CN109866236A - A kind of emulation water sports robot - Google Patents
A kind of emulation water sports robot Download PDFInfo
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- CN109866236A CN109866236A CN201910322646.4A CN201910322646A CN109866236A CN 109866236 A CN109866236 A CN 109866236A CN 201910322646 A CN201910322646 A CN 201910322646A CN 109866236 A CN109866236 A CN 109866236A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 203
- 230000003028 elevating effect Effects 0.000 claims abstract description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 210000003128 head Anatomy 0.000 claims description 95
- 210000001508 eye Anatomy 0.000 claims description 83
- 235000004443 Ricinus communis Nutrition 0.000 claims description 9
- 210000005252 bulbus oculi Anatomy 0.000 claims description 6
- 210000000744 eyelid Anatomy 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000003252 repetitive effect Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000004088 simulation Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 26
- 230000007704 transition Effects 0.000 description 25
- 210000000988 bone and bone Anatomy 0.000 description 6
- 241001465754 Metazoa Species 0.000 description 4
- 244000309464 bull Species 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 240000001008 Dimocarpus longan Species 0.000 description 1
- 235000000235 Euphoria longan Nutrition 0.000 description 1
- 240000000528 Ricinus communis Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000008278 dynamic mechanism Effects 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Abstract
The present invention relates to a kind of emulation water sports robots, belong to robotic technology field, flexible swing mechanism assembly right end and bottom assembly are hinged, flexible swing mechanism assembly left end and head assembly are hinged, head assembly is swung relative to flexible swing mechanism assembly left end, bottom assembly includes: pedestal, elevating mechanism, lower part of the body mechanism and upper body mechanism, elevating mechanism is provided on pedestal, elevating mechanism upper end is provided with lower part of the body mechanism, lower part of the body mechanism upper end is provided with upper body mechanism, upper body mechanism is rotated relative to lower part of the body mechanism, flexible swing mechanism assembly right end and upper body mechanism are hinged, flexible swing mechanism assembly is swung relative to upper body mechanism.The multistage repetitive structure that flexibility swing mechanism assembly of the invention uses, facilitate installation, while when a portion damage can accelerate maintenance speed with the entire part of quick-replaceable, and multistage repetitive structure can be more true to nature simulation dragon neck, solve the problems, such as stiff in the movements distortion.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of emulation water sports robots.
Background technique
Robot technology is the new and high technology developed rapidly in recent decades, it combines machinery, microelectronics
It with computer, automatically controls, the multi-disciplinary newest research results such as sensor and information processing and artificial intelligence, is electromechanics one
The typical carriers of body technology are one of current most active research fields.
Nowadays robot technology has also been come into the entertainment life of people, the various aperies, imitative of can be realized occurs
The humanoid or animal shape amusement facility and the various performance action equipments for assigning still life movement vividly made, are applied to various each
The entertainment place of sample, such as amusement park, theme park, various activities scene.It is bionical in numerous emulation amusement equipment
Animal is one of most common, most widely used classification, and in bionic animal equipment, animal imitation be widely used, most by
One of type of welcome has both amusement and science and education meaning, and to its research and to design and produce will be in entertainment equipment
Important topic.
Existing bionical equipment, driving method are mostly motor, cause its degree of protection not high, not stain resistance, can not be applied
Yu Shuizhong, applicable environment occasion is less, and service life is shorter, long-time service need maintenance cost also higher, and move compared with
Flexible poor to be stiff, bionical posture is not quasi- true enough.
Summary of the invention
The purpose of the present invention is to provide a kind of bionical interaction entertainment machine people being suitably applied in water, can complete
It drilled out from water, swing neck and head and carry out eye and mouth relevant action, interacted with tourist, solved existing imitative
Generating apparatus not stain resistance, can not be applied in water, problem difficult in maintenance, service life is short, and the degree of verisimilitude of enhancing action increases
It is strong flexible.
Inventive technique scheme:
A kind of emulation water sports robot, comprising: bottom assembly, flexible swing mechanism assembly and head assembly,
The flexibility swing mechanism assembly right end and bottom assembly are hinged, flexible swing mechanism assembly left end and head assembly
Hingedly, head assembly is swung relative to flexible swing mechanism assembly left end；
The bottom assembly includes: pedestal, elevating mechanism, lower part of the body mechanism and upper body mechanism, is provided with liter on the pedestal
Descending mechanism, elevating mechanism upper end are provided with lower part of the body mechanism, and lower part of the body mechanism upper end is provided with upper body mechanism, and upper body mechanism is relative under
The rotation of body mechanism, flexible swing mechanism assembly right end and upper body mechanism are hinged, and flexible swing mechanism assembly is relative to upper body mechanism
It swings.
Further, the elevating mechanism includes: lifting cylinder and U-shaped sliding rail, and multiple promotion gas are provided on the pedestal
The output end of cylinder and U-shaped sliding rail, lifting cylinder is connected with lower part of the body mechanism, and the surrounding of lower part of the body mechanism, lower part of the body machine is arranged in U-shaped sliding rail
Structure is slided up and down in U-shaped sliding rail.
Further, the lower part of the body mechanism includes: that lower part of the body frame, lower part of the body loading plate, castor, lifting bracket and the lower part of the body hingedly turn
Axis, lower part of the body frame rear and front end are provided with lifting bracket, and lifting bracket is connected with the output end of lifting cylinder, lower part of the body frame
Four side walls of frame are provided with multiple castors, and castor is placed in U-shaped sliding rail, and lower part of the body frame left end is provided with lower part of the body loading plate,
Lower part of the body loading plate is connected by floating bearing with upper body mechanism, and there are two the lower parts of the body being parallel to each other for setting at the top of lower part of the body frame right end
Hinged shaft, one end of two the 16th double-rod cylinders is hinged with two hinged shafts of the lower part of the body respectively, two the 16th double rod gas
The other end of cylinder and upper body mechanism left end are hinged.
Further, the upper body mechanism includes: upper body frame, upper body loading plate, the hinged shaft of upper body No.1, upper body two
Hinged shaft and rear rocker, the lower end surface of upper body frame left end bottom are provided with upper body loading plate and two upper body three hinges
Switch through axis, upper body loading plate is connected by floating bearing with lower part of the body loading plate, and two upper body three hinged shafts are separately positioned on
Upper body loading plate front and rear sides, the other end of two the 16th double-rod cylinders is hinged with two upper body three hinged shafts respectively,
There are two the hinged shaft of upper body No.1, upper body frame right end tops to be provided with two for the upper surface setting of upper body loading plate left end bottom
A No. two hinged shafts, rear rocker upper end two sides are hinged with two No. two hinged shafts respectively, two the 17th double-rod cylinders
One end is hinged with two hinged shafts of No.1 respectively, the other end of two the 17th double-rod cylinders respectively with rear rocker lower end two sides
Hingedly, two upper body connecting rod one end and rear rocker lower end two sides are hinged, two upper body connecting rod other ends and flexible oscillating machine
Structure assembly right end is hinged, and upper body frame top middle portion is provided with No. four articulated shaft cross bars, is provided on No. four articulated shaft cross bars
No. four articulated shafts of body, the 18th double-rod cylinder one end and No. four articulated shafts of upper body are hinged, the 18th double-rod cylinder other end with
Flexible swing mechanism assembly right end is hinged, the hinged shaft of the upper body No.1, No. four upper body two hinged shafts, upper body articulated shafts
Axis be parallel to each other, the axis of No. four articulated shafts of axis and upper body of upper body three hinged shafts is mutually perpendicular to.
Further, the head assembly include: holder,head, eye mounting plate, eye assembly, head No.1 connecting rod,
Head hinge bar, the connecting rod of head two, the connecting rod of head three, the connecting rod of head four, mouth skeleton and mouth connecting rod,
The holder,head upper end is provided with eye mounting plate, and eye assembly and head No.1 connecting rod are provided on eye mounting plate,
Head No.1 connecting rod two sides are provided with head hinge bar, and two heads connecting rod one end is cut with scissors with two head hinge bars respectively
It connects, two head connecting rod other ends and flexible swing mechanism assembly left end are hinged, and holder,head right end is vertically installed with two heads
The connecting rod of portion two, the connecting rod other end of head two and flexible swing mechanism assembly left end are hinged, and holder,head lower end surface is hung down
It is directly provided with the connecting rod of head three and the connecting rod of head four, the connecting rod of head three is located on the right side of the connecting rod of head four,
Hinged in the middle part of the connecting rod lower end of head four and mouth connecting rod, mouth connecting rod left end and mouth skeleton are hinged, head cylinder
Bottom and mouth connecting rod right end it is hinged, No. three connecting rod lower ends in output end and head of head cylinder are hinged.
Further, the eye assembly includes: eye drive rod, eye connecting rod, half ring stand of eye, eye L-type support
With eyeball mounting plate, eye mounting plate upper surface center is symmetrical arranged there are two eye cylinder, eye cylinder it is defeated
It is connected in the middle part of outlet and eye drive rod, eye drive rod both ends are hinged with eye connecting rod, the eye connecting rod other end and eye
Half ring stand closed end of portion is hinged, and the open end of two half ring stands of eye is hinged by eye pin shaft, and eye mounting plate upper surface is right
Side is vertically arranged there are two eye L-type support, and two eye L-type support other ends are hinged with eye pin shaft respectively, two eye L
It is provided with eyeball mounting plate between type bracket is straight, is provided with arc eyelid on half ring stand of eye.
The present invention has the advantages that the prior art
The multistage repetitive structure that flexibility swing mechanism assembly of the invention uses facilitates installation, while when a portion is damaged
It is bad to accelerate the simulation dragon that maintenance speed and multistage repetitive structure can be more true to nature with the entire part of quick-replaceable
Neck solves the problems, such as stiff in the movements distortion.
Present invention employs lifting structures, can preferably simulate standing up and squatting for dragon, further reach true to nature
Effect.
Head of the present invention uses more freedom degrees, and the movement and the movement in longan portion of imperial mouth may be implemented.
The present invention uses pneumatically, flexible, it is only necessary to vulnerabilities scan, it is highly-safe.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the shaft side figure of bottom assembly of the present invention；
Fig. 3 is the structural schematic diagram of bottom assembly of the present invention；
Fig. 4 is the structural schematic diagram of lower part of the body mechanism of the present invention；
Fig. 5 is the structural schematic diagram of upper body mechanism of the present invention；
Fig. 6 is the connection relationship diagram of head assembly of the present invention and No. four cross axle groups；
Fig. 7 is head assembly structural schematic diagram of the present invention；
Fig. 8 is the structural schematic diagram of eye assembly of the present invention；
Fig. 9 is the structural schematic diagram of No. four cross axle groups of the invention；
Figure 10 is the structural schematic diagram of flexible swing mechanism assembly of the invention；
Figure 11 is the connection relationship diagram of the first lower section joint mechanism and the second lower section joint mechanism of the invention；
Figure 12 is the structural schematic diagram of joint assembly in root of the present invention；
Figure 13 is the second double-rod cylinder schematic view of the mounting position of the invention；
Figure 14 is third lower section joint mechanism of the present invention and the second lower section joint mechanism connection relationship diagram；
Figure 15 is the first upper section joint mechanism and the second upper section joint mechanism connection relationship diagram of the invention；
Figure 16 is third upper section joint mechanism of the present invention and the 4th upper section joint mechanism connection relationship diagram；
Figure 17 is the structural schematic diagram of the first No.1 joint of the invention；
Figure 18 is the structural schematic diagram of the one No. two joint of the invention；
Figure 19 is the structural schematic diagram of the second No.1 joint of the invention；
Figure 20 is the structural schematic diagram of the 2nd No. two joint of the invention；
Figure 21 is the structural schematic diagram of third No.1 joint of the present invention；
Figure 22 is the structural schematic diagram of the 2nd No. two joint of the invention；
Figure 23 is the structural schematic diagram of middle section transition bracket of the present invention；
Figure 24 is the structural schematic diagram of the first upper section joint mechanism of the invention；
Figure 25 is the structural schematic diagram of the second upper section joint mechanism of the invention；
Figure 26 is the structural schematic diagram of third upper section joint mechanism of the present invention；
Figure 27 is the structural schematic diagram of the 4th upper section joint mechanism of the invention；
Figure 28 is the structural schematic diagram of No.1 cross axle group of the present invention, No. two cross axle groups and No. three cross axle groups.
Specific embodiment
Below with reference to attached drawing, the present invention is described in detail.
Embodiment one: interactive device on a kind of high artificial water, comprising: bottom assembly 31, flexible 32 and of swing mechanism assembly
Head assembly 33,
32 right end of flexibility swing mechanism assembly and bottom assembly 31 are hinged, flexible 32 left end of swing mechanism assembly and head
Portion's assembly 33 is hinged, and head assembly 33 is swung relative to flexible 32 left end of swing mechanism assembly；
The bottom assembly 31 includes: pedestal 31-1, elevating mechanism 31-2, lower part of the body mechanism 31-3 and upper body mechanism 31-4,
Elevating mechanism 31-2 is provided on the pedestal 31-1, the upper end elevating mechanism 31-2 is provided with lower part of the body mechanism 31-3, lower part of the body mechanism
The upper end 31-3 is provided with upper body mechanism 31-4, and upper body mechanism 31-4 is rotated relative to lower part of the body mechanism 31-3, and flexible swing mechanism is total
Hinged at 32 right ends and upper body mechanism 31-4, flexible swing mechanism assembly 32 is swung relative to upper body mechanism 31-4.
Embodiment two: the elevating mechanism 31-2 includes: lifting cylinder 31-2-1 and U-shaped sliding rail 31-2-2, the pedestal
Multiple lifting cylinder 31-2-1 and U-shaped sliding rail 31-2-2, the output end and lower part of the body machine of lifting cylinder 31-2-1 are provided on 31-1
Structure 31-3 is connected, and the surrounding of lower part of the body mechanism 31-3 is arranged in U-shaped sliding rail 31-2-2, and lower part of the body mechanism 31-3 is in U-shaped sliding rail 31-2-2
It slides up and down.
Embodiment three: the lower part of the body mechanism 31-3 includes: lower part of the body frame 31-3-1, lower part of the body loading plate 31-3-2, castor 31-
3-3, lifting bracket 31-3-4 and the hinged shaft 31-3-5 of the lower part of the body, the rear and front end lower part of the body frame 31-3-1 are provided with promotion
Bracket 31-3-4, lifting bracket 31-3-4 are connected with the output end of lifting cylinder 31-2-1, tetra- side walls of lower part of the body frame 31-3-1
Multiple castor 31-3-3 are provided with, castor 31-3-3 is placed in U-shaped sliding rail 31-2-2, the setting of the lower part of the body left end frame 31-3-1
There are lower part of the body loading plate 31-3-2, lower part of the body loading plate 31-3-2 to be connected by floating bearing with upper body mechanism 31-4, lower part of the body frame 31-
There are two the hinged shaft 31-3-5 of the lower part of the body being parallel to each other, one end of two the 16th double-rod cylinders 22 for setting at the top of 3-1 right end
Hinged with the hinged shaft 31-3-5 of two lower parts of the body respectively, the other end and upper body mechanism 31-4 of two the 16th double-rod cylinders 22 are left
End is hinged.
Example IV: the upper body mechanism 31-4 includes: upper body frame 31-4-1, upper body loading plate 31-4-2, upper body one
Number hinged shaft 31-4-3, upper body two hinged shaft 31-4-4 and rear rocker 31-4-5, the left end upper body frame 31-4-1
The lower end surface of bottom is provided with upper body loading plate 31-4-2 and two upper body three hinged shaft 31-4-6, upper body loading plate 31-
4-2 is connected by floating bearing with lower part of the body loading plate 31-3-2, and two upper body three hinged shaft 31-4-6 are separately positioned on
The front and rear sides body loading plate 31-4-2, the other end of two the 16th double-rod cylinders 22 respectively with No. three hinged shafts of two upper bodies
31-4-6 is hinged, and the upper surface of the upper body left end loading plate 31-4-2 bottom is arranged there are two the hinged shaft 31-4-3 of upper body No.1,
Setting is there are two No. two hinged shaft 31-4-4 at the top of upper body frame 31-4-1 right end, the upper end rear rocker 31-4-5 two sides respectively with
Two No. two hinged shaft 31-4-4 are hinged, one end of two the 17th double-rod cylinders 23 respectively with two hinged shafts of No.1
31-4-3 is hinged, and the other end of two the 17th double-rod cylinders 23 is hinged with the lower end rear rocker 31-4-5 two sides respectively, on two
Body one end connecting rod 31-4-8 and the lower end rear rocker 31-4-5 two sides are hinged, two upper body connecting rod 31-4-8 other ends and flexibility
32 right end of swing mechanism assembly is hinged, and upper body frame 31-4-1 top middle portion is provided with No. four articulated shaft cross bars, No. four articulated shafts
No. four articulated shaft 31-4-7 of upper body are provided on cross bar, No. four articulated shaft 31-4-7 in 24 one end of the 18th double-rod cylinder and upper body are cut with scissors
It connects, 24 other end of the 18th double-rod cylinder and, the upper body No.1 hinged shaft hinged with flexible 32 right end of swing mechanism assembly
31-4-3, upper body two hinged shaft 31-4-4, No. four articulated shaft 31-4-7 of upper body axis be parallel to each other, upper body three is hinged
The axis of shaft 31-4-6 and the axis of No. four articulated shaft 31-4-7 of upper body are mutually perpendicular to.
Embodiment five: the head assembly 33 include: holder,head 33-1, eye mounting plate 33-2, eye assembly 33-3,
Head No.1 connecting rod 33-4, head hinge bar 33-5, the connecting rod 33-6 of head two, head three connecting rod 33-7, head
No. four connecting rod 33-8, mouth skeleton 33-9 and the upper end mouth connecting rod 33-10, the holder,head 33-1 are provided with eye peace
Eye assembly 33-3 and head No.1 connecting rod 33-4, the connection of head No.1 are provided on loading board 33-2, eye mounting plate 33-2
The two sides bar 33-4 are provided with head hinge bar 33-5, two heads one end connecting rod 33-11 respectively with two head hinge bar 33-
5 is hinged, and two head connecting rod 33-11 other ends and 32 left ends of flexible swing mechanism assembly are hinged, and holder,head 33-1 right end hangs down
It is directly provided with the connecting rod 33-6 of two heads two, the connecting rod 33-6 other end of head two and flexible swing mechanism assembly 32 are left
End is hinged, and the lower end surface holder,head 33-1 is vertically installed with the connecting rod 33-7 of head three and the connecting rod 33-8 of head four, head
The connecting rod 33-7 of portion three is located on the right side of the connecting rod 33-8 of head four, the lower end connecting rod 33-8 of head four and mouth connecting rod
Hinged in the middle part of 33-10, the mouth left end connecting rod 33-10 and mouth skeleton 33-9 are hinged, the bottom of head cylinder 33-12 and mouth
Connecting rod 33-10 right end is hinged, and No. three lower ends connecting rod 33-7 in output end and head of head cylinder 33-12 are hinged.
Embodiment six: the eye assembly 33-3 includes: eye drive rod 33-3-1, eye connecting rod 33-3-2, eye
Half ring stand 33-3-3, eye L-type support 33-3-4 and eyeball mounting plate 33-3-5, the upper surface the eye mounting plate 33-2 center
There are two eye cylinder 33-3-6, output end and eye drive rod the 33-3-1 middle parts of eye cylinder 33-3-6 for positional symmetry setting
It is connected, the both ends eye drive rod 33-3-1 are hinged with eye connecting rod 33-3-2, the eye connecting rod 33-3-2 other end and eye
Half closed end ring stand 33-3-3 is hinged, and the open end of two half ring stand 33-3-3 of eye is hinged by eye pin shaft, eye installation
There are two eye L-type support 33-3-4, two eye L-type support 33-3-4 other ends point for the setting of plate 33-2 upper surface Right vertical
It is not hinged with eye pin shaft, eyeball mounting plate 33-3-5, half ring stand of eye are provided between two eye L-type support 33-3-4 are straight
Arc eyelid is provided on 33-3-3.
Embodiment seven: the flexibility swing mechanism assembly 32 includes: root joint assembly 1, lower section joint assembly 2, middle section
Transition bracket 3 and upper section joint assembly 4,
1 left end of root joint assembly is connected by shaft with the right end of lower section joint assembly 2, lower section joint assembly 2
It is rotated relative to root joint assembly 1,2 left end of lower section joint assembly is connected by shaft with middle section transition bracket 3, middle section transition
Bracket 3 is rotated relative to lower section joint assembly 2；
The middle section transition bracket 3 is connected by pin shaft with 4 right end of upper section joint assembly, upper section joint assembly 4 relative to
Middle section transition bracket 3 is swung, so set, occurring using more piece repetitive, overall structure can be subdivided into several pieces, thus
Mildness when increasing the flexibility of mechanism, freedom and finally cooperating with appearance, in addition, identical structure ease of assembly and
Disassembly, and it is easy to control.When individually control can be achieved in all separation structures, in the premise for thering is movement to influence overall structure
Under any movement branch, realize different postures, complete overall flexibility movement, Caton, effect be not true for fluent movements.
Embodiment eight: root joint mechanism 1 includes: U-shaped root frame 1-1, shaft mounting base 1-2, connects on root
It meets frame 1-3 and connects shaft 1-4 with root, the U-shaped left side the root frame 1-1 center position is provided with shaft mounting base 1-
2, shaft mounting base 1-2 are connected by shaft with 2 right end of lower section joint assembly, are provided on the side wall of the U-shaped left end root frame 1-1
Connection frame 1-3 on root, is vertically arranged that there are two roots to connect shaft 1-4, two the first double rod gas on root on connection frame 1-3
7 one end of cylinder connect that shaft 1-4 is hinged with two roots respectively, the other end of two the first double-rod cylinders 7 respectively with lower section joint
2 right end of assembly is hinged.
Embodiment nine: the lower section joint assembly 2 includes: the first lower section joint mechanism 2-1, the second lower section joint mechanism 2-
2 and third lower section joint mechanism 2-3, the first lower section joint mechanism 2-1 right end pass through shaft and shaft mounting base 1-2 phase
Even, 7 other end of the first double-rod cylinder and the first lower section joint mechanism 2-1 right end are hinged, and the first lower section joint left end mechanism 2-1 is logical
It crosses shaft to be connected with the second lower section joint mechanism 2-2 right end, the second lower section joint mechanism 2-2 is relative to the first lower section joint mechanism
2-1 rotation, 8 one end of the second double-rod cylinder and the first left end lower section joint mechanism 2-1 are hinged, 8 other end of the second double-rod cylinder and
Second lower section joint mechanism 2-2 right end is hinged, and the second lower section joint left end mechanism 2-2 passes through shaft and third lower section joint mechanism
The right end of 2-3 is connected, and third lower section joint mechanism 2-3 is rotated relative to the second lower section joint mechanism 2-2, third double-rod cylinder 9
One end and the second left end lower section joint mechanism 2-2 are hinged, and 9 other end of third double-rod cylinder and third lower section joint mechanism 2-3 are right
End is hinged, and the third lower section joint left end mechanism 2-3 is connected by turnover with middle section transition bracket 3,10 one end of the 4th double-rod cylinder
Hinged with the left end third lower section joint mechanism 2-3,10 other end of the 4th double-rod cylinder and middle section transition bracket 3 are hinged, so set
It sets, overall structure can be subdivided into several pieces, when thus increasing the flexibility of mechanism, freedom and finally cooperating with appearance
Mildness, in addition, identical structure easy assembly and disassembly, and easy to control.
Embodiment ten: the first lower section joint mechanism 2-1 includes: the first No.1 joint 2-1-1 and the one No. two joint
2-1-2, the first No.1 joint 2-1-1 right end are connected by shaft with shaft mounting base 1-2, and the first double-rod cylinder 7 is another
End is hinged with the first No.1 joint 2-1-1 right end, and the first No.1 left end joint 2-1-1 passes through pin shaft and the one No. two joint 2-1-
2 are connected, and the one No. two joint 2-1-2 is swung relative to the first No.1 joint 2-1-1,11 one end of the 5th double-rod cylinder and the 1st
Number joint 2-1-1 is hinged, and 11 other end of the 5th double-rod cylinder and the one No. two joint 2-1-2 are hinged, the one No. two joint 2-1-2
Left end is connected by shaft with the second lower section joint mechanism 2-2,8 one end of the second double-rod cylinder and the one No. two joint 2-1-2.
Embodiment 11: the first No.1 joint 2-1-1 includes: the first No.1 U-shaped framework 2-1-1-1, the first No.1
It is connected under shaft 2-1-1-3, the first No.1 lower connecting rod 2-1-1-4, the first No.1 on upper connecting rod 2-1-1-2, the first No.1
Connect shaft 2-1-1-5 and the first left side No.1 articulated slab 2-1-1-6, the first No.1 U-shaped framework 2-1-1-1 centre bit
It sets and is connected by shaft with the axle sleeve in shaft mounting base 1-2, the first left end No.1 U-shaped framework 2-1-1-1 upper side wall hangs down respectively
There are two be provided in the first No.1 on the first No.1 upper connecting rod 2-1-1-2, the first No.1 upper connecting rod 2-1-1-2 for straight setting
Shaft 2-1-1-3 is connected, 11 one end of the 5th double-rod cylinder and connection shaft 2-1-1-3 in the first No.1 are hinged, and the first No.1 is U-shaped
The left end frame 2-1-1-1 lower wall is respectively perpendicular the first No.1 lower connecting rod 2-1-1-4 there are two settings, connects under the first No.1
It is provided under the first No.1 connection shaft 2-1-1-5 on bar 2-1-1-4, the other end of two the first double-rod cylinders 7 is respectively with two
Connection shaft 2-1-1-5 is hinged under a first No.1, connects under the first No.1 and connects on the axis and the first No.1 of shaft 2-1-1-5
The axis for switching through axis 2-1-1-3 is mutually perpendicular to, and the first left end No.1 U-shaped framework 2-1-1-1 is provided with the first No.1 articulated slab 2-
1-1-6, the first No.1 articulated slab 2-1-1-6 are connected with the one No. two one end joint 2-1-2 by pin shaft.
Embodiment 12: the one No. two joint 2-1-2 includes: the one No. two U-shaped framework 2-1-2-1, the one No. two
Upper connecting rod 2-1-2-2, the one No. two upper connection shaft 2-1-2-3, the one No. two lower connecting rod 2-1-2-4, under the one No. two
Connect shaft 2-1-2-5 and the one No. two articulated slab 2-1-2-6, the one No. two right side U-shaped framework 2-1-2-1 centre bit
It sets and is connected by shaft with the second lower section joint mechanism 2-2 right end, the one No. two U-shaped framework 2-1-2-1 right end upper side wall difference
The one No. two is provided on one No. two upper connecting rod 2-1-2-2 there are two being vertically arranged, the one No. two upper connecting rod 2-1-2-2
Upper connection shaft 2-1-2-3,11 other end of the 5th double-rod cylinder and the one No. two upper connection shaft 2-1-2-3 are hinged, and the one or two
The one No. two lower connecting rod 2-1-2-4, the one No. two lower connecting rod are vertically installed in number left end U-shaped framework 2-1-1-1 side wall
Be provided under the one No. two connection shaft 2-1-2-5 on 2-1-2-4,8 one end of the second double-rod cylinder with the one No. two under connection turn
Axis 2-1-2-5 is hinged, and the axis of shaft 2-1-2-5 and the axis of the one No. two upper connection shaft 2-1-2-3 are connected under the one No. two
Line is mutually perpendicular to, and the one No. two left end U-shaped framework 2-1-2-1 is provided with the one No. two articulated slab 2-1-2-6, and the first No.1 is hinged
Plate 2-1-1-6 is connected with the one No. two articulated slab 2-1-2-6 by pin shaft.
Embodiment 13: the second lower section joint mechanism 2-2 includes: the second No.1 joint 2-2-1 and the 2nd No. two bone
2-2-2 is saved, the second No.1 joint 2-2-1 right end is connected by shaft with the one No. two left end joint 2-1-2, the second double rod
8 other end of cylinder and the second No.1 joint 2-2-1 are hinged, and the second No.1 left end joint 2-2-1 passes through pin shaft and the 2nd No. two bone
It saves 2-2-2 right end to be connected, the 2nd No. two joint 2-2-2 is swung relative to the second No.1 joint 2-2-1, the 6th double-rod cylinder 12 1
End is hinged with the second No.1 joint 2-2-1, and 12 other end of the 6th double-rod cylinder and the 2nd No. two joint 2-2-2 are hinged, and the two or two
Number left end joint 2-2-2 is connected by shaft with third lower section joint mechanism 2-3 right end, 9 one end of third double-rod cylinder and second
No. two joint 2-2-2 are hinged.
Embodiment the 14: the second No.1 joint 2-2-1 includes: the second No.1 U-shaped framework 2-2-1-1, connects in the second No.1
It connects on extension bar 2-2-1-2, the second No.1 and is connected under shaft 2-2-1-3, the second No.1 lower connecting rod 2-2-1-4, the second No.1
Shaft 2-2-1-5 and the second No.1 articulated slab 2-2-1-6, the second No.1 right side U-shaped framework 2-2-1-1 center are logical
It crosses shaft to be connected with the one No. two right side U-shaped framework 2-1-2-1 center, on the second No.1 U-shaped framework 2-2-1-1 right end
Side wall is respectively perpendicular setting, and there are two be provided on the second No.1 upper connecting rod 2-2-1-2, the second No.1 upper connecting rod 2-2-1-2
Shaft 2-2-1-3 is connected in second No.1,12 one end of the 6th double-rod cylinder and connection shaft 2-2-1-3 in the second No.1 are hinged,
Second No.1 U-shaped framework 2-2-1-1 right end lower wall, which is respectively perpendicular, is provided with the second No.1 lower connecting rod 2-2-1-4, and the 2nd 1
Be provided with connection shaft 2-2-1-5 under the second No.1 on number lower connecting rod 2-2-1-4,8 other end of the second double-rod cylinder with the
It is hinged that shaft 2-2-1-5 is connected under two No.1s, and connection on the axis and the second No.1 of shaft 2-2-1-5 is connected under the second No.1 and is turned
The axis of axis 2-2-1-3 is mutually perpendicular to, and the second left end No.1 U-shaped framework 2-2-1-1 is provided with the second No.1 articulated slab 2-2-1-
6, the second No.1 articulated slab 2-2-1-6 are connected with the 2nd No. two one end joint 2-2-2 by pin shaft.
Embodiment 15: the 2nd No. two joint 2-2-2 includes: the 2nd No. two U-shaped framework 2-2-2-1, the 2nd No. two
Upper connecting rod 2-2-2-2, the 2nd No. two upper connection shaft 2-2-2-3, the 2nd No. two lower connecting rod 2-2-2-4, under the 2nd No. two
Connect shaft 2-2-2-5 and the 2nd No. two articulated slab 2-2-2-6, the 2nd No. two left side U-shaped framework 2-2-2-1 centre bit
It sets and is connected by shaft with third lower section joint mechanism 2-3 right end, the 2nd No. two U-shaped framework 2-2-2-1 left end upper side wall difference
The 2nd No. two is provided on 2nd No. two upper connecting rod 2-2-2-2 there are two being vertically arranged, the 2nd No. two upper connecting rod 2-2-2-2
Upper connection shaft 2-2-2-3,12 other end of the 6th double-rod cylinder and the 2nd No. two upper connection shaft 2-2-2-3 are hinged, and the two or two
Number left end U-shaped framework 2-2-1-1 lower wall is vertically installed with the 2nd No. two lower connecting rod 2-2-2-4, the 2nd No. two lower connecting rod
Be provided under the 2nd No. two connection shaft 2-2-2-5 on 2-2-2-4,9 one end of third double-rod cylinder with the 2nd No. two under connection turn
Axis 2-2-2-5 is hinged, and the axis of shaft 2-2-2-5 and the axis of the 2nd No. two upper connection shaft 2-2-2-3 are connected under the 2nd No. two
Line is mutually perpendicular to, and the 2nd No. two U-shaped framework 2-2-2-1 right end is provided with the 2nd No. two articulated slab 2-2-2-6, and the second No.1 is hinged
Plate 2-2-1-6 is connected with the 2nd No. two articulated slab 2-2-2-6 by pin shaft.
Embodiment 16: the third lower section joint mechanism 2-3 includes: third No.1 joint 2-3-1 and the 3rd No. two bone
2-3-2 is saved, the third No.1 joint 2-3-1 right end is connected by shaft with the 2nd No. two left end joint 2-2-2, third double rod
9 other end of cylinder and third No.1 joint 2-3-1 are hinged, and the third No.1 left end joint 2-3-1 passes through pin shaft and the 3rd No. two bone
Save 2-3-2 be connected, the 3rd No. two joint 2-3-2 relative to third No.1 joint 2-3-1 swing, 13 one end of the 7th double-rod cylinder with
Third No.1 joint 2-3-1 is hinged, and 13 other end of the 7th double-rod cylinder and the 3rd No. two joint 2-3-2 are hinged, third No.1 bone
The section left end 2-3-1 is connected by shaft with middle section transition bracket 3,10 one end of the 4th double-rod cylinder and the 3rd No. two joint 2-3-2
Hingedly.
Embodiment 17: the third No.1 joint 2-3-1 includes: third No.1 U-shaped framework 2-3-1-1, third No.1
It is connected under shaft 2-3-1-3, third No.1 lower connecting rod 2-3-1-4, third No.1 on upper connecting rod 2-3-1-2, third No.1
Connect shaft 2-3-1-5 and the right side third No.1 articulated slab 2-3-1-6, third No.1 U-shaped framework 2-3-1-1 centre bit
It sets and is connected by shaft with the 2nd No. two left side U-shaped framework 2-2-2-1 center, third No.1 U-shaped framework 2-3-1-1 is right
End upper side wall is respectively perpendicular third No.1 upper connecting rod 2-3-1-2 there are two settings, sets on third No.1 upper connecting rod 2-3-1-2
It is equipped with connection shaft 2-3-1-3 in third No.1, connection shaft 2-3-1-3 hinge on 13 one end of the 7th double-rod cylinder and third No.1
It connects, third No.1 U-shaped framework 2-3-1-1 right end lower wall is vertically installed with third No.1 lower connecting rod 2-3-1-4, third No.1
Connection shaft 2-3-1-5,9 other end of third double-rod cylinder and the 3rd 1 under third No.1 are provided on lower connecting rod 2-3-1-4
It is hinged that shaft 2-3-1-5 is connected under number, is connected under third No.1 and is connected shaft 2- on the axis and third No.1 of shaft 2-3-1-5
The axis of 3-1-3 is mutually perpendicular to, and the left end third No.1 U-shaped framework 2-3-1-1 is provided with third No.1 articulated slab 2-3-1-6, the
Three No.1 articulated slab 2-3-1-6 are connected with the 3rd No. two one end joint 2-3-2 by pin shaft.
Embodiment 18: the 3rd No. two joint 2-3-2 includes: the 3rd No. two U-shaped framework 2-3-2-1, the 3rd No. two
Upper connecting rod 2-3-2-2, the 3rd No. two upper connection shaft 2-3-2-3, the 3rd No. two lower connecting rod 2-3-2-4, under the 3rd No. two
Connect shaft 2-3-2-5 and the 3rd No. two articulated slab 2-3-2-6, the 3rd No. two left side U-shaped framework 2-3-2-1 centre bit
It sets and is connected by shaft with 3 right end of middle section transition bracket, the 3rd No. two left end U-shaped framework 2-3-2-1 upper side wall is respectively perpendicular and sets
The 3rd No. two upper connection is provided on 3rd No. two upper connecting rod 2-3-2-2 there are two setting, the 3rd No. two upper connecting rod 2-3-2-2
Shaft 2-3-2-3,13 other end of the 7th double-rod cylinder and the 3rd No. two upper connection shaft 2-3-2-3 are hinged, the 3rd No. two U-shaped frame
The left end frame 2-3-1-1 lower wall is vertically installed with the 3rd No. two lower connecting rod 2-3-2-4, the 3rd No. two lower connecting rod 2-3-2-4
On be provided under the 3rd No. two connection shaft 2-3-2-5,10 one end of the 4th double-rod cylinder with the 3rd No. two under connect shaft 2-3-
2-5 is hinged, and the axis that the axis and the 3rd No. two upper connection shaft 2-3-2-3 of shaft 2-3-2-5 are connected under the 3rd No. two is mutual
Vertically, the 3rd No. two U-shaped framework 2-3-2-1 right end is provided with the 3rd No. two articulated slab 2-3-2-6, third No.1 articulated slab 2-3-
1-6 is connected with the 3rd No. two articulated slab 2-3-2-6 by pin shaft.
Embodiment 19: the middle section transition bracket 3 includes: U-shaped transition frame 3-1, top plate 3-2 and transition articulated slab 3-3,
The right side the U-shaped transition frame 3-1 center is connected by shaft with the 3rd No. two left end joint 2-3-2, U-shaped transition frame 3-
1 open end is hinged by pin shaft and upper section joint 4 right ends of assembly, and top plate 3-2, top plate 3- are provided on U-shaped transition frame 3-1 side wall
Transition articulated slab 3-3 is vertically installed on 2,14 one end of the 8th double-rod cylinder and transition articulated slab 3-3 are hinged, the 8th double-rod cylinder
14 other ends and upper section joint assembly 4 are hinged, and the open end U-shaped transition frame 3-1 lateral wall is provided with excessive connecting rod 3-4, excessively
Be provided with excessively connection shaft 3-5 on connecting rod 3-4,10 other end of the 4th double-rod cylinder with excessive to connect shaft 3-5 hinged；
The right side the U-shaped transition frame 3-1 center passes through shaft and the 3rd No. two left side U-shaped framework 2-3-2-1
Center is connected.
Embodiment 20: the upper section joint assembly 4 includes: the first upper section joint mechanism 4-1, the second upper section joint mechanism
4-2, third upper section joint mechanism 4-3 and the 4th upper section joint mechanism 4-4, the first upper section joint mechanism 4-1 right end with it is U-shaped
The open end transition frame 3-1 is hinged by pin shaft, and 14 other end of the 8th double-rod cylinder and the first upper section joint left end mechanism 4-1 are cut with scissors
It connecing, the first upper section joint left end mechanism 4-1 is connected by No.1 cross axle group 4-5 with the second upper section joint mechanism 4-2 right end, and two
A 9th double-rod cylinder, 15 one end is hinged with the first left end upper section joint mechanism 4-1, two 15 other ends of the 9th double-rod cylinder
Hinged with No.1 cross axle group 4-5, the second upper section joint mechanism 4-2 is swung relative to the first upper section joint mechanism 4-1, and two
Tenth double-rod cylinder, 16 one end is hinged with No.1 cross axle group 4-5, two 16 other ends of the tenth double-rod cylinder with second on
The left end section joint mechanism 4-2 is hinged, and the second upper section joint left end mechanism 4-2 passes through No. two cross axle group 4-6 and third upper section bone
Mechanism 4-3 right end to be saved to be connected, two 17 one end of the 11st double-rod cylinder are hinged with the second upper section joint mechanism 4-2 right end, and two
The other end of a 11st double-rod cylinder 17 is hinged with No. two cross axle group 4-6, and third upper section joint mechanism 4-3 is relative to
Two upper section joint mechanism 4-2 are swung, and two 18 one end of the 12nd double-rod cylinder are hinged with No. two cross axle group 4-6, and two the
12 double-rod cylinder, 18 other end is hinged with the left end third upper section joint mechanism 4-3, and the third upper section joint left end mechanism 4-3 is logical
It crosses No. three cross axle group 4-7 to be connected with the 4th upper section joint mechanism 4-4 right end, two 19 one end of the 13rd double-rod cylinder are with
Three upper section joint mechanism 4-3 right ends are hinged, and two 19 other ends of the 13rd double-rod cylinder are hinged with No. three cross axle group 4-7,
4th upper section joint mechanism 4-4 relative to third upper section joint mechanism 4-3 swing, two 20 one end of the 14th double-rod cylinder with
No. three cross axle group 4-7 are hinged, and the other end of two the 14th double-rod cylinders 20 is cut with scissors with the 4th upper section joint left end mechanism 4-4
It connects, two 21 one end of the 15th double-rod cylinder are connected with the 4th upper section joint mechanism 4-4 right end, two the 15th double-rod cylinders 21
The other end and No. four cross axle group 4-8 it is hinged.
Embodiment 21: the first upper section joint mechanism 4-1 includes: No.1 T-type bracket 4-1-1, No. two T-type brackets
The lower end of 4-1-2, No.1 connecting plate 4-1-3 and No. two connecting plates 4-1-4, the No.1 T-type bracket 4-1-1 and No. two T-type branch
The lower end of frame 4-1-2 is connected by No.1 connecting plate 4-1-3, and the upper end No.1 T-type bracket 4-1-1 is vertically arranged there are two No.1 branch
No.1 bracket bull stick 4-1-6 is provided between frame mounting plate 4-1-5, No.1 carriage mounting plate 4-1-5, the 8th double-rod cylinder 14 is another
One end and No.1 bracket bull stick 4-1-6 are hinged, and No. two upper ends T-type bracket 4-1-2 are vertically arranged there are two No. two carriage mounting plates
4-1-7, two No. two upper ends carriage mounting plate 4-1-7 are connected by No. two transverse slat 4-1-8, No.1 carriage mounting plate 4-1-5 with
No. two transverse slat 4-1-8 are connected by No.1 connecting plate 4-1-3, and the left end of No.1 connecting plate 4-1-3 and No.1 cross axle group 4-5 are cut with scissors
It connects, the rear and front end of No.1 T-type bracket 4-1-1 and the rear and front end of No. two T-type bracket 4-1-2 pass through No. two connecting plate 4-1-
4 are connected, and No. two connecting plate 4-1-4 right ends are hinged by pin shaft with the left end U-shaped transition frame 3-1, set on No. two T-type bracket 4-1-2
Set there are two No. two bracket bull stick 4-1-9 being parallel to each other, two 15 one end of the 9th double-rod cylinder respectively with two No. two brackets
Bull stick 4-1-9 is hinged.
Embodiment the 22: the second upper section joint mechanism 4-2 includes: the second No.1 cross brace 4-2-1, the 2nd No. two ten
Word bracket 4-2-2, the second No.1 connecting plate 4-2-3 and the 2nd No. two connecting plate 4-2-4, the second No.1 cross brace 4-2-
1 upper and lower ends are connected with the upper and lower ends of the 2nd No. two cross brace 4-2-2 by the second No.1 connecting plate 4-2-3 respectively,
The second No.1 left end connecting plate 4-2-3 and No. two cross axle group 4-6 are hinged, the rear and front end of the second No.1 cross brace 4-2-1
It is connected respectively with the rear and front end of the 2nd No. two cross brace 4-2-2 by the 2nd No. two connecting plate 4-2-4, the 2nd No. two connection
Plate 4-2-4 right end and No.1 cross axle group 4-5 are hinged, and the second No.1 cross brace 4-2-1 vertical bar two sides are provided with second
No.1 hinge column 4-2-5, two 16 one end of the tenth double-rod cylinder are hinged with two the second No.1 hinge column 4-2-5 respectively, and second
There are two the 2nd No. two hinge column 4-2-6, two the 11st double-rod cylinders 17 1 for setting on No. two cross brace 4-2-2 horizon bars
It holds hinged with two the 2nd No. two hinge column 4-2-6 respectively.
Embodiment 23: third upper section joint mechanism 4-3 includes: third No.1 hexagonal-shaped frame 4-3-1, the 3rd No. two
Hexagonal-shaped frame 4-3-2, third cross brace 4-3-3, third cross version 4-3-4, third No.1 hinge column 4-3-5, the 3rd No. two
Hinge column 4-3-6, third No.1 hinged block 4-3-7 and the 3rd No. two hinged block 4-3-8, the third No.1 hexagonal-shaped frame 4-
3-1 upper and lower ends pass through third No.1 connecting plate 4-3-9 and are connected with the 3rd No. two hexagonal-shaped frame 4-3-2 upper and lower ends, the
Three rear and front ends No.1 hexagonal-shaped frame 4-3-1 pass through the 3rd No. two connecting plate 4-3-10 and the 3rd No. two hexagonal-shaped frame 4-
The rear and front end 3-2 be connected, tetra- endpoints of third cross brace 4-3-3 respectively with third No.1 connecting plate 4-3-9 and the 3rd No. two
Connecting plate 4-3-10 inner wall is connected, and the third cross both ends version 4-3-4 are connected respectively at two the 3rd No. two connecting plate 4-3-10 inner walls,
Third cross brace 4-3-3 vertical bar two sides are provided with third No.1 hinge column 4-3-5, and two the 12nd double-rod cylinders 18 are another
End is hinged respectively at two third No.1 hinge column 4-3-5, and two the 3rd No. two hinges have been vertically installed on third cross version 4-3-4
Column 4-3-6 is met, two 19 other ends of the 13rd double-rod cylinder are hinged with two the 3rd No. two hinge column 4-3-6 respectively, and the three or two
The axis of number hinge column 4-3-6 is mutually perpendicular to third No.1 hinge column 4-3-5 axis, the left end third No.1 connecting plate 4-3-9
It is hinged to be provided with third No.1 hinged block 4-3-7, third No.1 hinged block 4-3-7 and No. three cross axle group 4-7, the 3rd No. two company
Fishplate bar 4-3-10 right end is provided with the 3rd No. two hinged block 4-3-8, the 3rd No. two hinged block 4-3-8 and No. two cross axle group 4-6
Hingedly.
Embodiment 24: the 4th upper section joint mechanism 4-4 includes: the 4th No.1 hexagonal-shaped frame 4-4-1, the 4th
No. two hexagonal-shaped frame 4-4-2, the 4th cross brace 4-4-3, the 4th No.1 hinge column 4-4-5 and the 4th No. two hinged block 4-4-
8, the 4th No.1 hexagonal-shaped frame 4-4-1 upper and lower ends pass through the 4th No.1 connecting plate 4-4-9 and the 4th No. two six sides
Shape frame 4-2-2 upper and lower ends are connected, and the 4th rear and front end No.1 hexagonal-shaped frame 4-4-1 passes through the 4th No. two connecting plate 4-
4-10 is connected with the 4th No. two rear and front end hexagonal-shaped frame 4-2-2, and the 4th endpoint of cross brace 4-4-3 tetra- is respectively with the 4th
No.1 connecting plate 4-4-9 and the 4th No. two connecting plate 4-4-10 inner wall are connected, and the 4th horizontal edition both ends 4-4-4 are respectively at two the 4th
No. two connecting plate 4-4-10 inner walls are connected, and the 4th cross brace 4-4-3 vertical bar two sides are provided with the 4th No.1 hinge column 4-4-
5, the other end of two the 14th double-rod cylinders 20 is hinged respectively at two the 4th No.1 hinge column 4-4-5, the 4th cross edition 4-4-4
On be vertically installed with two the 4th No. two hinge column 4-4-6, two 21 other ends of the 15th double-rod cylinder respectively with two
Four No. two hinge column 4-4-6 are hinged, and the axis of the 4th No. two hinge column 4-4-6 and the 4th No.1 hinge column 4-4-5 axis are mutual
Vertically, the 4th left end No.1 connecting plate 4-4-9 is provided with the 4th No.1 hinged block 4-4-7, the 4th No.1 hinged block 4-4-7 and four
Number cross axle group 4-8 is hinged, and the 4th No. two connecting plate 4-4-10 right end is provided with the 4th No. two hinged block 4-4-8, and the 4th No. two
Hinged block 4-4-8 and No. three cross axle group 4-7 are hinged.
Embodiment 25: the No.1 cross axle group 4-5 includes: No.1 cross bar 4-5-1, No.1 longitudinal axis 4-5-2, No.1
Body cradle 4-5-4 and No.1 pitch hinged shaft 4-5-5, the both ends No.1 cross bar 4-5-1 are same among sideway hinged shaft 4-5-3, No.1
Axis is provided with No.1 pitch hinged shaft 4-5-5, two the 2nd No. two connecting plate 4-2-4 right ends respectively with two No.1 pitch hinged shafts
4-5-5 is hinged, and the center No.1 cross bar 4-5-1 is provided with through-hole, and No.1 longitudinal axis 4-5-2 is placed in the logical of No.1 cross bar 4-5-1
In hole, and being rotated in it, the left end of two No.1 connecting plate 4-1-3 is hinged with No.1 longitudinal axis 4-5-2 upper and lower ends respectively, and one
Hanging down on number cross bar 4-5-1, there are two No.1 sideway hinged shaft 4-5-3, No.1 sideway hinged shaft 4-5-3 axis and No.1 longitudinal axis 4- for setting
The axis of 5-2 is parallel, and be distributed with the two sides No.1 longitudinal axis 4-5-2, two 15 other ends of the 9th double-rod cylinder respectively with two one
Number sideway hinged shaft 4-5-3 is hinged, and the center of No.1 cross bar 4-5-1 is set there are two body cradle 4-5-4 among No.1, and two the
Ten double-rod cylinders, 16 one end is hinged with body cradle 4-5-4 among two No.1s respectively.
Embodiment 26: No. two cross axle groups 4-6 includes: No. two cross bar 4-6-1, No. two longitudinal axis 4-6-2, No. two
Sideway hinged shaft 4-6-3, No. two intermediate body cradle 4-6-4 and No. two pitch hinged shaft 4-6-5, the both ends No. two cross bar 4-6-1 are same
Axis be provided with No. two pitch hinged shafts 4-6-5, two the 3rd No. two hinged block 4-3-8 respectively with two No. two pitch hinged shaft 4-6-
5 is hinged, and No. two centers cross bar 4-6-1 are provided with through-hole, and No. two longitudinal axis 4-6-2 are placed in the through-hole of No. two cross bar 4-6-1,
And rotated in it, two the second left ends No.1 connecting plate 4-2-3 are hinged with No. two longitudinal axis 4-6-2 upper and lower ends respectively, and No. two
Hanging down on cross bar 4-6-1, there are two No. two sideway hinged shaft 4-6-3, No. two sideway hinged shaft 4-6-3 axis and No. two longitudinal axis 4-6-2 for setting
Axis it is parallel, and be distributed with No. two two sides longitudinal axis 4-6-2, the other end of two the 11st double-rod cylinders 17 respectively with two two
Number sideway hinged shaft 4-6-3 is hinged, and the center of No. two cross bar 4-6-1 is set there are two No. two intermediate body cradle 4-6-4, and two the
12 double-rod cylinder, 18 one end is hinged with two No. two intermediate body cradle 4-6-4 respectively.
Embodiment 27: No. three cross axle groups 4-7 includes: No. three cross bar 4-7-1, No. three longitudinal axis 4-7-2, No. three
Sideway hinged shaft 4-7-3, No. three intermediate body cradle 4-7-4 and No. three pitch hinged shaft 4-7-5, the both ends No. three cross bar 4-7-1 are same
Axis be provided with No. three pitch hinged shafts 4-7-5, two the 4th No. two hinged block 4-4-8 respectively with two No. three pitch hinged shaft 4-7-
5 is hinged, and No. three centers cross bar 4-7-1 are provided with through-hole, and No. three longitudinal axis 4-7-2 are placed in the through-hole of No. three cross bar 4-7-1,
And rotated in it, two left ends third No.1 hinged block 4-3-7 are hinged with No. three longitudinal axis 4-7-2 upper and lower ends respectively, and No. three
Hanging down on cross bar 4-7-1, there are two No. three sideway hinged shaft 4-7-3, No. three sideway hinged shaft 4-7-3 axis and No. three longitudinal axis 4-7-2 for setting
Axis it is parallel, and be distributed with No. three two sides longitudinal axis 4-7-2, two 19 other ends of the 13rd double-rod cylinder respectively with two No. three
Sideway hinged shaft 4-7-3 is hinged, and the center of No. three cross bar 4-7-1 sets that there are two No. three intermediate body cradles 4-7-4 two the tenth
Four double-rod cylinders, 20 one end is hinged with two No. three intermediate body cradle 4-7-4 respectively.
Embodiment 28: No. four cross axle groups 4-8 includes: No. four cross bar 4-8-1, No. four longitudinal axis 4-8-2, No. four
Sideway hinged shaft 4-8-3, No. four driving cylinder 4-8-4, No. four pitch hinged shaft 4-8-5 and No. four driving plate 4-8-6, No. four cross
The both ends bar 4-8-1, which are coaxially set, No. four pitch hinged shaft 4-8-5, and two connecting rod 33-6 other ends of head two are respectively with two
A No. four pitch hinged shafts 4-8-5 is hinged, and No. four centers cross bar 4-8-1 are provided with through-hole, and No. four longitudinal axis 4-8-2 are placed in No. four
In the through-hole of cross bar 4-8-1, and rotated in it, two the 4th left ends No.1 hinged block 4-4-7 respectively with No. four longitudinal axis 4-8-2
Upper and lower ends are hinged, and there are two No. four sideway hinged shaft 4-8-3, No. four sideway hinged shaft 4-8-3 axis for setting of hanging down on No. four cross bar 4-8-1
Line is parallel with the axis of No. four longitudinal axis 4-8-2, and distribution and No. four two sides longitudinal axis 4-8-2, and two the 15th double-rod cylinders 21 are another
One end is hinged with two No. four sideway hinged shaft 4-8-3 respectively, and the center of No. four cross bar 4-8-1 is equipped with No. four driving cylinder 4-
8-4, the output end of No. four driving cylinder 4-8-4 are provided with No. four driving plate 4-8-6, two head connecting rod 33-11 other ends point
It is not hinged with No. four both ends driving plate 4-8-6.
Working principle:
Flexible swing mechanism assembly:
When root joint mechanism 1 is fixed,
The work of first double-rod cylinder 7 may be implemented the first lower section joint mechanism 2-1 and turn relative to root joint mechanism 1
It is dynamic；
The second lower section joint mechanism 2-2 may be implemented relative to the first lower section joint mechanism in the work of second double-rod cylinder 8
The swing of 2-1；
Third lower section joint mechanism 2-3 may be implemented relative to the second lower section joint mechanism in the work of third double-rod cylinder 9
The swing of 2-2；
Middle section transition bracket 3 may be implemented relative to third lower section joint mechanism 2-3's in the work of 4th double-rod cylinder 10
Rotation；
The one No. two joint 2-1-2 may be implemented relative to the first No.1 joint 2-1-1 in the work of 5th double-rod cylinder 11
Swing；
The 2nd No. two joint 2-2-2 may be implemented relative to the second No.1 joint 2-2-1 in the work of 6th double-rod cylinder 12
Swing；
The 3rd No. two joint 2-3-2 may be implemented relative to third No.1 joint 2-3-1 in the work of 7th double-rod cylinder 13
Swing；
The first upper section joint mechanism 4-1 may be implemented relative to middle section transition bracket 3 in the work of 8th double-rod cylinder 14
It swings up and down；
The first upper section joint mechanism 4-1 may be implemented relative to middle section transition bracket 3 in the work of 9th double-rod cylinder 15
It swings；
The second upper section joint mechanism 4-2 may be implemented relative to the first upper section joint mechanism in the work of tenth double-rod cylinder 16
4-1's swings up and down；
The second upper section joint mechanism 4-2 may be implemented relative to the first upper section joint machine in the work of 11st double-rod cylinder 17
Structure 4-1's swings；
Third upper section joint mechanism 4-3 may be implemented relative to the second upper section joint machine in the work of 12nd double-rod cylinder 18
Structure 4-2's swings up and down；
Third upper section joint mechanism 4-3 may be implemented relative to the second upper section joint machine in the work of 13rd double-rod cylinder 19
Structure 4-2's swings；
The 4th upper section joint mechanism 4-4 may be implemented relative to third upper section joint machine in the work of 14th double-rod cylinder 20
Structure 4-3's swings up and down；
The 4th upper section joint mechanism 4-4 may be implemented relative to third upper section joint machine in the work of 15th double-rod cylinder 21
Structure 4-3's swings.
Bottom assembly:
The work of 16th double-rod cylinder 22 drives swing of the upper body mechanism 31-4 relative to lower part of the body mechanism 31-3, simulation dragon
Twisting；
The swing of rocker 31-4-5 after the work of 17th double-rod cylinder 23 drives, and then drive upper body connecting rod 31-4-8
Flexible 32 right end of swing mechanism assembly is pushed, swing of the flexible swing mechanism assembly 32 relative to bottom assembly 31 is realized；
The work of 18th double-rod cylinder 24 is to directly drive flexible 32 right end of swing mechanism assembly, is acted on and the 17th pair
Bar cylinder 23 act on it is identical, another effect of the 18th double-rod cylinder 24 be from other direction driving can prevent because flexibility put
The problem of 17th double-rod cylinder 23 caused by dynamic mechanism assembly 32 is excessive is short of power.
Head assembly:
The work belt of head cylinder 33-12 opens one's mouth portion skeleton 33-9 relative to the connecting rod 33-8 swing of head four, simulation
The occlusion of imperial mouth；
The work of eye cylinder 33-3-6 drives eye drive rod 33-3-1 movement to drive two half ring stand 33- of eye
3-3 is swung in the opposite direction, simulates the blink of dragon.
Claims (6)
1. a kind of emulation water sports robot, comprising: bottom assembly (31), flexible swing mechanism assembly (32) and head assembly
(33), which is characterized in that
It is described flexibility swing mechanism assembly (32) right end and bottom assembly (31) hingedly, flexible swing mechanism assembly (32) left end with
Hingedly, head assembly (33) is swung head assembly (33) relative to flexible swing mechanism assembly (32) left end；
The bottom assembly (31) includes: pedestal (31-1), elevating mechanism (31-2), lower part of the body mechanism (31-3) and upper body mechanism
(31-4) is provided with elevating mechanism (31-2) on the pedestal (31-1), and the upper end elevating mechanism (31-2) is provided with lower part of the body mechanism
(31-3), the upper end lower part of the body mechanism (31-3) are provided with upper body mechanism (31-4), and upper body mechanism (31-4) is relative to lower part of the body mechanism
(31-3) rotation, flexible swing mechanism assembly (32) right end and upper body mechanism (31-4) hingedly, flexible swing mechanism assembly (32)
It is swung relative to upper body mechanism (31-4).
2. a kind of emulation water sports robot according to claim 1, which is characterized in that the elevating mechanism (31-2)
Include: lifting cylinder (31-2-1) and U-shaped sliding rail (31-2-2), is provided with multiple lifting cylinder (31- on the pedestal (31-1)
2-1) it is connected with U-shaped sliding rail (31-2-2), the output end of lifting cylinder (31-2-1) with lower part of the body mechanism (31-3), U-shaped sliding rail
The surrounding in lower part of the body mechanism (31-3) is arranged in (31-2-2), and lower part of the body mechanism (31-3) is slided up and down in U-shaped sliding rail (31-2-2).
3. a kind of emulation water sports robot according to claim 2, which is characterized in that the lower part of the body mechanism (31-3)
It include: lower part of the body frame (31-3-1), lower part of the body loading plate (31-3-2), castor (31-3-3), lifting bracket (31-3-4) and the lower part of the body
Hinged shaft (31-3-5), lower part of the body frame (31-3-1) rear and front end are provided with lifting bracket (31-3-4), promote branch
Frame (31-3-4) is connected with the output end of lifting cylinder (31-2-1), and four side walls of lower part of the body frame (31-3-1) are provided with multiple
Castor (31-3-3), castor (31-3-3) are placed in U-shaped sliding rail (31-2-2), and the left end lower part of the body frame (31-3-1) is provided with down
Body loading plate (31-3-2), lower part of the body loading plate (31-3-2) are connected by floating bearing with upper body mechanism (31-4), lower part of the body frame
There are two the hinged shaft of the lower part of the body (31-3-5) being parallel to each other, two the 16th double-rod cylinders for setting at the top of (31-3-1) right end
(22) one end respectively with two hinged shafts of the lower part of the body (31-3-5) hingedly, the other end of two the 16th double-rod cylinders (22) with
The left end upper body mechanism (31-4) is hinged.
4. a kind of emulation water sports robot according to claim 3, which is characterized in that the upper body mechanism (31-4)
It include: upper body frame (31-4-1), upper body loading plate (31-4-2), the hinged shaft of upper body No.1 (31-4-3), upper body two hinges
Switch through axis (31-4-4) and rear rocker (31-4-5), the lower end surface of upper body frame (31-4-1) the left end bottom is provided with upper body
Loading plate (31-4-2) and two upper body three hinged shafts (31-4-6), upper body loading plate (31-4-2) by floating bearing with
Lower part of the body loading plate (31-3-2) is connected, and two upper body three hinged shafts (31-4-6) are separately positioned on upper body loading plate (31-4-
2) front and rear sides, the other end of two the 16th double-rod cylinders (22) are cut with scissors with two upper body three hinged shafts (31-4-6) respectively
It connects, there are two the hinged shaft of upper body No.1 (31-4-3), upper bodies for the upper surface setting of the left end bottom upper body loading plate (31-4-2)
There are two No. two hinged shafts (31-4-4), rear rocker (31-4-5) upper end two sides difference for setting at the top of frame (31-4-1) right end
Hingedly with two No. two hinged shafts (31-4-4), one end of two the 17th double-rod cylinders (23) is hinged with two No.1s respectively
Hingedly, the other end of two the 17th double-rod cylinders (23) is cut with scissors with the lower end two sides rear rocker (31-4-5) shaft (31-4-3) respectively
It connects, two upper body connecting rod one end (31-4-8) and the lower end two sides rear rocker (31-4-5) are hinged, two upper body connecting rod (31-
4-8) other end and flexible swing mechanism assembly (32) right end are hinged, and upper body frame (31-4-1) top middle portion is provided with No. four hinges
Spindle cross bar is provided with No. four articulated shafts (31-4-7) of upper body, the 18th double-rod cylinder (24) one end on No. four articulated shaft cross bars
Hingedly with No. four articulated shafts (31-4-7) of upper body, the 18th double-rod cylinder (24) other end with flexible swing mechanism assembly (32)
Right end is hinged, the hinged shaft of upper body No.1 (31-4-3), No. four upper body two hinged shafts (31-4-4), upper body articulated shafts
The axis of (31-4-7) is parallel to each other, the axis of upper body three hinged shafts (31-4-6) and No. four articulated shafts (31-4-7) of upper body
Axis be mutually perpendicular to.
5. a kind of emulation water sports robot according to claim 1, which is characterized in that head assembly (33) packet
It includes: holder,head (33-1), eye mounting plate (33-2), eye assembly (33-3), head No.1 connecting rod (33-4), head hinge
Extension bar (33-5), the connecting rod (33-6) of head two, the connecting rod (33-7) of head three, head four connecting rod (33-8), mouth
Portion's skeleton (33-9) and mouth connecting rod (33-10), holder,head (33-1) upper end are provided with eye mounting plate (33-2),
Eye assembly (33-3) and head No.1 connecting rod (33-4), head No.1 connecting rod are provided on eye mounting plate (33-2)
The two sides (33-4) are provided with head hinge bar (33-5), and two head connecting rod (33-11) one end are hinged with two heads respectively
Hingedly, two head connecting rod (33-11) other ends and flexible swing mechanism assembly (32) left end are hinged, holder,head for bar (33-5)
(33-1) right end is vertically installed with the connecting rod (33-6) of two heads two, connecting rod (33-6) other end of head two and flexibility
Swing mechanism assembly (32) left end is hinged, the lower end surface holder,head (33-1) be vertically installed with the connecting rod (33-7) of head three and
The connecting rod (33-8) of head four, the connecting rod (33-7) of head three are located on the right side of the connecting rod (33-8) of head four, head four
Hinged, the mouth connecting rod left end (33-10) and mouth skeleton in the middle part of number connecting rod lower end (33-8) and mouth connecting rod (33-10)
(33-9) hingedly, the bottom of head cylinder (33-12) and mouth connecting rod (33-10) right end are hinged, head cylinder (33-12)
Output end and connecting rod (33-7) lower end of head three are hinged.
6. a kind of emulation water sports robot according to claim 5, which is characterized in that the eye assembly (33-3)
It include: eye drive rod (33-3-1), eye connecting rod (33-3-2), half ring stand of eye (33-3-3), eye L-type support (33-
3-4) with eyeball mounting plate (33-3-5), eye mounting plate (33-2) the upper surface center is arranged symmetrically, and there are two eyes
Output end and eye drive rod (33-3-1) middle part of cylinder (33-3-6), eye cylinder (33-3-6) are connected, eye drive rod
The both ends (33-3-1) are hinged with eye connecting rod (33-3-2), eye connecting rod (33-3-2) other end and half ring stand (33- of eye
3-3) closed end is hinged, and the open end of two half ring stands of eye (33-3-3) is hinged by eye pin shaft, eye mounting plate (33-
2) there are two eye L-type support (33-3-4), two eye L-type support (33-3-4) other ends point for the setting of upper surface Right vertical
It is not hinged with eye pin shaft, eyeball mounting plate (33-3-5), eye semi-ring are provided between two eye L-type supports (33-3-4) are straight
Arc eyelid is provided on frame (33-3-3).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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