Toy dog movement device capable of walking vertically

Abstract

The invention discloses a toy dog movement device capable of walking uprightly, which comprises a shell, a pair of front foot shells and a pair of rear foot shells, a driving component is arranged in the shell, and the front foot shells and the rear foot shells are respectively connected to the driving component through a front foot Hough link mechanism and a rear foot Hough link mechanism to realize four-foot walking. A rear foot posture switching assembly used for adjusting the relative position of a rod piece of a rear foot Hall connecting rod mechanism is arranged in the body, a foot adjusting shaft is driven to move by rotating a shifting rod, and then a rear foot sliding rod is driven to slide along a rear foot connecting rod through swinging of a rear foot rocker. And the rear foot Hough link mechanism is switched between a four-foot walking posture and a double-foot walking posture with the rear feet upright. According to the invention, a reliable mechanism can be utilized in the compact shell to realize convenient and stable switching between a four-foot walking posture and a rear-foot upright double-foot walking posture, so that the expressive force and the playing value of the toy are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical toys, in particular to a toy dog ​​movement device capable of walking upright. Background Art

[0002] Currently, there are a wide variety of walking mechanism designs for bionic puppy toys. Their core goal is to simulate the gait of a real dog, enhancing the toy's fun and interactivity. Common drive methods include gear transmissions and linkage mechanisms (such as the Hawken linkage) to achieve basic four-legged alternating forward movement. The vast majority of toy dog ​​products only support a single four-legged walking mode. Their mechanical structures are designed to be fixed or only capable of small swings, making it impossible to achieve a fundamental transition from a four-legged walking posture to a hind-legged upright or bipedal walking posture.

[0003] While large robots or high-end models may have complex bipedal walking mechanisms, traditional bipedal robots typically rely on complex servo motors, sensors, and control systems to achieve walking. This not only significantly increases costs but also makes the structure overly complex, bulky, and power-hungry, making it completely unsuitable for mass-market toys. Bipedal upright walking is a highly anthropomorphic behavior that significantly enhances the fun and appeal of toys. Existing quadrupedal walking toys are unable to simulate this behavior, which greatly limits the toys' expressiveness and anthropomorphism, making the movements appear monotonous and repetitive, making it difficult to meet the demands of consumers, especially children and adolescents, for more expressive and innovative toys. Summary of the Invention

[0004] The purpose of the present invention is to provide a toy dog ​​movement device that can walk upright, which can use a reliable mechanism in a compact body to achieve convenient and stable switching between a four-legged walking posture and a hind-legged upright bipedal walking posture, thereby greatly improving the toy's expressiveness and play value.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a toy dog ​​movement device that can walk upright, including a body shell, a pair of front foot shells and a pair of rear foot shells, a drive assembly is provided in the body shell, the front foot shells and the rear foot shells are respectively connected to the drive assembly through a front foot Hawken linkage mechanism and a rear foot Hawken linkage mechanism to realize quadrupedal walking, the drive assembly includes a rear drive shaft and a power source that drives the shaft to rotate, the rear foot Hawken linkage mechanism includes rear foot cranks fixed to both ends of the rear drive shaft, each rear foot crank is hinged to a rear foot connecting rod, each rear foot shell is fixed to the corresponding rear foot connecting rod, and a rear foot posture switching group for adjusting the relative positions of the rods of the rear foot Hawken linkage mechanism is provided in the body shell. The rear foot posture switching component includes a shift rod that can rotate around the rear drive shaft, a foot adjustment shaft arranged parallel to the rear drive shaft and slidably connected to the shift rod, a rear foot slide rod slidably connected to the rear foot connecting rod along the length direction of the rear foot connecting rod and can be locked, and two rear foot rockers at both ends are respectively hinged to the corresponding side foot adjustment shaft and the rear foot slide rod, the body shell is provided with a rear foot adjustment guide port, a part of the shift rod passes through the rear foot adjustment guide port, and the rear foot posture switching component also includes a locking component for fixing the shift rod position, wherein the shift rod is driven to move the foot adjustment shaft by rotating the shift rod, and then the rear foot slide rod is driven to slide along the rear foot connecting rod by the swing of the rear foot rocker, so that the rear foot Hawken linkage mechanism switches between a four-legged walking posture and a bipedal walking posture with the hind feet upright.

[0006] A further improvement of the present invention is that the drive assembly includes a transmission shaft and a front drive shaft horizontally connected to the body shell, the power source is a motor, the output shaft of the motor is connected to the transmission shaft, the front drive shaft and the rear drive shaft are both connected to the transmission shaft, and front foot cranks are fixed at both ends of the front drive shaft, each front foot crank is hinged to a front foot connecting rod, and each front foot shell is fixed to the corresponding front foot connecting rod. Two forefoot rockers are symmetrically connected to the body shell, and one end of each forefoot rocker is hinged to the front foot connecting rod on the corresponding side. The forefoot crank, forefoot connecting rod and forefoot rocker constitute a forefoot Hawken linkage mechanism for driving the forefoot shell to move.

[0007] A further improvement of the present invention is that the body shell includes two symmetrically arranged side shell plates, the shift rod is provided with a slide groove along its length direction, the adjusting foot shaft is slidably connected with the slide groove along the length direction of the shift rod, and the two side shell plates are provided with guide openings for facilitating the end of the adjusting foot shaft to pass through, and an adjusting foot pressure spring is provided between each side shell plate and the shift rod, which is sleeved on the adjusting foot shaft, and the two ends of the adjusting foot pressure spring are respectively in contact with the shift rod and the side shell plate, and the shift rod is pressed and positioned by the cooperation of the two adjusting foot pressure springs.

[0008] A further improvement of the present invention is that a first tail drive gear is coaxially provided on the rear drive shaft, a tail drive shaft is rotatably connected in the body shell, a cam and a second tail drive gear meshing with the first tail drive gear are provided on the tail drive shaft, a support rod and a tail rotating shaft are parallelly provided in the body shell, a tension spring is provided on the support rod, a tail component is rotatably connected to the tail rotating shaft, one end of the tail component is connected to the tension spring and contacts the cam, and the other end passes through the body shell through the tail swing guide port on the body shell.

[0009] A further improvement of the present invention is that guide tubes are symmetrically provided in the body and on both sides of the tail member, and elastic abutment members are provided in the guide tubes. The elastic abutment members include a spring and a tip arranged at one end of the spring and passing through the guide tube. The tail member is provided with an abutment surface and a slot located on one side of the abutment surface. When the tail member swings normally, the tip always abuts against the abutment surface. When the tail member is manually rotated to the locking position, the tip is snapped into the slot to achieve locking. When walking with two feet, the end of the tail member in the locked state contacts the ground for auxiliary support.

[0010] A further improvement of the present invention is that the shift lever includes a sleeve at one end thereof, the sleeve is rotatably connected to the rear drive shaft, a spiral push sleeve is provided in the sleeve to form a spiral pair therewith, the first tail drive gear slides on it along the length direction of the rear drive shaft, and the first tail drive gear is opposite to the side of the sleeve and is provided with a gear compression spring sleeved on the rear drive shaft, one end of the gear compression spring abuts against the side wall of the body casing, and the other end abuts against one side of the first tail drive gear, and one end of the spiral push sleeve abuts against the other side of the first tail drive gear. When the shift lever rotates, the spiral push sleeve moves axially to push the first tail drive gear to disengage it from the second tail drive gear, and at the same time the gear compression spring is compressed. When the shift lever is rotated in the opposite direction, the gear compression spring pushes the first tail drive gear to return to engagement.

[0011] A further improvement of the present invention is that a driving neck crankshaft is rotatably provided in the body shell, one end of the main shaft neck of the driving neck crankshaft is fixedly connected to one end of one of the front foot rockers, and the other end of the main shaft neck is rotatably connected to one end of the other front foot rocker. A neck rod is provided on the crank pin of the driving neck crankshaft, one end of the neck rod passes through the body shell through the swing head through-hole on the body shell and is connected to the head shell, and a neck rod slide is provided on the neck rod along its length direction, and the neck rod is slidably connected to the neck adjustment shaft along its length direction. Guide slides are provided on both side walls of the body shell to facilitate the passage of the end of the neck adjustment shaft, and anti-slip limit plates are provided at both ends of the neck adjustment shaft, and neck adjustment compression springs are provided on the neck adjustment shaft between the two side walls of the body shell and the neck rod, and the two ends of the neck adjustment compression spring are respectively abutted against the neck rod and the side walls of the body shell.

[0012] A further improvement of the present invention is that ear shells are provided on both sides of the head shell, and an ear shaft is fixed on the ear shell, and the ear shaft passes through a through-hole on the head shell. A limit block is provided at one end of the ear shaft, and an ear adjusting spring is sleeved on the ear shaft. One end of the ear adjusting spring abuts against the limit block, and the other end abuts against the inner wall of the head shell to realize the positioning of the ear shell. After pulling the ear shell away from the head shell, the angle of the ear shell can be adjusted around the circumferential direction of the ear shaft.

[0013] A further improvement of the present invention is that a connecting hole is provided on the shift rod, and an auxiliary foot rod is detachably connected to the connecting hole. One end of the auxiliary foot rod passes through the body shell and rotates to provide a roller that contacts the walking surface. When the two feet walk, the roller contacts the ground for auxiliary support.

[0014] A further improvement of the present invention is that a battery assembly for supplying energy to the motor and a control panel for controlling the motor are provided in the housing.

[0015] The beneficial effects of the present invention are: The present invention utilizes a hind-leg posture switching assembly to enable the toy dog ​​to flexibly switch between quadrupedal and bipedal walking modes. Rotation of the toggle lever drives the foot adjustment shaft, which in turn drives the hind-leg rocker to slide the hind-leg slide rod on the hind-leg connecting rod, changing the relative positions of the rods in the hind-leg Hawken linkage mechanism, thereby adjusting the hind-leg posture. This compact design utilizes a reliable mechanism to achieve convenient and stable switching between quadrupedal and bipedal walking, significantly enhancing the toy's expressiveness and entertainment value.

[0016] The present invention uses two foot adjustment compression springs to bidirectionally compress the lever, and combined with the guide opening on the side shell plate to limit the moving trajectory of the foot adjustment shaft, provides self-positioning capability, and enables the lever to automatically maintain a stable position after switching, thereby improving the operating feel and reliability. In addition, the sliding cooperation between the slide groove and the foot adjustment shaft allows the foot adjustment shaft to move smoothly when the lever rotates, avoiding mechanism jamming.

[0017] The present invention utilizes a first tail drive gear on the rear drive shaft to drive the tail drive shaft and cam. A tension spring, in conjunction with the cam, drives the tail member to periodically swing, achieving a natural tail swing. The tail member passes through a tail swing guide opening and exits the body shell. Its motion trajectory is constrained by the opening, simulating tail movement and enhancing the toy's vividness and expressiveness.

[0018] The present invention realizes the switching of two states of the tail by cooperating with the elastic abutment part and the slot on the tail member: during normal walking, the top end slides along the abutment surface to ensure that the tail can swing freely; in the bipedal mode, the tail member is manually rotated to make the top end snap into the slot and lock it, and the end of the tail touches the ground to provide auxiliary support, which significantly improves the stability of bipedal walking and prevents the toy from tipping over.

[0019] When the lever is rotated, the spiral push sleeve pushes the first tail drive gear axially, disengaging it from the second tail drive gear and compressing the gear compression spring. When the lever is rotated in the opposite direction, the compression spring pushes the gear back into engagement. This allows tail drive to be linked to hind leg posture switching, automatically disabling the tail swing function in bipedal mode and restoring it in quadrupedal mode, improving movement rationality and reducing energy loss.

[0020] The present invention transmits the motion of the foreleg rocker to the neck rod via a crankshaft, driving the head shell to swing left and right. The neck adjustment shaft moves along a guide slot, and the elastic support of the neck adjustment spring cushions the head movement. The neck rod slot allows the shaft to slide, ensuring smooth and controllable head swing, simulating the nodding motion of a real animal walking and enhancing the fun of the game.

[0021] The ear shell of this invention provides rotational damping through an ear adjustment spring. Normally, the spring presses against a stopper to position the ear shell. Manually pulling the ear shell out allows for adjustment of its angle, and releasing it allows the spring to return it to its original position. This allows users to customize the ear position, increasing interactivity and playability while maintaining a simple and reliable structure.

[0022] In the bipedal mode, the present invention adds an auxiliary foot rod and a roller to the lever, and the roller touches the ground to provide an additional support point, effectively preventing rollover caused by unstable center of gravity during bipedal walking, thereby improving the reliability of toy movement. The detachable connection of the auxiliary foot rod ensures that it does not affect the movement in the quadrupedal mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural perspective view of the present invention (quadruped walking posture).

[0024] Figure 2 It is a schematic structural perspective view of the present invention (bipedal walking posture).

[0025] Figure 3 It is a three-dimensional schematic diagram of the internal structure of the body of the present invention (quadruped walking posture).

[0026] Figure 4 It is a three-dimensional schematic diagram of the internal structure of the body of the present invention (bipedal walking posture).

[0027] Figure 5 It is a three-dimensional schematic diagram of the head shell structure of the present invention.

[0028] Figure 6 It is a schematic diagram of the explosion of the shell structure of the present invention.

[0029] Figure 7 Schematic diagram of the positional relationship between the side shell plate and the front and rear foot shells of the present invention.

[0030] Figure 8 This is a schematic structural diagram of the forefoot Hawken linkage mechanism of the present invention.

[0031] Figure 9 It is a schematic structural diagram of the rear foot Hawken linkage mechanism of the present invention.

[0032] Figure 10 This is an exploded schematic diagram of the rear foot Hawken linkage structure of the present invention.

[0033] Figure 11 It is a schematic diagram of the sole block and rear foot connecting rod structure of the present invention.

[0034] Figure 12 Schematic diagram of the positional relationship between the head shell and the drive neck crankshaft of the present invention.

[0035] Figure 13 It is a schematic diagram of the neck rod structure of the present invention.

[0036] Figure 14 It is a schematic diagram of the drive neck crankshaft structure of the present invention.

[0037] Figure 15 It is a schematic diagram of the positional relationship between the side shell plate and the drive assembly of the present invention.

[0038] Figure 16 It is a schematic top view of the drive assembly structure of the present invention.

[0039] Figure 17 It is a three-dimensional schematic diagram of the drive assembly structure of the present invention.

[0040] Figure 18 Schematic diagram of the positional relationship between the side shell plate and the tail member of the present invention.

[0041] Figure 19 It is a three-dimensional schematic diagram of the tail member structure of the present invention.

[0042] Figure 20 It is a three-dimensional schematic diagram of the shift lever structure of the present invention.

[0043] Figure 21 Schematic diagram of the positional relationship between the shift lever and the foot adjustment axis of the present invention (quadruped walking posture).

[0044] Figure 22 Schematic diagram of the positional relationship between the lever and the foot adjustment axis of the present invention (bipedal walking posture).

[0045] Figure 23 Schematic diagram of the positional relationship of the battery components of the present invention.

[0046] Figure 24 Schematic diagram of the adjustment of the ear shell and the head shell of the present invention.

[0047] In the figure, 1-body, 2-front foot shell, 3-rear foot shell, 4-rear drive shaft, 5-power source, 6-rear foot crank, 7-rear foot connecting rod, 8-shift lever, 9-foot adjustment shaft, 10-rear foot slide bar, 11-rear foot rocker, 12-rear foot adjustment guide port, 13-transmission shaft, 14-front drive shaft, 15-front foot crank, 16-front foot connecting rod, 17-front foot rocker, 18-side shell plate, 19-chute, 20-guide port, 21-foot adjustment pressure spring, 22-first tail drive gear, 23-tail drive shaft, 24-cam, 25-second tail drive gear, 26-support rod, 27-rotating tail shaft, 28 -tension spring, 29-tail component, 30-swing tail guide mouth, 31-guide tube, 32-top, 33-butting surface, 34-slot, 35-sleeve, 36-screw push sleeve, 37-gear compression spring, 38-drive neck crankshaft, 39-neck rod, 40-swing head through mouth, 41-head shell, 42-neck rod slide, 43-neck adjustment shaft, 44-guide slide, 45-neck adjustment compression spring, 46-ear shell, 47-ear rotating shaft, 48-limiting block, 49-ear adjustment spring, 50-auxiliary foot rod, 51-roller, 52-battery assembly, 53-control panel, 54-foot bottom block, 55-protective shell plate. DETAILED DESCRIPTION

[0048] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0049] Example 1: Combination Figures 1 to 24 It can be seen that a toy dog ​​movement device that can walk upright includes a body shell 1, a pair of front foot shells 2 and a pair of rear foot shells 3. A driving assembly is provided in the body shell 1. The front foot shells 2 and the rear foot shells 3 are respectively connected to the driving assembly through the front foot Hawken linkage mechanism and the rear foot Hawken linkage mechanism to realize quadrupedal walking. The driving assembly includes a rear drive shaft 4 and a power source 5 that drives the shaft to rotate. The rear foot Hawken linkage mechanism includes rear foot cranks 6 fixed at both ends of the rear drive shaft 4. Each rear foot crank 6 is hinged to a rear foot connecting rod 7. Each rear foot shell 3 is fixed to the corresponding rear foot connecting rod 7. A rear foot posture switching assembly for adjusting the relative position of the rods of the rear foot Hawken linkage mechanism is provided in the body shell 1. The rear foot posture switching assembly includes a rear drive shaft that can be rotated around the rear drive shaft. The rear foot posture switching assembly further comprises a rotating lever 8, a foot adjustment shaft 9 arranged parallel to the rear drive shaft 4 and slidably connected to the lever 8, a rear foot slide 10 slidably connected to the rear foot connecting rod 7 along its length and capable of being locked, and two rear foot rockers 11 hinged at both ends to the corresponding side foot adjustment shaft 9 and rear foot slide 10. The body 1 is provided with a rear foot adjustment guide opening 12, through which a portion of the lever 8 passes. The rear foot posture switching assembly further comprises a locking member for fixing the position of the lever 8. The lever 8 is rotated to drive the foot adjustment shaft 9 to move, and the swing of the rear foot rocker 11 drives the rear foot slide 10 to slide along the rear foot connecting rod 7, thereby switching the rear foot Hawken linkage mechanism between a quadrupedal walking posture and a bipedal walking posture with the rear feet upright.

[0050] A chute runs along the length of the rear foot connecting rod 7. The lower end of the chute extends through the lower end of the rear foot connecting rod 7 to form an opening. A foot sole block 54 is threadedly connected to the opening. This foot sole block 54 serves both decorative purposes (simulating the sole of a foot) and mechanical locking functions. When the foot sole block is in place, its upper end locks the lower end of the rear foot slider 10 within the chute of the rear foot connecting rod 7, preventing it from sliding. To switch the rear foot's posture, the foot sole block 54 is first removed, allowing the lower end of the rear foot slider 10 to slide through the opening. Only then can the lever 8 be operated to switch postures. Once the rear foot slider 10 is in place, the rear foot slider 10 is retracted into the opening and the foot sole block 54 is reinstalled to relock it.

[0051] The drive assembly includes a transmission shaft 13 and a front drive shaft 14 that are horizontally connected to the body 1. The power source 5 is a motor. The output shaft of the motor is connected to the transmission shaft 13 through a transmission mechanism such as gears or belts. The front drive shaft 14 and the rear drive shaft 4 are also connected to the transmission shaft 13 through a gear set (for example, two driving gears are coaxially arranged on the transmission shaft 13, and driven gears are respectively arranged on the front drive shaft 14 and the rear drive shaft 4 to engage with the two driving gears). This enables a single motor to simultaneously drive the front drive shaft 14 and the rear drive shaft 4 to rotate synchronously. Front foot cranks 15 are fixed at both ends of the front drive shaft 14. Each front foot crank 15 is hingedly connected to a front foot connecting rod 16. Each front foot shell 2 is fixed to a corresponding front foot connecting rod 16. Two front foot rockers 17 are symmetrically connected to the body shell 1 for rotation. One end of each front foot rocker 17 is hinged to the front foot connecting rod 16 on the corresponding side. The front foot cranks 15, front foot connecting rods 16, and front foot rockers 17 form the front foot Hawken linkage mechanism, which is used to drive the front foot shell 2. A single motor drives the front and rear feet. The linkage structure of the transmission shaft 13, front drive shaft 14, and rear drive shaft 14 ensures synchronized and coordinated movement of the front and rear feet. The Hawken linkage mechanism enables the front feet to achieve stable trajectory movement.

[0052] The housing 1 comprises two symmetrically arranged side panels 18. A slot 19 is provided along the length of the lever 8, and the foot-adjusting shaft 9 is slidably connected to the slot 19 along the length of the lever 8. Both side panels 18 are provided with guide openings 20 for the ends of the foot-adjusting shaft 9 to pass through. Between each side panel 18 and the lever 8, a foot-adjusting pressure spring 21 is provided, which is sleeved on the foot-adjusting shaft 9. The ends of the foot-adjusting pressure spring 21 abut the lever 8 and the side panels 18, respectively. The two foot-adjusting pressure springs 21 cooperate to compress the lever 8 into position. Under normal conditions, the two foot-adjusting pressure springs 21 apply opposite compressive forces to the lever 8, maintaining it in the set position and providing self-positioning capability. The guide openings 20 are arc-shaped and sliding.

[0053] To ensure the puppy's hind legs alternately leave the ground for stable walking and good maneuverability, in actual processing, the length of the hind leg crank 6 is set as a fixed value, the axis of the foot adjustment shaft 9 is always parallel to the axis of the rear drive shaft 4, and the guide opening 20 is passed so that when the foot adjustment shaft 9 is located at both ends within the guide opening 20, the parallel distance between the two axes is twice the length of the hind leg crank 6, and the length of the hind leg rocker 11 is 2.5 times the length of the hind leg crank 6. The distance from the center of the hinge of the hind leg slide 10 and the hind leg rocker 11 to the center of the hinge of the hind leg connecting rod 7 and the hind leg crank 6 is 2.5 times the length of the hind leg crank 6, and the distance from the center of the hinge of the hind leg slide 10 and the hind leg rocker 11 to the foot base block is 2.5 times the length of the hind leg crank 6. During the process of the shift rod 8 pushing the foot adjustment shaft 9 to slide stably and smoothly from one end of the guide opening 20 to the other end, the sole block is removed, and the rear foot slide rod 10 slides relatively in the rear foot connecting rod 7 to avoid the rear foot rocker 11 and the foot adjustment shaft 9 from being stuck.

[0054] The rear leg link 7 and the front leg link 16 are both mounted on opposite sides of the two side panels 18. The side panels are also provided with protective panels 55. These panels protect the rear leg link 7 and the front leg link 16, and a clearance is provided between the protective panels 55 and the side panels to facilitate the movement of the rear leg link 7 and the front leg link 16. The protective panels 55 serve as the side of the toy dog's body, and their shape simulates the curvature of the side of the body.

[0055] The two foot adjustment compression springs 21 are used to bidirectionally compress the lever, and the guide opening 20 on the side shell plate is used to limit the moving trajectory of the foot adjustment shaft 9, providing self-positioning capability, so that the lever 8 automatically maintains a stable position after switching, improving the operating feel and reliability, and the sliding cooperation between the slide groove 19 and the foot adjustment shaft 9 allows the foot adjustment shaft 9 to move smoothly when the lever is rotated, avoiding jamming of the mechanism.

[0056] A first tail drive gear 22 is coaxially provided on the rear drive shaft 4, and a tail drive shaft 23 is rotatably connected in the body 1. The tail drive shaft 23 is provided with a cam 24 and a second tail drive gear 25 meshing with the first tail drive gear 22. A support rod 26 and a tail rotating shaft 27 are provided in parallel in the body 1. A tension spring 28 is provided on the support rod 26, and a tail rotating shaft 27 is rotatably connected to the tail rotating shaft 27. One end of the tail component 29 is connected to the tension spring 28 and contacts the cam 24, and the other end passes through the body 1 through the tail swing guide port 30 on the body 1. Preferably, a support rod rotating drum is rotatably connected to the support rod 26, and one end of the tension spring is connected to the support rod rotating drum, and the rotation of the support rod rotating drum better adapts to the deformation of the tension spring 28. The tail shaft 27 is fixed, and the tail member 29 includes a rotating portion rotatably connected to the shaft 27. One end of the rotating portion is provided with a control portion that contacts the cam 24, one end of which is connected to a tension spring 28. The other end of the rotating portion is provided with a tail portion, which passes through a tail swing guide opening 30 in the body 1 and exits the body 1. The first tail drive gear 22 on the rear drive shaft 4 drives the tail drive shaft 23 and cam 24 to rotate. The profile of cam 24 periodically pushes the control portion of the tail member 29. The rebound force of the tension spring 28 and the thrust of the cam 24 combine to drive the tail member 29 to periodically swing about the shaft 27, achieving a natural swinging motion of the tail. The tail portion of the tail member 29 passes through the body 1 through the tail swing guide opening 30, and its motion trajectory is constrained by the guide opening 30, simulating the movement of a tail and enhancing the toy's vividness and expressiveness.

[0057] Guide tubes are symmetrically provided inside the body 1 on both sides of the tail member 29, and elastic abutments are provided in the guide tubes. The elastic abutments include a spring and a tip 32 provided at one end of the spring and passing through the guide tube. The tail member 29 is provided with an abutment surface 33 and a slot 34 located on one side of the abutment surface 33. When the tail member 29 swings normally, the tip 32 always abuts against the abutment surface 33. When the tail member 29 is manually rotated to the locking position, the tip 32 is snapped into the slot 34 to achieve locking. When walking with two feet, the end of the tail member 29 in the locked state contacts the ground for auxiliary support.

[0058] Preferably, the tip 32 is a top ball. The abutment surface 33 is flat, and the slot 34 is provided on an inclined surface on one side of the abutment surface. When the tail member 29 is manually rotated beyond its normal swing range, the top ball first slides along the inclined surface, compressing the spring to generate greater pressure. When the top ball slides into the slot 34, a perceptible collision sound (or tactile feedback) is emitted. The user then stops rotating the tail member 29, and the top ball acts as a positioning pin to lock it, preventing it from swinging. At this point, if the puppy walks on all fours, the tail member 29 is stationary, providing a new way to play with the toy. If the puppy walks on two legs, the tail end of the tail member 29 contacts the ground, helping to support the puppy in a stable and steady stance. To unlock the lock, the user rotates the tail member 29 in the opposite direction, causing the top ball to slide out of the slot 34 along the inclined surface. The spring rebounds, causing it to re-engage the abutment surface 33, and the tail member 29 resumes its free swing.

[0059] The elastic abutment cooperates with the slot 34 on the tail member 29 to realize the switching of two states of the tail: during normal walking, the top 32 slides along the abutment surface 33 to ensure that the tail can swing freely; in the bipedal mode, the tail member 29 is manually rotated to make the top 32 snap into the slot 34 and lock it, and the end of the tail touches the ground to provide auxiliary support, which significantly improves the stability of bipedal walking and prevents the toy from tipping over.

[0060] The lever 8 includes a sleeve 35 at one end thereof, which is rotatably connected to the rear drive shaft 4 (i.e., the lever 8 can rotate around the rear drive shaft 4, but does not drive the rear drive shaft 4 to rotate). A spiral push sleeve 36 is provided in the sleeve 35 to form a spiral pair therewith (for example, the inner wall of the sleeve 35 has an internal thread, and the outer wall of the spiral push sleeve 36 has an external thread that matches therewith). The first tail drive gear 22 slides on it along the length direction of the rear drive shaft 4. The first tail drive gear 22 is provided with a sleeve on the side opposite to the sleeve 35. The gear compression spring 37 on the rear drive shaft 4 has one end in contact with the side wall of the body 1 and the other end in contact with one side of the first tail drive gear 22. One end of the spiral push sleeve 36 in contact with the other side of the first tail drive gear 22. When the lever 8 rotates, the spiral push sleeve 36 moves axially to push the first tail drive gear 22 to disengage it from the second tail drive gear 25. At the same time, the gear compression spring 37 is compressed. When the lever 8 is rotated in the opposite direction, the gear compression spring 37 pushes the first tail drive gear 22 to return to engagement.

[0061] Preferably, an inner conical hole is coaxially provided on the first drive tail gear 22, and an outer frustum matching the inner conical hole is provided on the rear drive shaft 4. The first drive tail gear 22 is axially positioned through the contact of the conical surfaces, and the friction between the conical surfaces causes the rear drive shaft 4 to rotate together.

[0062] Preferably, during actual processing and manufacturing, the internal thread of the shifting rod 8 and the external thread of the spiral push sleeve 36 are set to be non-standard trapezoidal threads or rectangular threads, with a pitch of 6 mm and a thread surface roughness requirement of Ra3.2.

[0063] Preferably, both ends of the teeth of the first drive tail gear 22 and the second drive tail gear 25 are chamfered to avoid meshing interference. The tooth side clearance of the first drive tail gear 22 and the second drive tail gear 25 is set to 0.5mm to ensure smooth meshing and tolerate certain manufacturing errors. The taper of the inner conical surface of the inner conical hole of the first drive tail gear 22 and the outer conical surface of the outer cone on the rear drive shaft 4 are both set to 1:10.

[0064] Preferably, a push sleeve spring is provided in the sleeve 35, and the push sleeve spring is used to squeeze the spiral push sleeve 36. When the first tail gear 22 and the second tail gear 25 need to be disengaged, the spiral push sleeve 36 moves axially, and the spiral push sleeve 36 pushes the first tail gear 22 to move axially synchronously. The spiral push sleeve 36 is disengaged from the push sleeve spring. When the first tail gear 22 and the second tail gear 25 are engaged, the spiral push sleeve 36 contacts the push sleeve spring. The rear drive shaft 4 drives the first tail gear 22 to rotate by friction of the conical surface. Under the action of the push sleeve spring and the shifting rod 8, the spiral push sleeve 36 remains stationary, and the first tail gear 22 drives the second tail gear 25 to rotate. The cam 24 rotates synchronously with the second tail gear 25, and the tail member 29 swings back and forth.

[0065] When the lever 8 rotates, the spiral push sleeve 36 pushes the first tail drive gear 22 axially, disengaging it from the second tail drive gear 25 and compressing the gear compression spring 37. When the lever 8 rotates in the opposite direction, the compression spring pushes the first tail drive gear 22 back into engagement. This allows the tail drive to be linked to the hind leg posture switching, automatically disabling the tail swing function in bipedal mode and automatically resuming it in quadrupedal mode, improving movement rationality and reducing energy loss.

[0066] A driving neck crankshaft 38 is rotatably provided in the body shell 1, and one end of the main shaft neck of the driving neck crankshaft 38 is fixedly connected to one end of one of the front foot rockers 17, and the other end of the main shaft neck is rotatably connected to one end of the other front foot rocker 17. A neck rod 39 is provided on the crank pin of the driving neck crankshaft 38, and one end of the neck rod 39 passes through the body shell 1 through the swing head opening 40 on the body shell 1 and is connected to the head shell 41. A neck rod slide groove 42 is provided on the neck rod 39 along its length direction, and an adjusting neck shaft 43 is slidably connected to the neck rod 39 along its length direction. Guide slide grooves 44 are provided on both side walls of the body shell 1 to facilitate the passage of the end of the adjusting neck shaft 43. Anti-slip limit plates are provided at both ends of the adjusting neck shaft 43, and neck adjusting compression springs 45 are provided between the two side walls of the body shell 1 and the neck rod 39. The two ends of the neck adjusting compression spring 45 are respectively abutted against the neck rod 39 and the side walls of the body shell 1. Preferably, the guide groove 44 is an arc groove arranged along the circumferential direction of the main journal axis of the drive neck crankshaft 38.

[0067] The reciprocating swinging motion of the foreleg rocker 17 is transmitted to the neck rod 39 via the neck crankshaft 38. The circular motion of the crank pin is converted into reciprocating swinging motion at the end of the neck rod 39, thereby driving the head shell 4 to swing. The neck adjustment shaft 43 is constrained by the guide groove 44 and moves along the arc of the guide groove 44. At the same time, it can slide within the neck rod groove 42 to adapt to changes in distance. Combined with the elastic support of the neck adjustment spring 45, the head movement has a cushioning effect. The neck rod groove 42 allows the neck adjustment shaft 43 to slide, ensuring smooth and controllable head swing, simulating the nodding motion of a real animal when walking, and enhancing the fun.

[0068] The head shell 41 is provided with ear shells 46 on both sides. An ear shaft 47 is fixed to the ear shell 46. The ear shaft 47 passes through a hole in the head shell 41. A stopper 48 is provided at one end of the ear shaft 47. An ear adjustment spring 49 is sleeved on the ear shaft 47. One end of the ear adjustment spring 49 abuts the stopper, and the other end abuts the inner wall of the head shell 41 to position the ear shell 46. After pulling the ear shell 46 away from the head shell 41, the angle of the ear shell 46 can be adjusted circumferentially around the ear shaft 47. Preferably, the ear shaft 47 is formed by splicing and fixing two sections, one end of which is provided with a fixing hole, and one end of the other section is fixedly connected to the fixing hole.

[0069] The ear shell 46 is provided with rotational damping by the ear adjustment spring 49. Normally, the spring presses against the stopper to position the ear shell 46. Manually pulling out the ear shell 46 allows for adjustment of its angle, and releasing it allows the spring to return it to its original position. This allows users to customize the ear posture, increasing interactivity and playability while maintaining a simple and reliable structure.

[0070] A connecting hole is provided on the shift rod 8, to which an auxiliary foot rod 50 is detachably connected. One end of the auxiliary foot rod 50 passes through the body 1 and rotates to be provided with a roller 51 in contact with the walking surface. When the two feet walk, the roller 51 contacts the ground for auxiliary support.

[0071] In the bipedal mode, an auxiliary foot rod 50 is added to the lever 8, and the roller 51 touches the ground to provide an additional support point to assist walking, effectively preventing rollover caused by unstable center of gravity during bipedal walking, and improving the reliability of toy movement. The detachable connection of the auxiliary foot rod 50 ensures that it does not affect the movement in the quadrupedal mode.

[0072] The housing 1 is provided with a battery assembly 52 for powering the motor and a control panel 53 for controlling the motor. The battery assembly 52 and the control panel 53 are connected to the motor via wires. The battery assembly 52 and the control panel 53 are conventional components for controlling motors in the prior art, and the present invention does not involve any improvement thereto. Preferably, the battery assembly includes a battery box containing batteries, which is fixed to the housing 1 via a bracket. The control panel 53 may be provided with switches, speed control buttons, and the like. Users can control functions such as starting and stopping the movement and adjusting the speed through the panel, thereby improving the convenience and functionality of operation and enhancing the intelligent experience of the toy.

[0073] The working principle of the embodiment 1 of the movement device of the toy dog ​​capable of walking upright provided by the invention is as follows: Quadruped walking mode: The user activates the motor via control panel 53. The motor's output shaft drives transmission shaft 13. Transmission shaft 13, through a gear train, simultaneously drives front drive shaft 14 and rear drive shaft 4 to rotate synchronously. Front drive shaft 14 rotates front leg crank 15, which, through the Hawken linkage, drives front leg housing 2 along a specific trajectory. Rear drive shaft 4 rotates rear leg crank 6, which, through the Hawken linkage, drives rear leg housing 3 along a quadrupedal walking trajectory. The coordinated movement of the front and rear legs enables the toy dog ​​to walk on four legs.

[0074] The rear drive shaft 4 simultaneously rotates the first tail drive gear 22, which in turn drives the meshed second tail drive gear 25, which in turn rotates the tail drive shaft 23 and cam 24. The contour of the cam 24 pushes the control portion of the tail member 29. Under the action of the tension spring 28, the tail member 29 periodically swings around the tail shaft 27, causing the tail to swing naturally. The swinging of the front leg rocker 17 drives the neck rod 39 through the neck drive crankshaft 38. The neck rod 39, constrained by the neck adjustment shaft 43 and elastically supported by the neck adjustment compression spring 45, drives the head shell 41 to simulate a nodding motion.

[0075] At this time, the shift lever 8 is in the initial position, the tail drive is engaged, the foot sole block locks the rear foot slide bar 10, and the auxiliary foot bar 50 is not installed.

[0076] Bipedal walking mode: The user stops the toy dog ​​from exercising and manually unscrews the foot sole block fixed at the opening of the rear foot connecting rod 7. At this time, the rear foot slide bar 10 is unlocked and can slide freely in the chute of the rear foot connecting rod 7. Manually operate the part of the lever 8 that passes through the body 1 to rotate around the rear drive shaft 4. When the lever 8 rotates, its chute 19 drives the foot adjustment shaft 9 to move along the arc-shaped guide opening 20. The movement of the foot adjustment shaft 9 drives the rear foot rockers 11 on both sides to swing. The swinging of the rear foot rocker 11 pulls the rear foot slide bar 10 to slide downward along the chute of the rear foot connecting rod 7 until its lower end passes through the opening. During this process, the relative positions of the rear foot connecting rod 7 and the rear foot slide bar 10 change, and the kinematic dimensions of the rear foot Hawken link mechanism change, resulting in a change in its motion trajectory. The foot sole block is then reinstalled into the opening at the lower end of the rear foot connecting rod 7 and tightened. At the same time, the lever 8 rotates, pushing the first tail gear 22 axially through the screw sleeve 36 in its sleeve 35, overcoming the pressure of the gear compression spring 37, causing it to slide along the rear drive shaft 4 and disengage from the second tail gear 25, thus disconnecting the tail drive. The gear compression spring 37 is compressed. Once the lever 8 is fully rotated, it automatically locks into place under the action of the full-adjustment compression spring 21.

[0077] The user manually rotates the tail member 29 so that the top 32 overcomes the spring pressure and slides along the inclined plane and finally snaps into the draw-in slot 34 to lock the tail member 29. The auxiliary foot rod 50 can be installed on the connecting hole of the shift lever 8.

[0078] After the motor is activated, the Hawken linkage mechanism in the front foot continues to drive the front foot shell 2. The Hawken linkage mechanism in the rear foot, due to the change in rod position, enables the rear foot to stand and walk. The tail is disengaged and locked due to the gears, assisting walking. The head continues to nod with the movement of the front foot. The roller 51 of the auxiliary foot rod 50 touches the ground, providing an additional support point.

[0079] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are similarly included in the patent protection scope of the present invention.

Claims

1. A toy dog ​​movement device capable of walking upright, comprising a body shell (1), a pair of front foot shells (2) and a pair of rear foot shells (3), wherein a driving assembly is provided in the body shell (1), the front foot shells (2) and the rear foot shells (3) are connected to the driving assembly via a front foot Hawken link mechanism and a rear foot Hawken link mechanism respectively to realize quadrupedal walking, the driving assembly comprising a rear drive shaft (4) and a power source (5) for driving the shaft to rotate, the rear foot Hawken link mechanism comprising rear foot cranks (6) fixed to both ends of the rear drive shaft (4), each rear foot crank (6) being hinged to a rear foot connecting rod (7), and each rear foot shell (3) being fixed to a corresponding rear foot connecting rod (7), characterized in that: The body (1) is provided with a rear foot posture switching assembly for adjusting the relative positions of the rods of the rear foot Hawken linkage mechanism, the rear foot posture switching assembly comprising a lever (8) rotatable about the rear drive shaft (4), a foot adjustment shaft (9) arranged parallel to the rear drive shaft (4) and slidably connected to the lever (8), a rear foot slide bar (10) slidably connected to the rear foot linkage (7) along its length direction and lockable, and two rear foot rockers ( 11), the body (1) is provided with a rear foot adjustment guide opening (12), a portion of the shifting rod (8) passes through the rear foot adjustment guide opening (12), and the rear foot posture switching assembly also includes a locking member for fixing the position of the shifting rod (8), wherein the shifting rod (8) is driven to move the foot adjustment shaft (9), and then the rear foot rocker (11) is driven to slide along the rear foot connecting rod (7) by the swing, so that the rear foot Hawken connecting rod mechanism switches between the quadrupedal walking posture and the hind foot upright bipedal walking posture.

2. The toy dog ​​movement device capable of walking upright according to claim 1, characterized in that: The driving assembly includes a transmission shaft (13) and a front drive shaft (14) connected horizontally and rotatably in the body shell (1), the power source (5) is a motor, the output shaft of the motor is connected to the transmission shaft (13), the front drive shaft (14) and the rear drive shaft (4) are both connected to the transmission shaft (13), front foot cranks (15) are fixed at both ends of the front drive shaft (14), each front foot crank (15) is hinged to a front foot connecting rod (16), each front foot shell (2) is fixed to the corresponding front foot connecting rod (16), two front foot rockers (17) are symmetrically connected to the body shell (1), one end of each front foot rocker (17) is hinged to the front foot connecting rod (16) on the corresponding side, and the front foot crank (15), the front foot connecting rod (16) and the front foot rocker (17) constitute a front foot Hawken link mechanism for driving the front foot shell (2) to move.

3. A toy dog ​​movement device capable of walking upright according to claim 1 or 2, characterized in that: The housing (1) includes two symmetrically arranged side shell plates (18), a slide groove (19) is provided on the shift rod (8) along its length direction, and the foot adjustment shaft (9) is slidably connected to the slide groove (19) along the length direction of the shift rod (8), and a guide opening (20) is provided on the two side shell plates (18) for facilitating the end of the foot adjustment shaft (9) to pass through. A foot adjustment pressure spring (21) is provided between each side shell plate (18) and the shift rod (8) and is sleeved on the foot adjustment shaft (9). The two ends of the foot adjustment pressure spring (21) are respectively in contact with the shift rod (8) and the side shell plate (18), and the shift rod (8) is pressed and positioned by the cooperation of the two foot adjustment pressure springs (21).

4. The toy dog ​​movement device capable of walking upright according to claim 1, characterized in that: A first tail drive gear (22) is coaxially provided on the rear drive shaft (4), a tail drive shaft (23) is rotatably connected in the body (1), a cam (24) and a second tail drive gear (25) meshing with the first tail drive gear (22) are provided on the tail drive shaft (23), a support rod (26) and a tail rotating shaft (27) are parallelly provided in the body (1), a tension spring (28) is provided on the support rod (26), a tail rotating shaft (27) is rotatably connected to a tail component (29), one end of the tail component (29) is connected to the tension spring (28) and contacts the cam (24), and the other end passes through the body (1) through a tail swing guide opening (30) on the body (1).

5. The toy dog ​​movement device capable of walking upright according to claim 4, characterized in that: Guide tubes are symmetrically arranged in the body (1) and on both sides of the tail member (29). An elastic abutment member is arranged in the guide tube. The elastic abutment member includes a spring and a tip (32) arranged at one end of the spring and passing through the guide tube. The tail member (29) is provided with an abutment surface (33) and a slot (34) located on one side of the abutment surface (33). When the tail member (29) swings normally, the tip (32) always abuts against the abutment surface (33). When the tail member (29) is manually rotated to the locking position, the tip (32) is locked into the slot (34) to achieve locking. When the two feet walk, the end of the tail member (29) in the locked state contacts the ground for auxiliary support.

6. The toy dog ​​movement device capable of walking upright according to claim 4, characterized in that: The shift lever (8) includes a sleeve (35) at one end thereof, the sleeve (35) is rotatably connected to the rear drive shaft (4), a spiral push sleeve (36) is provided in the sleeve (35) to form a spiral pair therewith, the first tail drive gear (22) slides on the rear drive shaft (4) along the length direction thereof, and a gear compression spring (37) is provided on the side of the first tail drive gear (22) opposite to the sleeve (35) and sleeved on the rear drive shaft (4). One end abuts against the side wall of the housing (1), and the other end abuts against one side of the first tail drive gear (22). One end of the spiral push sleeve (36) abuts against the other side of the first tail drive gear (22). When the shift lever (8) rotates, the spiral push sleeve (36) moves axially to push the first tail drive gear (22) to disengage it from the second tail drive gear (25). At the same time, the gear compression spring (37) is compressed. When the shift lever (8) is rotated in the opposite direction, the gear compression spring (37) pushes the first tail drive gear (22) to reset and engage.

7. The toy dog ​​movement device capable of walking upright according to claim 2, characterized in that: A driving neck crankshaft (38) is rotatably provided in the body shell (1), one end of the main shaft neck of the driving neck crankshaft (38) is fixedly connected to one end of one of the front foot rockers (17), and the other end of the main shaft neck is rotatably connected to one end of the other front foot rocker (17). A neck rod (39) is provided on the crank pin of the driving neck crankshaft (38), one end of the neck rod (39) passes through the body shell (1) through the swing head through-hole (40) on the body shell (1) and is connected to the head shell (41), and a neck rod sliding member is provided on the neck rod (39) along its length direction. A slot (42) is provided, and a neck adjusting shaft (43) is slidably connected to the neck rod (39) along its length direction. Guide slots (44) are provided on both side walls of the body (1) to facilitate the end of the neck adjusting shaft (43) to pass through. Anti-slip limit plates are provided at both ends of the neck adjusting shaft (43). Neck adjusting compression springs (45) sleeved on the neck adjusting shaft (43) are provided between both side walls of the body (1) and the neck rod (39). Both ends of the neck adjusting compression spring (45) are respectively in contact with the side walls of the neck rod (39) and the body (1).

8. The toy dog ​​movement device capable of walking upright according to claim 7, characterized in that: Ear shells (46) are provided on both sides of the head shell (41), and an ear shaft (47) is fixedly provided on the ear shell (46). The ear shaft (47) penetrates into the head shell (41) through a through hole on the head shell, and a limit block (48) is provided at one end of the ear shaft (47). An ear adjustment spring (49) is sleeved on the ear shaft (47), and one end of the ear adjustment spring (49) abuts against the limit block, and the other end abuts against the inner wall of the head shell (41) to realize the positioning of the ear shell (46). After the ear shell (46) is pulled away from the head shell (41), the angle of the ear shell (46) can be adjusted around the circumferential direction of the ear shaft (47).

9. The toy dog ​​movement device capable of walking upright according to claim 1, characterized in that: The shifting rod (8) is provided with a connecting hole, and an auxiliary foot rod (50) is detachably connected to the connecting hole. One end of the auxiliary foot rod (50) passes through the body (1) and is provided with a roller (51) that contacts the walking surface when the two feet walk. When the two feet walk, the roller (51) contacts the ground to provide auxiliary support.

10. A toy dog ​​movement device capable of walking upright according to any one of claims 2 to 9, characterized in that: A battery assembly (52) for supplying energy to the motor and a control panel (53) for controlling the motor are provided in the housing (1).

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