Movement of bionic animal and bionic animal

Abstract

The utility model relates to the technical field of bionic animals, and provides a movement of a bionic animal and the bionic animal, and the movement comprises a shell, a breathing action structure and a tail action structure. The breathing action structure comprises a fluctuating assembly and a fluctuating control structure, the fluctuating assembly comprises an ejector rod and an ejector plate, the ejector plate is connected to the upper end of the ejector rod, the fluctuating control structure comprises a gear motor and a crank, the inner end of the crank is connected with an output shaft of the gear motor, and the outer end of the crank is hinged to the lower end of the ejector rod. The tail action structure comprises a tail framework and a tail control structure, the tail framework comprises a tail base, a tail joint and a tail end joint which are sequentially arranged and connected through a universal joint, and center line through holes are formed in the centers of the universal joint, the tail base, the tail joint and the tail end joint; the center line sequentially penetrates through the center line through holes of the universal joint, the tail base, the tail joint and the tail end joint, one end of the center line is fixed to the lower shell, and the other end of the center line is fixed to the tail end joint. The robot is convenient to assemble, rich in action and good in bionic effect and interaction effect.

Description

Technical Field

[0001] The present application relates to the technical field of bionic animal dolls, and in particular to a bionic animal movement and a bionic animal using the movement. Background Art

[0002] Bionic animals are imitated and designed based on the real animal form, structure, function, etc. in nature. Bionic animals can be equipped with movements to control the movements of various parts of the body to improve interactivity. How to design a movement and bionic animal that is easy to assemble, has rich movements, and good bionic effects is a key research issue for designers. Utility Model Content

[0003] The purpose of the present application is to provide a bionic animal movement and a bionic animal, which are easy to assemble, have rich movements, and have good bionic and interactive effects.

[0004] The embodiment of the present application is implemented as follows:

[0005] The movement of a bionic animal comprises a shell, a breathing action structure and a tail action structure. The shell comprises a detachable upper shell and a lower shell.

[0006] The breathing action structure includes an ups and downs assembly and an ups and downs control structure. The ups and downs assembly includes a top rod and a top plate. The top plate is connected to the upper end of the top rod. The ups and downs control structure includes a reduction motor and a crank. The inner end of the crank is connected to the output shaft of the reduction motor. The outer end of the crank is hinged to the lower end of the top rod. The upper shell is provided with an upper shell opening for accommodating the top plate.

[0007] The tail action structure includes a tail skeleton and a tail control structure. The tail skeleton includes a tail base, a tail joint and a tail end section which are arranged in sequence and connected by a universal joint. The centers of the universal joint, the tail base, the tail joint and the tail end section are all provided with a center line through hole. The center line passes through the center line through holes of the universal joint, the tail base, the tail joint and the tail end section in sequence. One end of the center line is fixed to the lower shell and the other end is fixed to the tail end section. The tail control structure includes a servo, a wire drum and a control line. The servo is installed on the lower shell. The wire drum is connected to the driving shaft of the servo. The outer edges of the tail base, the tail joint and the tail end section are all provided with control line through holes. The control line passes through the control line through holes of the tail base, the tail joint and the tail end section in sequence. One end of the control line is wound around the wire drum and the other end is fixed to the tail end section. The control line is provided with at least one group of up and down or left and right. The winding directions of the two control lines in each group on the wire drum are opposite.

[0008] Further, the universal joint includes a clamping block and a pin shaft. The pin shafts are distributed in a cross shape around the clamping block. The tail base includes a base plate, and a pair of pin shaft clamping plates are provided on one side of the base plate. The tail joint includes a joint plate, and a pair of pin shaft clamping plates are respectively provided on both sides of the joint plate. The directions of the pin shaft clamping plates on both sides of the joint plate are perpendicular to each other. The tail end section includes an end plate, and a pair of pin shaft clamping plates are provided on one side of the end plate.

[0009] Each pair of pin shaft clamping plates are parallel to each other. The pin shaft clamping plates are provided with pin shaft clamping grooves. The width of the opening part of the pin shaft clamping groove is smaller than the outer diameter of the pin shaft, and the inner diameter of the body part of the pin shaft clamping groove is adapted to the outer diameter of the pin shaft. The pin shaft can be pressed into the body part of the pin shaft clamping groove through the opening part of the pin shaft clamping groove, and the clamping block of the universal joint is embedded between the pin shaft clamping plates.

[0010] Further, the tail control structure includes a first control structure and a second control structure. The first control structure includes a first servo motor, a first wire reel, a first control wire and a second control wire. The second control structure includes a second servo motor, a second wire reel, a third control wire and a fourth control wire. Four control wire through holes are arranged on each of the base plate, the joint plate and the end plate in the up, down, left and right directions. The first control wire sequentially passes through all the control wire through holes on the left side and then winds around the first wire reel. The second control wire sequentially connects all the control wire through holes on the right side and then winds around the first wire reel. The winding directions of the first control wire and the second control wire are opposite. The third control wire sequentially passes through all the control wire through holes on the upper part and then winds around the second wire reel. The fourth control wire sequentially connects all the control wire through holes on the lower part and then winds around the second wire reel. The winding directions of the third control wire and the fourth control wire are opposite.

[0011] Further, the first servo motor and the second servo motor are symmetrically arranged at the rear end of the lower housing. The sides of the first servo motor and the second servo motor protrude from the lower housing, and the reduction motor is arranged in the middle of the front end of the lower housing.

[0012] Further, the tail end section further includes an end cover plate. The end cover plate is arranged outside the end plate. The end cover plate is an arc-shaped plate for simulating the shape of the end of an animal's tail.

[0013] Further, the base plate, the joint plate and the end plate are all circular plates and protrude around the pin shaft clamping plates.

[0014] This application also provides a bionic animal, which includes the movement of the aforementioned bionic animal, and also includes a fur coat and a filling material. The movement is arranged inside the fur coat. The top plate is fixedly connected to the fur coat outside the opening of the upper housing, and a filling material is arranged between the movement and the fur coat.

[0015] Further, it also includes an audio component with built-in animal calls, and the housing is provided with a speaker hole.

[0016] Compared with the prior art, the embodiments of the present application have at least the following advantages or beneficial effects: the movement of the bionic animal of the present application includes a breathing action structure and a tail action structure. The breathing structure drives the top plate to rise and fall through a reduction motor to simulate the breathing action. The tail action structure drives the control line to tighten or loosen through a servo to achieve the action control of the tail skeleton. The structure is simple, easy to assemble, flexible and rich in action, easy to control, and has a good bionic effect. The bionic animal of the present application improves interactivity and fun by setting the above-mentioned movement, and has a good hand feel. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of the upper shell of the movement hidden in the bionic animal provided in Example 1 of the present application;

[0019] Figure 2 A schematic diagram of the structure of the hidden top plate and top rod of the movement of the bionic animal provided in Example 1 of the present application;

[0020] Figure 3 A schematic diagram of the body and tail structure of a bionic animal provided in Example 2 of the present application;

[0021] Figure 4 A schematic diagram of the tail movement structure of a bionic animal provided in Example 1 of the present application;

[0022] Figure 5 for Figure 4 A magnified view of middle;

[0023] Figure 6 This is a schematic diagram of the structure of the tail base and the tail base fixing assembly in Example 1 of the present application;

[0024] Figure 7 This is a schematic diagram of the tail bone structure in Example 1 of the present application;

[0025] Figure 8 This is a schematic diagram of the structure of the tail section in Example 1 of the present application;

[0026] Figure 9 This is a schematic diagram of the universal joint structure in Example 1 of the present application;

[0027] Icons: 1 - Tail base, 11 - Base plate, 12 - Tail base fixing assembly, 121 - Tail base fixing plate, 122 - First-end guiding cylinder for control line, 123 - First-end fixing cylinder for center line, 2 - Tail joints, 21 - Joint plate, 3 - Tail end section, 31 - End section plate, 32 - Second-end fixing cylinder for control line, 33 - Second-end fixing cylinder for center line, 34 - End section cover plate, 4 - Universal joint, 41 - Locking block, 42 - Pin shaft, 51 - Pin shaft clamping plate, 511 - Pin shaft clamping groove, 61 - First control structure, 611 - First servo motor, 612 - First wire reel, 613 - First control line, 614 - Second control line, 62 - Second control structure, 621 - Second servo motor, 622 - Second wire reel, 623 - Third control line, 624 - Fourth control line, 71 - Upper housing, 711 - Upper housing opening, 72 - Lower housing, 73 - Fur cover, 74 - Filling material, 75 - Audio component, 76 - Speaker hole, 81 - Control line through hole, 82 - Center line through hole, 83 - Center line, 91 - Push rod, 92 - Top plate, 93 - Reduction motor, 94 - Crank. Detailed implementation manners

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. The components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0030] It should be noted that: like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0031] In the description of the embodiments of the present application, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the utility model product is usually placed during use. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. In addition, terms such as "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0032] In addition, if terms such as "horizontal", "vertical", "hanging" are used, it does not mean that the component is required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0033] In the description of the embodiments of the present application, "a plurality of" represents at least two.

[0034] In the description of the embodiments of the present application, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "coupled" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0035] Embodiment 1

[0036] The present utility model discloses a movement of a bionic animal. As Figure 1 , Figure 2 shown, it includes a housing, a breathing action structure, and a tail action structure. The housing includes a separable upper housing 71 and a lower housing 72.

[0037] As Figure 1As shown, the breathing action structure includes an undulating assembly and an undulating control structure. The undulating assembly includes a mandrel 91 and a top plate 92. The top plate 92 is connected to the upper end of the mandrel 91. The undulating control structure includes a reduction motor 93 and a crank 94. The inner end of the crank 94 is connected to the output shaft of the reduction motor 93. The outer end of the crank 94 is hinged to the lower end of the mandrel 91. The upper shell 71 is provided with an upper shell opening 711 for accommodating the top plate 92. The top plate 92 is smaller than the upper shell opening 711 and can move freely in the upper shell opening 711. There are many ways to hinge the crank 94 and the mandrel 91, including but not limited to: (1) In this embodiment, a connecting hole is provided on the mandrel 91, a connecting shaft is provided at the outer end of the crank 94, and the connecting hole of the mandrel 91 is inserted into the connecting shaft; (2) A connecting shaft is provided at the outer end of the crank 94, and a rotatable connecting ring is sleeved on the connecting shaft to fix the mandrel 91 to the connecting ring. The reduction motor 93 is connected to the battery in the shell (not shown in the figure). The number of times the reduction motor 93 rotates per minute is set to be the same as the breathing frequency of the animal. When the reduction motor 93 is working, it drives the crank 94 to rotate, thereby driving the top plate 92 to rise and fall through the top rod 91. The fur coat 73 is connected to the top plate 92 to produce an ups and downs motion to simulate the effect of animal breathing.

[0038] The tail action structure includes the tail skeleton and the tail control structure, such as Figure 4 As shown, the tail skeleton includes a tail base 1, a tail segment 2 and a tail segment 3 which are arranged in sequence and connected by a universal joint 4, and a plurality of tail segments 2 are provided. The tail base 1, the tail segment 2, the tail segment 3 and the universal joint 4 are all made of plastic material, which has high strength and certain toughness. Figure 9 As shown, the universal joint 4 includes a block 41 and a pin 42. The pin 42 is distributed around the block 41 in a cross shape. In this embodiment, the block 41 is a rectangular parallelepiped or a cube, and the pin 42 is distributed on the four sides of the block 41. Figure 6 As shown, the tail base 1 includes a base plate 11, and a pair of pin clamps 51 are arranged on one side of the base plate 11. Figure 7 As shown, the coccyx joint 2 includes a joint plate 21, and a pair of pin clamps 51 are respectively arranged on both sides of the joint plate 21, and the pin clamps 51 on both sides of the joint plate 21 are arranged in directions perpendicular to each other. Figure 8As shown, the tail end section 3 includes an end section plate 31, and a pair of pin clamping plates 51 are arranged on one side of the end section plate 31. A reinforcement plate is arranged between each pair of the pin clamping plates 51, and the reinforcement plate is provided with a clearance groove for the clamping block 41. Each pair of pin clamping plates 51 is parallel to each other, and the pin clamping plates 51 are provided with a pin clamping groove 511, the opening width of the pin clamping groove 511 is slightly smaller than the outer diameter of the pin 42, and the inner diameter of the body of the pin clamping groove 511 is adapted to the outer diameter of the pin 42, that is, the inner diameter of the body of the pin clamping groove 511 is slightly larger than the outer diameter of the pin 42, and the pin clamping groove 511 can be slightly deformed, so that the pin 42 can be pressed into the body of the pin clamping groove 511 from the opening of the pin clamping groove 511, and the pin 42 can flexibly rotate in the pin clamping groove 511, and the clamping block 41 of the universal joint 4 is embedded between the pin clamping plates 51 and can also flexibly rotate.

[0039] The tail skeleton of the bionic animal has a tail base 1, a tail segment 2 and a tail end segment 3 all having the same pin slot 511, so that the types of parts are small, the structure is simple, and the production is convenient. Moreover, the universal joint 4 and the pin slot 511 can be used to achieve quick installation operation without the aid of external tools, which greatly saves manpower and improves product quality standards.

[0040] In this embodiment, the tail control structure includes a steering gear, a wire drum and a control wire. The steering gear is installed in the lower shell 72. The wire drum is connected to the output shaft of the steering gear. The outer edges of the base plate 11, the condyle plate 21 and the distal plate 31 are all provided with control wire through holes 81. The control wire passes through the control wire through holes 81 of the base plate 11, the condyle plate 21 and the distal plate 31 in sequence. One end of the control wire is wound around the wire drum and the other end is fixed to the distal tail 3. The control wire is provided with at least one group of upper and lower or left and right, and the winding directions of the two control wires in each group on the wire drum are opposite. The steering gear is connected to the battery in the shell (not shown), and its action is a periodic swing at a certain angle. The steering gear drives the control wire to tighten or relax to realize the action control of the tail skeleton. For example, when the upper control wire is tightened, the lower control wire is relaxed, and the end of the tail skeleton is tilted upward to realize the deformation swing effect.

[0041] The center of the block 41, the base plate 11, the condyle plate 21, and the distal plate 31 are all provided with a center line through hole 82, and the center line 83 passes through the center line through holes 82 of the block 41, the base plate 11, the condyle plate 21, and the distal plate 31 in sequence, and one end of the center line 83 is fixed to the lower shell 72 and the other end is fixed to the distal tail 3. The center line 83 is made of nickel-titanium alloy wire or other alloy materials, and connects the block 41, the base plate 11, the condyle plate 21, and the distal plate 31 in series to form a whole, while ensuring the overall shape of the tail without affecting the tail movement.

[0042] like Figure 4 , Figure 5As shown, in this embodiment, the tail control structure includes a first control structure 61 and a second control structure 62. The first control structure 61 includes a first servo 611, a first wire reel 612, a first control wire 613, and a second control wire 614. The second control structure 62 includes a second servo 621, a second wire reel 622, a third control wire 623, and a fourth control wire 624. Four control wire through-holes 81, i.e., upper, lower, left, and right, are arranged on each base plate 11, joint plate 21, and end plate 31. The first control wire 613 sequentially passes through all the control wire through-holes 81 on the left side and then winds around the first wire reel 612. The second control wire 614 sequentially connects all the control wire through-holes 81 on the right side and then winds around the first wire reel 612. The winding directions of the first control wire 613 and the second control wire 614 are opposite. The first control wire 613 is pulled out from below the first wire reel 612, and the second control wire 614 is pulled out from above the first wire reel 612. The third control wire 623 sequentially passes through all the control wire through-holes 81 on the upper part and then winds around the second wire reel 622. The fourth control wire 624 sequentially connects all the control wire through-holes 81 on the lower part and then winds around the second wire reel 622. The winding directions of the third control wire 623 and the fourth control wire 624 are opposite. The third control wire 623 is pulled out from above the second wire reel 622, and the fourth control wire 624 is pulled out from below the second wire reel 622. When the first servo 611 rotates, the first control wire 613 is relaxed / tightened, and the second control wire 614 is tightened / relaxed (opposite to the action of the first control wire 613), so as to control the tail skeleton to deform and swing left and right. When the second servo 621 rotates, the third control wire 623 is relaxed / tightened, and the fourth control wire 624 is tightened / relaxed (opposite to the action of the third control wire 623), so as to control the tail skeleton to deform and swing up and down. When the first servo 611 and the second servo 621 rotate simultaneously, the tail skeleton can achieve periodic deformation and swing in all directions, or deformation and swing at any angle in space.

[0043] In this embodiment, the specific guiding and fixing methods of the center line 83 and the control line are as follows: The housing is provided with a tail base fixing assembly 12. The tail base fixing assembly 12 includes a tail base fixing plate 121. The lower housing 72 is provided with a tail base installation chamber, and the tail base fixing plate 121 is inserted into the tail base installation chamber. A base plate 11 is connected to the outside of the tail base fixing plate 121. A control line head guiding cylinder 122 and a center line head fixing cylinder 123 are arranged inside the tail base fixing plate 121. The position of the control line head guiding cylinder 122 is consistent with the position of the control line through hole 81 of the base plate 11. The head of the control line passes through the tail base fixing plate 121 and the control line head guiding cylinder 122. The head of the center line 83 passes through the tail base fixing plate 121 and is connected to the center line head fixing cylinder 123. In this embodiment, the center line head fixing cylinder 123 is provided with a cross groove, and the head of the center line 83 passes through the tail base fixing plate 121 and the center line head fixing cylinder 123 and is fixedly connected to the cross groove. A control line tail fixing cylinder 32 and a center line tail fixing cylinder 33 are arranged on the outside of the end plate 31. The position of the control line tail fixing cylinder 32 is consistent with the position of the control line through hole 81 of the end plate 31. The tail of the control line passes through the end plate 31 and is connected to the control line tail fixing cylinder 32. The tail of the center line 83 passes through the end plate 31 and is connected to the center line tail fixing cylinder 33. An end cover plate 34 is arranged on the outside of the end plate 31 to cover the control line tail fixing cylinder 32 and the center line tail fixing cylinder 33.

[0044] Embodiment 2

[0045] This embodiment provides a bionic animal, including the movement of Embodiment 1, as Figure 3 shown in the body and tail parts of the bionic animal, a fur coat 73 and a filling material 74. The movement is arranged inside the fur coat 73. The top plate 92 is fixedly connected to the fur coat 73 outside the opening 711 of the upper housing. A filling material 74 is arranged between the movement and the fur coat 73. The filling material 74 adopts a flexible filling material 74 such as PP cotton. As Figure 1 shown, the bionic animal further includes an audio component 75 with built-in animal calls. The audio component 75 is connected to the power supply, and it has built-in animal calls, breathing sounds, etc. The housing is provided with a speaker hole 76.

[0046] It should be pointed out that in this embodiment, the base plate 11, the joint plate 21, and the end plate 31 are all circular plates and protrude around the pin shaft clamp plate 51, which is convenient for filling materials around the tail skeleton, which not only ensures the overall shape but also restores the real look and feel of plush toys (especially cat and dog toys). The first steering gear 611 and the second steering gear 621 are symmetrically arranged on the side of the first steering gear 611 at the rear end of the lower shell 72, and the side of the second steering gear 621 protrudes from the lower shell 72. The reduction motor 93 is arranged in the middle of the front end of the lower shell 72. The steering gear is arranged near the animal's thigh root position, and the reduction motor 93 is arranged near the center of the animal's back. With the upwardly protruding shell, it can play a good supporting and shaping effect. The tail end 3 also includes a end cover plate 34, which is arranged on the outside of the end plate 31. The end cover plate 34 is an arc plate used to simulate the end shape of the animal's tail. The bionic animal of this application is improved through the combination of the above-mentioned movement, fur coat 73 and filler 74, which improves interactivity and fun, and has a good feel.

[0047] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A bionic animal movement, comprising a housing, a breathing action structure and a tail action structure; characterized in that: The housing comprises a separable upper housing (71) and a lower housing (72); The breathing action structure comprises an undulating component and an undulating control structure, the undulating component comprises a top rod (91) and a top plate (92), the top plate (92) is connected to the upper end of the top rod (91), the undulating control structure comprises a reduction motor (93) and a crank (94), the inner end of the crank (94) is connected to the output shaft of the reduction motor (93), and the outer end of the crank (94) is hinged to the lower end of the top rod (91); the upper shell (71) is provided with an upper shell opening (711) for accommodating the top plate (92); The tail motion structure comprises a tail frame and a tail control structure. The tail frame comprises a tail base (1), a tail bone segment (2) and a tail end segment (3) which are arranged in sequence and connected via a universal joint (4). The centers of the universal joint (4), the tail base (1), the tail bone segment (2) and the tail end segment (3) are all provided with a center line through hole (82). The center line (83) passes through the center line through hole (82) of the universal joint (4), the tail base (1), the tail bone segment (2) and the tail end segment (3) in sequence. One end of the center line (83) is fixed to the lower shell (72) and the other end is fixed to the tail end segment. (3); The tail control structure comprises a steering gear, a wire drum and a control wire, the steering gear is mounted on the lower shell (72), the wire drum is connected to the driving shaft of the steering gear, and the outer edges of the tail base (1), the tail joint (2) and the tail end (3) are all provided with control wire through holes (81), the control wire passes through the control wire through holes (81) of the tail base (1), the tail joint (2) and the tail end (3) in sequence, one end of the control wire is wound around the wire drum and the other end is fixed to the tail end (3); the control wire is provided with at least one group of upper and lower or left and right, and the winding directions of the two control wires in each group on the wire drum are opposite.

2. The bionic animal movement according to claim 1, characterized in that: The universal joint (4) comprises a clamping block (41) and a pin (42), wherein the pin (42) is distributed in a cross shape around the clamping block (41); the tail base (1) comprises a base plate (11), and a pair of pin clamping plates (51) are arranged on one side of the base plate (11); the tail joint (2) comprises a joint plate (21), and a pair of pin clamping plates (51) are arranged on both sides of the joint plate (21), and the arrangement directions of the pin clamping plates (51) on both sides of the joint plate (21) are perpendicular to each other; the tail end joint (3) comprises a end joint plate (31), and a pair of pin clamping plates (51) are arranged on one side of the end joint plate (31); Each pair of the pin shaft clamping plates (51) are parallel to each other. The pin shaft clamping plates (51) are provided with pin shaft clamping grooves (511). The width of the opening of the pin shaft clamping grooves (511) is smaller than the outer diameter of the pin shaft (42). The inner diameter of the main body of the pin shaft clamping grooves (511) is adapted to the outer diameter of the pin shaft (42). The pin shaft (42) can be inserted into the main body of the pin shaft clamping grooves (511) through the opening of the pin shaft clamping grooves (511) by pressing. The clamping block (41) of the universal joint (4) is embedded between the pin shaft clamping plates (51).

3. The bionic animal movement according to claim 2, characterized in that: The tail control structure comprises a first control structure (61) and a second control structure (62), wherein the first control structure (61) comprises a first steering gear (611), a first wire drum (612), a first control wire (613) and a second control wire (614), and the second control structure (62) comprises a second steering gear (621), a second wire drum (622), a third control wire (623) and a fourth control wire (624); each of the base plate (11), the condyle plate (21) and the distal condyle plate (31) is provided with four control wire through holes (81) located in the upper, lower, left and right directions; the first control wire (613) passes through all the control wires on the left side in sequence. The control wire (614) is wound around the first wire drum (612) after passing through the wire through hole (81) on the right side in sequence, and the second control wire (614) is wound around the first wire drum (612). The winding directions of the first control wire (613) and the second control wire (614) are opposite. The third control wire (623) is wound around the second wire drum (622) after passing through all the control wire through holes (81) on the upper part in sequence, and the fourth control wire (624) is wound around the second wire drum (622) after passing through all the control wire through holes (81) on the lower part in sequence, and the third control wire (623) and the fourth control wire (624) are wound around the second wire drum (622).

4. The bionic animal movement according to claim 3, characterized in that: The first steering gear (611) and the second steering gear (621) are symmetrically arranged at the rear end of the lower housing (72); the side surfaces of the first steering gear (611) and the side surfaces of the second steering gear (621) protrude from the lower housing (72); and the reduction motor (93) is arranged at the middle part of the front end of the lower housing (72).

5. The bionic animal movement according to claim 2, characterized in that: The tail end section (3) further comprises a end section cover plate (34), wherein the end section cover plate (34) is arranged outside the end section plate (31), and the end section cover plate (34) is an arc-shaped plate used to simulate the shape of the end of an animal's tail.

6. The bionic animal movement according to claim 2, characterized in that: The base plate (11), the joint plate (21) and the distal joint plate (31) are all circular plates and protrude from the periphery of the pin clamping plate (51).

7. A bionic animal, comprising a movement of a bionic animal as claimed in any one of claims 1 to 6, characterized in that: It also includes a fur coat (73) and a filler (74), wherein the movement is arranged in the fur coat (73), the top plate (92) is fixedly connected to the fur coat (73) outside the upper shell opening (711), and the filler (74) is arranged between the movement and the fur coat (73).

8. The bionic animal according to claim 7, characterized in that: It also includes an audio component (75) with built-in animal sounds, and the housing is provided with a speaker hole (76).

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