A bionic mechanism that simulates neck movement

Abstract

This utility model discloses a bionic mechanism for simulating neck movement, comprising: a power component, a neck swing component, and a neck pitch component; the power component is connected to the neck swing component; the neck swing component and the neck pitch component are respectively connected to a neck connecting frame. By implementing the bionic mechanism of this utility model, a bionic neck mechanism can be achieved that meets the requirements of compact design while providing good protection and ensuring high-precision movement, significantly improving the simulation effect and service life of the robot, while enhancing the stability and reliability of the system.

Description

Technical Field

[0001] This utility model relates to the field of bionic robot technology, and in particular to a bionic mechanism that simulates neck movement. Background Technology

[0002] Existing biomimetic robot neck mechanisms aim to mimic various natural movements of a real neck, such as pitching forward and backward, tilting the head left and right, shaking the head left and right, and protruding the neck forward. These movements are typically achieved through synchronous pulleys or other mechanical structures. While they can simulate certain dynamic effects, they still have many shortcomings in practical applications. First, a lack of compactness is a common problem. Many designs rely on traditional transmission mechanisms, making the entire neck mechanism bulky and cumbersome, making it difficult to meet the design requirements of small or micro-robots that demand high integration. Second, there are also issues with the design of degrees of freedom. Some designs offer too many degrees of freedom, leading to unnecessary complexity and increased costs; while others may be overly simplified and lack the necessary flexibility, failing to fully reproduce the movement characteristics of the target organism.

[0003] Furthermore, existing solutions lack sufficient consideration in terms of protection mechanisms. Most designs lack effective external protective shells or limiting structures to prevent internal components from being damaged by external factors or to avoid internal damage caused by excessive movement. This not only shortens the product's lifespan but also increases maintenance costs. Meanwhile, some traditional designs rely on the static driving force of motors to maintain joint positions, which may lead to joint loosening or self-locking in the event of a power outage, affecting the user experience. Moreover, the control of the range of motion is unsatisfactory. While some designs achieve multi-directional movement, they fail to precisely control the specific amplitude in each direction, resulting in movements that are either overly exaggerated or unrealistic, compromising the overall naturalness and simulation effect.

[0004] In conclusion, although current technology has enabled the realization of neck movements in bionic robots to a certain extent, there is still significant room for improvement in terms of structural compactness, degree of freedom optimization, protection mechanisms, and motion accuracy.

[0005] Therefore, it is necessary to design a new mechanism that can meet the requirements of compact design, provide good protection, and ensure high-precision motion, thereby significantly improving the simulation effect and service life of the robot, while enhancing the stability and reliability of the system. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a bionic mechanism that simulates neck movement.

[0007] To solve the above-mentioned technical problems, the purpose of this utility model is achieved through the following technical solution: providing a bionic mechanism for simulating neck movement, including: a power component, a neck swing component, and a neck pitch component; the power component is connected to the neck swing component; the neck swing component and the neck pitch component are respectively connected to a neck connecting frame.

[0008] The further technical solution is as follows: the power assembly includes a first power source and a reduction gear set, the first power source is connected to the reduction gear set; the reduction gear set is connected to the neck swing assembly.

[0009] The further technical solution is as follows: the neck swing assembly includes a bevel gear shaft and a spur bevel gear. One end of the bevel gear shaft is connected to the reduction gear set, and the other end of the bevel gear shaft meshes with the spur bevel gear. The spur bevel gear is connected to the neck connecting frame.

[0010] The further technical solution is as follows: the neck pitching assembly includes a second power source, a main gear, and a driven gear with partial teeth; the second power source is connected to the main gear; the main gear meshes with the driven gear, and the driven gear is connected to the neck connecting frame through a pin.

[0011] The further technical solution is as follows: the neck swing assembly includes a swing hollow shaft, a swing connecting frame, a swing motion shaft, a first connecting pin, a second connecting pin, a third connecting pin, a fourth connecting pin, and a swing drive shaft; the surface of the swing hollow shaft is provided with a first spiral guide groove, the first connecting pin is inserted into the first spiral guide groove, the swing hollow shaft is placed in the swing connecting frame, and the power assembly is connected to the swing hollow shaft; the swing drive shaft is connected to the swing motion shaft through the second connecting pin; the swing drive shaft is assembled in the neck connecting frame; the swing connecting frame is connected to the neck connecting frame through the third connecting pin; and the swing drive shaft is connected to the neck connecting frame through the fourth connecting pin.

[0012] A further technical solution is as follows: the swing connecting frame is provided with a swing guide groove; when the power component drives the swing hollow shaft to rotate, the first connecting pin moves back and forth along the swing guide groove.

[0013] The further technical solution is as follows: the swing connecting frame is provided with a swing guide groove, and the swing guide groove is provided with two swing guide grooves.

[0014] The further technical solution is as follows: the neck pitch assembly includes a third power source, a hollow pitch shaft, a pitch connecting frame, a pitch motion shaft, a fifth connecting pin, a sixth connecting pin, a seventh connecting pin, an eighth connecting pin, and a pitch drive shaft; the surface of the hollow pitch shaft is provided with a second spiral guide groove, the fifth connecting pin is inserted into the second spiral guide groove, the hollow pitch shaft is placed in the pitch connecting frame, and the third power source is connected to the hollow pitch shaft; the pitch drive shaft is connected to the pitch motion shaft through the sixth connecting pin; the pitch drive shaft is assembled in the neck connecting frame; the pitch connecting frame is connected to the neck connecting frame through the eighth connecting pin; the pitch drive shaft is connected to the neck connecting frame through the eighth connecting pin.

[0015] The further technical solution is as follows: the pitch connecting frame is provided with a pitch guide groove; when the third power source drives the pitch hollow shaft to rotate, the fifth connecting pin moves back and forth along the pitch guide groove.

[0016] The further technical solution is as follows: the pitch connection frame is provided with a pitch guide groove, and the pitch guide groove is provided with two pitch guide grooves.

[0017] The advantages of this invention compared to existing technologies are as follows: By integrating a power component, a neck swing component, and a neck pitch component, and cleverly connecting these components to a meticulously designed neck connecting frame, this invention achieves a compact spatial layout and high-precision motion control. The power component drives the neck swing component to complete the left-right swing, while the neck pitch component is responsible for the up-down pitch movement. The two work together to simulate the natural movement of a real neck. The entire system utilizes a limiting structure and a protective shell mechanism, which not only effectively prevents damage caused by human use but also ensures precise coordination and stable operation between the components, thereby significantly improving the robot's simulation effect and service life, while enhancing the overall stability and reliability of the system. The compact design adapts to the size requirements of young or small-sized individuals, enabling this bionic neck mechanism to be applicable to a wider range of application scenarios while ensuring performance.

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1A three-dimensional structural schematic diagram of a bionic mechanism for simulating neck movement provided in Embodiment 1 of this utility model;

[0021] Figure 2 An exploded structural diagram of a bionic mechanism for simulating neck movement provided in Embodiment 1 of this utility model;

[0022] Figure 3 A three-dimensional structural schematic diagram of a bionic mechanism for simulating neck movement provided in Embodiment 2 of this utility model;

[0023] Figure 4 An exploded structural diagram of a bionic mechanism for simulating neck movement provided in Embodiment 2 of this utility model;

[0024] Explanation of the markings in the image:

[0025] 1. First power source; 2. Reduction gear set; 3. Bevel gear shaft; 4. Spur bevel gear; 5. Neck connecting frame; 6. Second power source; 7. Main gear; 8. Driven gear; 9. Swing hollow shaft; 91. First helical guide groove; 10. Swing connecting frame; 101. Swing guide groove; 102. Swing guide groove; 11. Swing motion shaft; 12. First connecting pin; 13. Second connecting pin; 14. Third connecting pin; 15. Fourth connecting pin; 16. Swing drive shaft; 17. Third power source; 18. Pitch hollow shaft; 181. Second helical guide groove; 19. Pitch connecting frame; 191. Pitch guide groove; 192. Pitch guide groove; 20. Pitch motion shaft; 21. Fifth connecting pin; 22. Sixth connecting pin; 23. Seventh connecting pin; 24. Eighth connecting pin; 25. Pitch drive shaft; 26. Fourth power source. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0027] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0028] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0029] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0030] While existing bionic robot neck mechanisms can simulate various natural movements, such as pitching forward and backward, and swaying left and right, they face challenges in practical applications, including structural non-compactness, unreasonable degree-of-freedom design, lack of effective protection mechanisms, and poor control over the range of motion. These issues lead to bulky and cumbersome designs, increased costs or insufficient flexibility, susceptibility to damage, and higher maintenance costs. They also affect the naturalness and simulation effect of the movements, indicating significant room for improvement in structural optimization, simplification of degrees of freedom, enhancement of protective measures, and improvement of motion accuracy.

[0031] Therefore, this utility model provides a bionic mechanism that simulates neck movement, achieving a bionic neck mechanism that can meet the requirements of compact design, provide good protection, and ensure high-precision movement, significantly improving the simulation effect and service life of the robot, while enhancing the stability and reliability of the system.

[0032] Specifically, in the first embodiment, a compact and efficient biomimetic neck mechanism design is achieved through the coordinated operation of a power component, a neck swing component, and a neck pitch component. The power component includes a first power source 1 and a reduction gear set 2, connected to the neck swing component, which comprises a bevel gear shaft 3 and a spur bevel gear 4, ensuring compactness while providing necessary flexibility. The neck pitch component achieves precise control through a second power source 6, a main gear 7, and a local toothed slave gear 8, ensuring natural and smooth movements. The entire system, through a reasonable structural layout and connection method, not only reduces the overall size but also improves motion accuracy, thereby enhancing the robot's simulation effect and service life.

[0033] The second embodiment further optimizes the design, employing special designs such as the swing hollow shaft 9 and the swing drive shaft 16, as well as components such as the pitch hollow shaft 18 and the pitch drive shaft 25. Through the design of helical guide grooves and connecting pins, the neck mechanism can achieve complex motion patterns within a compact space. This design also includes a swing guide groove 101 and a pitch guide groove 191, ensuring that the internal components can move smoothly along a predetermined trajectory under the drive of the power source, avoiding excessive wear or damage, while providing an effective protection mechanism. Through this precise design, both compactness and high-precision motion control are achieved, significantly improving the stability and reliability of the system, and significantly enhancing the realism and durability of the robot's neck movements.

[0034] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0035] A bionic mechanism simulating neck movement includes: a power component, a neck swing component, and a neck pitch component; the power component is connected to the neck swing component; the neck swing component and the neck pitch component are respectively connected to the neck connecting frame 5.

[0036] In this embodiment, the biomimetic design of the neck movement is designed to accurately mimic the natural movement of young or small necks, and is particularly suitable for creatures such as three-month-old red pandas.

[0037] The neck swing assembly and pitch assembly are mounted on the neck connector 5. Their design allows the neck to move flexibly within a predetermined range, thus realistically simulating neck movements.

[0038] This bionic mechanism includes specific limiting structures to ensure that neck movements do not exceed a predetermined range. This is crucial for accurately mimicking the behavior of young children, as their neck range of motion is typically smaller than that of adults.

[0039] This biomimetic mechanism prioritizes space efficiency, resulting in a compact size that facilitates the simulation of young or small-sized individuals. This not only enhances the realism of the simulation but also ensures the device's portability and ease of installation.

[0040] The biomimetic mechanism includes a protective shell and other structural components to reduce the risk of damage from external factors and increase the product's durability and reliability.

[0041] The preload structure ensures the neck remains in an initial position and provides a restoring force, allowing the neck to automatically return to this initial position when no external force is applied. This is crucial for simulating the natural behavior of young children's necks, as they often have their own unique default posture.

[0042] It is particularly suitable for research, education, and demonstration purposes, such as simulating the neck movements of a three-month-old red panda. This bionic mechanism can help people better understand the behavioral characteristics of young pandas and provide a valuable tool for research in related fields.

[0043] In conclusion, this bionic structure, through its unique design and function, can effectively simulate the natural movement characteristics of young or small necks, meeting the needs of scientific research and educational demonstrations.

[0044] In Example 1, please refer to Figure 1 and Figure 2 The power assembly includes a first power source 1 and a reduction gear set 2. The first power source 1 is connected to the reduction gear set 2; the reduction gear set 2 is connected to the neck swing assembly.

[0045] In Embodiment 1, the power assembly consists of a first power source 1 (e.g., a motor or servo motor) and a reduction gear set 2. This power source is connected to the reduction gear set 2, providing sufficient torque to drive the neck swing assembly. The function of the reduction gear set 2 is to reduce the rotational speed while increasing the output torque, allowing the neck to swing more stably from side to side.

[0046] In Example 1, please refer to Figure 1 and Figure 2 The neck swing assembly includes a bevel gear shaft 3 and a spur bevel gear 4. One end of the bevel gear shaft 3 is connected to the reduction gear set 2, and the other end of the bevel gear shaft 3 meshes with the spur bevel gear 4. The spur bevel gear 4 is connected to the neck connecting frame 5.

[0047] In this embodiment, the neck swing assembly includes a bevel gear shaft 3 and a spur bevel gear 4. One end of the bevel gear shaft 3 is connected to the reduction gear set 2, and the other end meshes with the spur bevel gear 4. With this design, when the first power source 1 is working, its power is transmitted to the bevel gear shaft 3 through the reduction gear set 2, and is finally converted into the rotational motion of the spur bevel gear 4, which drives the neck connecting frame 5 to swing left and right.

[0048] To ensure precise control over the left-right swing angle of the neck, the design of the spur bevel gear 4 is crucial. Furthermore, the use of the bevel gear shaft 3 allows the entire assembly to perform complex power transmission tasks within a compact space.

[0049] In Example 1, please refer to Figure 1 and Figure 2 The neck pitch assembly includes a second power source 6, a main gear 7, and a driven gear 8 with partial gear teeth. The second power source 6 is connected to the main gear 7; the main gear 7 meshes with the driven gear 8, and the driven gear 8 is connected to the neck connecting frame 5 by a pin.

[0050] In this embodiment, the neck pitch component consists of a second power source 6, a main gear 7, and a driven gear 8 with partial teeth. The second power source 6 directly drives the main gear 7, which in turn meshes with the driven gear 8. Notably, the driven gear 8 has teeth only in a portion of its area, which limits the range of the neck's vertical pitch angle, ensuring the realism and accuracy of the simulated movement.

[0051] The gear 8 is connected to the neck connector 5 via a pin, thus converting the rotational motion of the main gear 7 into the pitching motion of the neck connector 5. This design not only simplifies the mechanism but also improves overall reliability.

[0052] This design allows the neck to move independently from side to side, tilt up and down independently, or in combination, realistically simulating various natural neck postures. The entire system is compact, suitable for simulating the neck size of young children or small individuals, and meets the needs of applications with limited space. The rationally designed limiting structure and shell increase the product's durability and reduce the risk of human-caused damage.

[0053] It is suitable for developing neck mechanisms for young pet robots such as three-month-old red pandas, as well as other robot projects that need to simulate the neck behavior of living organisms.

[0054] In this embodiment, the first power source 1 and the second power source 6 are respectively connected to the mounting bracket.

[0055] In this first embodiment, the left and right swinging is accomplished by the neck swinging assembly. The reduction gear set 2 provides a reduction ratio, which enhances the output torque. The bevel gear shaft 3 and the spur bevel gear 4 realize the change of motion direction and finely control the amplitude of the left and right swinging of the neck through the reduction ratio.

[0056] The tilting motion is achieved through the combined action of the neck tilting mechanism. Considering the weight of the head, a multi-stage reduction design increases the output torque during tilting. The design of the partially driven gear 8, a non-full-circumference gear, limits the tilting angle of the neck, ensuring natural and smooth movements.

[0057] The neck swing component and neck pitch component can reciprocate within a fixed range, rather than rotate, thereby achieving precise position control.

[0058] In addition, a bionic mechanism for simulating neck movement as described in Embodiment 2 is also provided. For details, please refer to [link to Embodiment 2]. Figure 3 and Figure 4The neck swing assembly includes a swing hollow shaft 9, a swing connecting frame 10, a swing motion shaft 11, a first connecting pin 12, a second connecting pin 13, a third connecting pin 14, a fourth connecting pin 15, and a swing drive shaft 16. The surface of the swing hollow shaft 9 is provided with a first spiral guide groove 91, and the first connecting pin 12 is inserted into the first spiral guide groove 91. The swing hollow shaft 9 is placed in the swing connecting frame 10, and the power assembly is connected to the swing hollow shaft 9. The swing drive shaft 16 is connected to the swing motion shaft 11 through the second connecting pin 13. The swing drive shaft 16 is assembled in the neck connecting frame 5. The swing connecting frame 10 is connected to the neck connecting frame 5 through the third connecting pin 14. The swing drive shaft 16 is connected to the neck connecting frame 5 through the fourth connecting pin 15.

[0059] In Example 2, please refer to Figure 3 and Figure 4 The swing connecting frame 10 is provided with a swing guide groove 101; when the power component drives the swing hollow shaft 9 to rotate, the first connecting pin 12 moves back and forth along the swing guide groove 101.

[0060] In Example 2, please refer to Figure 3 and Figure 4 The swing connecting frame 10 is provided with a swing guide groove 102, and the swing guide groove 102 is provided with two swing guide grooves 101.

[0061] The swing hollow shaft 9 has a spiral guide groove on its surface and is one of the key components for achieving left and right swing.

[0062] Swing connecting frame 10: It is provided with swing guide groove 101 and swing guide groove 102 (including two swing guide grooves 101) inside, which are used to limit and guide the movement path of the swing hollow shaft 9, thereby controlling the back-and-forth reciprocating movement of the first connecting pin 12.

[0063] Swing motion axis 11: It is connected to the swing drive axis 16 through the second connecting pin 13, and together they work to realize the swing of the neck.

[0064] First connecting pin 12, second connecting pin 13, third connecting pin 14, and fourth connecting pin 15: These connecting pins are used to fix and guide the relative movement between different components.

[0065] Swing drive shaft 16: The part directly driven by the power source, which transmits force through the swing motion shaft 11 and ultimately affects the swinging motion of the neck.

[0066] The power transmission process is as follows:

[0067] The power unit first drives the oscillating hollow shaft 9 to rotate.

[0068] The first connecting pin 12 is inserted into the spiral guide groove of the swing hollow shaft 9. When the swing hollow shaft 9 rotates, the first connecting pin 12 moves back and forth along the swing guide groove 101 in the swing connecting frame 10.

[0069] The swing drive shaft 16 is connected to the swing motion shaft 11 via the second connecting pin 13, ensuring the stability and controllability of the swing motion.

[0070] The swing drive shaft 16 is assembled inside the neck connecting frame 5, and the swing connecting frame 10 and the neck connecting frame 5 are connected by the third connecting pin 14 to ensure the stability of the overall structure.

[0071] Finally, the swing drive shaft 16 is connected to the neck connector 5 via the fourth connecting pin 15, thus achieving precise control of the neck position.

[0072] The specific implementation steps are as follows:

[0073] Start the power unit to make the swing hollow shaft 9 start to rotate.

[0074] As the hollow shaft 9 rotates, the first connecting pin 12 moves back and forth in the swing guide groove 101 within the swing connecting frame 10, driving the entire swing motion shaft 11 to perform corresponding movements.

[0075] This movement is transmitted to the swing drive shaft 16 via the swing motion shaft 11 and the second connecting pin 13, thereby affecting the positional change of the neck.

[0076] In this process, the third connecting pin 14 and the fourth connecting pin 15 ensure that the components can move flexibly without becoming dislodged or misaligned.

[0077] Through optimized design, the entire mechanism can operate efficiently within a limited space, making it ideal for simulating the neck movements of young children or small children. No additional initial limit or reset structure is required; it maintains a natural, relaxed state even when the motor is not powered on, resulting in a more realistic performance. It can be applied not only to pet robots such as pandas, cats, and dogs, but also to other scenarios requiring two relatively vertically rotating mechanisms, such as gimbals.

[0078] In summary, Embodiment 2 provides a compact, fully functional, and easily implemented biomimetic mechanism design for simulating neck movement. This design not only considers the precision and stability of mechanical motion but also takes into account flexibility and adaptability in practical applications.

[0079] In this second embodiment, please refer to Figure 3 and Figure 4The aforementioned neck pitch assembly includes a third power source 17, a hollow pitch shaft 18, a pitch connecting frame 19, a pitch motion shaft 20, a fifth connecting pin 21, a sixth connecting pin 22, a seventh connecting pin 23, an eighth connecting pin 24, and a pitch drive shaft 25. The surface of the hollow pitch shaft 18 is provided with a second spiral guide groove 181, and the fifth connecting pin 21 is inserted into the second spiral guide groove 181. The hollow pitch shaft 18 is placed inside the pitch connecting frame 19, and the third power source 17 is connected to the hollow pitch shaft 18. The pitch drive shaft 25 is connected to the pitch motion shaft 20 via the sixth connecting pin 22. The pitch drive shaft 25 is assembled inside the neck connecting frame 5. The pitch connecting frame 19 is connected to the neck connecting frame 5 via the eighth connecting pin 24. The pitch drive shaft 25 is connected to the neck connecting frame 5 via the eighth connecting pin 24.

[0080] In this second embodiment, please refer to Figure 3 and Figure 4 The pitch connecting frame 19 is provided with a pitch guide groove 191; when the third power source 17 drives the pitch hollow shaft 18 to rotate, the fifth connecting pin 21 moves back and forth along the pitch guide groove 191.

[0081] In this second embodiment, please refer to Figure 3 and Figure 4 The pitch connection frame 19 is provided with a pitch guide groove 192, and the pitch guide groove 192 is provided with two pitch guide grooves 191.

[0082] Specifically, the third power source 17 is used to drive the entire pitch system, typically an electric motor or servo motor.

[0083] The hollow pitch shaft 18 has a spiral guide groove on its surface and is one of the key components for achieving pitch.

[0084] The pitch connecting frame 19 is provided with a pitch guide groove 191 and a pitch guide groove 192 (including two pitch guide grooves 191) inside, which are used to limit and guide the movement path of the fifth connecting pin 21, thereby controlling the back-and-forth reciprocating movement of the pitch hollow shaft 18.

[0085] The pitch axis 20 is connected to the pitch drive axis 25 via the sixth connecting pin 22, and together they work to achieve the up and down tilting of the neck.

[0086] The fifth connecting pin 21, the sixth connecting pin 22, the seventh connecting pin 23, and the eighth connecting pin 24 are used to fix and guide the relative movement between different components.

[0087] Pitch drive shaft 25: The part directly driven by the power source, which transmits force through the pitch motion shaft 20 and ultimately affects the pitch movement of the neck.

[0088] The power transmission process is as follows:

[0089] The third power source 17 is activated, causing the pitch hollow shaft 18 to begin rotating.

[0090] The fifth connecting pin 21 is inserted into the spiral guide groove of the pitch hollow shaft 18. When the pitch hollow shaft 18 rotates, the fifth connecting pin 21 moves back and forth along the pitch guide groove 191 in the pitch connecting frame 19.

[0091] The pitch drive shaft 25 is connected to the pitch motion shaft 20 via the sixth connecting pin 22, ensuring the stability and controllability of the pitch motion.

[0092] The pitch drive shaft 25 is installed inside the neck connector 5, and the pitch connector 19 is connected to the neck connector 5 by the eighth connecting pin 24 to ensure the stability of the overall structure.

[0093] Finally, the pitch drive shaft 25 is connected to the neck connector 5 via the eighth connecting pin 24, thus achieving precise control of the neck position.

[0094] The specific implementation steps are as follows:

[0095] Start the third power source 17 to make the pitch hollow shaft 18 start to rotate.

[0096] As the hollow pitch shaft 18 rotates, the fifth connecting pin 21 moves back and forth in the pitch guide groove 191 within the pitch connecting frame 19, driving the entire pitch motion shaft 20 to perform corresponding movements.

[0097] This movement is transmitted to the pitch drive shaft 25 via the pitch axis 20 and the sixth connecting pin 22, thereby affecting the positional change of the neck.

[0098] In this process, the seventh connecting pin 23 and the eighth connecting pin 24 ensure that the components can move flexibly without becoming dislodged or misaligned.

[0099] Through optimized design, the entire mechanism can operate efficiently in a limited space, making it ideal for simulating the neck movements of young children or small animals. No additional initial limit or reset structure is required, and it can maintain a natural and relaxed state when the motor is not powered on, resulting in a more realistic performance. It can be applied not only to pet robots such as pandas, cats, and dogs, but also to other scenarios that require two relatively vertically rotating mechanisms, such as gimbals.

[0100] The pitch connection frame 19 is equipped with a pitch guide groove 191 and a pitch guide groove 192 (including two pitch guide grooves 191). When the third power source 17 drives the hollow pitch shaft 18 to rotate, the fifth connecting pin 21 moves back and forth along the pitch guide groove 191, thereby realizing the up and down pitch movement of the neck. The precise fit between the hollow pitch shaft 18, the pitch motion shaft 20, the pitch drive shaft 25, and the various connecting pins ensures the smooth operation and reliable performance of the entire system.

[0101] In summary, Embodiment 2 provides a bionic mechanism design specifically for the up-and-down tilting movements of the neck. This design not only considers the precision and stability of mechanical motion but also takes into account the flexibility and adaptability in practical applications, making it particularly suitable for simulating the neck movements of young children. This design achieves highly realistic simulation effects, meeting the needs of various application scenarios.

[0102] In this second embodiment, the power assembly includes a fourth power source 26.

[0103] In other embodiments, the linear-rotation mechanism described above can be replaced by other linkage mechanisms, such as cam springs / eccentric wheel springs; the rotation-linear transmission can also be replaced by a lead screw and slider; the transmission from the motor to the mechanism can be a direct drive or a synchronous belt pulley reduction drive.

[0104] The aforementioned bionic mechanism simulating neck movement integrates a power unit, a neck swinging component, and a neck pitching component, cleverly connecting these components to a meticulously designed neck connecting frame 5. This achieves a compact spatial layout and high-precision motion control. The power unit drives the neck swinging component to swing left and right, while the neck pitching component handles the up and down pitching motion. The two work together to simulate the natural movement of a real neck. The entire system utilizes a limiting structure and a protective shell mechanism, effectively preventing damage from human use and ensuring precise coordination and stable operation between components. This significantly improves the robot's simulation effect and lifespan, while also enhancing the overall stability and reliability of the system. The compact design adapts to the size requirements of young children or small body types, enabling this bionic neck mechanism to be applicable to a wider range of scenarios while maintaining performance.

[0105] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A bionic mechanism for simulating neck movement, characterized in that, include: A power assembly, a neck swing assembly, and a neck pitch assembly; the power assembly is connected to the neck swing assembly. The neck swing assembly and the neck pitch assembly are respectively connected to the neck connection frame.

2. The bionic mechanism for simulating neck movement according to claim 1, characterized in that, The power assembly includes a first power source and a reduction gear set, wherein the first power source is connected to the reduction gear set; and the reduction gear set is connected to the neck swing assembly.

3. The bionic mechanism for simulating neck movement according to claim 2, characterized in that, The neck swing assembly includes a bevel gear shaft and a spur bevel gear. One end of the bevel gear shaft is connected to the reduction gear set, and the other end of the bevel gear shaft meshes with the spur bevel gear. The spur bevel gear is connected to the neck connecting frame.

4. The bionic mechanism for simulating neck movement according to claim 3, characterized in that, The neck pitch assembly includes a second power source, a main gear, and a driven gear with partial teeth. The second power source is connected to the main gear. The main gear meshes with the driven gear, and the driven gear is connected to the neck connecting frame via a pin.

5. The bionic mechanism of simulating neck movement according to claim 1, characterized in that, The neck swing assembly includes a swing hollow shaft, a swing connecting frame, a swing motion shaft, a first connecting pin, a second connecting pin, a third connecting pin, a fourth connecting pin, and a swing drive shaft. The surface of the swing hollow shaft is provided with a first spiral guide groove, and the first connecting pin is inserted into the first spiral guide groove. The swing hollow shaft is placed inside the swing connecting frame, and the power assembly is connected to the swing hollow shaft. The swing drive shaft is connected to the swing motion shaft via the second connecting pin. The swing drive shaft is assembled inside the neck connecting frame. The swing connecting frame is connected to the neck connecting frame via the third connecting pin. The swing drive shaft is connected to the neck connecting frame via the fourth connecting pin.

6. The bionic mechanism for simulating neck movement according to claim 5, characterized in that, The swing connecting frame is provided with a swing guide groove; when the power component drives the swing hollow shaft to rotate, the first connecting pin moves back and forth along the swing guide groove.

7. The bionic mechanism for simulating neck movement according to claim 6, characterized in that, The swing connecting frame is provided with a swing guide groove, and the swing guide groove is provided with two swing guide grooves.

8. The bionic mechanism for simulating neck movement according to claim 5, characterized in that, The neck pitch assembly includes a third power source, a hollow pitch shaft, a pitch connecting frame, a pitch motion shaft, a fifth connecting pin, a sixth connecting pin, a seventh connecting pin, an eighth connecting pin, and a pitch drive shaft. The surface of the hollow pitch shaft is provided with a second helical guide groove. The fifth connecting pin is inserted into the second helical guide groove. The hollow pitch shaft is placed inside the pitch connecting frame. The third power source is connected to the hollow pitch shaft. The pitch drive shaft is connected to the pitch motion shaft via the sixth connecting pin. The pitch drive shaft is assembled inside the neck connecting frame. The pitch connecting frame is connected to the neck connecting frame via the eighth connecting pin. The pitch drive shaft is connected to the neck connecting frame via the eighth connecting pin.

9. The bionic mechanism for simulating neck movement according to claim 8, characterized in that, The pitch connecting frame is provided with a pitch guide groove; when the third power source drives the pitch hollow shaft to rotate, the fifth connecting pin moves back and forth along the pitch guide groove.

10. The bionic mechanism for simulating neck movement according to claim 9, characterized in that, The pitch connection frame is provided with a pitch guide groove, and the pitch guide groove is provided with two pitch guide grooves.

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