Tail skeleton and tail action structure of bionic animal

Abstract

The utility model provides a tail skeleton and a tail action structure of a bionic animal. 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 the universal joint comprises a clamping block and a pin shaft. The tail base comprises a base plate, and a pair of pin shaft clamping plates is arranged on one side of the base plate. The tail joint comprises a joint plate, two sides of the joint plate are respectively provided with a pair of pin shaft clamping plates, and the arrangement directions of the pin shaft clamping plates on the two sides of the joint plate are perpendicular to each other. The tail section comprises a tail section plate, and a pair of pin shaft clamping plates is arranged on one side of the tail section plate. And the pin shaft can be pressed and clamped into the body part of the pin shaft clamping groove from the opening part of the pin shaft clamping groove. The tail control structure comprises a steering engine, a wire coil and a control wire, the control wire sequentially penetrates through control wire through holes of the base plate, the bone joint plate and the tail joint plate, one end of the control wire is wound around the wire coil, and the other end of the control wire is fixed to the tail joint. Rapid installation operation can be achieved without the help of external tools, the animal tail structure is simulated, and flexible deformation swing is achieved.

Description

Technical Field

[0001] The present application relates to the field of bionic animal technology dolls, and more particularly, to a tail skeleton and a tail movement structure of a bionic animal. Background Art

[0002] Bionic animals are imitated and designed based on the real animal forms, structures, functions, etc. in nature. How to design a tail structure that can be flexibly bent and extended and is easy to assemble is a key research issue for bionic animal designers. Summary of the Utility Model

[0003] An object of the present application is to provide a tail skeleton of a bionic animal, which can achieve quick installation operation without the aid of external tools.

[0004] Another object of the present application is to provide a tail movement structure of a bionic animal, which can imitate the animal tail structure and achieve flexible deformation and swinging.

[0005] The embodiments of the present application are implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a tail skeleton of a bionic animal, including a tail base, a tail joint, and a tail end joint that are sequentially arranged and connected by a universal joint; the universal joint includes a clamping block and a pin shaft, and the pin shaft is 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 arranged on one side of the base plate; the tail joint includes a joint plate, and a pair of pin shaft clamping plates are respectively arranged on both sides of the joint plate, and the directions of the pin shaft clamping plates on both sides of the joint plate are perpendicular to each other; the tail end joint includes an end plate, and a pair of pin shaft clamping plates are arranged on one side of the end plate; each pair of pin shaft clamping plates are parallel to each other, the pin shaft clamping plate is provided with a pin shaft slot, the width of the opening part of the pin shaft slot is smaller than the outer diameter of the pin shaft, the inner diameter of the body part of the pin shaft slot is adapted to the outer diameter of the pin shaft, and the pin shaft can be pressed into the body part of the pin shaft slot from the opening part of the pin shaft slot, and the clamping block of the universal joint is embedded between the pin shaft clamping plates.

[0007] Further, the base plate, the joint plate, and the end plate are all circular plates and protrude around the pin shaft clamping plates.

[0008] In a second aspect, an embodiment of the present application provides a tail movement structure of a bionic animal, including the above-mentioned tail skeleton, and further including a tail control structure, characterized in that the tail control structure includes a servo motor, a wire reel, and a control wire. The servo motor is installed inside the movement housing. The wire reel is connected to the output shaft of the servo motor. Control wire through holes are provided on the outer edges of the base plate, the joint plate, and the end plate. The control wire sequentially passes through the control wire through holes of the base plate, the joint plate, and the end plate. One end of the control wire is wound around the wire reel and the other end is fixed to the tail end section. At least one set of upper and lower or left and right control wires is provided. The winding directions of the two control wires in each set on the wire reel are opposite. Central line through holes are provided at the centers of the clamping block, the base plate, the joint plate, and the end plate. The central line sequentially passes through the central line through holes of the clamping block, the base plate, the joint plate, and the end plate. One end of the central line is fixed to the movement housing and the other end is fixed to the tail end section.

[0009] Further, a tail base fixing assembly is provided on the movement housing. The tail base fixing assembly includes a tail base fixing plate. The outer side of the tail base fixing plate is connected to the base plate. A control wire head guiding cylinder and a central line head fixing cylinder are provided on the inner side of the tail base fixing plate. The position of the control wire head guiding cylinder is consistent with the position of the control wire through hole of the base plate. The head of the control wire passes through the tail base fixing plate and the control wire head guiding cylinder. The head of the central line passes through the tail base fixing plate and is connected to the central line head fixing cylinder.

[0010] Further, a tail base installation chamber is provided on the movement housing. The tail base fixing plate is inserted into the tail base installation chamber.

[0011] Further, a control wire tail fixing cylinder and a central line tail fixing cylinder are provided on the outer side of the end plate. The position of the control wire tail fixing cylinder is consistent with the position of the control wire through hole of the end plate. The tail of the control wire passes through the end plate and is connected to the control wire tail fixing cylinder. The tail of the central line passes through the end plate and is connected to the central line tail fixing cylinder.

[0012] Further, the tail end section further includes an end section cover plate, and the end section cover plate is provided on the outer side of the end plate to cover the control wire tail fixing cylinder and the central line tail fixing cylinder.

[0013] 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, i.e., upper, lower, left, and right, are arranged on each base plate, joint plate, and end plate. 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 side and then winds around the second wire reel. The fourth control wire sequentially connects all the control wire through-holes on the lower side and then winds around the second wire reel. The winding directions of the third control wire and the fourth control wire are opposite.

[0014] Further, a first control wire guide plate and a second control wire guide plate are arranged inside the movement housing. Both the first control wire guide plate and the second control wire guide plate are vertical plates and are provided with two control wire guide holes distributed vertically. The first control wire and the second control wire respectively pass through the control wire guide holes of the first control wire guide plate and are connected to the first wire reel. The third control wire and the fourth control wire respectively pass through the control wire guide holes of the second control wire guide plate and are connected to the second wire reel.

[0015] Further, a first servo motor installation chamber and a second servo motor installation chamber are arranged inside the movement housing. The first control wire guide plate and the second control wire guide plate are arranged between the first servo motor installation chamber and the second servo motor installation chamber. A first guide plate slot for inserting the first control wire guide plate is arranged on the side of the first servo motor installation chamber. A second guide plate slot for inserting the second control wire guide plate is arranged on the side of the second servo motor installation chamber.

[0016] Compared with the prior art, the embodiments of the present application have at least the following advantages or beneficial effects:

[0017] The tail skeleton of the bionic animal of the present utility model has few types of parts, a simple structure, is convenient for production, and can realize quick installation operation through the cooperation of a universal joint and a pin shaft slot without the aid of external tools, greatly saving manpower and improving the product quality standard. The tail movement structure of the bionic animal of the present utility model realizes the movement control of the tail skeleton by driving the control wire to tighten or loosen through a servo motor, with flexible movement, convenient control, and good bionic effect. Description of the Drawings

[0018] 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 some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 Schematic diagram of the tail movement structure of the bionic animal provided in Embodiment 1 of the present application;

[0020] Figure 2 is Figure 1 an enlarged view of A in

[0021] Figure 3 Schematic diagram of the tail base and the tail base fixing component structure in Embodiment 1 of the present application;

[0022] Figure 4 Schematic diagram of the tail joint structure in Embodiment 1 of the present application;

[0023] Figure 5 Schematic diagram of the tail end section structure in Embodiment 1 of the present application;

[0024] Figure 6 Schematic diagram of the universal joint structure in Embodiment 1 of the present application;

[0025] Icon: 1 - tail base, 11 - base plate, 12 - tail base fixing component, 121 - tail base fixing plate, 122 - leading end guide tube of the control line, 123 - leading end fixing tube of the center line, 2 - tail joint, 21 - joint plate, 3 - tail end section, 31 - end section plate, 32 - trailing end fixing tube of the control line, 33 - trailing end fixing tube of the center line, 34 - end section cover plate, 4 - universal joint, 41 - chuck, 42 - pin shaft, 51 - pin shaft clamping plate, 511 - pin shaft slot, 61 - first control structure, 611 - first servo, 612 - first wire reel, 613 - first control line, 614 - second control line, 62 - second control structure, 621 - second servo, 622 - second wire reel, 623 - third control line, 624 - fourth control line, 7 - movement housing, 71 - tail base installation chamber, 72 - first control line guide plate, 73 - second control line guide plate, 75 - first servo installation chamber, 76 - first guide plate slot, 81 - control line through hole, 82 - center line through hole, 9 - center line. Detailed implementation manners

[0026] 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 in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0027] Accordingly, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, 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 in the present application without creative efforts fall within the scope of protection of the present application.

[0028] 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.

[0029] 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. It 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, and thus should not be construed as a limitation of the present application. In addition, terms such as "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0030] 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.

[0031] In the description of the embodiments of the present application, "a plurality of" represents at least two.

[0032] 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", "connected" 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 situations.

[0033] Embodiment 1

[0034] The present utility model discloses a tail movement structure of a bionic animal, mainly used for bionic plush toys, such as Figure 1 shown, including a tail skeleton and a tail control structure.

[0035] Such as Figure 1As shown, the tail skeleton includes a tail base 1, tail bone segments 2, and a tail tip 3 that are arranged in sequence and connected by a universal joint 4. There are multiple tail bone segments 2. The tail base 1, tail bone segments 2, tail tip 3, and universal joint 4 are all made of plastic material, with high material strength and certain toughness. As Figure 6 shown, the universal joint 4 includes a clamping block 41 and a pin shaft 42. The pin shaft 42 is distributed in a cross shape around the clamping block 41. In this embodiment, the clamping block 41 is rectangular or cubic, and the pin shaft 42 is distributed on the four side surfaces of the clamping block 41. As Figure 3 shown, the tail base 1 includes a base plate 11, and a pair of pin shaft clamping plates 51 are arranged on one side of the base plate 11. As Figure 4 shown, the tail bone segment 2 includes a bone segment plate 21, and a pair of pin shaft clamping plates 51 are respectively arranged on both sides of the bone segment plate 21. The pin shaft clamping plates 51 on both sides of the bone segment plate 21 are arranged in perpendicular directions to each other. As Figure 5 shown, the tail tip 3 includes a tip plate 31, and a pair of pin shaft clamping plates 51 are arranged on one side of the tip plate 31. A reinforcing plate is arranged between each pair of the pin shaft clamping plates 51, and the reinforcing plate is provided with a clamping block relief groove. Each pair of pin shaft clamping plates 51 are parallel to each other. The pin shaft clamping plates 51 are provided with pin shaft card slots 511. The width of the opening part of the pin shaft card slot 511 is slightly smaller than the outer diameter of the pin shaft 42, and the inner diameter of the body part of the pin shaft card slot 511 is adapted to the outer diameter of the pin shaft 42, that is, the inner diameter of the body part of the pin shaft card slot 511 is slightly larger than the outer diameter of the pin shaft 42. The pin shaft card slot 511 can be slightly deformed, so that the pin shaft 42 can be pressed into the body part of the pin shaft card slot 511 from the opening part of the pin shaft card slot 511. The pin shaft 42 can rotate flexibly in the pin shaft card slot 511, and the clamping block 41 of the universal joint 4 can also rotate flexibly when embedded between the pin shaft clamping plates 51. It should be noted that in this embodiment, the base plate 11, bone segment plate 21, and tip plate 31 are all circular plates and protrude around the pin shaft clamping plates 51, which is convenient for filling materials such as PP cotton around the tail skeleton, ensuring both the overall shape and restoring the real look and feel of plush toys (especially cat and dog toys).

[0036] For the tail skeleton of the bionic animal of the present utility model, since the tail base 1, tail bone segments 2, and tail tip 3 all have the same pin shaft card slots 511, the types of parts are few, the structure is simple, and it is convenient for production. Moreover, it can realize quick installation operation through the cooperation of the universal joint 4 and the pin shaft card slots 511 without the aid of external tools, greatly saving manpower and improving the product quality standard.

[0037] In this embodiment, the tail control structure includes a servo motor, a wire reel, and a control wire. The servo motor is installed inside the movement housing 7. The wire reel is connected to the output shaft of the servo motor. Control wire through-holes 81 are provided at the outer edges of the base plate 11, the joint plate 21, and the end plate 31. The control wire sequentially passes through the control wire through-holes 81 of the base plate 11, the joint plate 21, and the end plate 31. One end of the control wire is wound around the wire reel and the other end is fixed to the tail end 3. At least one set of upper and lower or left and right control wires is provided, and the winding directions of the two control wires in each set are opposite on the wire reel. The servo motor is connected to a storage battery (not shown in the figure) inside the housing 7, and its movement is a periodic swing at a certain angle. The movement control of the tail skeleton is achieved by driving the control wire to tighten or loosen through the servo motor. For example, when the upper control wire is tightened, the lower control wire is loosened, and the end of the tail skeleton tilts upward to achieve a deformation swing effect.

[0038] Center line through-holes 82 are provided at the centers of the latch 41, the base plate 11, the joint plate 21, and the end plate 31. The center line 9 sequentially passes through the center line through-holes 82 of the latch 41, the base plate 11, the joint plate 21, and the end plate 31. One end of the center line 9 is fixed to the movement housing 7 and the other end is fixed to the tail end 3. The center line 9 is made of nitinol wire or other alloy materials, connecting the latch 41, the base plate 11, the joint plate 21, and the end plate 31 into a whole, while ensuring the overall shape of the tail without affecting the movement of the tail.

[0039] Such as Figure 1 , Figure 2As shown in the figure, 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 for up, down, 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 drawn out from below the first wire reel 612, and the second control wire 614 is drawn 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 drawn out from above the second wire reel 622, and the fourth control wire 624 is drawn 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 of up, down, left, and right, or deformation and swing at any angle in space.

[0040] For the convenience of guiding, positioning, and assembling multiple control lines, in this embodiment, a first control line guide plate 72 and a second control line guide plate 73 are provided inside the movement housing 7. Both the first control line guide plate 72 and the second control line guide plate 73 are vertical plates and are provided with two control line guide holes distributed vertically. The first control line 613 and the second control line 614 respectively pass through the control line guide holes of the first control line guide plate 72 and are connected to the first wire reel 612. The third control line 623 and the fourth control line 624 respectively pass through the control line guide holes of the second control line guide plate 73 and are connected to the second wire reel 622. A first servo installation chamber 75 and a second servo installation chamber are provided inside the movement housing 7. The first control line guide plate 72 and the second control line guide plate 73 are arranged between the first servo installation chamber 75 and the second servo installation chamber. A first guide plate slot 76 for inserting the first control line guide plate 72 is provided on the side of the first servo installation chamber 75, and a second guide plate slot for inserting the second control line guide plate 73 is provided on the side of the second servo installation chamber. The first servo installation chamber 75, the second servo installation chamber, the first guide plate slot 76, the second guide plate slot and the movement housing 7 (the lower movement housing) are integrally formed with the same height. The first control line guide plate 72 and the second control line guide plate 73 are higher than the movement housing 7. Therefore, the setting of the guide plate slots facilitates the assembly operation.

[0041] In this embodiment, the specific guiding and fixing methods of the center line 9 and the control lines are as follows: The movement housing 7 is provided with a tail base fixing assembly 12. The tail base fixing assembly 12 includes a tail base fixing plate 121. The movement housing 7 is provided with a tail base installation chamber 71, and the tail base fixing plate 121 is inserted into the tail base installation chamber 71. A base plate 11 is connected to the outside of the tail base fixing plate 121. A control line head guide cylinder 122 and a center line head fixing cylinder 123 are provided inside the tail base fixing plate 121. The position of the control line head guide 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 guide cylinder 122. The head of the center line 9 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 slot. The head of the center line 9 passes through the tail base fixing plate 121 and the center line head fixing cylinder 123 and is fixedly connected to the cross slot. A control line tail fixing cylinder 32 and a center line tail fixing cylinder 33 are provided 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 9 passes through the end plate 31 and is connected to the center line tail fixing cylinder 33. The tail end 3 further includes an end plate cover 34, and the end plate cover 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.

[0042] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and variations can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A tail skeleton of a bionic animal, characterized in that: The invention comprises a tail base (1), a tail joint (2) and a tail segment (3) which are arranged in sequence and connected via a universal joint (4); the universal joint (4) comprises a clamping block (41) and a pin (42), and the pin (42) is distributed around the clamping block (41) in a cross shape; 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 segment (2) comprises a segment plate (21), and a pair of pin clamping plates (51) are respectively arranged on both sides of the segment plate (21), and the arrangement directions of the pin clamping plates (51) on both sides of the segment plate (21) are perpendicular to each other; the tail segment (3) comprises a segment plate (31), and a pair of pin clamping plates (51) are arranged on one side of the segment 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).

2. The tail skeleton of a bionic animal as claimed in claim 1, 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).

3. A tail motion structure of a bionic animal, comprising a tail skeleton as claimed in claim 2, and also comprising a tail control structure, characterized in that The tail control structure comprises a steering gear, a wire drum and a control wire, wherein the steering gear is installed in a movement housing (7), the wire drum is connected to the output shaft of the steering gear, and the outer edges of the base plate (11), the joint plate (21) and the distal plate (31) are all provided with control wire through holes (81), and the control wire passes through the control wire through holes (81) of the base plate (11), the joint plate (21) and the distal plate (31) in sequence, and one end of the control wire is wound around the wire drum and the other end is fixed to the distal tail segment (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 centers of the clamping block (41), the base plate (11), the joint plate (21), and the distal plate (31) are all provided with a center line through hole (82); the center line (9) passes through the center line through holes (82) of the clamping block (41), the base plate (11), the joint plate (21), and the distal plate (31) in sequence; one end of the center line (9) is fixed to the movement housing (7) and the other end is fixed to the distal tail (3).

4. The tail motion structure of a bionic animal as claimed in claim 3, characterized in that: The movement housing (7) is provided with a tail base fixing assembly (12), and the tail base fixing assembly (12) comprises a tail base fixing plate (121), the outer side of the tail base fixing plate (121) is connected to the base plate (11), and the inner side of the tail base fixing plate (121) is provided with a control line head end guide cylinder (122) and a center line head end fixing cylinder (123), the position of the control line head end guide cylinder (122) is consistent with the position of the control line through hole (81) of the base plate (11), the head end of the control line passes through the tail base fixing plate (121) and the control line head end guide cylinder (122), and the head end of the center line (9) passes through the tail base fixing plate (121) and is connected to the center line head end fixing cylinder (123).

5. The tail motion structure of a bionic animal as claimed in claim 4, characterized in that: The movement housing (7) is provided with a tail base installation chamber (71), and the tail base fixing plate (121) is inserted into the tail base installation chamber (71).

6. The tail motion structure of a bionic animal as claimed in claim 4, characterized in that: A control line tail end fixing cylinder (32) and a center line tail end fixing cylinder (33) are arranged outside the end plate (31); the position of the control line tail end fixing cylinder (32) is consistent with the position of the control line through hole (81) of the end plate (31); the control line tail end passes through the end plate (31) and is connected to the control line tail end fixing cylinder (32); and the center line (9) tail end passes through the end plate (31) and is connected to the center line tail end fixing cylinder (33).

7. The tail motion structure of a bionic animal as claimed in claim 6, characterized in that: The tail end section (3) further comprises an end section cover plate (34), wherein the end section cover plate (34) is arranged outside the end section plate (31) to cover the control line end end fixing cylinder (32) and the center line end end fixing cylinder (33).

8. The tail motion structure of a bionic animal as claimed in claim 3, 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).

9. The tail motion structure of a bionic animal as claimed in claim 8, characterized in that: A first control wire guide plate (72) and a second control wire guide plate (73) are arranged in the movement housing (7); the first control wire guide plate (72) and the second control wire guide plate (73) are both vertical plates and have two control wire guide holes distributed vertically; the first control wire (613) and the second control wire (614) respectively pass through the control wire guide holes of the first control wire guide plate (72) to be connected to the first wire drum (612); the third control wire (623) and the fourth control wire (624) respectively pass through the control wire guide holes of the second control wire guide plate (73) to be connected to the second wire drum (622).

10. The tail motion structure of a bionic animal as claimed in claim 9, characterized in that: A first steering gear installation chamber (75) and a second steering gear installation chamber are arranged in the movement housing (7); the first control line guide plate (72) and the second control line guide plate (73) are arranged between the first steering gear installation chamber (75) and the second steering gear installation chamber; a first guide plate slot (76) for plugging the first control line guide plate (72) is arranged on the side of the first steering gear installation chamber (75); and a second guide plate slot for plugging the second control line guide plate (73) is arranged on the side of the second steering gear installation chamber.

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