animal when running. At the same time, in the process of the hip mechanism 3 swinging up and down, the power mechanism 1 and the hip mechanism 3 cooperate with each other to drive the hind leg mechanism 4 to extend backward and bend forward, so as to imitate the movement of the hind legs pushing back and retracting the legs when the animal is running. At the same time, the swinging abdomen mechanism 2 cooperates with the power mechanism 1 to drive the front leg mechanism 5 to extend the legs forward and bend backward, so as to imitate the movement of the front legs pushing forward and retracting the legs when the animal is running. When the hind leg mechanism 4 retracts its legs forward, the front leg mechanism 5 retracts its legs backward, and when the hind leg mechanism 4 pushes backward, the front leg mechanism 5 moves forward, so that the hind leg mechanism 4 and the front leg mechanism 5 simulate the state of the animal running. At the same time, when the abdomen mechanism 2 swings up and down, it drives the head mechanism 6 to move up and down. The hip mechanism 3 swings downward, and at the same time, the connecting piece transmits the power of the swing of the hip mechanism 3 to the head mechanism 6, so that the head mechanism 6 makes the bionic movements of swinging ears, opening the mouth and sticking out the tongue, making the head mechanism 6 closer to the running state of the animal, and at the same time, the power mechanism 1 uniformly transmits power to the abdomen mechanism 2, the hip mechanism 3, the hind leg mechanism 4, the front leg mechanism 5 and the head mechanism 6, so that the movements of the entire device are unified, eliminating the incoordination of the movements between the limbs caused by the use of multiple power sources, ensuring that the device is more realistic in the bionics of cats and dogs, and has achieved the movement effect of bionic machinery accurately synchronizing with animals in nature, and can completely avoid the potential interference and failure risks brought by the bionic robot due to different power sources driving a bionic robot together, and achieve a stable and reliable display experience. When it is necessary to teach the running state of cats or dogs, through this real bionics, the device can better display the running state of the animal, which is convenient for teachers to teach.

[0084] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A bionic robot with a single power source, comprising an abdominal mechanism (2), a hip mechanism (3) being arranged on one side of the abdominal mechanism (2), hind leg mechanisms (4) being arranged on both sides of the hip mechanism (3), front leg mechanisms (5) being arranged on both sides of an end of the abdominal mechanism (2) away from the hip mechanism (3), and a head mechanism (6) being arranged on an end of the abdominal mechanism (2) away from the hip mechanism (3), characterized in that: A power mechanism (1) is provided at a position near the hip mechanism (3) on the lower side of the abdominal mechanism (2). The power mechanism (1) drives the abdominal mechanism (2) with power. While driving the abdominal mechanism (2), the power mechanism (1) drives the hip mechanism (3) so that the hip mechanism (3) swings up and down. During the process of the hip mechanism (3) swinging up and down, the power mechanism (1) and the hip mechanism (3) drive the hind leg mechanism (4) so ​​that the hind leg mechanism (4) performs bionic operations of retracting and extending the legs. Meanwhile, while the power mechanism (1) drives the hip mechanism (3), the abdominal mechanism (2) swings up and down. During the process of the abdominal mechanism (2) swinging, the power mechanism (1) drives the front leg mechanism (5) to perform bionic operations of retracting and extending the legs. Meanwhile, during the process of the abdominal mechanism (2) swinging up and down, the abdominal mechanism (2) drives the head mechanism (6) to swing up and down with the help of the force of the hip mechanism (3) swinging up and down. During the process of the head mechanism (6) swinging up and down, the bionic operation is performed. The power mechanism (1) comprises a connecting base frame (11), the upper end of which is fixedly provided with a transverse connecting frame (12), the transverse connecting frame (12) extending to one side of the connecting base frame (11), and the two ends of the interior of the transverse connecting frame (12) are rotatably connected to a body-fixed crankshaft (13) and a hip-connected crankshaft (14), respectively, two sprockets (15) are mounted on the rotating shafts of the body-fixed crankshaft (13) and the hip-connected crankshaft (14), a base is arranged at the bottom of the connecting base frame (11), the base is fixedly connected to the position of the connecting base frame (11), and a driving mechanism is arranged on the base, and the two corresponding sprockets (15) on the body-fixed crankshaft (13) and the hip-connected crankshaft (14) and the driving mechanism and the sprocket (15) on the hip-connected crankshaft (14) are connected by a chain (16).

2. The bionic robot with a single power source according to claim 1, characterized in that: The abdominal mechanism (2) comprises a top back plate (21), a front chest frame (22) is fixed to one side of the top back plate (21), an abdominal cavity frame (24) is fixed to the lower side of the front chest frame (22), the other end of the abdominal cavity frame (24) is fixedly connected to an end of the top back plate (21) away from the front chest frame (22), the top back plate (21), the front chest frame (22) and the abdominal cavity frame (24) are combined to form an abdominal cavity, the transverse connecting frame (12) is arranged in the abdominal cavity, and a crank connecting plate (28) arranged in the abdominal cavity is fixed symmetrically to the lower side of the top back plate (21), one end of the crank connecting plate (28) is rotatably connected to the end of the crankshaft of the body fixed crankshaft (13), and when the body fixed crankshaft (13) rotates, it drives the crank connecting plate (28) to move up and down.

3. The bionic robot with a single power source according to claim 2, characterized in that: A rear connecting tripod (26) is fixed on one side of the top back plate (21) away from the front chest frame (22) and is tilted downward away from the top back plate (21). Another corner of the rear connecting tripod (26) is rotatably connected to a crankshaft of a hip connecting crankshaft (14). The hip mechanism (3) includes a hip frame (31). A hip connecting shaft (34) is fixed on one side of the hip frame (31). The hip connecting shaft (34) is rotatably connected to a corner of the rear connecting tripod (26). One corner of the connecting base frame (11) is A slanted rod (18) is fixed on the side and is inclined upward away from the transverse connecting frame (12); a hip guide rod (19) is fixed to one end of the slanted rod (18); an arc-shaped slide plate (32) with an arc surface facing upward is arranged inside the hip frame (31); the middle position of the hip guide rod (19) slides in the arc-shaped slide plate (32); a tail fixing column (36) is fixed to one end of the hip frame (31) away from the hip connecting shaft (34); and one end of the tail fixing column (36) is hinged to a plurality of tail hinges (37) in sequence.

4. The bionic robot with a single power source according to claim 3, characterized in that: The rear leg mechanism (4) comprises a rear thigh rod (41), the end of the rear thigh rod (41) being hingedly connected to a rear calf triangular power plate (43), a rear thigh auxiliary power rod (42) being hingedly connected to one side of the rear thigh rod (41) and the rear calf triangular power plate (43) on the rear calf triangular power plate (43), the other end of the rear thigh rod (41) being hingedly connected to a rear calf connecting rod (48), the other end of the rear thigh auxiliary power rod (42) also being hingedly connected to the rear calf connecting rod (48), the rear thigh rod (41) and the rear thigh auxiliary power rod (42) being hingedly connected to different positions on the rear calf connecting rod (48), and a rear foot plate (49) being hingedly connected to the other end of the rear calf connecting rod (48), the rear foot plate (49) being hingedly connected to a rear palm power connecting rod (47) on one side of the rear palm power connecting rod (47) close to the hinge position of the rear calf connecting rod (48), the other end of the rear palm power connecting rod (47) being hingedly connected to the rear calf connecting rod (48) One end is hinged to a position of the rear thigh rod (41) close to the rear shank connecting rod (48); both sides of the hip frame (31) away from the hip connecting shaft (34) are fixed with hind limb fixed shafts (33); the position where the rear thigh rod (41) and the rear shank triangular power plate (43) are hinged is rotatably connected to one end of the hind limb fixed shaft (33); the other end of the rear shank triangular power plate (43) is hinged to a rear shank auxiliary power connecting rod (44); the rear thigh rod (41) is hinged to a side wall close to the rear shank triangular power plate (43); the other end of the rear thigh power connecting rod (46) is hinged to a hind limb power output rod (45); the other end of the hind limb power output rod (45) is fixed to the hip guide rod (19); the other end of the rear shank auxiliary power connecting rod (44) is rotatably connected to the hip guide rod (19).

5. The bionic robot with a single power source according to claim 1, characterized in that: A forelimb power output plate (17) is fixed on the rotating shaft of the body fixed crankshaft (13); the forelimb mechanism (5) comprises a forelimb auxiliary power connecting rod (52), a front thigh power connecting rod (54) and a front thigh power pull rod (53) which are coaxially hinged to one end of the forelimb power output plate (17) in sequence; the other end of the front thigh power pull rod (53) is hinged to a front thigh auxiliary rod (55) and a front thigh auxiliary connecting rod (511); the other end of the front thigh auxiliary rod (55) is connected to the abdominal frame (24); the side wall of the abdominal frame (24) away from the end of the tail connecting tripod (26) is symmetrically and coaxially hinged to the forelimb triangle power plate (51) and the front thigh rod (571) in sequence; the other end of the forelimb auxiliary power connecting rod (52) is hinged to the forelimb triangle power plate (51); the front thigh rod (571) is provided with a front thigh sliding member which slides along the length direction of the front thigh rod (571) The front thigh auxiliary connecting rod (511) is hinged to one end of the front thigh sliding plate (57) near the front thigh rod (571), the other end of the front thigh sliding plate (57) is hinged to the front calf rod (58), the other end of the front calf rod (58) is hinged to the front palm plate (59), the front palm plate (59) is hinged to the front palm power connecting rod (561) at the position close to the front calf rod (58), and the front palm power connecting rod (561) is hinged to the front palm plate (59) at the position close to the front calf rod (58). The other end of the force link (561) is hingedly connected to a front lower limb auxiliary power link (56); one end of the front lower limb auxiliary power link (56) close to the front palm power link (561) is hingedly connected to the front calf rod (58); the other end of the front lower limb auxiliary power link (56) is hingedly connected to the forelimb triangular power plate (51); and the other end of the front thigh power link (54) is hingedly connected to the front thigh rod (571) at a position close to the forelimb triangular power plate (51).

6. The bionic robot with a single power source according to claim 3, characterized in that: The head mechanism (6) comprises a head frame (61), a power transmission component (62) is arranged inside the head frame (61), an ear and eyebrow component (63) is arranged between the power transmission component (62) and the head frame (61), and the power transmission component (62) drives the ear and eyebrow component (63) to move the ears and nose when moving, and a mouth and tongue component (64) is arranged on one side of the power transmission component (62), and the power transmission component (62) synchronously drives the mouth and tongue component (64) to open the mouth and stick out the tongue when moving, and a connecting component is arranged between the hip mechanism (3) and the head mechanism (6), and when the hip mechanism (3) swings up and down, the connecting component transmits power to the head mechanism (6), so that the head mechanism (6) swings following the movement of the hip mechanism (3).

7. The bionic robot with a single power source according to claim 6, characterized in that: The head frame (61) comprises a neck plate (611), an arc-shaped head frame (613) is fixed to one side of the neck plate (611), an eye mounting plate (615) arranged on the lower side of the arc-shaped head frame (613) is fixed to the other end of the arc-shaped head frame (613), a nose bridge plate (614) is fixed to the end of the eye mounting plate (615) away from the neck plate (611), a limited position sliding shaft (616) is fixed between the neck plate (611) and the nose bridge plate (614), and the power transmission member (62) comprises a head organ power plate (621), and the head organ power plate (621) The head organ power plate (621) is arranged on a side of the neck plate (611) close to the arc-shaped head frame (613), the head organ power plate (621) is slidably arranged on the limit sliding shaft (616), and a head power guide sliding rod (625) is fixed at a position close to the upper and lower ends of one side of the head organ power plate (621), one end of the head power guide sliding rod (625) is slidably plugged into the neck plate (611), and an eyebrow guide inclined slide plate (624) and a beard output plate (623) are fixed on the side of the upper end of the head organ power plate (621) away from the neck plate (611), and the eyebrow guide inclined slide plate (624) and the beard output plate (623) are fixed. Ear auxiliary shafts (626) are fixed on both sides of the slide plate (624). The ear-eyebrow member (63) comprises two beard driving rods (638) rotatably arranged on the lower side of the nose bridge plate (614). The two beard driving rods (638) are symmetrically arranged, and the other ends of the beard driving rods (638) are slidably connected to the pin shaft at one end of the beard output plate (623) through a slide groove. A beard panel (639) is fixed to one end of the beard driving rod (638) close to the nose bridge plate (614). An eyebrow frame (637) is slidably connected to the eyebrow guide inclined slide plate (624) through a pin shaft. A plurality of eyebrow guide shafts (619) are fixed on the upper side of the eye mounting plate (615); the eyebrow frame (637) is slidably arranged on the eyebrow guide shaft (619); an ear power connecting rod (632) is hingedly connected to the ear auxiliary shaft (626); an ear pushing rod (631) is hingedly connected to the other end of the ear power connecting rod (632); an ear plate (633) is fixed to the other end of the ear pushing rod (631) via a shaft; an ear main axis plate (618) is rotatably connected to the shaft; and the ear main axis plate (618) is fixed to the side wall of the neck plate (611).

8. The bionic robot with a single power source according to claim 7, characterized in that: The lower side of the ear main axis plate (618) is provided with a lower jaw connecting plate (617) fixed on the side wall of the neck plate (611); the mouth and tongue member (64) includes a lower jaw driving auxiliary rod (645) rotatably connected to the lower jaw connecting plate (617); a lower jaw plate (641) is fixed between the two lower jaw driving auxiliary rods (645); one end of the lower jaw driving auxiliary rod (645) is hinged to a lower jaw auxiliary connecting rod (646); a lower jaw conversion connecting rod (648) is hinged near the middle of the ear main axis plate (618); the other end of the lower jaw auxiliary connecting rod (646) is hinged to the middle position of the lower jaw conversion connecting rod (648); the other end of the lower jaw conversion connecting rod (648) is hinged to a lower jaw power connecting rod (647); the head organ The power plate (621) is symmetrically fixed with a mandibular power fixing plate (622) on both sides near the top, the other end of the mandibular power connecting rod (647) is hinged to the end of the mandibular power fixing plate (622), the upper side of the mandibular plate (641) is symmetrically fixed with a mandibular sliding stand (642), a tongue plate (643) is slidably arranged between the two mandibular sliding stands (642), the tongue plate (643) is arranged on the side of the head organ power plate (621) away from the neck plate (611), the end of the tongue plate (643) close to the head organ power plate (621) is hinged with a tongue power output connecting rod (644), one end of the tongue power output connecting rod (644) is hinged to the side wall of the head organ power plate (621).

9. The bionic robot with a single power source according to claim 8, characterized in that: A neck connection plate (23) is fixed to the middle of one end of the front chest frame (22) away from the top back plate (21); a neck tripod (612) is fixed symmetrically to one side of the neck plate (611); one end of the neck tripod (612) is hinged to a position near the middle of one end of the neck connection plate (23); a head auxiliary connecting rod (634) is hinged to one side of the head organ power plate (621) near the neck plate (611); a head transfer connecting rod (635) is hinged to the head auxiliary connecting rod (634); and the head transfer connecting rod (635) is hinged to the head auxiliary connecting rod (634). ) is hinged at a position near the middle of the upper side of the neck tripod (612); the other end of the head transfer link (635) is hinged to a head power link (636); the other end of the head power link (636) is hinged to the top position of the end of the neck connecting plate (23); a neck pull plate (65) is hinged between the position where the neck connecting plate (23) and the head power link (636) are hinged and the position where the neck tripod (612) and the neck connecting plate (23) are hinged; the position where the neck pull plate (65) and the neck connecting plate (23) are hinged is close to the front chest frame (22), the neck plate (611) is fixed with neck positioning frames (6111) on both sides close to the neck tripod (612), the ends of the neck positioning frames (6111) are slidably arranged on the ends of the neck pulling plate (65), the connecting member comprises a transmission triangle plate (291) hinged on both sides of the neck connecting plate (23), one end of the transmission triangle plate (291) is hinged with a neck power rod (292), the other end of the neck power rod (292) is hinged at the lowest point of the neck tripod (612) close to the abdomen mechanism (2), The other end of the transmission triangle plate (291) is hingedly connected to a transmission rod (29), and the other end of the transmission rod (29) is hingedly connected to a connecting plate frame (27). One end of the connecting plate frame (27) passes through the top back plate (21) and extends to the upper side of the top back plate (21). A back connecting frame (25) is fixed to a side of the connecting plate frame (27) close to the hip mechanism (3). A power connecting shaft (35) is fixed to the hip frame (31) located on the upper side of the hip connecting shaft (34), and the other end of the back connecting frame (25) is hingedly connected to the power connecting shaft (35).

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