Interaction method of bionic mechanism

Abstract

The invention discloses an interaction method of a bionic mechanism, which comprises the following steps: acquiring touch, visual, auditory and attitude related information to obtain multi-modal information; performing emotion calculation according to the multi-modal information to obtain emotion-related information; according to the emotion related information, a bionic mechanism is driven to make a corresponding motion response, and the motion response comprises rotation of bionic eyeballs and opening and closing of bionic eyelids. By implementing the method provided by the invention, a flexible touch sensor network, a highly-simulated appearance structure, multi-modal emotion recognition based on an emotion calculation model and a feedback mechanism synchronized with a virtual reality environment in real time can be integrated.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and in particular to an interaction method of a bionic mechanism. Background Art

[0002] Most bionic pets or companion robots currently on the market are limited to single-modal interaction, relying solely on simple forms of interaction such as voice or touch. This approach cannot fully reproduce the unique appearance, texture, and behavioral characteristics of real creatures, especially those with complex appearances and rich behavioral patterns like pandas. Existing bionic robots often face difficulties in simulating tactile feedback due to the difficulty of sensor placement, especially on curved surfaces and joints, which results in incomplete tactile coverage. Due to the complex shapes and frequent movements of these parts, traditional rigid sensors have difficulty adapting to their morphological changes, which in turn affects the user's natural interaction experience with the robot. In addition, the lack of accurate imitation of unique behavioral patterns also limits the user's immersion and emotional resonance.

[0003] At the same time, these products generally fail to achieve deep integration with virtual reality and affective computing models. While some advanced systems have begun to incorporate emotion recognition algorithms to enhance the interactive experience, they often lack comprehensive multimodal fusion mechanisms, making the interaction appear mechanical and unnatural. Ideal human-computer interaction should integrate multiple sensory information, such as vision, hearing, and touch, to more accurately capture the user's emotional state and intentions and respond accordingly. However, current technological exploration in this area is still in its infancy and has yet to fully meet practical needs.

[0004] Therefore, it is necessary to design a new interaction method that can integrate a flexible tactile sensor network, a highly realistic appearance structure, multimodal emotion recognition based on an affective computing model, and a feedback mechanism that is synchronized with the virtual reality environment in real time. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide an interaction method of a bionic mechanism.

[0006] To solve the above technical problems, the present invention aims to achieve the following technical solutions: providing an interaction method of a bionic mechanism, comprising:

[0007] Acquire tactile, visual, auditory, and posture-related information to obtain multimodal information;

[0008] Performing emotion calculation based on the multimodal information to obtain emotion-related information;

[0009] The bionic mechanism is driven to make corresponding motion responses according to the emotion-related information, wherein the motion responses include the rotation of the bionic eyeball and the opening and closing of the bionic eyelid.

[0010] A further technical solution is: the motion response also includes the pitch and swing of the bionic neck.

[0011] A further technical solution is: the motion response also includes the swinging of the bionic upper limbs and the bionic lower limbs.

[0012] A further technical solution is: the motion response also includes the swinging of the bionic ear.

[0013] Its further technical solution is: the bionic mechanism includes a bionic mechanism for simulating eye movement, and the bionic mechanism for simulating eye movement includes: a shell, a bionic eyeball, a bionic eyelid, an eyeball rotation component and an eyelid movement component, and the bionic eyelid includes a bionic upper eyelid and a bionic lower eyelid; the eyeball rotation component and the eyelid movement component are respectively assembled on the shell, and the eyeball rotation component includes an eyeball power component and an eyeball drive component; the eyeball power component is connected to the shell; the eyeball drive component is connected to the eyeball power component, and the eyeball drive component is connected to the bionic eyeball; the eyelid movement component includes an eyelid power component and an eyelid drive component, and the eyelid power component is connected to the shell; the eyelid drive component is respectively connected to the eyelid power component, the bionic upper eyelid and the bionic lower eyelid.

[0014] Its further technical solution is: the bionic mechanism also includes a bionic mechanism that simulates neck movement, and the bionic mechanism that simulates neck movement includes: a neck power component, a neck swing component, and a neck pitch component; the neck power component is connected to the neck swing component; the neck swing component and the neck pitch component are respectively connected to the neck connecting frame.

[0015] Its further technical solution is: the bionic mechanism also includes a bionic mechanism for simulating limb movement, and the bionic mechanism for simulating limb movement includes: a bionic upper limb, a bionic lower limb, an upper limb power assembly and an upper limb drive assembly, the bionic lower limb is connected to the shell, the bionic upper limb is connected to the upper limb drive assembly; the drive assembly is connected to the upper limb power assembly; the upper limb power assembly and the bionic upper limb are respectively assembled on the shell.

[0016] Its further technical solution is: the bionic mechanism also includes a bionic mechanism for simulating ear movement, and the bionic mechanism for simulating ear movement includes: an ear power component, an ear driving component, and a bionic ear, the ear power component is connected to the ear driving component; the ear driving component is connected to the bionic ear; the ear power component is assembled on the shell.

[0017] A further technical solution is: the bionic mechanism also includes a flexible tactile sensor, which includes a flexible sensing sheet that fits the curved surfaces of the head, neck, back, abdomen, limbs and tail of the bionic mechanism.

[0018] Its further technical solution is: the head, neck, trunk, and limbs contain posture accelerometers, which are used to detect the real-time posture and acceleration of the corresponding parts to determine the collaborative posture and movement of the entire body of the bionic mechanism. The beneficial effect of the present invention compared with the prior art is: the present invention obtains multimodal data such as tactile, visual, auditory and posture information, uses the emotional computing model to perform emotional evaluation and error calculation to generate an emotional vector, and drives the bionic mechanism to perform action responses such as eye movement and eyelid opening and closing based on this vector, thereby realizing an integrated flexible tactile sensor network, a highly realistic appearance structure, and an interactive mechanism based on multimodal emotion recognition. This method not only enhances the bionic mechanism's ability to perceive external stimuli and the realism of emotional expression, but also supports real-time synchronous feedback with the virtual reality environment, allowing the bionic mechanism to provide a more natural and immersive user experience in interaction, thereby achieving highly realistic and dynamic emotional communication and behavior simulation.

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic block diagram of an interaction method of a bionic mechanism provided in an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the three-dimensional structure of a bionic mechanism provided in an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of the explosion structure of a bionic mechanism provided in an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of the explosion structure of a bionic mechanism provided by another embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the three-dimensional structure of a bionic mechanism for simulating eye movement provided by an embodiment of the present invention;

[0026] Figure 6A schematic diagram of the three-dimensional structure of a bionic mechanism for simulating eye movement provided by an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of the three-dimensional structure of a bionic mechanism for simulating eye movement provided by an embodiment of the present invention (excluding the outer shell and protective cover);

[0028] Figure 8 A schematic diagram of the exploded structure of a bionic mechanism for simulating eye movement provided by an embodiment of the present invention;

[0029] Figure 9 A schematic diagram of the three-dimensional structure of a bionic mechanism for simulating eye movement provided by another embodiment of the present invention;

[0030] Figure 10 A schematic diagram of the three-dimensional structure of a bionic mechanism for simulating eye movement provided by another embodiment of the present invention (excluding the outer shell and protective cover);

[0031] Figure 11 A schematic diagram of an exploded structure of a bionic mechanism for simulating eye movement provided by another embodiment of the present invention;

[0032] Figure 12 A schematic diagram of the three-dimensional structure of a bionic mechanism for simulating neck movement provided by an embodiment of the present invention;

[0033] Figure 13 A schematic diagram of the exploded structure of a bionic mechanism for simulating neck movement provided by an embodiment of the present invention;

[0034] Figure 14 A schematic diagram of the three-dimensional structure of a bionic mechanism for simulating neck movement provided by another embodiment of the present invention;

[0035] Figure 15 A schematic diagram of an exploded structure of a bionic mechanism for simulating neck movement provided by another embodiment of the present invention;

[0036] Figure 16 Schematic diagram of the three-dimensional structure of the bionic mechanism for simulating limb movement provided by an embodiment of the present invention Figure 1 ;

[0037] Figure 17 Schematic diagram of the partial structure explosion of the bionic mechanism for simulating limb movement provided by an embodiment of the present invention Figure 1 ;

[0038] Figure 18 Schematic diagram of the three-dimensional structure of the bionic mechanism for simulating limb movement provided by an embodiment of the present invention Figure 2 ;

[0039] Figure 19 Schematic diagram of the partial structure explosion of the bionic mechanism for simulating limb movement provided by an embodiment of the present invention Figure 2 ;

[0040] Figure 20 A schematic diagram of the three-dimensional structure of a bionic mechanism for simulating limb movement provided by another embodiment of the present invention Figure 1 ;

[0041] Figure 21 Schematic diagram of the partial structure explosion of a bionic mechanism for simulating limb movement provided by another embodiment of the present invention Figure 1 ;

[0042] Figure 22 A schematic diagram of the three-dimensional structure of a bionic mechanism for simulating limb movement provided by another embodiment of the present invention Figure 2 ;

[0043] Figure 23 Schematic diagram of the partial structure explosion of a bionic mechanism for simulating limb movement provided by another embodiment of the present invention Figure 2 ;

[0044] Figure 24 Schematic diagram of the three-dimensional structure of the bionic mechanism for simulating neck movement provided by an embodiment of the present invention Figure 1 ;

[0045] Figure 25 Schematic diagram of the three-dimensional structure of the bionic mechanism for simulating neck movement provided by an embodiment of the present invention Figure 2 ;

[0046] Figure 26 A schematic diagram of the exploded structure of a bionic mechanism for simulating neck movement provided by an embodiment of the present invention;

[0047] Description of the symbols in the figure:

[0048] 100. Bionic mechanism; 1. Housing; 2. Bionic eyeball; 3. Bionic upper eyelid; 4. Bionic lower eyelid; 5. First power source; 6. Connecting block; 7. Eyeball drive connecting frame; 71. Guide groove; 8. Eyeball drive crank; 81. Sphere; 9. Eyeball drive transmission rod; 10. Eyeball connecting rod; 11. Second power source; 12. Eyelid bracket; 13. First spring; 14. Second spring; 15. Eyelid spring push rod; 16. Third power source; 17. Mounting frame; 171. Baffle; 18. Eccentric wheel; 19. Drive push rod assembly; 191. Drive push plate; 192. Drive push rod; 20. Third spring; 21. Transmission Moving plate; 211, circular arc groove; 22, eyeball transmission rod; 221, second sphere; 23, bracket; 241, first connecting rod; 242, second connecting rod; 25, fourth power source; 26, first pin; 27, eyelid connector; 28, steel wire; 29, power mounting frame; 30, second eccentric wheel; 31, protective cover; 101, fifth power source; 102, reduction gear set; 103, bevel gear shaft; 104, straight bevel gear; 105, neck connecting frame; 106, sixth power source; 107, main gear; 108, slave gear; 109, swing hollow shaft; 1091, first spiral guide groove; 1010, Swing connecting frame; 10101, swing guide groove; 10102, swing guide groove; 1011, swing motion axis; 1012, first connecting pin; 1013, second connecting pin; 1014, third connecting pin; 1015, fourth connecting pin; 1016, swing drive shaft; 1017, seventh power source; 1018, pitch hollow shaft; 10181, second spiral guide groove; 1019, pitch connecting frame; 10191, pitch guide groove; 10192, pitch guide groove; 1020, pitch motion axis; 1021, fifth connecting pin; 1022, sixth connecting pin; 1023, seventh connecting pin; 1024, first Eight connecting pins; 1025, pitch drive axis; 1026, eighth power source; 202, bionic upper limb; 203, bionic lower limb; 204, ninth power source; 205, mounting frame; 206, first connecting rod; 207, second connecting rod; 208, rotating wheel; 2081, eccentric hole; 209, third connecting rod; 2010, fourth connecting rod; 2011, connecting frame; 301, bracket; 302, tenth power source; 303, third eccentric wheel; 304, motion bracket; 3041, arc groove; 305, spring; 306, second pin; 307, bionic ear; 3071, third sphere; 308, transmission bracket. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0050] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0051] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in the specification and appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0052] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0053] Most bionic pets and companion robots currently on the market use a single-modal interaction method, such as relying solely on voice or touch. This makes it difficult to fully replicate the unique appearance, texture, and behavioral characteristics of real creatures, especially for complex creatures like pandas. These problems are particularly evident when simulating tactile feedback. Due to the complex shapes and frequent movements of curved surfaces and joints, traditional rigid sensors have difficulty adapting to their morphological changes, resulting in incomplete tactile coverage and affecting the user's interactive experience. In addition, these products often fail to achieve deep integration with virtual reality and affective computing models, lacking a complete multimodal fusion mechanism, making the interaction appear mechanical and unnatural, and unable to fully capture the user's emotional state and intentions, limiting the user's immersion and emotional resonance. Ideal human-computer interaction requires the integration of multiple sensory information such as vision, hearing, and touch, but current technological exploration is still in its early stages and has not yet fully met actual needs.

[0054] To this end, an embodiment of the present invention provides an interaction method for a bionic mechanism 100, which can integrate a flexible tactile sensor network, a highly realistic appearance structure, multimodal emotion recognition based on an emotion computing model, and a feedback mechanism that is synchronized with a virtual reality environment in real time.

[0055] Specifically, the interaction method of the bionic mechanism 100 achieves a highly natural and immersive interactive experience by integrating a flexible tactile sensor network, a highly realistic external structure, multimodal emotion recognition based on an affective computing model, and a feedback mechanism synchronized in real time with the virtual reality environment. First, it utilizes multimodal information, including tactile, visual, auditory, and posture information, to perform emotion assessment and error calculation to generate corresponding emotion vectors, which in turn drive the bionic mechanism to respond with complex and precise movements, such as eye movement, eyelid opening and closing, neck pitch and swing, limb swing, and ear movement. Second, the system utilizes flexible tactile sensors bonded to key parts of the bionic mechanism, addressing the difficulty of placing traditional rigid sensors on curved surfaces and joints, thereby providing more comprehensive tactile feedback. Finally, combined with a sophisticated mechanical structure that simulates the movements of the eyes, neck, limbs, and ears, the bionic mechanism not only displays complex external features but also accurately mimics real-world behavioral patterns, greatly enhancing the user's sense of immersion and emotional resonance. It also supports seamless integration with the virtual reality environment, providing a more natural human-computer interaction experience.

[0056] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0057] See also Figure 1 The above-mentioned interaction method of the bionic mechanism 100 includes steps S110 to S130.

[0058] S110 : Acquire tactile, visual, auditory, and posture-related information to obtain multimodal information.

[0059] In this embodiment, the sense of touch: the flexible touch components used are 45 flexible capacitive-pressure dual-mode sensing pieces arranged on the curved surfaces of the panda's head, back, abdomen, and limbs, which output touch position, force, and sliding gestures in real time;

[0060] Vision: binocular 1080P cameras capture user facial expressions and gestures;

[0061] Hearing: 4-microphone array in the ear to capture speech emotions and keywords;

[0062] Posture: Each tactile piece has a built-in 6-axis IMU, while the joint encoder reads the 14-degree-of-freedom servo angle;

[0063] The four types of data are aggregated to the master controller via the CAN-FD bus, and time synchronization and normalization are completed within 10ms to form a multi-dimensional perception frame with a unified timestamp.

[0064] S120: Perform emotion calculation based on the multimodal information to obtain emotion-related information.

[0065] In this embodiment, the "intention set" Fintention is constructed based on the 9-dimensional emotion evaluation dimensions mentioned in Chinese patent CN202310031786.2 (pleasure, goal consistency, perceived control, certainty, agent-self / other / environment, unfairness, and moral violation);

[0066] The multi-dimensional perception frame of S110 is input into the deep neural network and mapped into a 9-dimensional "perception result" Fperceived;

[0067] The error signal Ferror=Fintention-Fperceived is calculated and then converted into the emotion vector E=(Ep, Ea, Ed) through the second-order emotion differential equation, where Ep represents pleasure, Ea represents arousal, and Ed represents dominance.

[0068] S130. Drive the bionic mechanism 100 to make a corresponding motion response according to the emotion vector, wherein the motion response includes the rotation of the bionic eyeball 2 and the opening and closing of the bionic eyelid.

[0069] In addition, the motion response also includes the pitch and swing of the bionic neck.

[0070] The motion response also includes the swinging of the bionic upper limb and the bionic lower limb.

[0071] The motion response also includes the movement of the bionic ear 307 .

[0072] In this embodiment, the above-mentioned motion response mainly drives the corresponding mechanism in the bionic mechanism 100 to respond.

[0073] Specifically, see Figures 2 to 4 , showing two bionic mechanisms 100 with different structures.

[0074] In one embodiment, the bionic mechanism 100 includes a bionic mechanism that simulates eye movement, so as to achieve a more compact structure, good protection measures and the ability to simulate natural expressions.

[0075] Specifically, in one embodiment, by integrating the eyeball power assembly and the eyelid power assembly, the first power source 5 is used to drive the multi-directional rotation of the eyeball, and precise control is achieved through the connecting block 6, the eyeball drive connecting frame 7, the eyeball drive crank 8, the transmission rod and the connecting rod. The special feature of this design is that two eyeball drive assemblies are used to ensure the accuracy and stability of the movement, while the second power source 11 is used to drive the eyelid movement. The design of the spring and push rod makes the opening and closing of the eyelid more natural and smooth. The entire structure is compact, reducing unnecessary space occupation, and the protective cover 31 provides additional protection to effectively prevent damage to internal components caused by external impact.

[0076] In the second embodiment, an eyeball drive system composed of a third power source 16 and an eccentric wheel 18, and an eyelid movement assembly driven by a fourth power source 25 are used to achieve more complex simulated eye movements. Through the precise coordination of components such as the mounting frame 17, the eccentric wheel 18, the drive push rod assembly 19, the spring and the linkage structure, not only can the smooth rotation of the eyeball be achieved, but also the natural coordination when the eyelids open and close can be ensured. In addition, the fidelity of the eyelid movement is further optimized through the clever arrangement of the steel wire 28, the pins and the springs. The overall design focuses on the close cooperation between the mechanical components, reducing the overall size of the device;

[0077] In addition, a protective cover 31 is added to enhance durability, making it compact while providing good protection and able to simulate real eye expressions naturally and smoothly.

[0078] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0079] See also Figure 5 A bionic mechanism for simulating eye movement includes: a shell 1, a bionic eyeball 2, a bionic eyelid, an eyeball rotation component and an eyelid movement component, the bionic eyelid includes a bionic upper eyelid 3 and a bionic lower eyelid 4; the eyeball rotation component and the eyelid movement component are respectively assembled on the shell 1, the eyeball rotation component includes an eyeball power component and an eyeball drive component; the eyeball power component is connected to the shell 1; the eyeball drive component is connected to the eyeball power component, and the eyeball drive component is connected to the bionic eyeball 2; the eyelid movement component includes an eyelid power component and an eyelid drive component, and the eyelid power component is connected to the shell 1; the eyelid drive component is respectively connected to the eyelid power component, the bionic upper eyelid 3 and the bionic lower eyelid 4.

[0080] In this embodiment, all these components are reasonably assembled in the housing 1, ensuring that the overall structure is compact and fully functional.

[0081] The eyeball power assembly is connected to the housing 1 and is mainly responsible for providing the necessary driving force for the eyeball.

[0082] The eyeball drive assembly converts power into left and right eye movement through a complex mechanical linkage mechanism. Specifically, the motor drives the eccentric wheel 18 to rotate, and then the spring and push rod act to enable the eyeball to move smoothly left and right, simulating the changes in the eyes of a young child.

[0083] The eyelid power assembly is also connected to the housing 1 to provide the power source required for opening and closing the eyelids.

[0084] The eyelid drive assembly uses a motor combined with the elasticity of the spring and the traction of the steel wire 28 to allow the upper and lower eyelids to rotate freely around the same axis, thereby achieving a natural blinking action and the opening and closing state of the eyes.

[0085] In addition, the above-mentioned bionic mechanism for simulating eye movement further includes a protective cover 31 , and the bionic eyeball 2 and the bionic eyelid are placed in the protective cover 31 .

[0086] To increase product durability and prevent damage to the internal structure due to external contact, a transparent protective cover 31 is specially designed. This cover not only completely covers the eyelids and eyeball mechanism, but also allows the user to clearly observe the internal workings, while effectively isolating the delicate internal structure from direct contact with the outside world.

[0087] This design is ideal for simulating eye expressions in young animals, such as three-month-old red pandas, and is suitable for eye expression mechanisms in robots like pet cats, dogs, guinea pigs, and piglets, as well as any other application requiring dynamic eye movements. Furthermore, due to its unique design and sophisticated mechanical structure, it can also be expanded to other scenarios requiring back-and-forth motion, such as in mechanical devices like rocker arms.

[0088] In summary, this bionic mechanism that simulates eye movement not only realizes the independent functions of the eyeball and eyelid, but also excels in space utilization efficiency and protective measures, making it an ideal choice for simulating eye expressions at a young age.

[0089] In one embodiment, see Figures 6 to 8 The above-mentioned eyeball power assembly includes a first power source 5, and the eyeball drive assembly includes a connecting block 6, an eyeball drive connecting frame 7, an eyeball drive crank 8, an eyeball drive transmission rod 9, and an eyeball connecting rod 10. The output end of the first power source 5 passes through the eyeball drive connecting frame 7 and is connected to the connecting block 6; a guide groove 71 is provided in the eyeball drive connecting frame 7, and one end of the eyeball drive crank 8 is respectively connected to the connecting block 6; the other end of the eyeball drive crank 8 passes through the guide groove 71 and is provided with a ball 81, and the ball 81 is hinged to one end of the eyeball drive transmission rod 9; the eyeball drive transmission rod 9 is connected to the eyeball connecting rod 10; the eyeball connecting rod 10 is connected to the bionic eyeball 2.

[0090] In one embodiment, see Figures 6 to 8 The number of the eyeball drive crank 8, the eyeball drive transmission rod 9, and the eyeball connecting rod 10 is two each. The number of the eyeball drive connecting frame 7 is one. Of course, in other embodiments, the number of the eyeball drive connecting frame 7 can be other numbers.

[0091] In one embodiment, see Figures 6 to 8The above-mentioned eyelid power component includes a second power source 11.

[0092] In this embodiment, the first power source 5 is the main driving force source for eyeball rotation, which is usually a motor or other type of driving device. It directly or indirectly provides the necessary mechanical energy for the entire eyeball driving system through its output end.

[0093] The connecting block 6 is a key connecting component used to connect the output end of the first power source 5 with subsequent components (such as the eyeball drive connecting frame 7).

[0094] A guide slot 71 is provided in the eyeball drive connecting frame 7 to allow the eyeball drive crank 8 to move freely therein. The connecting frame not only provides structural support but also ensures the stability of the entire system.

[0095] One end of the eyeball drive crank 8 is connected to the connecting block 6, and the other end passes through the guide groove 71 and is equipped with a ball 81. This makes it possible to effectively convert linear motion into rotational motion.

[0096] One end of the eyeball drive transmission rod 9 is hinged to the ball 81 on the eyeball drive crank 8, and the other end is connected to the eyeball connecting rod 10, which is responsible for transmitting power from the crank.

[0097] The eyeball connecting rod 10 is finally connected to the bionic eyeball 2, and the left and right swing of the eyeball is achieved through the above series of linkage mechanisms.

[0098] It is particularly noted that in this embodiment, the number of the eyeball drive connecting frame 7, the eyeball drive crank 8, the eyeball drive transmission rod 9 and the eyeball connecting rod 10 is two respectively, to ensure that both eyes can move synchronously and coordinatedly.

[0099] In one embodiment, see Figures 6 and 7 The above-mentioned eyelid driving assembly includes an eyelid bracket 12, a first spring 13, a second spring 14, and an eyelid spring push rod 15. One end of the first spring 13 is connected to the bionic eyelid; the other end of the first spring 13 is connected to the eyelid spring push rod 15; the second spring 14 is installed between the eyelid spring push rod 15 and the eyelid bracket 12; the eyelid spring push rod 15 is connected to the second power source 11.

[0100] In one embodiment, see Figures 6 and 7 , the number of the above-mentioned first spring 13 and the second spring 14 is at least one; the number of the bionic eyelids is two, and each bionic eyelid is equipped with two eyelid spring push rods 15, that is, each bionic eyelid on one side requires an eyelid spring push rod 15, and one eyelid spring push rod 15 acts on the bionic upper eyelid and the bionic lower eyelid on the same side;

[0101] In another embodiment, the eyelid spring push rods 15 of the two bionic eyelids (that is, a total of 2 eyelid spring push rods 15) can be connected by a connecting plate, so as to ensure that the bionic eyelids on both sides can open and close simultaneously and synchronously, increasing the sense of naturalness and coordination.

[0102] In this embodiment, the second power source 11 is similar to the first power source 5 , and is the main driving force source for the eyelid opening and closing action, and may also be a motor or other forms of driving devices.

[0103] The eyelid support 12 is fixed to the housing and supports the basic structure of the entire eyelid movement system.

[0104] Each eyelid is equipped with a first spring 13, which is respectively connected to the bionic upper eyelid 3 and the bionic lower eyelid 4. Their function is to assist the natural closing process of the eyelid through elastic force when the eyelid is closed.

[0105] The second spring 14 is installed between the eyelid spring push rod 15 and the eyelid support 12 to provide additional support force to help maintain the stability of the eyelid in different positions.

[0106] Each eyelid is equipped with an eyelid spring push rod 15, which is directly connected to the second power source 11. These push rods are responsible for converting the linear motion of the second power source 11 into the opening and closing movement of the eyelid.

[0107] In summary, this design achieves the left-right swing of the bionic eyeball 2 and the up-and-down opening and closing of the bionic eyelids through a precise mechanical linkage mechanism. Furthermore, the use of an even number of eyeball and eyelid drive components ensures the synchronization and coordination of the two eyes' movements. Furthermore, the clever use of components such as springs enhances the realism of the movements while also improving the reliability and durability of the system. This design is ideal for simulating eye expressions in young children and holds broad application prospects, particularly in the field of pet robotics.

[0108] In this embodiment, the movement process of the bionic eyeball 2 is as follows:

[0109] The first power source 5 is started, and its output end begins to rotate; the output end of the first power source 5 is connected to the connecting block 6 through the eyeball drive connecting frame 7, driving the connecting block 6 to rotate or move linearly accordingly; one end of the eyeball drive crank 8 is connected to the connecting block 6, and driven by the connecting block 6, the crank moves around the inside of the guide groove 71. Due to the existence of the guide groove 71, the crank can move precisely along a specific path, ensuring the accuracy and stability of the movement; the other end of the eyeball drive crank 8 is provided with a ball 81, and is hinged to one end of the eyeball drive transmission rod 9 through this ball 81. As the crank moves, the transmission rod moves and rotates accordingly, converting the linear motion of the crank into the rotational motion of the eyeball connecting rod 10; the eyeball connecting rod 10 is directly connected to the bionic eyeball 2, and when the eyeball drive transmission rod 9 pushes the eyeball connecting rod 10, the bionic eyeball 2 is rotated.

[0110] For the up and down opening and closing process of the bionic eyelid: the second power source 11 (also a motor or other driving device) is started to provide the driving force required for the eyelid to open and close. The output end of the second power source 11 is directly connected to the eyelid spring push rod 15, driving the eyelid spring push rod 15 to move forward or backward. The first spring 13 equipped with each bionic eyelid is connected to the bionic eyelid at one end and to the eyelid spring push rod 15 at the other end. When the eyelid spring push rod 15 moves, it compresses or releases the first spring 13, thereby achieving the closing or opening of the eyelid; the second spring 14 is installed between the eyelid spring push rod 15 and the eyelid bracket 12, providing additional support force to help maintain the stable state of the eyelid between different positions, while reducing the pressure on the second power source 11.

[0111] In summary, this bionic eye movement mechanism achieves realistic left-right eye movement and eyelid opening and closing through the cleverly designed eyeball and eyelid drive components. These components work together to ensure accurate, stable, and natural movements while also improving the system's reliability and durability. This makes it ideal for applications requiring realistic eye expressions, such as pet robots.

[0112] In another embodiment, see Figures 9 to 11The above-mentioned eyeball power assembly includes a third power source 16; the eyeball drive assembly includes a mounting frame 17, an eccentric wheel 18, a drive push rod assembly 19, a third spring 20, a transmission plate 21, and an eyeball transmission rod 22; the mounting frame 17 is assembled on the housing 1; the eccentric wheel 18 is located below the mounting frame 17, and the output end of the third power source 16 passes through the mounting frame 17 and is connected to the eccentric wheel 18; the drive push rod assembly 19 includes a drive push plate 191 and a drive push rod 192, which drives A push rod 192 is arranged on one side of the driving push plate 191; a baffle 171 is provided at the end of the mounting frame 17 away from the eccentric wheel 18, and a first through hole is provided on the baffle 171 for the driving push rod 192 to pass through, and a third spring 20 is provided on the outer periphery of the driving push rod 192; the upper end of the driving push plate 191 is connected to the transmission plate 21, and arc grooves 211 are provided on both sides of the transmission plate 21; a second sphere 221 is provided at one end of the eyeball transmission rod 22, and the second sphere 221 is placed in the arc groove 211.

[0113] In another embodiment, see Figures 9 to 11 The above-mentioned eyeball drive assembly also includes a bracket 23 and a linkage structure. The bracket 23 is assembled on the shell 1; a second through hole is provided on the eyeball transmission rod 22, specifically, a second through hole is provided in the middle part of the eyeball transmission rod 22, and the second through hole is fixed to the bracket 23 by a pin, and a third through hole is provided at the other end of the eyeball transmission rod 22; the linkage structure includes a first connecting rod 241 and a second connecting rod 242, the first connecting rod 241 is connected to the bracket 23; the second connecting rod 242 is connected to the first connecting rod 241 by a pin; a cylinder is provided on the second connecting rod 242, and the cylinder is placed in the third through hole, and the bionic eyeball 2 is connected to the second connecting rod 242.

[0114] Specifically, the lower end of the first connecting rod 241 is connected to the bracket 23 via a pin; the second connecting rod 242 is connected to the upper end of the first connecting rod 241 via a pin; and a third through hole is provided at the end of the eyeball transmission rod 22 away from the ball 81. In this embodiment, the third power source 16 provides the driving force required for the left and right eyeball movement. Typically, it is a motor.

[0115] The mounting frame 17 is fixed to the housing 1 and is used to support the entire eyeball power assembly.

[0116] The eccentric wheel 18 is located below the mounting bracket 17 and is connected to the output of the third power source 16. When the power source is started, the eccentric wheel 18 starts to rotate.

[0117] The driving push rod assembly 19 includes a driving push plate 191 and a driving push rod 192. The driving push rod 192 is provided on one side of the driving push plate 191. When the eccentric wheel 18 rotates, the driving push plate 191 converts the rotary motion into linear motion.

[0118] The third spring 20 is arranged on the outer periphery of the driving push rod 192 to provide necessary preload force to ensure smooth movement.

[0119] The transmission plate 21 is connected to the upper end of the driving push plate 191 and is provided with arc grooves 211 on both sides for realizing multi-directional movement of the eyeball transmission rod 22.

[0120] One end of the eyeball transmission rod 22 is provided with a ball 81, which is placed in the arc groove 211 of the transmission plate 21, so that the eyeball transmission rod 22 can move in multiple directions along the arc groove 211. The other end is provided with a third through hole, which is connected to the linkage structure through the cylinder on the second connecting rod 242.

[0121] The bracket 23 is assembled on the housing 1 and is used to support the eyeball transmission rod 22.

[0122] The linkage structure includes a first connecting rod 241 and a second connecting rod 242. The first connecting rod 241 is connected to the bracket 23; the second connecting rod 242 is connected to the first connecting rod 241 through a pin, and the second connecting rod 242 is provided with a cylinder, which is placed in the third through hole of the eyeball transmission rod 22.

[0123] When the third power source 16 is started, the eccentric wheel 18 drives the driving push rod assembly 19 to perform linear reciprocating motion. Through the cooperation of the transmission plate 21 and the eyeball transmission rod 22, the bionic eyeball 2 can swing left and right.

[0124] Specifically, the movement of the eyeball is mainly achieved by the cooperation between the power source, the eccentric wheel 18, the driving push rod assembly 19, the transmission plate 21 and the eyeball transmission rod 22. The following is a detailed movement process:

[0125] When the third power source 16 is started, it drives the eccentric wheel 18 to start rotating.

[0126] Due to the design of the eccentric wheel 18, its rotation can cause the drive push rod assembly 19 connected thereto to perform linear reciprocating motion along one direction. In this process, the third spring 20 provides the necessary preload force for the drive push rod 192 to ensure smooth and accurate movement.

[0127] The motion of the driving push rod assembly 19 is transmitted to the eyeball transmission rod 22 through the transmission plate 21. The arc groove 211 on both sides of the transmission plate 21 is designed to allow the eyeball transmission rod 22 to move freely within a certain range, thereby adapting to the eyeball swing requirements at different angles.

[0128] One end of the eyeball transmission rod 22 is provided with a second ball 221, which is placed in the arc groove 211 of the transmission plate 21. As the transmission plate 21 moves, the eyeball transmission rod 22 can slide along the arc groove 211 in multiple directions, and finally convert this sliding into the rotation of the eyeball (bionic eyeball 2).

[0129] The entire eye movement process is based on a mechanical linkage design. Through the coordination of a series of precise parts, a natural and smooth eye swing effect is achieved, simulating movements similar to real eye movements.

[0130] In another embodiment, see Figures 5 to 7 The above-mentioned eyelid power assembly includes a fourth power source 25; the eyelid drive assembly includes a first pin 26, an eyelid spring push rod 15, an eyelid connector 27, a steel wire 28, a power mounting frame 29, a second eccentric wheel 30, and a fourth spring. The two first pins 26 are fixed on the bracket 23, and the first pin 26 passes through the eyelid spring push rod 15; the bionic eyelid is connected to the eyelid connector 27 through a pin; the power mounting frame 29 is assembled on the housing 1, and the fourth power source 25 passes through the power mounting frame 29 and is connected to the second eccentric wheel 30; one end of the steel wire 28 is fixed on the eyelid spring push rod 15, and the other end of the steel wire 28 passes through the bracket 23 and is fixed to the side of the bionic eyelid; the fourth spring is installed between the eyelid spring push rod 15 and the bracket 23.

[0131] In this embodiment, the fourth power source 25 provides the driving force required for the eyelids to open and close, and is also typically a motor.

[0132] The power mounting frame 29 is assembled on the housing 1 and is used to support the eyelid power assembly.

[0133] The output end of the fourth power source 25 is connected to the second eccentric wheel 30 through the power mounting bracket 29. When the power source is started, the second eccentric wheel 30 starts to rotate.

[0134] Two first pins 26 are fixed on the bracket 23. The first pins 26 pass through the eyelid spring push rod 15 so that it can slide along the pin axis direction.

[0135] The bionic eyelid is connected to the eyelid connector 27 via a pin to ensure that the eyelid can rotate freely.

[0136] One end of the steel wire 28 is fixed on the eyelid spring push rod 15, and the other end passes through the bracket 23 and is fixed to the side of the bionic eyelid. When the eyelid spring push rod 15 moves back and forth due to the effect of the second eccentric wheel 30, the eyelid is pulled up and down by the steel wire 28 to open and close.

[0137] The fourth spring is installed between the eyelid spring push rod 15 and the bracket 23 to provide additional support force to help maintain the stability of the eyelids in different positions, while reducing the pressure on the fourth power source 25.

[0138] When the fourth power source 25 is started, the second eccentric wheel 30 enables the bionic eyelid to open and close up and down through the linkage effect of the eyelid spring push rod 15 and the steel wire 28, simulating the action of blinking and opening and closing the eyes.

[0139] Specifically, the movement of the eyelids is mainly achieved by the interaction between the fourth power source 25, the second eccentric wheel 30, the eyelid spring push rod 15, the steel wire 28 and the eyelid connecting member 27. The specific steps are as follows:

[0140] After the fourth power source 25 is started, it directly drives the second eccentric wheel 30 to rotate.

[0141] The rotation of the second eccentric wheel 30 causes the eyelid spring push rod 15 connected thereto to perform a linear reciprocating motion. In this process, the fourth spring provides additional supporting force, helps maintain the stable state of the eyelids between different positions, and alleviates the pressure on the fourth power source 25.

[0142] The linear motion of the eyelid spring push rod 15 indirectly affects the bionic eyelid via a steel wire 28. One end of the steel wire 28 is fixed to the linear motion plate, and the other end passes through the bracket 23 and is fixed to the side of the bionic eyelid. As the eyelid spring push rod 15 moves back and forth, the steel wire 28 pulls the eyelid, causing it to open and close.

[0143] Through the above mechanism, when the eyelid spring push rod 15 moves forward or backward, it corresponds to the closing and opening of the eyelids, respectively. This realizes the natural opening and closing of the eyelids, imitating the blinking and opening and closing of the eyes.

[0144] In summary, the eyeball's movement relies on a mechanical linkage driven by eccentric wheel 18 to achieve left-right swinging, while the eyelid's movement is achieved by the eyelid spring push rod 15 driven by eccentric wheel 18 and the steel wire 28, which work together to achieve the effect of opening and closing. These two mechanisms work together to very realistically simulate the changes in a child's eye expressions, including left-right movement of the eyeball and opening and closing of the eyelid.

[0145] The entire system is compact and suitable for simulating small age or small eye space size. A transparent protective cover 31 covers the entire mechanism to protect the internal mechanical components from external interference and damage.

[0146] Through the above-mentioned complex mechanical linkage design, it is possible to simulate the eye expression changes similar to those of a real young panda, such as a three-month-old red panda, including the left and right swinging of the eyeballs and the up and down opening and closing of the eyelids.

[0147] This design not only achieves realistic eye movements, but also takes into account stability and durability in practical applications, making it very suitable for applications requiring high simulation.

[0148] In one embodiment and another embodiment, both ends of the bionic eyelid are connected to the eyelid support 12 or the support 23 by means of an eyelid connector 27 combined with a pin.

[0149] The above-mentioned bionic mechanism for simulating eye movements achieves a compact structure by compactly assembling an eyeball rotation component and an eyelid movement component on a housing 1. Specifically, the eyeball rotation component includes an eyeball power component directly connected to the housing 1 and an eyeball drive component connected thereto. The latter is further connected to the bionic eyeball 2, ensuring that the eyeball can accurately simulate natural rotation. Similarly, the eyelid movement component consists of an eyelid power component and an eyelid drive component, which are respectively connected to the housing 1 and the bionic upper and lower eyelids to achieve realistic eyelid opening and closing movements. The entire system, through a reasonable layout design, not only maximizes space utilization but also provides good protection for the internal mechanical structure. In addition, this design makes the coordination between the various components more efficient, thereby more accurately simulating the natural changes in human eye expressions and enhancing the authenticity and subtlety of the bionic effect. The use of a protective cover 31 further strengthens the protection of the bionic eyeball 2 and eyelids, ensuring stable operation in various application scenarios. Overall, this integrated design not only ensures a compact structure but also improves the reliability and expressiveness of the system.

[0150] In one embodiment, the above-mentioned bionic mechanism 100 also includes a bionic mechanism for simulating neck movement, which is used to simulate neck movements; specifically, a bionic mechanism for simulating neck movement includes: a neck power component, a neck swing component, and a neck pitch component; the neck power component is connected to the neck swing component; the neck swing component and the neck pitch component are respectively connected to the neck connecting frame 105.

[0151] In this embodiment, the bionic mechanism for simulating neck movement is designed to accurately imitate the natural movement of a young or small neck, and is particularly suitable for creatures such as a three-month-old red panda.

[0152] The neck swing assembly and the pitch assembly are mounted on the neck connecting frame 105. Their design allows the neck to move flexibly within a predetermined range, thereby being able to realistically simulate the movement of the neck.

[0153] The bionic mechanism includes specific limit structures to ensure that the neck movement does not exceed the predetermined range. This is crucial for accurately simulating the behavior of young children, as the range of neck movement in young children is generally smaller than that of adults.

[0154] The bionic mechanism focuses on space efficiency, making the entire device compact and suitable for simulating the actual body size of young or small animals. This not only improves the realism of the simulation, but also ensures the portability and ease of installation of the device.

[0155] The bionic mechanism includes a protective housing and other structural components to reduce the risk of damage from external factors and increase the durability and reliability of the product.

[0156] The preload structure ensures that the neck remains in an initial position and provides a reset force, allowing the neck to automatically return to this initial position when no external force is applied. This is very important for simulating the natural behavior of young necks, as they often have their own unique default posture.

[0157] It is particularly suitable for research, education, and exhibition purposes. For example, it can simulate the neck movements of a three-month-old red panda. This bionic mechanism can help people better understand the behavioral characteristics of young pandas and provide a valuable tool for research in related fields.

[0158] In summary, this bionic mechanism, through its unique design and function, can effectively simulate the natural movement characteristics of young or small necks, meeting the needs of scientific research and educational demonstrations.

[0159] In one embodiment, see Figure 12 and Figure 13 The neck power assembly includes a fifth power source 101 and a reduction gear set 102. The fifth power source 101 is connected to the reduction gear set 102; the reduction gear set 102 is connected to the neck swing assembly.

[0160] In one embodiment, the neck power assembly consists of a fifth power source 101 (e.g., a motor or servo) and a reduction gear set 102. This power source is connected to the reduction gear set 102, providing sufficient torque to drive the neck swing assembly. The reduction gear set 102 reduces the rotational speed while increasing the output torque, enabling more stable side-to-side swinging of the neck.

[0161] In one embodiment, see Figure 12 and Figure 13 The neck swing assembly includes a bevel gear shaft 103 and a spur bevel gear 104. One end of the bevel gear shaft 103 is connected to the reduction gear set 102. One end of the bevel gear shaft 103 is meshed with the spur bevel gear 104. The spur bevel gear 104 is connected to the neck connecting frame 105.

[0162] In this embodiment, the neck swing assembly includes a bevel gear shaft 103 and a spur bevel gear 104. One end of the bevel gear shaft 103 is connected to the reduction gear set 102, while the other end meshes with the spur bevel gear 104. With this design, when the fifth power source 101 is operating, its power is transmitted through the reduction gear set 102 to the bevel gear shaft 103, ultimately converting it into rotational motion on the spur bevel gear 104, driving the neck connecting frame 105 to swing left and right.

[0163] In order to ensure precise control of the angle of the neck's left and right swing, the design of the spur bevel gear 104 is crucial. In addition, the design of the bevel gear shaft 103 enables the entire assembly to complete complex power transmission tasks in a compact space.

[0164] In one embodiment, see Figure 12 and Figure 13 The neck pitch assembly includes a sixth power source 106, a main gear 107 and a slave gear 108 with partial gear teeth. The sixth power source 106 is connected to the main gear 107; the main gear 107 is meshed with the slave gear 108, and the slave gear 108 is connected to the neck connecting frame 105 through a pin.

[0165] In this embodiment, the neck pitch assembly consists of a sixth power source 106, a master gear 107, and a slave gear 108 with partial gear teeth. Sixth power source 106 directly drives master gear 107, which in turn meshes with slave gear 108. Notably, only a portion of slave gear 108 has teeth, which limits the range of neck pitch angles and ensures the authenticity and accuracy of the simulated movements.

[0166] The slave gear 108 is connected to the neck connecting frame 105 through a pin, so that the rotational motion of the master gear 107 can be converted into the up and down pitching motion of the neck connecting frame 105. This design not only simplifies the mechanism, but also improves the overall reliability.

[0167] This design allows the neck to swing independently, pitch independently, or both, authentically simulating a variety of natural neck postures. The entire system is compact, making it suitable for simulating small necks and smaller sizes, meeting space-constrained applications. A well-designed retaining structure and housing enhance product durability and reduce the risk of damage.

[0168] It is suitable for developing the neck mechanism of small pet robots such as three-month-old red pandas, as well as other robotic projects that need to simulate the neck behavior of biological organisms.

[0169] In this embodiment, the fifth power source 101 and the sixth power source 106 are respectively connected to the mounting frame.

[0170] In this embodiment, the left and right swinging is completed by the neck swinging assembly, wherein the reduction gear set 102 provides a reduction ratio to enhance the output torque; the bevel gear shaft 103 and the straight bevel gear 104 realize the change of the movement direction and finely control the amplitude of the left and right swinging of the neck through the reduction ratio.

[0171] Pitching is controlled by the neck pitch assembly. Considering the heavy weight of the head, a multi-stage reduction design increases the output torque during pitching. The partial gear design of the follower gear 108, a non-full-cycle gear, limits the pitch angle of the neck, ensuring smooth and natural movement.

[0172] The neck swing assembly and the neck pitch assembly can perform back-and-forth reciprocating motion within a fixed range instead of rotating, thereby achieving precise position control.

[0173] In addition, another embodiment of the bionic mechanism for simulating neck movement is provided. Figure 14 and Figure 15 The neck swinging assembly includes a swinging hollow shaft 109, a swinging connecting frame 1010, a swinging motion shaft 1011, a first connecting pin 1012, a second connecting pin 1013, a third connecting pin 1014, a fourth connecting pin 1015 and a swinging drive shaft 1016; the surface of the swinging hollow shaft 109 is provided with a first spiral guide groove 1091, the first connecting pin 1012 is inserted in the first spiral guide groove 1091, the swinging hollow shaft 109 is placed in the swinging connecting frame 1010, and the neck power assembly is connected to the swinging hollow shaft 109; the swinging drive shaft 1016 is connected to the swinging motion shaft 1011 through the second connecting pin 1013; the swinging drive shaft 1016 is assembled in the neck connecting frame 105; the swinging connecting frame 1010 is connected to the neck connecting frame 105 through the third connecting pin 1014; the swinging drive shaft 1016 is connected to the neck connecting frame 105 through the fourth connecting pin 1015.

[0174] In another embodiment, see Figure 14 and Figure 15 A swing guide groove 10101 is provided in the swing connecting frame 1010; when the neck power assembly drives the swing hollow shaft 109 to rotate, the first connecting pin 1012 moves back and forth along the swing guide groove 10101.

[0175] In another embodiment, see Figure 14 and Figure 15 A swing guide groove 10102 is provided in the swing connecting frame 1010 , and two swing guide grooves 10101 are provided in the swing guide groove 10102 .

[0176] Swinging hollow shaft 109: Its surface is provided with spiral guide grooves, which is one of the key components to achieve left and right swing.

[0177] Swing connecting frame 1010: A swing guide groove 10101 and a swing guide groove 10102 (including two swing guide grooves 10101) are provided inside, which are used to limit and guide the movement path of the swing hollow shaft 109, thereby controlling the back and forth reciprocating movement of the first connecting pin 1012.

[0178] Swinging motion shaft 1011: connected to the swing driving shaft 1016 through the second connecting pin 1013, working together to achieve the swing of the neck.

[0179] The first connecting pin 1012 , the second connecting pin 1013 , the third connecting pin 1014 , and the fourth connecting pin 1015 are used to fix and guide the relative movement between different components.

[0180] Swing drive shaft 1016: The part directly driven by the power source, which transmits power through the swing motion shaft 1011 and ultimately affects the swinging movement of the neck.

[0181] The power transmission process is as follows:

[0182] The neck power assembly first drives the swing hollow shaft 109 to rotate.

[0183] The first connecting pin 1012 is inserted into the spiral guide groove of the swing hollow shaft 109 . When the swing hollow shaft 109 rotates, the first connecting pin 1012 moves back and forth along the swing guide groove 10101 in the swing connecting frame 1010 .

[0184] The swing drive shaft 1016 is connected to the swing motion shaft 1011 through the second connecting pin 1013, ensuring the stability and controllability of the swing motion.

[0185] The swing drive shaft 1016 is assembled in the neck connecting frame 105. At the same time, the swing connecting frame 1010 and the neck connecting frame 105 are connected by a third connecting pin 1014 to ensure the stability of the overall structure.

[0186] Finally, through the fourth connecting pin 1015, the swing drive shaft 1016 is connected to the neck connecting frame 105, thereby achieving precise control of the neck position.

[0187] The specific implementation steps are as follows:

[0188] Start the neck power assembly to make the swing hollow shaft 109 start to rotate.

[0189] As the swing hollow shaft 109 rotates, the first connecting pin 1012 moves back and forth in the swing guide groove 10101 in the swing connecting frame 1010, driving the entire swing motion shaft 1011 to perform corresponding movement.

[0190] This movement is transmitted to the swing drive shaft 1016 through the swing motion shaft 1011 and the second connecting pin 1013, thereby affecting the position change of the neck.

[0191] During this process, the third connecting pin 1014 and the fourth connecting pin 1015 ensure that the components can move flexibly without being separated or misaligned.

[0192] Through optimized design, the entire mechanism operates efficiently within confined spaces, making it ideal for simulating neck movements in young or small animals. No additional initial limits or reset mechanisms are required, and the system maintains a naturally relaxed state even when the motors are not powered, achieving a more realistic performance. This design is applicable not only to pet robots like pandas, cats, and dogs, but also to other scenarios requiring two perpendicular rotation mechanisms, such as gimbals.

[0193] In summary, another embodiment provides a compact, comprehensive, and easy-to-implement bionic mechanism design for simulating neck movement. This design not only takes into account the accuracy and stability of mechanical movement, but also takes into account flexibility and adaptability in practical applications.

[0194] In this alternative embodiment, see Figure 14 and Figure 15 The neck pitch assembly includes a seventh power source 1017, a pitch hollow shaft 1018, a pitch connecting frame 1019, a pitch motion shaft 1020, a fifth connecting pin 1021, a sixth connecting pin 1022, a seventh connecting pin 1023, an eighth connecting pin 1024 and a pitch driving shaft 1025; a second spiral guide groove 10181 is provided on the surface of the pitch hollow shaft 1018, and the fifth connecting pin 1021 is inserted into the second spiral guide groove 10181. The shaft 1018 is placed in the pitch connecting frame 1019, and the seventh power source 1017 is connected to the pitch hollow shaft 1018; the pitch drive shaft 1025 is connected to the pitch motion shaft 1020 through the sixth connecting pin 1022; the pitch drive shaft 1025 is assembled in the neck connecting frame 105; the pitch connecting frame 1019 is connected to the neck connecting frame 105 through the eighth connecting pin 1024; the pitch drive shaft 1025 is connected to the neck connecting frame 105 through the eighth connecting pin 1024.

[0195] In this alternative embodiment, see Figure 14 and Figure 15 The pitch connecting frame 1019 is provided with a pitch guide groove 10191 ; when the seventh power source 1017 drives the pitch hollow shaft 1018 to rotate, the fifth connecting pin 1021 moves back and forth along the pitch guide groove 10191 .

[0196] In this alternative embodiment, see Figure 14 and Figure 15 The pitch connecting frame 1019 is provided with a pitch guide groove 10192 , and the pitch guide groove 10192 is provided with two pitch guide grooves 10191 .

[0197] Specifically, the seventh power source 1017 is used to drive the entire pitch system, and is usually a motor or a servo.

[0198] The pitch hollow shaft 1018 has a spiral guide groove on its surface and is one of the key components for achieving up and down pitch.

[0199] A pitch guide groove 10191 and a pitch guide groove 10192 (including two pitch guide grooves 10191 ) are provided inside the pitch connecting frame 1019 to limit and guide the movement path of the fifth connecting pin 1021 , thereby controlling the forward and backward reciprocating movement of the pitch hollow shaft 1018 .

[0200] The pitch motion axis 1020 is connected to the pitch drive axis 1025 via the sixth connecting pin 1022 , and they work together to achieve the up and down pitch of the neck.

[0201] The fifth connecting pin 1021 , the sixth connecting pin 1022 , the seventh connecting pin 1023 , and the eighth connecting pin 1024 are respectively used to fix and guide the relative movement between different components.

[0202] Pitch drive shaft 1025: The part directly driven by the power source, which transmits power through the pitch motion shaft 1020 and ultimately affects the pitch movement of the neck.

[0203] The power transmission process is as follows:

[0204] The seventh power source 1017 is started, causing the pitch hollow shaft 1018 to start rotating.

[0205] The fifth connecting pin 1021 is inserted into the spiral guide groove of the pitch hollow shaft 1018 . When the pitch hollow shaft 1018 rotates, the fifth connecting pin 1021 moves back and forth along the pitch guide groove 10191 in the pitch connecting frame 1019 .

[0206] The pitch driving shaft 1025 is connected to the pitch motion shaft 1020 via the sixth connecting pin 1022, thereby ensuring the stability and controllability of the pitch motion.

[0207] The pitch drive shaft 1025 is assembled in the neck connecting frame 105. At the same time, the pitch connecting frame 1019 is connected to the neck connecting frame 105 through the eighth connecting pin 1024 to ensure the stability of the overall structure.

[0208] Finally, through the eighth connecting pin 1024, the pitch drive axis 1025 is connected to the neck connecting frame 105, thereby achieving precise control of the neck position.

[0209] The specific implementation steps are as follows:

[0210] The seventh power source 1017 is started to cause the pitch hollow shaft 1018 to start rotating.

[0211] As the pitch hollow shaft 1018 rotates, the fifth connecting pin 1021 moves back and forth in the pitch guide slot 10191 in the pitch connecting frame 1019, driving the entire pitch motion shaft 1020 to perform corresponding movement.

[0212] This movement is transmitted to the pitch drive axis 1025 through the pitch motion axis 1020 and the sixth connecting pin 1022, thereby affecting the position change of the neck.

[0213] During this process, the seventh connecting pin 1023 and the eighth connecting pin 1024 ensure that the components can move flexibly without being separated or misaligned.

[0214] Through optimized design, the entire mechanism can operate efficiently in a limited space, making it very suitable for simulating neck movements of young or small animals. There is no need to set additional initial limits or reset structures, and the mechanism can maintain a natural and relaxed state when the motor is not powered, which is closer to real performance. It can not only be applied to pet robots such as pandas, cats, dogs, etc., but can also be expanded to other scenarios that require two relatively vertical rotation mechanisms, such as gimbals and other equipment.

[0215] Pitch connecting frame 1019 is equipped with a pitch guide slot 10191 and a pitch guide slot 10192 (including two pitch guide slots 10191). When the seventh power source 1017 drives the pitch hollow shaft 1018 to rotate, the fifth connecting pin 1021 moves back and forth along the pitch guide slot 10191, thereby achieving the up and down pitch movement of the neck. The precise coordination between the pitch hollow shaft 1018, the pitch motion axis 1020, the pitch drive axis 1025, and each connecting pin ensures the smooth operation and reliable performance of the entire system.

[0216] In summary, another embodiment provides a bionic mechanism design specifically for neck pitching motion. This design not only takes into account the precision and stability of mechanical motion, but also takes into account flexibility and adaptability in practical applications, making it particularly suitable for simulating neck movements in young children. This design can achieve highly realistic simulation effects, meeting the needs of various application scenarios.

[0217] In this alternative embodiment, the neck power assembly includes an eighth power source 1026 .

[0218] In other embodiments, the linear-rotational mechanism mentioned above can be replaced by other connecting rod mechanisms, such as cam springs / eccentric wheel springs; the rotation-linear transmission can also be replaced by a screw slider; the transmission from the motor to the mechanism can be a direct drive or a synchronous pulley reduction drive.

[0219] The above-mentioned bionic mechanism for simulating neck movement realizes a compact spatial layout and high-precision motion control by integrating a neck power component, a neck swing component and a neck pitch component, and cleverly connecting these components to a carefully designed neck connecting frame 105. The neck power component drives the neck swing component to complete the left and right swing, while the neck pitch component is responsible for the up and down pitch movement. The two work together to simulate the natural movement of a real neck. The entire system utilizes a limited position structure and a protective mechanism of the shell 1, which not only effectively prevents damage caused by human use, but also ensures the precise coordination and stable operation of the various components, thereby significantly improving the simulation effect and service life of the robot, while enhancing the overall stability and reliability of the system. The compact design adapts to the size requirements of young or small bodies, making this bionic neck mechanism suitable for a wider range of application scenarios while ensuring performance.

[0220] In one embodiment, the above-mentioned bionic mechanism 100 also includes a bionic mechanism for simulating limb movement, which is used to simulate the movement of the limbs. Specifically, a bionic mechanism for simulating limb movement includes a shell 1, a bionic upper limb 202, a bionic lower limb 203, an upper limb power component and an upper limb drive component. The bionic lower limb 203 is connected to the shell 1, the bionic upper limb 202 is connected to the upper limb drive component; the upper limb drive component is connected to the upper limb power component; the upper limb power component and the bionic upper limb 202 are respectively assembled on the shell 1.

[0221] Specifically, housing 1, as the foundational structure of the entire bionic mechanism, not only provides space for mounting and protecting internal components but also ensures the overall structure's compactness and aesthetics through its design. Housing 1 is typically made of a strong yet lightweight material, such as aluminum alloy or high-strength plastic, to ensure sufficient mechanical strength while reducing weight.

[0222] The bionic upper limb 202 is designed to mimic the function and movement patterns of a forelimb (e.g., a human arm or a cat's front leg). It is connected to the upper limb drive assembly via a specific connection (e.g., a pin connection), allowing it to perform multi-directional and multi-dimensional movements, such as flexion, extension, and swing, to achieve complex motion simulation.

[0223] Bionic lower limb 203 is also modeled after the hind limb, aiming to provide support and mobility. Bionic lower limb 203 is directly attached to housing 1 and may be made of a flexible material to increase its adaptability and stability on varying terrains. This design helps improve the robot's mobility and environmental adaptability.

[0224] The upper limb power assembly, the energy source for the bionic mechanism, comprises a ninth power source 204 (e.g., a motor, hydraulic system, etc.) and a mounting bracket 205. The ninth power source 204 is secured to the housing 1 via the mounting bracket 205, effectively reducing unnecessary space while ensuring efficient and stable power transmission. The upper limb power assembly is responsible for providing the required kinetic energy to the upper limb drive assembly, driving the bionic upper limb 202 and bionic lower limb 203 to perform the desired movements.

[0225] The upper limb drive assembly is a key component that converts energy provided by the upper limb power assembly into specific movements of the bionic upper limb 202 and bionic lower limb 203. It may include various mechanical structures, such as a crank-connecting rod assembly or a rotating wheel 208 with an eccentric hole 2081. These designs can precisely control the trajectory and speed of the bionic limbs, thereby achieving highly realistic limb movements.

[0226] In summary, this bionic mechanism, through the ingenious combination of housing 1, bionic upper limb 202, bionic lower limb 203, upper limb power assembly, and upper limb drive assembly, not only achieves efficient simulation of both form and function, but also provides excellent protection while maintaining a compact design and ensuring high-precision motion control. This design enables the bionic robot to excel in a variety of application scenarios, whether in scientific research, educational demonstrations, or practical operational tasks.

[0227] In one embodiment, see Figures 16 and 17 The upper limb power assembly includes a ninth power source 204 and a mounting bracket 205 , and the ninth power source 204 is assembled on the housing 1 through the mounting bracket 205 .

[0228] Specifically, the power source is the energy provider of the entire bionic mechanism. In one embodiment, it is a motor or other power plant that can produce mechanical motion.

[0229] Mounting bracket 205 is used to securely attach ninth power source 204 to housing 1. This design not only ensures the stability and safety of ninth power source 204 but also helps reduce noise and vibration, improving overall system efficiency. Mounting bracket 205 securely attaches ninth power source 204 to housing 1, providing continuous and stable power output to the upper limb drive assembly.

[0230] In one embodiment, see Figures 16 and 17 The upper limb drive assembly includes a crank-connecting rod assembly, which includes a first connecting rod 206 and a second connecting rod 207. The first connecting rod 206 is connected to the ninth power source 204; one end of the second connecting rod 207 is connected to the other end of the first connecting rod 206; the other end of the second connecting rod is connected to the bionic upper limb 202 through a pin.

[0231] The first connecting rod 206 is directly connected to the ninth power source 204. When the ninth power source 204 is started, it drives the first connecting rod 206 to rotate or move linearly.

[0232] One end of the second connecting rod 207 is connected to the other end of the first connecting rod 206. This connection allows the two connecting rods to transmit force and movement while adapting to certain angle changes.

[0233] The other end of the second connecting rod 207 is connected to the bionic upper limb 202 through a pin. In this way, the second connecting rod 207 can convert the power from the ninth power source 204 into a swing or flexion and extension movement of the bionic upper limb 202.

[0234] The design of this crank-connecting rod assembly effectively simulates the complex motion trajectory of the limbs, making the movement of the bionic mechanism more natural and smooth.

[0235] In one embodiment, see Figures 16 and 17 The bionic upper limb 202 is connected to the housing 1 via a pin. The bionic upper limb 202 is connected to the housing 1 via a pin. This not only ensures that the bionic upper limb 202 can move freely within a certain range, but also ensures that it remains stable throughout the movement process without deflection or loosening.

[0236] In one embodiment, see Figures 18 and 19 The above-mentioned bionic lower limb 203 is connected to the shell 1 through a connecting frame 2011.

[0237] In one embodiment, the bionic lower limb 203 is not directly attached to the housing 1 via pins, but rather uses a more flexible and stable connection method—connected to the housing 1 via a connecting frame 2011. This method not only improves the stability of the bionic lower limb 203, but also increases its range of motion and flexibility, allowing it to walk or move more naturally in various terrains and conditions.

[0238] In another embodiment, see Figures 20 to 21 The above-mentioned upper limb driving assembly includes a connecting rod assembly, which includes a rotating wheel 208, a third connecting rod 209, and a fourth connecting rod 2010. The rotating wheel 208 is provided with an eccentric hole 2081, and one end of the third connecting rod is connected to the eccentric hole 2081 through a pin; the rotating wheel 208 is connected to the upper limb power assembly; the other end of the third connecting rod is connected to one end of the fourth connecting rod 2010; the other end of the fourth connecting rod 2010 is connected to the bionic upper limb 202.

[0239] In another embodiment, see Figures 20 to 21 The other end of the third connecting rod is connected to one end of the fourth connecting rod 2010 through a pin.

[0240] In another embodiment, see Figures 20 to 21 The other end of the fourth connecting rod 2010 is connected to the bionic upper limb 202 through a pin.

[0241] Specifically, the rotating wheel 208 is a core component of the connecting rod assembly, directly connected to the upper limb power assembly. An eccentric hole 2081 is provided on the rotating wheel 208. This design allows the rotating wheel 208 to produce an asymmetric motion trajectory when it rotates, thus providing a complex motion pattern for the subsequent connecting rod.

[0242] One end of the third connecting rod 209 is connected to the eccentric hole 2081 on the rotating wheel 208 by a pin. This connection allows the third connecting rod 209 to swing or move according to the rotation of the rotating wheel 208, converting the rotational motion of the rotating wheel 208 into linear or curved motion.

[0243] One end of the fourth link 2010 is connected to the other end of the third link 209 via a pin. This design enables force and motion to be transmitted from the third link 209 to the fourth link 2010, and ultimately to the bionic upper limb 202, achieving more complex and natural motion simulation.

[0244] Specifically, the rotating wheel 208 is connected to the upper limb power assembly and receives power from the ninth power source 204; one end of the third connecting rod 209 is fixed to the eccentric hole 2081 of the rotating wheel 208 and moves with the rotation of the rotating wheel 208; the other end of the third connecting rod 209 is connected to the fourth connecting rod 2010 to form a movable joint, ensuring a smooth transition between the connecting rods; the other end of the fourth connecting rod 2010 is connected to the bionic upper limb 202 through a pin, converting all the above actions into specific movements of the bionic upper limb 202.

[0245] In another embodiment, the mounting bracket 205 includes a first mounting bracket 205 and a second mounting bracket 205. The upper limb power assembly, which is the driving source of the entire motion system, is securely mounted to the torso housing 1 via the first mounting bracket 205 and the second mounting bracket 205. This securing method ensures that the upper limb power assembly will not shift or loosen during operation, thereby ensuring the stability and reliability of the entire system.

[0246] When the upper limb power assembly is activated, it drives the rotating wheel 208 directly connected to it to rotate. It is worth noting that this rotating wheel 208 has an eccentric hole 2081, which means that its rotation center does not coincide with the geometric center, which will result in an asymmetric movement pattern. The eccentric hole 2081 of the rotating wheel 208 is connected to one end of the third connecting rod 209 via a pin. The other end of the third connecting rod 209 is connected to the fourth connecting rod 2010 via another pin. One end of the fourth connecting rod 2010 is connected to the third connecting rod 209, while the other end is designed with a stepped shaft for subsequent connection.

[0247] The other end of the fourth connecting rod 2010 (i.e., the end with the stepped shaft) is designed to fit within and rotate freely within the internal groove of the bionic upper limb 202. This design allows the fourth connecting rod 2010 to not only effectively transmit power from the upper limb power assembly but also allows the bionic upper limb 202 to flexibly swing as needed.

[0248] In order to achieve more natural movement simulation, the bionic lower limb 203 is not completely fixed, but is fixed to the housing 1 via a connecting frame 2011, so that the bionic lower limb 203 can rotate around the connecting frame 2011 at a certain angle. This design gives the bionic lower limb 203 a larger range of motion and more realistic movement effects.

[0249] In summary, when the upper limb power assembly begins operating and drives the rotating wheel 208 to rotate, the eccentric hole 2081 on the rotating wheel 208 is connected to the third connecting rod 209. This rotation of the rotating wheel 208 causes the third connecting rod 209 to produce a complex motion trajectory. The movement of the third connecting rod 209 is then transmitted to the fourth connecting rod 2010 via the pin, ultimately allowing the bionic upper limb 202 to swing around the connection point in a relatively natural manner. This design cleverly utilizes simple mechanical principles to achieve complex and smooth motion simulation.

[0250] In one embodiment, see Figures 22 to 23 The bionic lower limb 203 is assembled on the shell 1 through pins. The bionic lower limb 203 is also assembled on the shell 1 through pins. Such a design allows the bionic lower limb 203 to withstand greater pressure and impact, thereby improving the stability and durability of the bionic mechanism.

[0251] In the first and second embodiments, the materials of the bionic lower limb 203 include but are not limited to flexible materials. The selection and application of these materials not only enhance the appearance authenticity of the robot, but also greatly improve the smoothness and naturalness of its movement.

[0252] The bionic mechanism of this embodiment can be used in the limb expression mechanism of robots such as pet cats, dogs, guinea pigs, and pigs, other robots with limb mechanisms, and other scenarios that require swinging back and forth, such as rocker arms.

[0253] The above-mentioned bionic mechanism for simulating limb movement has achieved compact design, efficient protection and high-precision motion control through carefully designed component layout and integration. Specifically, the outer shell 1 not only serves as a support frame for the overall structure, but also provides physical protection for the internal components; the bionic upper limb 202 is directly connected to the upper limb drive component, ensuring the efficiency of force transmission and the accuracy of movement execution; the upper limb power component is responsible for providing the necessary power for the entire system, and is reasonably placed in the outer shell 1 to save space and avoid the existence of redundant components, thereby making the overall structure more compact; the bionic lower limb 203 is firmly connected to the outer shell 1, ensuring stability and reliability during movement. This design method cleverly utilizes limited space to achieve effective protection of each component, and at the same time ensures that the bionic mechanism can achieve high-precision motion simulation through the close cooperation of power and upper limb drive components, which is suitable for fine operation and dynamic response in complex environments.

[0254] In one embodiment, the above-mentioned bionic mechanism 100 also includes a bionic mechanism for simulating ear movement, which is used to simulate the swing of the ear; the bionic mechanism for simulating ear movement includes a shell 1, an ear power component, an ear driving component, and a bionic ear 307, and the ear power component is connected to the ear driving component; the ear driving component is connected to the bionic ear 307; the ear power component is assembled on the shell 1.

[0255] Specifically, the housing 1 serves as the supporting frame of the entire bionic mechanism, providing not only a mounting location for other components but also necessary protection from the external environment. It is typically made of a lightweight yet strong material, such as aluminum alloy or high-strength plastic, ensuring the stability and durability of the overall structure.

[0256] The ear drive assembly is responsible for converting the energy provided by the tenth power source 302 into specific mechanical motion. It primarily comprises a third eccentric 303, a transmission bracket 308, and a motion bracket 304. The third eccentric 303 is connected to the tenth power source 302 and, via the transmission bracket 308, converts rotational motion into linear reciprocating motion. The motion bracket 304 is connected to the bionic ear 307 at both ends, enabling the bionic ear 307 to oscillate. Specifically, the motion bracket 304 is equipped with a sliding groove and an arcuate slot 3041, as well as a pin and spring 305 for securing the bionic ear 307. These features work together to ensure the precise and flexible movement of the bionic ear 307.

[0257] The bionic ear 307 is the final actuator, directly mimicking the shape and movement of the ear. One end of the bionic ear 307 is positioned within the arcuate slot 3041 of the motion bracket 304 via a third sphere 3071, while the other end is secured to the housing 1 via a second pin 306. This ensures ample range of motion while preventing damage from excessive shaking. Furthermore, to further enhance the coordination of the bionic ear 307's movements, two ear power components and two ear drive components can be used to support simultaneous movement of both ears.

[0258] In summary, this embodiment organically combines the ear power component, ear drive component and bionic ear 307 through clever design, achieving compact design requirements, good mechanical protection and high-precision motion control, significantly improving the simulation effect and service life of the robot, and enhancing the stability and reliability of the system.

[0259] In one embodiment, see Figure 24 The above-mentioned ear power assembly includes a bracket 301 and a tenth power source 302. The tenth power source 302 is assembled on the housing 1 through the bracket 301; the tenth power source 302 is connected to the ear driving assembly.

[0260] The ear drive assembly is the core component that drives the entire bionic mechanism. The tenth power source 302 is securely mounted to the housing 1 via a bracket 301 and provides power for the ear drive assembly. The tenth power source 302 can be a motor or other energy conversion device. The appropriate type of tenth power source 302 is selected based on the actual application requirements.

[0261] In one embodiment, see Figures 25 to 26 The ear driving assembly includes a third eccentric wheel 303, a transmission bracket 308, and a motion bracket 304; the third eccentric wheel 303 is connected to the tenth power source 302; the third eccentric wheel 303 is connected to one end of the transmission bracket 308; the other end of the transmission bracket 308 passes through the motion bracket 304; and both ends of the motion bracket 304 are respectively connected to the bionic ear 307.

[0262] The third eccentric 303 is a key component in power conversion, directly connected to the tenth power source 302 (e.g., a motor). When the tenth power source 302 is activated, the third eccentric 303 rotates accordingly. Its uneven mass distribution generates periodic torque changes, which is the basis for driving the entire bionic mechanism.

[0263] One end of the transmission bracket 308 is connected to the third eccentric 303 via a pin or other means, while the other end passes through a slot in the motion bracket 304. As the third eccentric 303 rotates, the transmission bracket 308 is driven to reciprocate. This design effectively separates linear motion from rotational motion and transmits it to the motion bracket 304.

[0264] In one embodiment, see Figures 25 to 26 The above-mentioned motion bracket 304 is provided with a slide groove, the other end of the transmission bracket 308 passes through the slide groove, and the third eccentric wheel 303 drives the transmission bracket 308, and the transmission bracket 308 drives the motion bracket 304 to reciprocate.

[0265] The motion bracket 304 is the core component that enables the bionic ear 307 to oscillate. It features a slideway that guides the movement of the transmission bracket 308. The two ends of the motion bracket 304 are connected to the bionic ear 307, ensuring precise oscillation along a predetermined path. Furthermore, to ensure smooth and stable movement, the motion bracket 304 is typically made of a lightweight, high-strength material, such as aluminum alloy or engineering plastic.

[0266] When the tenth power source 302 is activated, the third eccentric 303 begins to rotate. Due to the design characteristics of the third eccentric 303, it drives the connected transmission bracket 308 to perform periodic reciprocating motion. During this process, the transmission bracket 308 slides along the sliding groove of the motion bracket 304, converting the rotational motion of the third eccentric 303 into linear reciprocating motion of the motion bracket 304.

[0267] Driven by the transmission bracket 308, the motion bracket 304 moves back and forth in a set direction. Because the bionic ears 307 are connected to each end of the motion bracket 304, the ears swing in response to the motion of the motion bracket 304. This design not only effectively simulates ear movement but also ensures natural, smooth, and highly precise control.

[0268] To further enhance the coordination and synchronization of the bionic ear 307's movements, in certain applications, two independent but synchronized ear power and drive systems can be configured. This allows the two bionic ears 307 to achieve more realistic interaction, enhancing the overall robot's fidelity and interactive experience.

[0269] In summary, this embodiment provides a compact and powerful ear drive component design solution, which cleverly utilizes the collaborative relationship between the third eccentric wheel 303, the transmission bracket 308 and the motion bracket 304, successfully achieves a high degree of imitation of complex biological motion patterns, and has important practical application value and technology promotion prospects.

[0270] In one embodiment, see Figures 25 to 26 Both ends of the above-mentioned motion bracket 304 are provided with arc grooves 3041 , and one end of the bionic ear 307 is provided with a third sphere 3071 , which is placed in the arc groove 3041 .

[0271] Specially designed arcuate grooves 3041 are located at both ends of the motion bracket 304. These grooves accommodate the third sphere 3071 at the end of the bionic ear 307. By placing the third sphere 3071 within these grooves, a flexible connection is achieved between the motion bracket 304 and the ear frame. When the motion bracket 304 performs reciprocating linear motion, the arcuate grooves 3041 guide the third sphere 3071 along a predetermined path, thus allowing the bionic ear 307 to produce a natural swinging motion.

[0272] In one embodiment, see Figures 25 to 26 The bionic ear 307 is connected to a second pin 306 , and the second pin 306 is connected to the housing 1 .

[0273] A second pin 306, fixed to the housing 1, passes through the middle of the bionic ear 307. This not only provides a stable axis of rotation but also ensures the ear can swing freely within a specified range. This design allows the bionic ear 307 to rotate about the second pin 306, simulating the dynamic characteristics of a real ear. The second pin 306 is directly connected to the housing 1, enhancing the stability of the entire device.

[0274] In one embodiment, see Figures 25 to 26 The above-mentioned motion bracket 304 is provided with a mounting hole, a second pin is inserted into the mounting hole, and the second pin is fixed on the housing 1.

[0275] Motion bracket 304 has mounting holes at specific locations for receiving a second pin. This second pin, also fixed to housing 1, provides additional support points for motion bracket 304, enabling stable reciprocating motion. The location and number of the second pins are determined based on actual needs to ensure that motion bracket 304 remains balanced throughout its motion and prevents unnecessary shifting or tilting.

[0276] In one embodiment, see Figures 25 to 26 The outer periphery of the second pin is covered with a spring 305.

[0277] A spring 305 is mounted around the outer periphery of the second pin. This spring 305 primarily absorbs vibration and provides the necessary cushioning force during the reciprocating motion of the motion bracket 304. The presence of spring 305 helps reduce wear between mechanical components, extending their service life. It also ensures smoother movement and reduced noise. Furthermore, spring 305 helps maintain appropriate tension between the motion bracket 304 and the bionic ear 307, ensuring consistent contact between them.

[0278] In one embodiment, see Figures 25 to 26 , the number of the above-mentioned bionic ears 307 is two.

[0279] In one embodiment, see Figures 25 to 26 , the number of the above-mentioned ear power components and ear drive components is at least one.

[0280] In summary, in this embodiment, the natural swinging effect of the bionic ear 307 is achieved through the clever use of components such as the arcuate slot 3041, the third sphere 3071 structure, the pin, and the spring 305. This design not only enhances the fidelity of the mechanical ear's movements but also demonstrates the ingenuity of engineering design and the technical implementation capabilities. These details are crucial for understanding and building efficient biomimetic mechanical systems.

[0281] Specifically, after the tenth power source 302 is started, the third eccentric wheel 303 begins to rotate. Due to its eccentric design, the third eccentric wheel 303 drives the motion bracket 304 to perform reciprocating linear motion. This design cleverly converts the rotational motion of the motor into linear motion.

[0282] The reciprocating linear motion of the motion bracket 304 is converted into reciprocating swinging of the bionic ear 307 around the second pin 306 through the cooperation between the arc-shaped slot 3041 on the motion bracket 304 and the third sphere 3071 at the end of the bionic ear 307. During this process, the spring 305 serves to buffer vibrations and ensure smooth motion.

[0283] In order to further enhance the realism of the movements of the bionic ear 307, the selection of ear materials and surface treatment may be considered in the design. For example, a soft and elastic material may be used to make the ear skin layer, so that it not only looks closer to a real ear but also provides a realistic experience in touch.

[0284] In summary, this embodiment demonstrates an innovative bionic ear 307 motion mechanism. Through precise power transmission and mechanical structure design, it successfully achieves a high degree of imitation of the complex motion patterns of a biological ear, demonstrating its high practical value and potential for technological dissemination. This design is not only applicable in the field of entertainment robotics, but also provides users with a richer and more realistic interactive experience.

[0285] The above-mentioned bionic mechanism for simulating ear movement achieves a compact design by cleverly integrating the ear power component and the ear drive component into the shell 1. It not only provides good protection against the external environment, but also ensures high-precision motion control. Specifically, the ear power component is assembled on the shell 1 and directly drives the ear drive component connected to the inside of the shell 1, and the ear drive component is then connected to the bionic ear 307. This layout reduces the impact of external factors on key components and improves the stability and reliability of the system. At the same time, through optimized design and precise assembly, the entire system can operate efficiently in a compact space, which not only ensures the natural and realistic swinging effect of the bionic ear 307, but also extends its service life, thereby significantly improving the overall simulation effect and operational stability of the robot. Such an integrated design concept not only meets the requirements of modern robots for exquisite appearance and reliable performance, but also lays the foundation for its wide application in various application scenarios.

[0286] As can be seen, the bionic mechanism 100 mentioned in this embodiment is a bionic robot with a 1:1 replica of a giant panda's appearance. It features four core modules: a flexible sensory skin, a multi-jointed skeleton, an emotional computing brain, and a VR / AR twin. Users interact with it by touching, looking, and speaking, and the panda provides instant feedback through body movements, facial expressions, voice, and VR-synchronized avatars, forming a continuously evolving closed loop of emotional companionship.

[0287] In one embodiment, the bionic mechanism 100 further includes a flexible tactile sensor, which includes a bendable sensing sheet that conforms to the curved surfaces of the head, neck, back, abdomen, limbs, and tail of the bionic mechanism 100 .

[0288] Specifically, the bionic mechanism 100 further includes a tactile component described in Chinese patent CN 119200857 B, which fits the curved surfaces of the head, neck, back, abdomen, limbs and tail of the bionic mechanism 100 .

[0289] The aforementioned interaction method for the bionic mechanism 100 acquires multimodal data, including tactile, visual, auditory, and posture information, and utilizes an affective computing model to perform affective evaluation and error calculation to generate an affective vector. Based on this vector, the bionic mechanism 100 is driven to execute action responses, such as eye movement and eyelid opening and closing. This method integrates a flexible tactile sensor network, a highly realistic external structure, and an interaction mechanism based on multimodal emotion recognition. This method not only enhances the bionic mechanism's ability to perceive external stimuli and the realism of emotional expression, but also supports real-time, synchronized feedback with the virtual reality environment, enabling the bionic mechanism to provide a more natural and immersive user experience during interaction, thereby achieving highly realistic and dynamic emotional communication and behavioral simulation.

[0290] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A bionic mechanism interaction method, characterized in that: include: Acquire tactile, visual, auditory, and posture-related information to obtain multimodal information; Performing emotion calculation based on the multimodal information to obtain emotion-related information; The bionic mechanism is driven to make corresponding motion responses according to the emotion-related information, wherein the motion responses include the rotation of the bionic eyeball and the opening and closing of the bionic eyelid.

2. The interaction method of a bionic mechanism according to claim 1, characterized in that: The motion response also includes pitch and swing of the bionic neck.

3. The interaction method of a bionic mechanism according to claim 1, characterized in that: The motion response also includes the swinging of the bionic upper limb and the bionic lower limb.

4. The interaction method of a bionic mechanism according to claim 1, characterized in that: The motion response also includes the swinging of the bionic ear.

5. The interaction method of a bionic mechanism according to any one of claims 1 to 4, characterized in that: The bionic mechanism includes a bionic mechanism for simulating eye movement, and the bionic mechanism for simulating eye movement includes: a shell, a bionic eyeball, a bionic eyelid, an eyeball rotation component and an eyelid movement component, the bionic eyelid includes a bionic upper eyelid and a bionic lower eyelid; the eyeball rotation component and the eyelid movement component are respectively assembled on the shell, and the eyeball rotation component includes an eyeball power component and an eyeball drive component; the eyeball power component is connected to the shell; the eyeball drive component is connected to the eyeball power component, and the eyeball drive component is connected to the bionic eyeball; the eyelid movement component includes an eyelid power component and an eyelid drive component, and the eyelid power component is connected to the shell; the eyelid drive component is respectively connected to the eyelid power component, the bionic upper eyelid and the bionic lower eyelid.

6. The bionic mechanism interaction method according to claim 5, characterized in that: The bionic mechanism also includes a bionic mechanism that simulates neck movement, and the bionic mechanism that simulates neck movement includes: a neck power component, a neck swing component, and a neck pitch component; the neck power component is connected to the neck swing component; the neck swing component and the neck pitch component are respectively connected to the neck connecting frame.

7. The interaction method of a bionic mechanism according to claim 6, characterized in that: The bionic mechanism also includes a bionic mechanism for simulating limb movement, and the bionic mechanism for simulating limb movement includes: a bionic upper limb, a bionic lower limb, an upper limb power assembly and an upper limb drive assembly. The bionic lower limb is connected to the shell, and the bionic upper limb is connected to the upper limb drive assembly; the drive assembly is connected to the upper limb power assembly; the upper limb power assembly and the bionic upper limb are respectively assembled on the shell.

8. The interaction method of a bionic mechanism according to claim 7, characterized in that: The bionic mechanism also includes a bionic mechanism for simulating ear movement, and the bionic mechanism for simulating ear movement includes: an ear power component, an ear driving component, and a bionic ear, wherein the ear power component is connected to the ear driving component; the ear driving component is connected to the bionic ear; and the ear power component is assembled on the shell.

9. The interaction method of a bionic mechanism according to claim 1, characterized in that: The bionic mechanism further includes a flexible tactile sensor, which includes a bendable sensing sheet that fits the curved surfaces of the head, neck, back, abdomen, limbs and tail of the bionic mechanism.

10. The bionic mechanism interaction method according to claim 9, characterized in that: The head, neck, trunk and limbs include posture acceleration sensors, which are used to detect the real-time posture and acceleration of the corresponding parts to determine the collaborative posture and movement of the entire body of the bionic mechanism.

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