A linkage mechanism, a steering mechanism, a bionical mechanism and a bionical toy

Abstract

The utility model relates to bionic machinery technical field, especially a connecting rod mechanism, steering mechanism, bionic mechanism and bionic toy. The steering mechanism includes the top support and bottom support of interval setting, and at least one group connecting rod mechanism is arranged between the top support and bottom support, and the both ends of connecting rod mechanism are rotatory connection with top support and bottom support respectively, wherein the connecting rod structure includes transmission connecting rod, four connecting rod assemblies and first pivot, four connecting rod assemblies include first connecting rod, second connecting rod, third connecting rod, fourth connecting rod and four second pivots, and first connecting rod, second connecting rod, third connecting rod and fourth connecting rod are sequentially rotatory connection through a second pivot respectively, four second pivots are parallel to each other, and perpendicular to the plane where four connecting rod assemblies are, and transmission connecting rod is rotatory connection with first connecting rod through first pivot, and first pivot is parallel to first connecting rod and sets up. The utility model improves the stability and flexibility of steering mechanism transmission through the setting of connecting rod mechanism.

Description

Technical Field

[0001] This utility model relates to the field of biomimetic mechanical technology, and in particular to a linkage mechanism, steering mechanism, biomimetic mechanism and biomimetic toy. Background Technology

[0002] Traditional biomimetic toys or robots, especially those mimicking animal forms, often face challenges in designing their head-turning mechanisms. Simple single-axis rotational structures have limited range of motion, produce stiff movements, and fail to simulate the flexible and natural head movements of living organisms. While complex multi-degree-of-freedom robotic arm structures offer high flexibility, they often result in bulky mechanisms, high costs, complex control, and difficulty in efficient layout within limited spaces, while also affecting the realism of the appearance. Existing linkage mechanisms, when applied to steering requirements that necessitate compact space and specific motion trajectories, often suffer from issues such as insufficiently smooth transmission, large structural footprint, or difficulty in elegant integration with drive components and support frames.

[0003] Therefore, there is an urgent need for a linkage steering mechanism that is compact, moves flexibly and smoothly, is easy to drive and integrate, and can effectively utilize internal space, in order to meet the comprehensive requirements of biomimetic toys or robots for natural and realistic movement, cost control, and appearance simulation. Utility Model Content

[0004] To address the technical problems of low stability and flexibility in existing steering mechanisms, this invention provides a linkage mechanism, a steering mechanism, a bionic mechanism, and a bionic toy.

[0005] The present invention provides a linkage mechanism to solve the technical problem, comprising a transmission link, a four-bar linkage assembly, and a first rotating shaft. The four-bar linkage assembly includes a first link, a second link, a third link, a fourth link, and four second rotating shafts. The first link, the second link, the third link, and the fourth link are sequentially rotatably connected via a second rotating shaft. The four second rotating shafts are parallel to each other and perpendicular to the plane of the four-bar linkage assembly. The transmission link is rotatably connected to the first link via the first rotating shaft, and the first rotating shaft is arranged parallel to the first link.

[0006] Preferably, the four-bar linkage is a parallelogram mechanism, with the first and third links arranged in parallel, and the second and fourth links arranged in parallel.

[0007] Preferably, the transmission link is arranged perpendicular to the first link.

[0008] To solve the above-mentioned technical problems, this utility model provides another technical solution as follows: a steering mechanism, including a top bracket and a bottom bracket arranged at intervals, wherein at least one set of linkage mechanisms as described in any of the above is provided between the top bracket and the bottom bracket, wherein the end of the transmission link away from the four-bar linkage assembly is rotatably connected to the bottom bracket, and the third link is rotatably connected to the top bracket, and the third link is arranged parallel to the top bracket.

[0009] Preferably, the bottom support is provided with a storage cavity, and a driving component is fixed in the storage cavity. The number of driving components is the same as the number of linkage mechanisms. The output end of the driving component is exposed in the storage cavity, and the output end of the driving component is rotatably connected to the transmission linkage.

[0010] Preferably, the top support and the bottom support are provided with three sets of the linkage mechanism on their outer periphery, and the top support is provided with a rotary drive on the side away from the bottom support, and the rotation axis of the rotary drive is arranged perpendicular to the top support.

[0011] Preferably, the top support is provided with a placement groove that extends from the top support to the bottom support. The placement groove has an opening on the side near the top support, and the rotary drive component is detachably embedded in the placement groove through the opening.

[0012] To solve the above-mentioned technical problems, this utility model provides another technical solution as follows: a bionic mechanism, including a head mechanism and a steering mechanism as described in any of the above claims, wherein the bottom of the head mechanism is fixedly or rotatably connected to the top support of the steering mechanism to control the movement and / or rotation of the head mechanism.

[0013] Preferably, the bionic mechanism includes a tail mechanism and a central control mechanism. One end of the central control mechanism is connected to the bottom support, and the other end is connected to the tail mechanism. The central control mechanism is signal-connected to the steering mechanism, the head mechanism, and the tail mechanism to control the movement of the steering mechanism, the head mechanism, and the tail mechanism.

[0014] To solve the above-mentioned technical problems, this utility model provides another technical solution as follows: a bionic toy, including a fur coat, a filling material, and a bionic mechanism as described in any of the above claims, wherein the bionic mechanism is disposed inside the fur coat and is covered by the fur coat, and the filling material is disposed between the bionic mechanism and the fur coat.

[0015] Compared with the prior art, the linkage mechanism, steering mechanism, bionic mechanism, and bionic toy provided by this utility model have the following advantages:

[0016] 1. This utility model provides a linkage mechanism. A four-bar linkage assembly consisting of four links and four second rotating shafts, combined with a transmission link and a first rotating shaft, enables relatively complex and stable motion conversion and transmission. The four links of the four-bar linkage assembly are sequentially rotatably connected by second rotating shafts that are parallel to each other and perpendicular to their respective planes, forming a stable four-bar linkage structure. This ensures that the mechanism's motion occurs within a single plane, resulting in a simple and reliable structure. The transmission link is connected to the first link via the first rotating shaft, effectively transmitting power to the four-bar linkage assembly. This allows the entire mechanism to achieve complex and stable relative motion with precise and controllable trajectory. The force on each component is uniform during motion, reducing the risk of jamming and wear. This lays a solid foundation for subsequent complex mechanical transmission and biomimetic motion, and provides basic flexibility for the overall layout and drive method of the mechanism.

[0017] 2. The linkage mechanism provided in this embodiment of the utility model has the first and third links arranged in parallel, and the second and fourth links arranged in parallel, so that the four-link assembly forms a parallelogram mechanism. When the mechanism is in operation, each link can maintain synchronous and stable relative movement, effectively avoiding mutual interference between links, improving the coordination and smoothness of movement, and enhancing the overall stability of the mechanism. Even in high-speed or complex motion scenarios, it can ensure precise coordination of each link.

[0018] 3. The linkage mechanism provided in this embodiment of the utility model has a transmission link that is perpendicular to the first link, which makes the force transmission more efficient and direct. During the transmission process, the power can be transmitted to the four-bar linkage to the maximum extent, reducing energy loss and improving transmission efficiency. At the same time, this vertical layout also optimizes the spatial structure of the mechanism, making it easier to integrate with other components and providing a more flexible and compact layout scheme for the design of complex mechanical systems.

[0019] 4. This utility model embodiment provides a steering mechanism that cleverly applies a linkage mechanism to the steering field. A top support and a bottom support are spaced apart, with the linkage mechanism positioned between them. A transmission link is rotatably connected to the bottom support, and a third link is rotatably connected to the top support. This design enables motion transmission between the bottom supports and between the top supports. Through the motion conversion of the linkage mechanism, the top support can flexibly turn within a certain range. Furthermore, its compact structure allows for efficient operation within a limited space, providing reliable power and precise control for bionic mechanisms to simulate actions such as turning the head of a living organism.

[0020] 5. The steering mechanism provided in this embodiment of the utility model has a storage cavity in the bottom bracket to fix the drive component. The drive component is built into the storage cavity of the bottom bracket, which greatly saves external space and makes the overall structure more compact and neat. The output end of the drive component is exposed and connected to the transmission linkage, realizing the direct and efficient transmission of power from the hidden drive component to the motion mechanism. This design not only protects the drive component and reduces external interference, but also improves the aesthetics and integration of the product. Secondly, the number of drive components is consistent with the number of linkage mechanisms, and each linkage mechanism has an independent drive source, ensuring the synchronization and accuracy of the actions of each part during steering, which facilitates precise control of steering angle and speed.

[0021] 6. The steering mechanism provided in this embodiment of the utility model has a rotating drive component on the top support, which provides additional rotational freedom. This allows the object supported by the steering mechanism to not only turn relative to the base, but also rotate around its own axis, enabling it to simulate more complex biological movement postures. This significantly increases the flexibility of movement, more realistically simulates the multi-degree-of-freedom movement of a biological head, and expands the application scenarios of the mechanism.

[0022] 7. The steering mechanism provided in this utility model embodiment provides a stable and reliable accommodating space for the rotary drive component by setting the placement slot. The placement slot is specifically located in the gap between the top bracket and the bottom bracket, that is, the rotary drive component is specifically located between the top bracket and the bottom bracket, which realizes the compactness of the steering mechanism layout. Secondly, the rotary drive component is detachably embedded, realizing modularity and maintainability, which facilitates the installation, disassembly and replacement of the rotary drive component, and reduces maintenance costs and maintenance difficulty.

[0023] 8. This utility model embodiment also provides a bionic mechanism that combines a head mechanism with a steering mechanism. The bottom of the head mechanism is fixedly or rotatably connected to the top support of the steering mechanism. With the precise control of the steering mechanism, the movement and rotation of the head mechanism can be flexibly controlled, highly simulating the natural movement of a biological head, such as pitching, tilting, and rotating. This makes the bionic mechanism closer to real organisms in posture and movement, improving the bionic realism and interactive experience.

[0024] 9. The bionic mechanism provided in this embodiment of the present invention connects the bottom support and the tail mechanism through the central control mechanism and communicates with the signals of each part, thereby enabling unified control of the movement of the steering mechanism, the head mechanism and the tail mechanism, realizing centralized and coordinated control of the entire bionic mechanism's movements; this integrated control method can simulate more complex and realistic biological behavior, significantly improving the bionic effect and the level of intelligence.

[0025] 10. This utility model embodiment also provides a bionic toy, which consists of a fur coat, stuffing material, and a bionic mechanism. The bionic mechanism is hidden inside and covered by the fur coat, and the stuffing material is filled in between. This not only gives the toy a soft and comfortable appearance and feel, but also uses the camouflage effect of the fur coat to hide the internal mechanical structure, making the toy highly bionic in appearance and behavior, with extremely high realism. It can effectively stimulate the player's curiosity and desire to interact, bringing a better entertainment experience. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of a linkage mechanism provided in an embodiment of the present invention.

[0028] Figure 2 This is an exploded view of a linkage mechanism provided in an embodiment of this utility model.

[0029] Figure 3 This is a structural schematic diagram of a steering mechanism provided in an embodiment of the present utility model.

[0030] Figure 4 This is a schematic diagram of the structure of the bottom support provided in an embodiment of the present invention.

[0031] Figure 5 This is an exploded view of the bottom support structure provided in an embodiment of this utility model.

[0032] Figure 6 This is a schematic diagram of the structure of a biomimetic mechanism provided in an embodiment of this utility model.

[0033] Figure 7 This is a schematic diagram of the head mechanism provided in an embodiment of the present invention.

[0034] Figure 8 This is a schematic diagram of the tail mechanism provided in an embodiment of the present invention.

[0035] Figure 9 This is a schematic diagram of the structure of the bionic toy provided in this embodiment of the utility model.

[0036] Explanation of reference numerals in the attached diagram:

[0037] 10. Steering mechanism; 1. Linkage mechanism; 11. Transmission link; 12. Four-bar linkage assembly; 121. First link; 122. Second link; 123. Third link; 124. Fourth link; 125. First connecting hole; 126. Connecting groove; 127. Rotation clearance; 128. Second connecting hole; 13. First rotating shaft; 14. Second rotating shaft; 2. Rotary drive component; 3. Top bracket; 31. Placement slot; 4. Bottom bracket; 41. Storage cavity; 42. First fixing structure; 43. Second fixing structure; 44. Fixing column; 45. Top plate; 46. Bottom plate; 6. Drive component;

[0038] 20. Bionic Mechanism; 201. Head Mechanism; 2011. Ear Components; 2012. Mouth Components; 2013. Eye Components; 2014. Head Transmission Assembly; 202. Tail Mechanism; 2021. Universal Connector; 2022. Tail Base; 2023. Tail Segments; 2024. Tail Terminal Segment; 203. Central Control Mechanism;

[0039] 30. Bionic toys; 301. Fur coats; 302. Stuffing materials. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the scope of the present utility model.

[0041] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0042] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0043] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0044] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0045] Please see Figure 1 and Figure 2 The first embodiment of this utility model provides a linkage mechanism 1, which includes a transmission link 11, a four-bar linkage 12, and a first rotating shaft 13. The four-bar linkage 12 includes a first link 121, a second link 122, a third link 123, a fourth link 124, and four second rotating shafts 14. The first link 121, the second link 122, the third link 123, and the fourth link 124 are rotatably connected sequentially through a second rotating shaft 14. The four second rotating shafts 14 are parallel to each other and perpendicular to the plane of the four-bar linkage 12. The transmission link 11 is rotatably connected to the first link 121 through the first rotating shaft 13. The first rotating shaft 13 is arranged parallel to the first link 121.

[0046] Understandably, the four-bar linkage 12, consisting of four connecting rods and four second rotating shafts 14, combined with the transmission link 11 and the first rotating shaft 13, enables relatively complex and stable motion conversion and transmission. The four connecting rods of the four-bar linkage 12 are sequentially connected by rotating second rotating shafts 14 that are parallel to each other and perpendicular to their respective planes, forming a stable four-bar linkage structure. This ensures that the mechanism's motion occurs within a single plane, resulting in a simple and reliable structure. The transmission link 11 is connected to the first link 121 through the first rotating shaft 13, which effectively transmits power to the four-bar linkage 12. This allows the entire linkage mechanism 1 to achieve complex and stable relative motion with precise and controllable motion trajectories. The force on each component is uniform during motion, reducing the risk of jamming and wear. This lays a solid foundation for subsequent complex mechanical transmission and biomimetic motion, and provides basic flexibility for the overall layout and drive method of the mechanism.

[0047] It should be noted that the linkage mechanism 1 provided by this utility model can achieve flexible, precise and stable motion transmission. It can be applied to a variety of fields with mechanical transmission requirements, including but not limited to animal necks and joints in the field of bionic toys, assembly robotic arms and fixtures in the field of mechanical engineering, surgical robots and rehabilitation exoskeleton simulation equipment in the medical field, and panoramic platforms and mobile phone hinges in the field of consumer electronics.

[0048] As one possible implementation, the first connecting rod 121 and the third connecting rod 123 are respectively provided with first connecting holes 125 at both ends, and the second connecting rod 122 and the fourth connecting rod 124 are respectively provided with second connecting holes 128 at both ends.

[0049] The first link 121 to the fourth link 124 are connected end to end in sequence. The second rotating shaft 14 passes through the first connecting hole 125 and the second connecting hole 128 to allow adjacent links to be rotatably connected. It should be understood that the first connecting hole 125, the second connecting hole 128 and the second rotating shaft 14 are detachably fitted, which facilitates the disassembly, assembly or maintenance of the four-link assembly 12 when needed, making the linkage mechanism 1 more maintainable during use, so that users can replace worn parts in a timely manner and extend the service life of the linkage mechanism 1.

[0050] In another embodiment, the length of the second rotating shaft 14 is greater than the thickness of the first connecting rod 121 and the second connecting rod 122. Both ends of the second connecting rod 122 and the fourth connecting rod 124 are provided with connecting grooves 126. Second connecting holes 128 are provided on the opposite side walls of the connecting grooves 126. The connecting grooves 126 are open on the sides corresponding to the first connecting rod 121 and the third connecting rod 123. The first connecting rod 121 and the third connecting rod 123 are fitted into the connecting grooves 126 of the first connecting rod 121 and the fourth connecting rod 124 through these openings, and are connected to the first connecting rod 121 and the fourth connecting rod 124 via the second rotating shaft 14. The rod 124 is connected in such a way that both ends of the first connecting rod 121 and the third connecting rod 123 are connected by a second rotating shaft 14, and both ends of the second rotating shaft 14 are exposed in the first connecting hole 125 and are connected to the second connecting holes 128 on both sides of the connecting groove 126. It should be understood that, based on the above design, even if the second rotating shaft 14 is displaced during operation, it can still connect the two connecting rods at the same time, regardless of which side it moves relative to, so that it can work normally. This design can make the connection of the first connecting rod 121, the second connecting rod 122, the third connecting rod 123 and the fourth connecting rod 124 more secure.

[0051] Specifically, there is a rotation gap 127 between the first link 121 and the third link 123 and the bottom of their corresponding connecting grooves 126. As the second rotating shaft 14 rotates, the rotation gap 127 gradually increases or decreases. When the rotation gap 127 is zero, that is, when the first link 121 or the third link 123 is in contact with the bottom of their corresponding connecting grooves 126, the four-bar assembly 12 cannot continue to move in the current rotation direction.

[0052] In some embodiments, the first connecting hole 125 and the second connecting hole 128 are filled with lubricant to provide lubrication for the rotational engagement of the second rotating shaft 14 with the first connecting hole 125 and the second connecting hole 128, reduce the coefficient of friction, ensure the smooth operation of the four-bar linkage 12, reduce energy loss, and improve transmission efficiency.

[0053] Furthermore, the four-bar linkage 12 is a parallelogram mechanism, with the first link 121 and the third link 123 arranged in parallel, and the second link 122 and the fourth link 124 arranged in parallel.

[0054] Understandably, the first link 121 is parallel to the third link 123, and the second link 122 is parallel to the fourth link 124, so that the four-bar linkage 12 forms a parallelogram mechanism. When the mechanism is in operation, each link can maintain synchronous and stable relative movement, effectively avoiding mutual interference between links, improving the coordination and smoothness of movement, and enhancing the overall stability of the mechanism. Even in high-speed or complex motion scenarios, it can ensure precise coordination of each link.

[0055] Specifically, the first link 121 and the third link 123 are of equal length, and the second link 122 and the fourth link 124 are of opposite length.

[0056] In one implementation, the lengths of the second link 122 and the fourth link 124 are greater than the lengths of the first link 121 and the third link 123, forming an asymmetrical four-bar linkage 12. This asymmetrical structure allows the four-bar linkage 12 to expand its range of motion while maintaining the stability of a parallelogram. Furthermore, the asymmetrical structure can be flexibly designed according to the spatial layout of the actual equipment to adapt to various complex spatial constraints.

[0057] In other feasible embodiments, the lengths of the first link 121 and the third link 123 can be set to the lengths of the second link 122 and the fourth link 124, or the lengths of the first link 121, the second link 122, the third link 123 and the fourth link 124 can be set to be equal. The specific settings can be made according to the actual situation, and will not be elaborated here.

[0058] Furthermore, the transmission link 11 is arranged perpendicularly to the first link 121.

[0059] Understandably, the transmission link 11 is perpendicular to the first link 121, which makes the force transmission more efficient and direct. During the transmission process, the power can be transmitted to the four-bar linkage 12 to the maximum extent, reducing energy loss and improving transmission efficiency. At the same time, this vertical layout also optimizes the spatial structure of the mechanism, making it easier to integrate with other components and providing a more flexible and compact layout scheme for the design of complex mechanical systems.

[0060] It should be noted that the parallelogram-shaped four-bar linkage 12 moves within the plane it encloses, specifically by translating relative to the links. That is, the first link 121 translates relative to the third link 123, and the second link 122 translates relative to the fourth link 124. The transmission link 11 is perpendicular to the first link 121 and is rotatably connected to the first link 121. Its axis of rotation is parallel to the first link 121. In other words, when the transmission link 11 rotates around the first link 121, it always maintains a perpendicular relationship with the first link 121, which is equivalent to the transmission link 11 rotating in a plane perpendicular to the first link 121.

[0061] Understandably, the plane where the four-bar linkage 12 is located is defined as the xy plane, and the plane perpendicular to the first link 121 is defined as the z plane. The transmission link 11 is rotatably connected to the first link 121, that is, the transmission link 11 can drive the four-bar linkage 12 to move along the z plane. The cooperation between the four-bar linkage 12 and the transmission link 11 enables the linkage mechanism 1 to achieve motion trajectories in multiple dimensions.

[0062] Please see Figure 3 The second embodiment of this utility model also provides a steering mechanism 10, which includes a top support 3 and a bottom support 4 spaced apart. At least one set of linkage mechanism 1 as described in any of the above is provided between the top support 3 and the bottom support 4. The end of the transmission link 11 away from the four-bar linkage assembly 12 is rotatably connected to the bottom support 4, and the third link 123 is rotatably connected to the top support 3. The third link 123 is arranged parallel to the top support 3.

[0063] Understandably, the steering mechanism 10 provided in this embodiment of the present invention has a top support 3 and a bottom support 4 spaced apart, with a linkage mechanism 1 placed between them. The transmission link 11 is rotatably connected to the bottom support 4, and the third link 123 is rotatably connected to the top support 3. This design realizes the motion transmission between the bottom support 4 and the top support 3. Through the motion conversion of the linkage mechanism 1, the top support 3 can flexibly turn within a certain range. Moreover, the structure is compact and can operate efficiently in a limited space, providing reliable power and precise control for the bionic mechanism 20 to simulate biological head turning and other actions.

[0064] It should be noted that the application fields of the steering structure provided by this utility model include, but are not limited to, robotics, bionic animal toys, etc. For example, the steering mechanism 10 can be set in the head, arm or leg joints of a robot to provide the robot with multi-directional movement capabilities; or the steering mechanism 10 can be set in a bionic animal to make it imitate the movement of biological joints, providing natural movement simulation and high adaptability.

[0065] In one feasible implementation, the top support 3 and the bottom support 4 are arranged in parallel. The two ends of the linkage mechanism 1 are connected to the top support 3 and the bottom support 4 respectively. The top support 3 rotates in multiple dimensions under the drive of the linkage mechanism 1. When the transmission link 11 rotates relative to the four-bar assembly 12, the top support 3 moves up and down relative to the bottom support 4. That is, the top support 3 can achieve up and down telescopic movement. Specifically, when the included angle between the transmission link 11 and the four-bar assembly 12 gradually decreases, the top support 3 moves towards the bottom support 4; when the included angle between the transmission link 11 and the four-bar assembly 12 gradually increases, the top support 3 moves away from the bottom support 4.

[0066] Secondly, driven by the second rotating shaft 14, the third link 123 of the four-bar linkage 12 translates relative to the first link 121, that is, the third link 123 translates relative to the transmission link 11, thereby causing the top support 3 connected to the third link 123 to translate relative to the bottom support 4. At this time, the top support 3 can achieve telescopic movement in the left and right directions. It should be understood that the top support 3 achieves telescopic movement in multiple dimensions such as up and down and left and right under the drive of the linkage mechanism 1.

[0067] In a preferred embodiment, the top support 3 and the bottom support 4 are provided with three sets of linkage mechanisms 1 on their outer periphery. The three sets of linkage mechanisms 1 are evenly distributed along the outer side of the top support 3 to control the movement of the top support 3 from multiple directions. The three sets of linkage mechanisms 1 can work individually or in concert. Through different combinations of motion control, the position and attitude of the top support 3 in three-dimensional space can be precisely controlled to achieve a more flexible and coordinated motion effect.

[0068] Specifically, the top support 3 is triangular, with a third link 123 connected to each of its sides, and the third link 123 is parallel to the side of the triangle it is connected to.

[0069] It should be noted that if the initial state of the steering mechanism 10 is set as follows: the plane where the transmission link 11 and the four-bar assembly 12 are located is parallel, and the second link 122 and the fourth link 124 are parallel to the transmission link 11, then the distance between the top support 3 and the bottom support 4 reaches its maximum under the action of the linkage mechanism 1. When the three transmission links 11 rotate away from the top support 3, the corresponding four-bar assembly 12 is subjected to the tension of the top support 3 and the transmission link 11 at its opposite ends, thereby causing the four-bar assembly 12 to rotate towards the transmission link 11, which in turn drives the top support 3 to move towards the bottom support 4, shortening the distance between the top support 3 and the bottom support 4. After the distance between the top support 3 and the bottom support 4 is shortened, if the transmission link 11 is rotated in the direction closer to the top support 3, the top support 3 will rise under the action of the linkage mechanism 1 to increase the distance between the top support 3 and the bottom support 4. It should be understood that the steering mechanism 10 provided in this embodiment can realize the vertical extension and retraction of the top support 3 through the coordinated rotation of multiple sets of transmission links 11.

[0070] It should be further explained that when two of the three sets of linkage mechanisms 1 are stationary, and only one set of linkage mechanism 1 is rotated, the distance between the top support 3 and the bottom support 4 does not change significantly due to the restriction of the two stationary linkage mechanisms 1. The rotation of the linkage mechanism 11 that performs the rotation operation drives the four-bar linkage assembly 12 with it to pull the top support 3, thereby causing the third link 123 of the four-bar linkage assembly 12 of the other two sets of linkage mechanisms 1 to translate relative to the first link 121 under the pull of the top support 3. This, in turn, causes the top support 3 to move along the linkage mechanism that performs the rotation operation. The top support 3 can extend or retract in a specific direction along its periphery when the structure 1 moves in the direction of the top support 3. It should be understood that the four-bar linkage 12 is a parallel four-bar linkage 12. Therefore, when the third link 123 translates relative to the first link 121, the distance between the third link 123 and the first link 121 will decrease accordingly. That is, in the aforementioned operation, the distance between the top support 3 and the bottom support 4 will change within a small range. The specific amount of change is consistent with the amount of change in the distance between the third link 123 and the first link 121 when the third link 123 translates relative to the first link 121.

[0071] Understandably, with the coordinated action of the three sets of linkage mechanisms 1, the top support 3 can achieve telescopic movement in multiple dimensions such as vertical and horizontal directions.

[0072] Optionally, the number of linkage mechanisms 1 between the top support 3 and the bottom support 4 can be adapted to meet actual application requirements. That is, two, four, or five sets of linkage mechanisms 1 can be set. Correspondingly, the top support 3 can also be set as a quadrilateral, pentagon, or circle, depending on the actual product requirements. It is understood that any change in the number of linkage mechanisms 1 or any change in the shape of the top support 3 is equivalent to making an equivalent substitution to the second embodiment of this utility model. Any modifications, equivalent substitutions, or improvements made within the principles of this utility model should be included within the protection scope of this utility model.

[0073] Please refer to the following: Figure 4 The bottom support 4 is provided with a storage cavity 41, and a drive component 6 is fixed inside the storage cavity 41. The number of drive components 6 is the same as the number of linkage mechanism 1. The output end of the drive component 6 is exposed outside the storage cavity 41, and the output end of the drive component 6 is rotatably connected to the transmission linkage 11.

[0074] Understandably, the steering mechanism 10 provided in this embodiment of the present invention has a storage cavity 41 on the bottom bracket 4 to fix the driving component 6, and the driving component is built into the storage cavity 41 of the bottom bracket 4, which greatly saves external space and makes the overall structure more compact and neat. The output end of the driving component 6 is exposed and connected to the transmission linkage 11, realizing the direct and efficient transmission of power from the hidden driving component 6 to the motion mechanism. This design not only protects the driving component 6 and reduces external interference, but also improves the aesthetics and integration of the product. Secondly, the number of driving components 6 is consistent with the number of linkage mechanisms 1, and each linkage mechanism 1 has an independent drive source, ensuring the synchronization and accuracy of the actions of each part during steering, which facilitates precise control of steering angle and speed.

[0075] Please see Figure 5 It should be noted that the bottom support 4 includes a top plate 45 and a bottom plate 46 spaced apart. The distance between the top plate 45 and the bottom plate 46 is adapted to the size of the drive component 6. A storage cavity 41 is defined between the top plate 45 and the bottom plate 46. One end of the storage cavity 41 is provided with an opening located on the periphery of the bottom support 4. A first fixing structure 42 is provided in the middle of the storage cavity 41. The drive component 6 is housed in the storage cavity 41 and one end is detachably connected to the first fixing structure 42. This design makes the layout of the overall steering mechanism 10 more compact. The drive component 6 is detachably connected to the first fixing structure 42, which facilitates the maintenance and replacement of the drive component 6.

[0076] Specifically, a second fixing structure 43 is provided at the opening of the storage cavity 41. The second fixing structure 43 extends outward from the opening and corresponds to the output end of the driving member 6. The two sides of the transmission link 11 near the bottom bracket 4 are respectively rotatably connected to the output end of the driving member 6 and the second fixing structure 43 to ensure the stability of the connection between the transmission link 11 and the bottom bracket 4.

[0077] In some embodiments, a number of fixing posts 44 are provided between the top plate 45 and the bottom plate 46 to maintain the stability of the storage cavity 41.

[0078] In other embodiments, a cooling fan is also provided inside the housing cavity 41 to help dissipate heat from the drive component 6, prevent the drive component 6 from overheating, and ensure the normal operation of the drive component 6.

[0079] Optionally, the drive unit 6 is a small DC motor or a stepper motor, used to provide driving force to the linkage mechanism 1 and control the movement of the linkage mechanism 1.

[0080] Furthermore, please refer to the following: Figure 4 The top support 3 is provided with a rotation drive 2 on the side away from the bottom support 4, and the rotation axis of the rotation drive 2 is set perpendicular to the top support 3.

[0081] Understandably, the rotation drive 2 on the top support 3 provides additional rotational freedom, which allows the object supported by the steering mechanism 10 to rotate around its own axis in addition to turning relative to the base. This enables it to simulate more complex biological movement postures, significantly increases the flexibility of movement, more realistically simulates the multi-degree-of-freedom movement of a biological head, and expands the application scenarios of the mechanism.

[0082] As a feasible implementation, the rotary drive 2 is detachably integrated on the top bracket 3, and the output end of the rotary drive 2 is away from the top bracket 3. This output end can be connected to an external mechanism. This design reduces the need for additional support structures, making the entire mechanism lighter and more compact. At the same time, it increases the degree of freedom of movement of the steering mechanism 10, enabling it to perform more complex and flexible actions.

[0083] Furthermore, the top support 3 is provided with a placement groove 31, which extends from the top support 3 toward the bottom support 4. The placement groove 31 has an opening on the side near the top support 3, and the rotation drive 2 is detachably embedded in the placement groove 31 through the opening.

[0084] Understandably, the placement slot 31 provides a stable and reliable space for the rotary drive component 2. The placement slot 31 is specifically located in the gap between the top support 3 and the bottom support 4, that is, the rotary drive component 2 is specifically located between the top support 3 and the bottom support 4, which realizes the compactness of the layout of the steering mechanism 10. Secondly, the rotary drive component 2 is detachably embedded, so that the rotary drive component 2 and the top support 3 form a rigid connection, which avoids the rotary drive component 2 from being displaced due to vibration during operation, thus affecting the accuracy of the movement. The detachable setting realizes modularity and maintainability, which facilitates the installation, disassembly and replacement of the rotary drive component 2, and reduces maintenance costs and maintenance difficulty.

[0085] It should be noted that the placement slot 31 extends from the top bracket 3 to the bottom bracket 4, thereby fixing the rotary drive 2 in the space formed by the top bracket 3 and the bottom bracket 4, avoiding the space occupied by the rotary drive 2 to connect with the external mechanism, and improving the structural compactness of the steering mechanism 10.

[0086] Optionally, the depth of the placement slot 31 can be adjusted according to the actual situation. The output end of the rotary drive 2 can be flush with the upper surface of the top bracket 3, or slightly higher or lower than the upper surface of the top bracket 3, as long as the external mechanism connected to the rotary drive 2 and the top bracket 3 do not interfere with each other during movement.

[0087] Please see Figure 6 The third embodiment of this utility model also provides a bionic mechanism 20, which includes a head mechanism 201 and a steering mechanism 10 as described in any of the above embodiments. The bottom of the head mechanism 201 is fixedly or rotatably connected to the top support 3 of the steering mechanism 10 to control the movement and / or rotation of the head mechanism 201.

[0088] Understandably, this utility model embodiment also provides a bionic mechanism 20, which combines a head mechanism 201 with a steering mechanism 10. The bottom of the head mechanism 201 is fixedly or rotatably connected to the top support 3 of the steering mechanism 10. With the precise control of the steering mechanism 10, the movement and rotation of the head mechanism 201 can be flexibly controlled, highly simulating the natural movement of a biological head, making the bionic mechanism 20 closer to a real biological organism in posture and movement, and improving the bionic realism and interactive experience.

[0089] As a feasible implementation method, the head mechanism 201 is fixedly connected to the top support 3. When the top support 3 moves up and down, left and right, or forward and backward under the drive of the linkage mechanism 1, the head mechanism 201 realizes the corresponding extension and retraction movement.

[0090] As another feasible implementation, the output end of the rotary drive 2 is rotatably connected to the bottom of the head mechanism 201 to drive the head mechanism 201 to rotate, thereby simulating the head-shaking motion of a living organism. It should be noted that when the head mechanism 201 is connected to the top support 3 via the rotary drive 2, that is, when the drive 6 drives the linkage mechanism 1 to move, the top support 3 moves accordingly under the action of the linkage mechanism 1, and simultaneously drives the head mechanism 201 connected to it to move. In other words, the head mechanism 201, driven by the steering mechanism 10, can achieve head-shaking, head-retracting, or head-shaking + head-retracting motions.

[0091] Please refer to the following: Figure 7In some embodiments, the head mechanism 201 includes an ear component 2011, a mouth component 2012, an eye component 2013, and a head transmission assembly 2014. The ear component 2011, the mouth component 2012, and the eye component 2013 are respectively connected to the head transmission assembly 2014. The head transmission assembly 2014 is used to drive the ear component 2011, the mouth component 2012, and / or the eye component 2013 to move, so as to realize actions such as ear swaying, mouth opening and closing, and blinking or squinting, thereby enhancing the realism and interactivity of the biomimetic effect.

[0092] Furthermore, the bionic mechanism 20 includes a tail mechanism 202 and a central control mechanism 203. One end of the central control mechanism 203 is connected to the bottom support 4, and the other end is connected to the tail mechanism 202. The central control mechanism 203 is signal-connected to the steering mechanism 10, the head mechanism 201, and the tail mechanism 202 to control the movement of the steering mechanism 10, the head mechanism 201, and the tail mechanism 202.

[0093] Understandably, by connecting the bottom support 4 and the tail mechanism 202 through the central control mechanism 203 and communicating with the signals of each part, the movement of the steering mechanism 10, the head mechanism 201 and the tail mechanism 202 can be controlled in a unified manner, realizing centralized and coordinated control of the entire bionic mechanism 20. This integrated control method can simulate more complex and realistic biological behavior, significantly improving the bionic effect and the level of intelligence.

[0094] Specifically, the ear component 2011, mouth component 2012, and eye component 2013 respectively simulate the ears, mouth, and eyes of a real animal, while the head transmission assembly 2014 simulates the head of a real animal. The head transmission assembly 2014 can drive one, two, or three of the ear component 2011, mouth component 2012, and eye component 2013, and can be adjusted according to actual needs. In this embodiment, the head transmission assembly 2014 is used to drive the movement of the ear component 2011, mouth component 2012, and eye component 2013.

[0095] It should be noted that the central control mechanism 203 is used to achieve independent control of the head mechanism 201, the steering mechanism 10 and the tail mechanism 202. As a connecting hub, the central control mechanism 203 is connected to the steering mechanism 10 and the tail mechanism 202 at both ends, which can improve the overall structural strength of the bionic mechanism 20 and thus extend the service life of the bionic mechanism 20.

[0096] Please refer to the following: Figure 8In one implementation, the universal connector 2021 of the tail mechanism 202, several tail bases 2022 and the tail tip 2024 are connected through the tail joint 2023, which can realize the left and right swing and up and down bending of the tail. It is linked with the multi-directional extension and retraction of the steering mechanism 10 and the facial expression of the head mechanism 201, making the overall movement of the bionic mechanism 20 closer to that of a real animal, and significantly improving the bionic realism and interactivity of the bionic mechanism 20.

[0097] In some embodiments, the bionic mechanism 20 is also provided with an audio component connected to the central control mechanism 203. The audio component has built-in animal sounds, laughter and breathing sounds, etc., and a speaker can also be installed in the central control mechanism 203.

[0098] Please see Figure 9 The fourth embodiment of this utility model also provides a bionic toy 30, which includes a fur coat 301, a filling material 302, and a bionic mechanism 20 as described in any of the above embodiments. The bionic mechanism 20 is disposed inside the fur coat 301 and is covered by the fur coat 301. The filling material 302 is disposed between the bionic mechanism 20 and the fur coat 301.

[0099] Understandably, the bionic mechanism 20 is hidden inside and covered by the fur coat 301, with the filling material 302 filling it. This not only gives the toy a soft and comfortable appearance and feel, but also uses the camouflage effect of the fur coat 301 to hide the internal mechanical structure. This makes the toy highly bionic in appearance and behavior, with a very high degree of realism, which can effectively stimulate the player's curiosity and desire to interact, bringing a better entertainment experience.

[0100] In some embodiments, the filler 302 is made of flexible filling materials such as PP cotton or memory foam, which has good resilience and can improve the user experience.

[0101] The foregoing has provided a detailed description of a linkage mechanism, steering mechanism, bionic mechanism, and bionic toy disclosed in the embodiments of this utility model. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this utility model. Furthermore, those skilled in the art will recognize that, based on the ideas of this utility model, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this utility model. Any modifications, equivalent substitutions, and improvements made within the principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A linkage mechanism, characterized in that: Includes a transmission link, a four-bar linkage, and a first rotating shaft; The four-bar linkage includes a first link, a second link, a third link, a fourth link, and four second pivots. The first link, the second link, the third link, and the fourth link are sequentially rotatably connected via a second pivot. The four second pivots are parallel to each other and perpendicular to the plane of the four-bar linkage. The transmission link is rotatably connected to the first link via the first rotating shaft, and the first rotating shaft is arranged parallel to the first link.

2. The linkage mechanism as described in claim 1, characterized in that: The four-bar linkage is a parallelogram mechanism, with the first and third links arranged in parallel, and the second and fourth links arranged in parallel.

3. The linkage mechanism as described in claim 1 or 2, characterized in that: The transmission link is perpendicular to the first link.

4. A steering mechanism, characterized in that: The device includes a top support and a bottom support spaced apart, and at least one linkage mechanism as described in any one of claims 1-3 is provided between the top support and the bottom support. The end of the transmission link away from the four-bar linkage assembly is rotatably connected to the bottom support, and the third link is rotatably connected to the top support. The third link is arranged parallel to the top support.

5. The steering mechanism as described in claim 4, characterized in that: The bottom support is provided with a storage cavity, and a driving component is fixed in the storage cavity. The number of driving components is the same as the number of linkage mechanisms. The output end of the drive component is exposed outside the receiving cavity, and the output end of the drive component is rotatably connected to the transmission linkage.

6. The steering mechanism as described in claim 4, characterized in that: The top support and the bottom support are provided with three sets of linkage mechanisms on their outer periphery. The top support is provided with a rotary drive on the side away from the bottom support, and the rotation axis of the rotary drive is set perpendicular to the top support.

7. The steering mechanism as described in claim 6, characterized in that: The top support is provided with a placement groove that extends from the top support to the bottom support. The placement groove has an opening on the side near the top support, and the rotary drive component is detachably embedded in the placement groove through the opening.

8. A biomimetic mechanism, characterized in that: It includes a head mechanism and a steering mechanism as described in any one of claims 4-7, wherein the bottom of the head mechanism is fixedly or rotatably connected to the top support of the steering mechanism to control the movement and / or rotation of the head mechanism.

9. The bionic mechanism as described in claim 8, characterized in that: The bionic mechanism includes a tail mechanism and a central control mechanism. One end of the central control mechanism is connected to the bottom support, and the other end is connected to the tail mechanism. The central control mechanism is signal-connected to the steering mechanism, the head mechanism, and the tail mechanism to control the movement of the steering mechanism, the head mechanism, and the tail mechanism.

10. A biomimetic toy, characterized in that: The invention includes a fur coat, a filling material, and a bionic mechanism as described in any one of claims 8-9, wherein the bionic mechanism is disposed inside the fur coat and is covered by the fur coat, and the filling material is disposed between the bionic mechanism and the fur coat.

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