Bionic structure and bionic robot

Abstract

This application provides a biomimetic structure and a biomimetic robot. The biomimetic structure includes a head, a neck, and a control assembly. The control assembly includes a support member, a first drive member, a second drive member, a first connector, and a second connector. The support member is mounted on the neck, and the head is rotatably connected to the support member. The first and second drive members are respectively mounted on the neck, with the first drive member located on the left side of the support member and the second drive member located on the right side of the support member. One end of the first connector is connected to the first drive member, and the other end of the first connector is connected to the inner wall of the mounting space. One end of the second connector is connected to the second drive member, and the other end of the second connector is connected to the inner wall of the mounting space. The first drive member drives the first connector in a vertical direction, and the second drive member drives the second connector in a vertical direction, so that the first and second connectors jointly drive the head to rotate relative to the support member. This application can enrich the head's movements.

Description

Technical Field

[0001] This application relates to the field of biomimetic robot technology, and more specifically, to a biomimetic structure and a biomimetic robot. Background Technology

[0002] Bionic robots are robots that mimic biological organisms and perform tasks based on their biological characteristics. With the development of technology, the application of bionic robots in industries, medicine, and other fields is gradually increasing.

[0003] Current bionic robots can only perform head movements of raising and lowering, which is relatively simple.

[0004] Therefore, how to simplify the head's control components while enriching its movements is a technical problem that urgently needs to be solved. Utility Model Content

[0005] This application provides a biomimetic structure and a biomimetic robot that can simplify the head control components while enriching the head's movements.

[0006] This application is achieved through the following technical solution: In a first aspect, this application provides a biomimetic structure, including a head, a neck, and a control assembly. An installation space is formed inside the head, and the control assembly is disposed within the installation space. The control assembly includes a support member, a first drive member, a second drive member, a first connector, and a second connector. The support member is mounted on the neck, and the head is rotatably connected to the support member. The first and second drive members are respectively mounted on the neck, with the first drive member located on the left side of the support member and the second drive member located on the right side of the support member. One end of the first connector is connected to the first drive member, and the other end of the first connector is connected to the inner wall of the installation space. One end of the second connector is connected to the second drive member, and the other end of the second connector is connected to the inner wall of the installation space. The first drive member drives the first connector in a vertical direction, and the second drive member drives the second connector in a vertical direction, so that the first and second connectors jointly drive the head to rotate relative to the support member.

[0007] The technical solution of this application embodiment connects the first driving member and the head through the first connecting member and the second driving member and the head through the second connecting member, so that the head can be tilted down, tilted up, tilted to the left and tilted to the right through the combined movement of the first connecting member and the second connecting member, thereby simplifying the control components of the head and enriching the head's movements.

[0008] In some embodiments, the first connector and the second connector can move independently.

[0009] The technical solution of this application embodiment, by setting the first connector and the second connector to be able to move independently, makes the combination of the composite movements of the first connector and the second connector more diverse, thereby making the head movements more varied.

[0010] In some embodiments, the first drive member and the second drive member are located on the same side of the support member in the front-rear direction.

[0011] The technical solution of this application embodiment reduces the difficulty of force analysis when designing biomimetic structures by setting the two driving members on the same side of the support member, that is, the head is subjected to force on the same side of the support member in the front-back direction.

[0012] In some embodiments, the head includes a first body located in front of the support and a second body located behind the support. Both the first connector and the second connector are connected to the second body.

[0013] In the technical solution of this application embodiment, the head usually also needs to be equipped with structures such as eyes and mouth. By connecting the first connector and the second connector to the second body, the risk of interference between the first connector, the second connector, the first drive component and the second drive component and other components is reduced, and more space is provided for the installation of other components.

[0014] In some embodiments, the first connector and the second connector are capable of independent movement. When both the first connector and the second connector move upward, they jointly drive the head to rotate relative to the support, causing the first body to rotate downward. When both the first connector and the second connector move downward, they jointly drive the head to rotate relative to the support, causing the first body to rotate upward. When the first connector moves upward and the second connector moves downward, they jointly drive the head to rotate relative to the support, causing the right side of the first body to rotate downward. When the first connector moves downward and the second connector moves upward, they jointly drive the head to rotate relative to the support, causing the right side of the first body to rotate upward.

[0015] The technical solution of this application embodiment connects the first driving member and the head through the first connecting member and the second driving member and the head through the second connecting member, so that the head can be tilted down, tilted up, tilted to the left and tilted to the right through the combined movement of the first connecting member and the second connecting member, thereby simplifying the control components of the head and enriching the head's movements.

[0016] In some embodiments, the first drive member and the second drive member are symmetrically arranged with respect to the central axis of the support member in the front-rear direction.

[0017] The technical solution of this application embodiment reduces the difficulty of force analysis when designing biomimetic structures by symmetrically arranging the first driving member and the second driving member with respect to the central axis in the front-rear direction relative to the support member.

[0018] In some embodiments, the support includes one of a universal joint and a ball joint.

[0019] In the technical solution of this application embodiment, the universal joint and ball joint can have multiple degrees of freedom. By setting the support member as a universal joint or ball joint, the head can rotate relative to the support member to complete actions such as looking down, looking up, looking left and looking right, thereby reducing the risk of head movement interference.

[0020] In some embodiments, the first driving member includes a first servo motor rotatable about its central axis, the central axis of the first servo motor extending in a left-right direction, one end of the first connecting member being hinged to the output end of the first servo motor, and the other end being hinged to the inner wall surface of the mounting space. The second driving member includes a second servo motor rotatable about its central axis, the central axis of the second servo motor extending in a left-right direction, one end of the second connecting member being hinged to the output end of the second servo motor, and the other end being hinged to the inner wall surface of the mounting space.

[0021] The technical solution of this application embodiment drives the first connector through the first servo motor and the second connector through the second servo motor, so that the head can be tilted down, tilted up, tilted to the left and tilted to the right through the combined movement of the first connector and the second connector, which simplifies the head control components and enriches the head's movements.

[0022] In some embodiments, the first drive member includes one of a motor and a cylinder; the second drive member includes one of a motor and a cylinder.

[0023] The technical solution of this application embodiment drives the first connecting member by a motor or cylinder, and drives the second connecting member by a motor or cylinder, so that the combined movement of the first connecting member and the second connecting member can realize the head tilting, tilting, tilting to the left and tilting to the right, simplifying the head control components and enriching the head movements.

[0024] Secondly, embodiments of this application provide a biomimetic robot, which includes a biomimetic structure as described in any of the embodiments of the first aspect.

[0025] The technical solution of this application embodiment includes a bionic robot comprising a bionic structure. The bionic structure connects a first driving component and a head through a first connector and a second driving component and a head through a second connector. This allows the head to tilt down, tilt up, tilt to the left, and tilt to the right through the combined movement of the first and second connectors, simplifying the head control components and thus simplifying the structure of the bionic robot while enriching the head's movements.

[0026] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 Schematic diagram of the biomimetic structure provided for some embodiments of this application; Figure 2 A schematic diagram from another perspective of the biomimetic structures provided in some embodiments of this application; Figure 3 A schematic diagram showing another perspective of the biomimetic structure provided in some embodiments of this application; Figure 4 This is a schematic diagram showing the connection between the support member and the head in some embodiments of this application.

[0029] Icons: 1-Bionic structure; 10-Head; 11-Installation space; 12-First body; 13-Second body; 20-Neck; 31-Supporting component; 32-First driving component; 33-Second driving component; 34-First connecting component; 35-Second connecting component; X-Left-right direction; Y-Front-back direction; Z-Up-down direction. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0032] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0034] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0035] In this application, "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0036] Please refer to Figures 1 to 3 , Figure 1 This is a schematic diagram of a biomimetic structure provided in some embodiments of this application. Figure 2 This is a schematic diagram from another perspective of the biomimetic structures provided in some embodiments of this application. Figure 3This is a schematic diagram showing another perspective of the biomimetic structure provided in some embodiments of this application. An embodiment of this application provides a biomimetic structure 1, which includes a head 10, a neck 20, and a control component. An installation space 11 is formed inside the head 10, and the control component is disposed in the installation space 11. The control component includes a support member 31, a first drive member 32, a second drive member 33, a first connector 34, and a second connector 35. The support member 31 is mounted on the neck 20, and the head 10 is rotatably connected to the support member 31. The first drive member 32 and the second drive member 33 are respectively mounted on the neck 20, with the first drive member 32 located on the left side of the support member 31 and the second drive member 33 located on the right side of the support member 31. One end of the first connector 34 is connected to the first drive member 32, and the other end of the first connector 34 is connected to the inner wall of the installation space 11. One end of the second connector 35 is connected to the second drive member 33, and the other end of the second connector 35 is connected to the inner wall of the installation space 11. The first driving member 32 is used to drive the first connecting member 34 in the vertical direction Z, and the second driving member 33 is used to drive the second connecting member 35 in the vertical direction Z, so that the first connecting member 34 and the second connecting member 35 jointly drive the head 10 to rotate relative to the support member 31.

[0037] In some embodiments, similar to the structure of the human body, the bionic structure 1 includes a head 10 and a neck 20, with the head 10 rotatably connected to the neck 20 to enable actions such as raising the head, lowering the head, raising the head to the left, and raising the head to the right.

[0038] In some embodiments, the support member 31 is installed on the neck 20. The support member 31 can be integrally formed with the neck 20, or it can be connected to the top of the neck 20 by welding or bolting after the neck 20 is formed. It should be noted that the top of the neck 20 is the end of the neck 20 facing the head 10.

[0039] In some embodiments, the head 10 may be provided with a groove that matches the support member 31, a portion of the support member 31 is disposed in the groove and is rotatable relative to the groove, so that the head 10 is rotatably connected to the support member 31, and the head 10 is rotatably connected to the neck 20.

[0040] In some embodiments, the head 10 may be a hollow structure to form an installation space 11.

[0041] In some embodiments, the head 10 can be integrally formed to form the installation space 11, or the installation space 11 can be formed by machining after the head 10 is formed.

[0042] In some embodiments, the mounting space 11 may have an opening at the bottom, one end of the support 31 is connected to the neck 20, and the other end of the support 31 extends into the mounting space 11 through the opening.

[0043] In some embodiments, a portion of the neck 20 may extend into the mounting space 11 through an opening, so that the control component is fully located in the mounting space 11, reducing the risk of the control component being exposed through the gap between the head 10 and the neck 20, thus affecting aesthetics, and also reducing the risk of damage to the control component.

[0044] In some embodiments, the up-down direction can be represented by the direction indicated by the letter Z in the figure, the front-back direction can be represented by the direction indicated by the letter Y in the figure, and the left-right direction can be represented by the direction indicated by the letter X in the figure. Among them, the up-down direction Z can be parallel to the direction of gravity, the front-back direction Y is front-back based on a structure similar to the human body, and the left-right direction X is left-right based on a structure similar to the human body.

[0045] In some embodiments, the first drive member 32 may be installed on the upper end of the neck 20, and the installation may be by welding or bolting.

[0046] In some embodiments, the second drive member 33 may be installed on the upper end of the neck 20, and the installation may be by welding or bolting.

[0047] In some embodiments, the mounting configuration of the first drive unit 32 may be the same as that of the second drive unit 33.

[0048] In some embodiments, the first driving component 32 may be a cylinder, a motor, a servo motor, etc.

[0049] In some embodiments, the second drive element 33 may be a cylinder, a motor, a servo motor, etc.

[0050] In some embodiments, the structure of the first driving member 32 and the structure of the second driving member 33 may be the same.

[0051] In some embodiments, the first connector 34 may be a connecting rod.

[0052] In some embodiments, the second connector 35 may be a connecting rod.

[0053] In some embodiments, it is understood that the first connector 34 connects the first drive member 32 and the head 10, and the second connector 35 connects the second drive member 33 and the head 10, that is, the first connector 34 and the second connector 35 are located on both sides of the support member 31 in the left-right direction X.

[0054] In some embodiments, the first connector 34 and the second connector 35 are respectively disposed on the left and right sides of the support member 31. On the one hand, this facilitates the balance of forces when supporting and driving the head 10 to move. On the other hand, the combined movement of the first connector 34 and the second connector 35 enables the head 10 to raise and lower its head, as well as to raise its head to the left and to the right.

[0055] It should be noted that the head 10 may include a first body 12 and a second body 13, which are connected along the front-rear direction Y. The first body 12 is located in front of the support member 31, and the second body 13 is located behind the support member 31. When the head is tilted to the left, the left side of the first body 12 rotates upward, the left side of the second body 13 rotates upward, the right side of the first body 12 rotates downward, and the right side of the second body 13 moves downward. When the head is tilted to the right, the left side of the first body 12 rotates downward, the left side of the second body 13 rotates downward, the right side of the first body 12 rotates upward, and the right side of the second body 13 moves upward. In the above and below, "left" refers to the component being located on the left side of the support member 31, and "right" refers to the component being located on the right side of the support member 31.

[0056] In some embodiments, the first connector 34 can be connected to the inner wall of the mounting space 11 by means of hinge, bolt connection or welding, etc.

[0057] In some embodiments, the second connector 35 can be connected to the inner wall of the mounting space 11 by means of hinge, bolt connection or welding, etc.

[0058] In some embodiments, the way the first connector 34 connects the head 10 and the first drive member 32 can be the same as the way the second connector 35 connects the head 10 and the second drive member 33.

[0059] In some embodiments, the first connector 34 may be connected to the upper wall of the mounting space 11.

[0060] In some embodiments, the second connector 35 may be connected to the upper wall of the mounting space 11.

[0061] In some embodiments, the first driving member 32 can drive the first connecting member 34 to move upward or downward.

[0062] In some embodiments, the second driving member 33 can drive the second connecting member 35 to move upward or downward.

[0063] In some embodiments, the first driving member 32 and the second driving member 33 can move synchronously. That is, when the first driving member 32 drives the first connecting member 34 to move upward, the second driving member 33 also drives the second connecting member 35 to move upward; when the first driving member 32 drives the first connecting member 34 to move downward, the second driving member 33 also drives the second connecting member 35 to move downward.

[0064] In some embodiments, the first driving member 32 and the second driving member 33 can move independently. When the first driving member 32 drives the first connecting member 34 to move upward, the second driving member 33 drives the second connecting member 35 to move downward or remain stationary. When the first driving member 32 drives the first connecting member 34 to move downward, the second driving member 33 drives the second connecting member 35 to move upward or remain stationary. When the first driving member 32 is stationary, the second driving member 33 drives the second connecting member 35 to move upward or remain stationary.

[0065] The technical solution of this application embodiment connects the first drive member 32 and the head 10 through the first connector 34, and connects the second drive member 33 and the head 10 through the second connector 35. This allows the head 10 to tilt down, tilt up, tilt to the left, and tilt to the right through the combined movement of the first connector 34 and the second connector 35, simplifying the control components of the head 10 and enriching the movements of the head 10.

[0066] Please refer to Figures 1 to 3 In some embodiments, the first connector 34 and the second connector 35 can move independently.

[0067] In some embodiments, the first driving member 32 and the second driving member 33 can move independently. When the first driving member 32 drives the first connecting member 34 to move upward, the second driving member 33 drives the second connecting member 35 to move downward or remain stationary. When the first driving member 32 drives the first connecting member 34 to move downward, the second driving member 33 drives the second connecting member 35 to move upward or remain stationary. When the first driving member 32 is stationary, the second driving member 33 drives the second connecting member 35 to move upward or remain stationary.

[0068] In some embodiments, when the first driving member 32 drives the first connecting member 34 to move upward, the second driving member 33 also drives the second connecting member 35 to move upward; when the first driving member 32 drives the first connecting member 34 to move downward, the second driving member 33 also drives the second connecting member 35 to move downward. It should be noted that the first connecting member 34 and the second connecting member 35 can move synchronously, but their movements are not controlled by the same controller; that is, one controller drives the first driving member 32, and the other controller drives the second driving member 33.

[0069] In some embodiments, the output power of the first driving member 32 and the output power of the second driving member 33 may be the same or different. That is, when the output power of the first driving member 32 and the output power of the second driving member 33 are the same, the rotation speed of the head 10 driven by the first connecting member 34 and the rotation speed of the head 10 driven by the second connecting member 35 are the same. When the output power of the first driving member 32 and the output power of the second driving member 33 are different, the rotation speed of the head 10 driven by the first connecting member 34 and the rotation speed of the head 10 driven by the second connecting member 35 are different.

[0070] The technical solution of this application embodiment, by setting the first connector 34 and the second connector 35 to be able to move independently, makes the combination of the composite movements of the first connector 34 and the second connector 35 more diverse, thereby making the movements of the head 10 more diverse.

[0071] Please refer to Figures 1 to 3 In some embodiments, the first drive member 32 and the second drive member 33 are located on the same side of the support member 31 in the front-rear direction Y.

[0072] In some embodiments, in the front-rear direction Y, the first driving member 32 and the second driving member 33 can be located in front of the support member 31, that is, the first connecting member 34 is connected to the first body 12, and the second connecting member 35 is connected to the first body 12. When the first driving member 32 drives the first connecting member 34 to move upward, and the second driving member 33 drives the second driving member 35 to move upward, the head 10 rotates relative to the support member 31 to make the head 10 tilt upward. When the first driving member 32 drives the first connecting member 34 to move downward, and the second driving member 33 drives the second driving member 35 to move downward, the head 10 rotates relative to the support member 31 to make the head 10 tilt downward. When the first driving member 32 drives the first connecting member 34 to move upward, and the second driving member 33 drives the second driving member 35 to move downward, the head 10 rotates relative to the support member 31 to make the head 10 tilt upward to the left. When the first driving member 32 drives the first connecting member 34 to move downward and the second driving member 33 drives the second driving member 33 to move upward, the head 10 rotates relative to the support member 31 so that the head 10 performs a right head-raising action.

[0073] In some embodiments, in the front-rear direction Y, the first driving member 32 and the second driving member 33 can be located behind the support member 31, that is, the first connecting member 34 is connected to the second body 13, and the second connecting member 35 is connected to the second body 13. When the first driving member 32 drives the first connecting member 34 to move upward, and the second driving member 33 drives the second driving member 35 to move upward, the head 10 rotates relative to the support member 31 to make the head 10 lower. When the first driving member 32 drives the first connecting member 34 to move downward, and the second driving member 33 drives the second driving member 35 to move downward, the head 10 rotates relative to the support member 31 to make the head 10 raise. When the first driving member 32 drives the first connecting member 34 to move upward, and the second driving member 33 drives the second driving member 35 to move downward, the head 10 rotates relative to the support member 31 to make the head 10 raise to the left. When the first driving member 32 drives the first connecting member 34 to move downward and the second driving member 33 drives the second driving member 33 to move upward, the head 10 rotates relative to the support member 31 so that the head 10 performs a right head-raising action.

[0074] It should be noted that "head up" means the first body 12 rotates upward, "head down" means the first body 12 rotates downward, "head up to the left" means the left side of the head 10 rotates upward, and "head up to the right" means the right side of the head 10 rotates upward.

[0075] The technical solution of this application embodiment reduces the difficulty of force analysis when designing the biomimetic structure 1 by setting the two driving members on the same side of the support member 31, that is, the head 10 is subjected to force on the same side of the support member 31 in the front-back direction Y.

[0076] Please refer to Figures 1 to 3 In some embodiments, the head 10 includes a first body 12 located in front of the support 31 and a second body 13 located behind the support 31. The first connector 34 and the second connector 35 are both connected to the second body 13.

[0077] In some embodiments, the first connector 34 and the second connector 35 are both connected to the second body 13, that is, the first drive member 32, the first connector 34, the second drive member 33 and the second connector 35 are all located behind the support member 31.

[0078] In the technical solution of this application embodiment, the head 10 usually also needs to be provided with structures such as eyes and mouth. By connecting the first connector 34 and the second connector 35 to the second body 13, the risk of interference between the first connector 34, the second connector 35, the first drive member 32 and the second drive member 33 and other components is reduced, and more space is provided for the installation of other components.

[0079] Please refer to Figures 1 to 3In some embodiments, the first connector 34 and the second connector 35 are capable of independent movement. When both the first connector 34 and the second connector 35 move upward, they jointly drive the head 10 to rotate relative to the support 31, causing the first body 12 to rotate downward. When both the first connector 34 and the second connector 35 move downward, they jointly drive the head 10 to rotate relative to the support 31, causing the first body 12 to rotate upward. When the first connector 34 moves upward and the second connector 35 moves downward, they jointly drive the head 10 to rotate relative to the support 31, causing the right side of the first body 12 to rotate downward. When the first connector 34 moves downward and the second connector 35 moves upward, they jointly drive the head 10 to rotate relative to the support 31, causing the right side of the first body 12 to rotate upward.

[0080] When both the first connector 34 and the second connector 35 move upward, the first connector 34 and the second connector 35 together drive the head 10 to rotate relative to the support 31, so that the first body 12 rotates downward, that is, the head 10 lowers its head.

[0081] When both the first connector 34 and the second connector 35 move downwards, the first connector 34 and the second connector 35 together drive the head 10 to rotate relative to the support 31, so that the first body 12 rotates upwards, that is, the head 10 raises its head.

[0082] When the first connector 34 moves upward and the second connector 35 moves downward, the first connector 34 and the second connector 35 together drive the head 10 to rotate relative to the support 31, so that the right side of the first body 12 rotates downward, that is, to achieve left head tilting.

[0083] When the first connector 34 moves downward and the second connector 35 moves upward, the first connector 34 and the second connector 35 together drive the head 10 to rotate relative to the support 31, so that the right side of the first body 12 rotates upward, that is, to achieve right head tilting.

[0084] The technical solution of this application embodiment connects the first drive member 32 and the head 10 through the first connector 34, and connects the second drive member 33 and the head 10 through the second connector 35. This allows the head 10 to tilt down, tilt up, tilt to the left, and tilt to the right through the combined movement of the first connector 34 and the second connector 35, simplifying the control components of the head 10 and enriching the movements of the head 10.

[0085] Please refer to Figures 1 to 3In some embodiments, the first drive member 32 and the second drive member 33 are symmetrically arranged with respect to the central axis of the support member 31 in the front-rear direction Y.

[0086] In some embodiments, the support member 31 may have a central axis in the front-rear direction Y, and in the left-right direction X, the minimum distance between the first drive member 32 and the central axis may be equal to the minimum distance between the second drive member 33 and the central axis.

[0087] In some embodiments, with the left-right direction X as the projection direction, the orthographic projection of the first driving member 32 and the orthographic projection of the second driving member 33 can overlap.

[0088] In some embodiments, the first driving member 32 and the second driving member 33 are symmetrically arranged with respect to the central axis in the front-rear direction Y with respect to the support member 31, so as to achieve force balance on the left and right sides of the head 10. For example, when the head 10 needs to raise and lower its head, it is only necessary to make the output power of the first driving member 32 and the output power of the second driving member 33 the same to achieve smooth rotation of the head 10.

[0089] In some embodiments, the first drive member 32 and the second drive member 33 may be asymmetrically arranged relative to the central axis of the support member 31 in the front-rear direction Y. When the head 10 needs to tilt up or down, the output power of the first drive member 32 and the output power of the second drive member 33 need to be adjusted to achieve force balance, thereby enabling the head 10 to rotate smoothly.

[0090] The technical solution of this application embodiment reduces the difficulty of force analysis when designing the biomimetic structure 1 by symmetrically arranging the first driving member 32 and the second driving member 33 with respect to the central axis in the front-rear direction Y with respect to the support member 31.

[0091] Please refer to Figures 1 to 3 and refer to Figure 4 , Figure 4 This is a schematic diagram illustrating the connection between a support member and a head according to some embodiments of this application. The example shown is for illustrative purposes. Figure 4 The structure of the head is partially concealed. In some embodiments, the support 31 includes one of a universal joint and a ball joint.

[0092] In some embodiments, the support member 31 may be a universal joint.

[0093] In some embodiments, the support member 31 may be a ball head pin.

[0094] In the technical solution of this application embodiment, the universal joint and ball joint can have multiple degrees of freedom. By setting the support member 31 as a universal joint or ball joint, the head 10 can rotate relative to the support member 31 to complete actions such as head down, head up, left head up and right head up, reducing the risk of head 10 motion interference.

[0095] Please refer to Figures 1 to 3 In some embodiments, the first drive member 32 includes a first servo motor rotatable about its central axis, which extends in the left-right direction X. One end of the first connector 34 is hinged to the output end of the first servo motor, and the other end is hinged to the inner wall of the mounting space 11. The second drive member 33 includes a second servo motor rotatable about its central axis, which extends in the left-right direction X. One end of the second connector 35 is hinged to the output end of the second servo motor, and the other end is hinged to the inner wall of the mounting space 11.

[0096] In some embodiments, the first servo and the second servo can have the same structure.

[0097] Taking the second servo as an example, viewed from right to left in the left-right direction X, the second connecting piece 35 can be located to the left of the second servo. When the second servo needs to drive the second connecting piece 35 to move upward, the second servo rotates clockwise. When the second servo needs to drive the second connecting piece 35 to move downward, the second servo rotates counterclockwise.

[0098] The technical solution of this application embodiment drives the first connector 34 through the first servo motor and drives the second connector 35 through the second servo motor, so that the head 10 can be tilted down, tilted up, tilted to the left and tilted to the right through the combined movement of the first connector 34 and the second connector 35, thereby simplifying the control components of the head 10 and enriching the movements of the head 10.

[0099] In some embodiments, the first drive member 32 includes one of a motor and a cylinder; the second drive member 33 includes one of a motor and a cylinder.

[0100] In some embodiments, the first drive element 32 may be a motor.

[0101] In some embodiments, the first drive element 32 may be a cylinder.

[0102] In some embodiments, the second drive element 33 may be a motor.

[0103] In some embodiments, the second drive element 33 may be a cylinder.

[0104] Typically, motors and cylinders have a self-locking function. Once the motor or cylinder drives the head 10 to rotate, no additional power needs to be output to fix the head 10 in the rotated position.

[0105] The technical solution of this application embodiment drives the first connecting member 34 by a motor or cylinder, and drives the second connecting member 35 by a motor or cylinder, so that the head 10 can be tilted down, tilted up, tilted to the left and tilted to the right by the combined movement of the first connecting member 34 and the second connecting member 35, thereby simplifying the control components of the head 10 and enriching the movements of the head 10.

[0106] Please refer to Figure 1 This application provides a bionic robot, which includes a bionic structure 1 as described in any of the above embodiments.

[0107] The technical solution of this application embodiment includes a bionic robot comprising a bionic structure 1. The bionic structure 1 is connected to the first drive component 32 and the head 10 via a first connector 34, and to the second drive component 33 and the head 10 via a second connector 35. This allows the head 10 to tilt its head down, tilt its head up, tilt its head to the left, and tilt its head to the right through the combined movement of the first connector 34 and the second connector 35. This simplifies the control components of the head 10, thereby simplifying the structure of the bionic robot and enriching the movements of the head 10.

[0108] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A biomimetic structure, characterized in that, The device includes a head, a neck, and a control assembly, wherein the head has an internal mounting space and the control assembly is disposed within the mounting space. The control component includes a support member, a first drive member, a second drive member, a first connector, and a second connector. The support member is mounted on the neck, and the head is rotatably connected to the support member. The first driving member and the second driving member are respectively installed on the neck, with the first driving member located on the left side of the support member and the second driving member located on the right side of the support member; One end of the first connector is connected to the first drive member, and the other end of the first connector is connected to the inner wall of the installation space; one end of the second connector is connected to the second drive member, and the other end of the second connector is connected to the inner wall of the installation space. The first driving member is used to drive the first connecting member in the vertical direction, and the second driving member is used to drive the second connecting member in the vertical direction, so that the first connecting member and the second connecting member jointly drive the head to rotate relative to the support member.

2. The biomimetic structure of claim 1, wherein, The first connector and the second connector can move independently.

3. The biomimetic structure according to any one of claims 1-2, wherein, In the front-to-back direction, the first drive member and the second drive member are located on the same side of the support member.

4. The biomimetic structure according to claim 3, characterized in that, The head includes a first body located in front of the support member and a second body located behind the support member; Both the first connector and the second connector are connected to the second body.

5. The biomimetic structure according to claim 4, characterized in that, The first connector and the second connector can move independently; When both the first connector and the second connector move upward, the first connector and the second connector together drive the head to rotate relative to the support, so that the first body rotates downward. When both the first connector and the second connector move downwards, the first connector and the second connector together drive the head to rotate relative to the support, so that the first body rotates upwards. When the first connector moves upward and the second connector moves downward, the first connector and the second connector together drive the head to rotate relative to the support, so that the right side of the first body rotates downward. When the first connector moves downward and the second connector moves upward, the first connector and the second connector together drive the head to rotate relative to the support, so that the right side of the first body rotates upward.

6. The biomimetic structure of claim 1, wherein, The first driving member and the second driving member are symmetrically arranged with respect to the central axis in the front-rear direction of the support member.

7. The biomimetic structure of claim 1, wherein, The support component includes either a universal joint or a ball joint.

8. The biomimetic structure of claim 1, wherein, The first driving component includes a first servo motor, which is rotatable about its central axis, the central axis of which extends in the left-right direction. One end of the first connecting component is hinged to the output end of the first servo motor, and the other end is hinged to the inner wall of the mounting space. The second drive unit includes a second servo motor, which is rotatable about its central axis, which extends in a left-right direction. One end of the second connector is hinged to the output end of the second servo motor, and the other end is hinged to the inner wall of the mounting space.

9. The biomimetic structure of claim 1, wherein, The first driving component includes one of a motor and a cylinder; the second driving component includes one of a motor and a cylinder.

10. A biomimetic robot, characterized in that, Includes the biomimetic structure as described in any one of claims 1-9.

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