High-stability bionic mechanical deer beneficial to interaction with children

Abstract

The utility model discloses a bionic mechanical deer which is favorable for interacting with children and has high stability, and through the combination of a double-triangular trapezoidal structure and a four-bar mechanism, the stability and the self-locking function of four limbs are obviously enhanced, and the safety of equipment during movement and static is ensured. A driving system with a worm gear, a worm and a crank shaking is adopted, bionic movement of displacement is achieved through a stepping motor, and the rod accuracy and flexibility of movement are improved. The device integrates voice control, Bluetooth control and a 32 single-chip microcomputer system, a user can achieve various actions through voice or remote operation, operation is easy and convenient, and interactivity is high. And by adopting the aluminum-plastic combined skeleton material, light weight and cost control are realized, and meanwhile, a vibration damping mechanism with a rubber ring is arranged, so that the movement stability of the equipment in a complex environment is enhanced.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic machinery and intelligent control technical field, especially a bionic machinery deer that is beneficial to the interaction stability of children. BACKGROUND

[0002] In the prior art, bionic mechanical devices have been widely used in education, entertainment and scientific research fields, especially in bionic mechanical devices that imitate animal movements, complex multi-link mechanisms and high-cost material structures are commonly used to achieve realistic bionic effects. However, these prior art solutions usually have the following problems:

[0003] Firstly, the existing bionic mechanical structure uses a complex mechanical transmission system, such as a multi-link mechanism and a precision gear, resulting in a complex overall structure, high manufacturing cost, and easy shaking and instability during movement. This structure not only increases the manufacturing and maintenance costs, but also limits its widespread application in ordinary families and educational institutions.

[0004] Secondly, the existing bionic mechanical devices mostly use traditional control systems, which often rely on complex programming and manual operation, resulting in poor user experience, especially for scenarios that require interaction with children, the operation is difficult, and lacks intelligent and humanized design.

[0005] In addition, in the prior art, bionic mechanical devices often lack effective shock absorption measures during movement, resulting in excessive vibration when running on uneven ground or in complex environments, affecting the service life and user experience of the equipment. This problem is particularly evident when applied to outdoor or educational environments.

[0006] In order to solve the above problems, the industry usually tries to enhance the rigidity of the mechanical structure or use more precise control systems to improve the stability and user experience of the equipment, but this further increases the cost and operational complexity, and does not fundamentally solve the contradiction between the motion stability, intelligent control and cost-effectiveness of bionic machinery.

[0007] Therefore, how to improve the structural stability of bionic mechanical devices, simplify the control system, reduce the manufacturing cost, and at the same time improve the motion precision and user experience of the equipment, has become a technical problem to be solved by the utility model. CONTENT OF THE UTILITY MODEL

[0008] The technical problem solved by the utility model is to provide a bionic mechanical deer that is beneficial to the interaction stability of children, in order to solve the problems of complex structure, high cost, unstable movement and inconvenient operation of existing bionic mechanical devices in the background technology.

[0009] To solve the above technical problems, the utility model adopts the technical scheme as follows:

[0010] A bionic mechanical deer which is beneficial to interact with children and has high stability, comprising a framework structure, a four-limb structure, a driving mechanism, a control module, a voice control module, a Bluetooth control module, a damping shock-absorbing mechanism and a power module;

[0011] The framework structure comprises a trunk structure and a head structure, the four-limb structure is connected with a worm gear mechanism through a crank rocker mechanism, the trunk structure is internally provided with the control module and the power module, and the head structure is connected with the trunk structure;

[0012] The four-limb structure comprises the crank rocker mechanism and a four-bar linkage mechanism, the crank rocker mechanism is connected with the worm gear mechanism, the worm gear mechanism is connected with a driving motor through a worm, the driving motor is installed in the trunk structure, and the worm drives the four-bar linkage mechanism through the crank rocker mechanism to realize walking movement of the bionic deer;

[0013] The four-limb structure is provided with the damping shock-absorbing mechanism at the end, the damping shock-absorbing mechanism comprises a damper wrapped with rubber and installed at the end of the four-limb structure, and the damper is used for absorbing and reducing vibration generated by the bionic mechanical deer which is beneficial to interact with children and has high stability during movement to ensure smoothness of movement of the bionic mechanical deer which is beneficial to interact with children and has high stability;

[0014] The control module comprises a 32 single-chip system, the 32 single-chip system is connected with the driving motor, is used for receiving and processing signals from the voice control module and the Bluetooth control module, and controls the driving motor;

[0015] The voice control module and the Bluetooth control module are arranged in the trunk structure, the voice control module is used for receiving voice instructions of a user, and the Bluetooth control module is connected with a mobile phone of the user to realize remote control of the bionic mechanical deer which is beneficial to interact with children and has high stability.

[0016] As a further scheme of the utility model, the worm gear mechanism comprises a worm and a turbine, the crank rocker mechanism comprises a rotating shaft and a crank connecting rod, both ends of the rotating shaft are rotatably connected with the framework structure through bearings, and the four-bar linkage mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod;

[0017] The driving motor drives the worm fixedly connected with the output shaft to rotate through the output shaft, the worm is fixedly arranged on the rotating shaft and matched with the worm, the position close to one end of the crank connecting rod is rotationally and matchingly connected with the rotating shaft 81, the position close to the other end of the crank connecting rod is rotationally and matchingly connected with the position close to one end of the first connecting rod, the other end of the first connecting rod is rotationally and matchingly connected with the middle part of the second connecting rod, and the position close to the upper end of the second connecting rod is rotationally and matchingly connected with the framework structure.

[0018] The position close to the lower end of the second connecting rod is rotationally and matchingly connected with one side of the third connecting rod, the other side of the third connecting rod is rotationally and matchingly connected with the position of one end of the fourth connecting rod, and the position of the other end of the fourth connecting rod is rotationally and matchingly connected with the middle part of the first connecting rod.

[0019] As a further scheme of the utility model, the position close to the lower end of the second connecting rod is rotationally and matchingly connected with one side of the third connecting rod, the other side of the third connecting rod is rotationally and matchingly connected with the position of one end of the fourth connecting rod, and the position of the other end of the fourth connecting rod is rotationally and matchingly connected with the middle part of the first connecting rod.

[0020] As a further scheme of the utility model, the double-triangle trapezoidal structure refers to the first triangle formed between the first connecting rod, the second connecting rod and the framework and the trapezoidal gap formed between the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod due to the dislocation, and the second triangle formed by the combination of the trapezoidal gap and the first triangle is used for forming the double-triangle trapezoidal structure.

[0021] As a further scheme of the utility model, the driving motor is a stepping motor, and the stepping motor drives the worm to rotate through the multi-phase control winding receiving the electric signal from the control module.

[0022] As a further scheme of the utility model, the damper is made of rubber material and wrapped at the end of the limbs to provide the motion resistance.

[0023] As a further scheme of the utility model, the framework structure is made of aluminum plastic material to reduce the overall weight of the bionic mechanical deer with high interaction stability with children.

[0024] Compared with the prior art, the utility model has the beneficial effects that:

[0025] 1. The application significantly enhances the structural stability of the bionic mechanical deer four limbs suitable for high stability interaction with children through the ingenious combination of double-triangle trapezoidal structure and four-bar linkage mechanism. This design utilizes the geometric stability of the triangle, enabling the bionic mechanical deer suitable for high stability interaction with children to maintain high stability in both motion and static states, avoiding the shaking and instability problems that traditional bionic machines are prone to in dynamic processes. In addition, the four-bar linkage mechanism has self-locking function when the deer is static, further ensuring the safety and stability of the device when it stops operating.

[0026] 2. The application adopts a combination design of worm gear mechanism and crank rocker mechanism, supplemented by a stepper motor drive, and realizes high-precision bionic motion through multi-tooth meshing transmission and precise control system. Compared with traditional bionic machines, the driving system of the application not only has higher carrying capacity and self-locking performance, but also can provide more flexible and accurate motion performance while maintaining stability. This design provides a more realistic effect in motion simulation, enhancing the user's interactive experience.

[0027] 3. The application integrates a voice control module, a Bluetooth control module, and a 32 single-chip microcomputer system to build an efficient intelligent control system. Users can control the bionic mechanical deer suitable for high stability interaction with children through voice commands or mobile phone remote operation to realize various motion modes. This intelligent control method greatly improves the convenience of operation and enhances the interactivity of the device, making it more suitable for applications in family and education scenarios.

[0028] The additional aspects and advantages of the present application will be partially given in the following description, some of which will become apparent from the following description, or will be understood by those skilled in the art through practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0030] Figure 1 is a structural schematic view of the present application.

[0031] Figure 2 is Figure 1 A enlarged schematic view of the A part.

[0032] Figure 3 is Figure 1 Another perspective view of the structural schematic view of the present application.

[0033] Figure 4 For Figure 3 Another perspective view of the schematic diagram of the structure.

[0034] Figure 5 For Figure 4 Enlarged view of B of Figure 1.

[0035] The reference signs and names in the drawings are as follows:

[0036] skeleton structure 1, four-limb structure 2, torso structure 6, head structure 7, crank rocker mechanism 8, rotating shaft 81, crank connecting rod 82, worm gear mechanism 9, four-bar linkage mechanism 11, first connecting rod 111, second connecting rod 112, third connecting rod 113, fourth connecting rod 114, worm 12, drive motor 13, output shaft 131, worm gear 14, damper 16, double-triangle trapezoidal structure 17, bearing 18, trapezoidal gap 19, first triangle 20 and second triangle 21. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0038] Please refer to Figure 1 -5, in the embodiments of the present application, a bionic mechanical deer capable of interacting with children stably and having high stability, comprising a skeleton structure 1, a four-limb structure 2, a driving mechanism, a control module, a voice control module, a Bluetooth control module, a damping shock-absorbing mechanism and a power module; the skeleton structure 1 comprises a torso structure 6 and a head structure 7, four limbs of the four-limb structure 2 are respectively connected with a worm gear mechanism 9 through a crank rocker mechanism 8, a drive motor 13 is drivingly and matchingly connected with the worm gear mechanism 9, the worm gear mechanism 9 comprises a worm 12 and a worm gear 14, the crank rocker mechanism 8 comprises a rotating shaft 81 and a crank connecting rod 82, both ends of the rotating shaft 81 are respectively drivingly and matchingly connected with the skeleton structure 1 through bearings 18, a four-bar linkage mechanism 11 comprises a first connecting rod 111, a second connecting rod 112, a third connecting rod 113 and a fourth connecting rod 114;

[0039] The driving motor 13 drives the worm 12 fixedly connected with the output shaft 131 to rotate, the rotating shaft 81 is fixedly provided with the turbine 14 matched with the worm 12, the crank connecting rod 82 is rotationally connected with the rotating shaft 81 near one end, the crank connecting rod 82 is rotationally connected with the first connecting rod 111 near the other end, the other end of the first connecting rod 111 is rotationally connected with the middle part of the second connecting rod 112, the second connecting rod 112 is rotationally connected with the framework structure 1 near the upper end part;

[0040] The second connecting rod 112 is rotationally connected with one side of the third connecting rod 113 near the lower end part, the other side of the third connecting rod 113 is rotationally connected with one end part of the fourth connecting rod 114, and the other end part of the fourth connecting rod 114 is rotationally connected with the middle part of the first connecting rod 111;

[0041] The second connecting rod 112 is rotationally connected with one side of the third connecting rod 113 near the lower end part, the other side of the third connecting rod 113 is rotationally connected with one end part of the fourth connecting rod 114, and the other end part of the fourth connecting rod 114 is rotationally connected with the middle part of the first connecting rod 111;

[0042] The double-triangle trapezoidal structure 17 refers to a first triangle 20 formed between the first connecting rod 111, the second connecting rod 112 and the framework, and a trapezoidal structure formed by the dislocation, specifically, the dislocation forms a trapezoidal gap 19 between the first connecting rod 111, the second connecting rod 112, the third connecting rod 113 and the fourth connecting rod 114; and the trapezoidal gap 19 and the first triangle 20 form a larger second triangle 21, thereby forming the double-triangle trapezoidal structure 17; the bottom of the third connecting rod 113 is fixedly connected with a rod column for supporting walking, and the bottom of the rod column is provided with a damper 16 for damping support walking;

[0043] The inside of the trunk structure 6 is provided with a control module and a power module; the four-limb structure 2 includes a crank rocker mechanism 8 and a four-connecting rod mechanism 11, the crank rocker mechanism 8 is connected with a worm and gear mechanism 9, the worm and gear mechanism 9 is connected with a driving motor 13 through a worm 12, the driving motor 13 is installed in the trunk structure 6, the worm gear 14 drives the four-connecting rod mechanism 11 through the crank rocker mechanism 8 to realize the walking movement of the bionic deer;

[0044] The end of the four-limb structure 2 is provided with a damping shock-absorbing mechanism, which comprises a rubber-wrapped damper 16 installed at the end of the four limbs, and is used to absorb and reduce the vibration generated by the bionic mechanical deer with high interaction stability with children during movement to ensure the smoothness of its movement; the control module comprises a 32-bit single-chip microcomputer system connected with the driving motor 13, which is used to receive and process signals from the voice control module and the Bluetooth control module, and control the driving motor 13;

[0045] The voice control module and the Bluetooth control module are arranged in the trunk structure 6, the voice control module is used to receive the voice instructions of the user, and the Bluetooth control module is connected with the mobile phone of the user to realize remote control of the bionic mechanical deer with high interaction stability with children. The four-bar linkage mechanism 11 and the four-limb structure 2 form a double-triangle trapezoidal structure 17, which is connected with the crank-rocker mechanism 8 through a connecting rod to enhance the stability of the four-limb structure 2 and realize self-locking function when the bionic mechanical deer with high interaction stability with children is stationary. The worm and gear mechanism 9 is a multi-tooth meshing transmission mechanism, the meshing tooth surfaces between the worm wheel 14 and the worm 12 are in line contact, which has high bearing capacity and self-locking performance, and the worm 12 is connected with the output shaft of the driving motor 13.

[0046] The driving motor 13 is a stepping motor, which receives electrical signals from the control module through a multi-phase control winding, drives the worm 12 to rotate, and drives the crank-rocker mechanism 8 to perform bionic movement through the worm and gear mechanism 9. The damper 16 is made of rubber material and wrapped around the end of the four limbs to provide movement resistance, and the damper 16 is connected with the four-bar linkage mechanism 11 to reduce the friction of the bionic mechanical deer with high interaction stability with children during movement. The skeleton structure 1 is made of aluminum plastic material, which is connected with the trunk structure 6 through a profile skeleton to reduce the overall weight. The voice control module, the Bluetooth control module and the control module are electrically connected, and the 32-bit single-chip microcomputer system is used to uniformly control various movements and actions of the bionic mechanical deer with high interaction stability with children to realize intelligent operation.

[0047] The crank rocker mechanism 8 is mainly used for converting the rotary motion of the driving motor 13 into the reciprocating swing motion of the four-limb structure 2, so as to realize the gait simulation of the bionic deer. The crank rocker mechanism 8 is directly connected with the worm gear mechanism 9, the worm gear mechanism 9 provides a transmission path of motion and a conversion of torque, and ensures the stable motion of the four limbs. The worm gear mechanism 9 is used for converting the rotary motion of the motor into low-speed high-torque output in the utility model, and is coupled with the crank rocker mechanism 8, so as to realize the bionic motion of the four limbs of the bionic mechanical deer which is beneficial to interact with children and has high stability. The worm 12 is connected with the input end of the crank rocker mechanism 8 through the worm gear 14, so as to ensure the stability and precision of power transmission. The four-bar linkage mechanism 11 and the four-limb structure 2 of the bionic mechanical deer which is beneficial to interact with children and has high stability form a double-triangle trapezoidal structure 17, the structure is connected with the crank rocker mechanism 8 through a connecting rod, the stability of the four-limb structure 2 is increased, and the self-locking function is realized when the bionic mechanical deer which is beneficial to interact with children and has high stability is stationary. The 32 single-chip system as the core of the control module is responsible for managing and coordinating the motion of the above-mentioned mechanical mechanisms. The 32 single-chip system generates and transmits control signals to the driving motor 13 by receiving instructions from the voice control module or the Bluetooth control module.

[0048] A control method of a bionic mechanical deer which is beneficial to interact with children and has high stability, comprising the following steps:

[0049] Step 1, receiving the control instruction of the user through the control module, the control instruction is issued through the voice control module or the Bluetooth control module, and the control module is connected to the driving mechanism and the execution mechanism of the bionic mechanical deer which is beneficial to interact with children and has high stability;

[0050] Step 2, the control module generates a driving signal according to the received control instruction and transmits it to the driving mechanism, the driving mechanism includes a stepping motor, a worm gear mechanism 9 and a crank rocker mechanism 8, after receiving the driving signal, the driving mechanism controls the four-limb structure 2 to realize the predetermined action of the bionic mechanical deer which is beneficial to interact with children and has high stability through the worm gear mechanism 9 and the crank rocker mechanism 8;

[0051] Step 3, in the process of the motion of the bionic mechanical deer which is beneficial to interact with children and has high stability, the motion stability of the bionic mechanical deer which is beneficial to interact with children and has high stability is ensured through the double-triangle trapezoidal structure 17 and the four-bar linkage mechanism 11, and the four-bar linkage mechanism 11 realizes the synchronous motion of the four-limb structure 2 through the connection with the worm gear mechanism 9;

[0052] Step 4: During the movement of the high-stability bionic mechanical deer for interaction with children, the damping shock-absorbing mechanism installed at the end of the limbs absorbs and reduces the vibration from the ground, ensuring smooth operation of the high-stability bionic mechanical deer for interaction with children on uneven ground or complex environments.

[0053] Step 5: The control module continuously monitors the movement state of the high-stability bionic mechanical deer for interaction with children, adjusts the speed and direction of the stepper motor to optimize the movement trajectory, and ensures the safe and stable operation of the high-stability bionic mechanical deer for interaction with children.

[0054] Step 6: The control module completes the switching of multiple action modes of the high-stability bionic mechanical deer for interaction with children according to user instructions, including but not limited to walking, running, turning the head, and lowering the head, and controls the movement speed and action accuracy of the high-stability bionic mechanical deer for interaction with children by adjusting the frequency and intensity of the driving signal.

[0055] In step 1, the control instructions are received by the voice control module or the Bluetooth control module and processed by the 32 single-chip microcomputer system, which converts user instructions into electrical signals to control the driving mechanism and execution mechanism of the high-stability bionic mechanical deer for interaction with children to perform corresponding actions. In step 3, the self-locking function of the double-triangle trapezoidal structure 17 ensures the stability of the high-stability bionic mechanical deer for interaction with children in the stationary state and prevents overturning or instability caused by external interference. In step 5, the control module adjusts the working parameters of the stepper motor in real time through the built-in feedback system to optimize the movement performance of the high-stability bionic mechanical deer for interaction with children and avoid action deviation caused by speed or direction changes.

[0056] The damping shock-absorbing mechanism includes a rubber-wrapped damper 16 for reducing the movement vibration of the high-stability bionic mechanical deer for interaction with children on uneven ground and prolonging the service life of the mechanical structure. The method is applicable to different application scenarios, including but not limited to education, entertainment, and scientific research, and realizes efficient, stable, and intelligent control of the high-stability bionic mechanical deer for interaction with children through the above steps.

[0057] Example 1:

[0058] In the current education field, especially in the natural science education of teenagers and children, bionic mechanical devices as an educational tool can help students more intuitively understand the movement mechanism and biological characteristics of animals. However, traditional bionic mechanical devices have multiple problems in actual application, such as complex structure, high cost, unstable movement, and difficult operation, which limit their widespread application in education scenarios.

[0059] To solve the above problems, the utility model provides a kind of bionic mechanical deer that is conducive to the interaction of children with high stability, the combination of double-triangle trapezoidal structure 17 and four-bar linkage mechanism 11 by optimization design, significantly enhance the structural stability of equipment.In educational scenarios, bionic mechanical deer that is conducive to the interaction of children with high stability can be used to simulate the natural movement of deer, such as walking, running, bending down to feed, etc.Application, teachers can easily command bionic mechanical deer that is conducive to the interaction of children with high stability to complete a series of preset actions through voice control or mobile phone Bluetooth connection, students can intuitively observe the movement process of deer, so as to better understand related biological knowledge.

[0060] In use, the driving mechanism of bionic mechanical deer that is conducive to the interaction of children with high stability controls worm gear mechanism 9 through stepper motor, so that four-bar linkage mechanism 11 can accurately drive four-limb structure 2.Benefiting from the stability of double-triangle trapezoidal structure 17, bionic mechanical deer that is conducive to the interaction of children with high stability will not appear the common shaking and instability problem of traditional bionics in the movement process, even on uneven ground, it can also keep stable operation.This feature is especially suitable for outdoor education scenarios, such as nature reserves or outdoor activities of school, students can observe the performance of bionic mechanical deer that is conducive to the interaction of children with high stability in real environment.

[0061] In addition, the damping shock-absorbing mechanism of bionic mechanical deer that is conducive to the interaction of children with high stability further improves its adaptability in complex environment.Rubber-wrapped damper 16 not only effectively reduces the vibration of equipment in movement, but also protects the integrity and durability of mechanical structure by absorbing the impact force of ground.This makes bionic mechanical deer that is conducive to the interaction of children with high stability still maintain good working condition in long-term use, prolongs the service life of equipment.

[0062] Through the integration of voice control module and Bluetooth control module, bionic mechanical deer that is conducive to the interaction of children with high stability can provide intelligent operation experience in complex teaching scenarios.For example, in the classroom, teachers can make bionic mechanical deer that is conducive to the interaction of children with high stability demonstrate different movement modes through voice instructions, enhance the interactivity and interest of classroom.This intelligent control system not only is easy to operate, but also greatly improves the participation and learning effect of students.

[0063] Embodiment 2:

[0064] The utility model discloses a four-bar linkage mechanism 11 is combined with the design of introducing double triangle trapezoidal structure 17, and the stability of the stability high bionic mechanical deer four limbs structure 2 that is conducive to the interaction with children is improved obviously. The design utilizes the inherent stability characteristics of geometric structure, and through ingenious structural design, the bionic mechanical deer that is conducive to the interaction with children in high stability can maintain stable, reliable performance under various working conditions. For example: in the bionic mechanical deer that is conducive to the interaction with children in high stability, double triangle trapezoidal structure 17 is composed of first connecting rod 111, second connecting rod 112, third connecting rod 113 and fourth connecting rod 114. This structure utilizes the geometric stability of triangle, and the trapezoidal gap 19 formed by misplacement is further enhanced the overall rigidity and stability of the structure. The specific implementation is as follows:

[0065] First triangle 20: composed of first connecting rod 111, second connecting rod 112 and skeleton structure 1. This triangle provides preliminary structural support, ensuring the stability of four limbs structure 2 during movement.

[0066] Trapezoidal gap 19: formed by misplacement design of third connecting rod 113 and fourth connecting rod 114, enhancing the flexibility and buffering capacity of the structure. This design allows effective stress dispersion during movement, reducing vibration transmission when walking on complex terrain.

[0067] Second triangle 21: trapezoidal gap 19 and first triangle 20 work together to form a larger triangular structure. This double triangle structure further enhances the stability of the bionic mechanical deer four limbs that is conducive to the interaction with children in high stability by strengthening the overall rigidity, especially when running on uneven ground or under high load.

[0068] In addition, the four-bar linkage mechanism forms a self-locking function, specifically, the four-bar linkage mechanism 11 through reasonable geometric design, so that the bionic mechanical deer that is conducive to the interaction with children in high stability can realize self-locking function in static state. The realization of self-locking function depends on the combination of double triangle trapezoidal structure and four-bar linkage mechanism, so that the four limbs structure can remain stable when static, and will not loosen or sway due to gravity or external impact.

[0069] And the cooperation between first connecting rod 111 and second connecting rod 112: through the connection of rotating shaft 81 and skeleton structure 1, first connecting rod 111 and second connecting rod 112 form a stable triangular structure during movement. When the bionic mechanical deer that is conducive to the interaction with children in high stability stops moving, the structure can realize self-locking through the characteristics of four-bar linkage mechanism, preventing displacement of the four limbs when static.

[0070] The staggered connection of the third link 113 and the fourth link 114: through staggered design, a trapezoidal gap 19 is formed during movement, and the stability of the limbs is ensured through a geometric locking mechanism when stationary. This design allows the bionic mechanical deer to naturally maintain its posture when stopped, without the need for additional locking devices, thus facilitating interaction with children.

[0071] The four-bar linkage not only provides stability in the mechanical structure, but also closely cooperates with the drive system of the bionic mechanical deer to achieve efficient bionic movement. The drive system includes a worm gear mechanism 9 and a crank rocker mechanism 8, which are driven by a multi-phase controlled stepper motor 13 to drive the four-limb structure of the bionic mechanical deer, achieving precise bionic movement. The drive motor 13 rotates through the fixed connection of the worm 12 with the output shaft 131, the worm 12 meshes with the worm gear 14, and the crank rocker mechanism 8 converts the rotary motion into reciprocating swing motion of the four-limb structure. The multi-tooth meshing transmission design of the worm gear mechanism ensures the stability and accuracy of power transmission, providing stable output of the bionic mechanical deer in various motion states. The crank rocker mechanism 8 is connected to the four-bar linkage 11, and through precise control of the drive system, the synchronous movement of the four-limb structure of the bionic mechanical deer is achieved. The four-bar linkage 11 effectively disperses the stress on each link through the stability of the double-triangle trapezoidal structure during movement, ensuring the smoothness and consistency of the movement.

[0072] In natural science education, the bionic mechanical deer as an educational tool can help students more intuitively understand the animal movement mechanism. Thanks to the stability design of the double-triangle trapezoidal structure 17 and the four-bar linkage 11, the bionic mechanical deer can run stably on uneven ground or complex outdoor environments. This feature allows it to provide students with a more realistic bionic simulation experience in outdoor education scenarios such as nature reserves or outdoor activity classes at school. The design of the double-triangle trapezoidal structure 17 significantly improves the torsional resistance of the bionic mechanical deer's limbs, allowing it to maintain high stability during movement. The four-bar linkage 11 ensures the structural stability of the bionic mechanical deer when stationary through the geometric self-locking principle, avoiding the shaking problem of traditional bionic machines when stopped. In addition, the four-bar linkage 11 used in conjunction with the worm gear mechanism 9 and the crank rocker mechanism 8 effectively absorbs the shock during movement through the stability of the double-triangle trapezoidal structure, providing a more stable bionic movement effect.

[0073] In summary, the combination of the double-triangle trapezoidal structure 17 and the four-bar linkage mechanism 11 not only enhances the structural stability of the bionic mechanical deer in theory, but also significantly improves the stability, smoothness and reliability of the bionic mechanical deer in different environments through specific component design and power transmission scheme in practical application.

[0074] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "setting", "connecting", "fixing", "screw connecting" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0075] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application.

Claims

1. A bionic mechanical deer with high stability for interaction with children, characterized in that, The skeleton structure includes a trunk structure and a head structure, the four-limbed structure is connected with the worm gear through a crank rocker mechanism and a worm gear mechanism, the inside of the trunk structure is provided with a control module and a power module, and the head structure is connected with the trunk structure; The four-limbed structure includes a crank rocker mechanism and a four-bar linkage mechanism, the crank rocker mechanism is connected with the worm gear, the worm gear is connected with the driving motor through the worm, the driving motor is installed in the trunk structure, and the worm gear drives the four-bar linkage mechanism through the crank rocker mechanism to realize the walking movement of the bionic deer. The end of the four-limbed structure is provided with a damping shock-absorbing mechanism, the damping shock-absorbing mechanism includes a rubber-wrapped damper installed at the end of the four-limbed structure, and the damper is used for absorbing and reducing the vibration generated in the movement of the bionic mechanical deer with high interaction stability with children to ensure the stability of the movement. The control module includes a 32 single-chip system connected with the driving motor, used for receiving and processing signals from the voice control module and the Bluetooth control module, and controlling the driving motor. The voice control module and the Bluetooth control module are arranged in the trunk structure, the voice control module is used for receiving voice instructions of a user, and the Bluetooth control module is connected with a mobile phone of the user to realize remote control of the bionic mechanical deer with high interaction stability with children. The worm gear mechanism includes a worm and a turbine, the crank rocker mechanism includes a rotating shaft and a crank connecting rod, both ends of the rotating shaft are rotatably connected with the skeleton structure through bearings, and the four-bar linkage mechanism includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod.

2. The bionic mechanical deer with high stability for interaction with children according to claim 1, characterized in that, The driving motor drives the worm fixedly connected with the output shaft to rotate, the turbine is fixedly arranged on the rotating shaft and matched with the worm, one end of the crank connecting rod is rotatably connected with the rotating shaft, the other end of the crank connecting rod is rotatably connected with one end of the first connecting rod, the other end of the first connecting rod is rotatably connected with the middle part of the second connecting rod, the upper end of the second connecting rod is rotatably connected with the skeleton structure, the lower end of the second connecting rod is rotatably connected with one side of the third connecting rod, the other side of the third connecting rod is rotatably connected with one end of the fourth connecting rod, and the middle part of the first connecting rod is rotatably connected with the other end of the fourth connecting rod. The lower end of the second connecting rod is rotatably connected with one side of the third connecting rod, the other side of the third connecting rod is rotatably connected with one end of the fourth connecting rod, and the connecting positions of the one side and the other side of the third connecting rod are staggered. ​ 3. The bionic mechanical deer with high stability for interaction with children according to claim 2, characterized in that, ​ 4. The bionic mechanical deer with high stability for interaction with children according to claim 3, characterized in that, The double-triangle trapezoidal structure refers to a first triangle formed between the first connecting rod, the second connecting rod and the skeleton, and a trapezoidal gap formed between the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod due to the misalignment; the trapezoidal gap and the first triangle combine to form a second triangle for combining to form the double-triangle trapezoidal structure.

5. The bionic mechanical deer with high stability for interaction with children according to claim 1, characterized in that, The driving motor is a stepping motor, which receives an electric signal from a control module through a multi-phase control winding to drive the worm to rotate.

6. The bionic mechanical deer with high stability for interaction with children according to claim 1, characterized in that, The damper is made of rubber material and wrapped around the end of the limbs to provide resistance to movement.

7. The bionic mechanical deer with high stability for interaction with children according to claim 1, characterized in that, The skeleton structure is made of aluminum plastic material to reduce the overall weight of the bionic mechanical deer which is stable for interaction with children.

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