CN109866236B - Simulated water sports robot - Google Patents
Simulated water sports robot Download PDFInfo
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- CN109866236B CN109866236B CN201910322646.4A CN201910322646A CN109866236B CN 109866236 B CN109866236 B CN 109866236B CN 201910322646 A CN201910322646 A CN 201910322646A CN 109866236 B CN109866236 B CN 109866236B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 14
- 210000003128 head Anatomy 0.000 claims description 96
- 210000001508 eye Anatomy 0.000 claims description 82
- 210000005252 bulbus oculi Anatomy 0.000 claims description 6
- 210000000744 eyelid Anatomy 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 3
- 210000000988 bone and bone Anatomy 0.000 description 58
- 230000007704 transition Effects 0.000 description 24
- 239000011664 nicotinic acid Substances 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 244000139609 Euphoria longan Species 0.000 description 1
- 235000000235 Euphoria longan Nutrition 0.000 description 1
- 241001530613 Horminum pyrenaicum Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Abstract
The invention relates to a simulated water sports robot, which belongs to the technical field of robots, wherein the right end of a flexible swing mechanism assembly is hinged with a bottom assembly, the left end of the flexible swing mechanism assembly is hinged with a head assembly, the head assembly swings relative to the left end of the flexible swing mechanism assembly, and the bottom assembly comprises: the device comprises a base, a lifting mechanism, a lower body mechanism and an upper body mechanism, wherein the lifting mechanism is arranged on the base, the lower body mechanism is arranged at the upper end of the lifting mechanism, the upper body mechanism is arranged at the upper end of the lower body mechanism, the upper body mechanism rotates relative to the lower body mechanism, the right end of a flexible swing mechanism assembly is hinged with the upper body mechanism, and the flexible swing mechanism assembly swings relative to the upper body mechanism. The flexible swing mechanism assembly adopts the multi-section repeated structure, is convenient to install, and simultaneously, when one part of the flexible swing mechanism assembly is damaged, the whole part can be quickly replaced, so that the maintenance speed is increased, the neck of the dragon can be simulated more realistically by the multi-section repeated structure, and the problem of stiff and distorted actions is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a simulated water sports robot.
Background
The robot technology is a high-rise technology developed rapidly in recent decades, integrates the latest research results of multiple disciplines such as machinery, microelectronics, computers, automatic control, sensor and information processing, artificial intelligence and the like, is a typical carrier of the electromechanical integrated technology, and is one of the most active research fields at present.
Nowadays, the robot technology also moves into the cultural entertainment life of people, various humanoid or animal-shaped amusement facilities capable of realizing humanoid and bionic actions and various performance action devices endowed with stationary actions are presented, and the robot technology is applied to various cultural entertainment places such as amusement parks, theme parks, various activity sites and the like. In a plurality of simulated entertainment devices, the bionic animal is one of the most common and widely applied classifications, while in the bionic animal devices, the copying animal is one of the most widely applied and popular categories, has entertainment and scientific and teaching meanings, and is an important subject in cultural entertainment devices for research and design and manufacture.
The existing bionic equipment is driven by motors, so that the protection level is not high, dirt resistance is not realized, the bionic equipment cannot be applied to water, applicable environmental occasions are fewer, the service life is shorter, maintenance cost required for long-term use is higher, in addition, the motion is stiff, the flexibility is poor, and the bionic gesture is not enough to be true.
Disclosure of Invention
The invention aims to provide a bionic interactive entertainment robot suitable for being applied to water, which can drill out from water, swing a neck and a head, and perform eye and mouth related actions, interact with tourists, solve the problems that the existing bionic equipment is not resistant to dirt, cannot be applied to water, is difficult to maintain and has short service life, promote the simulation degree of actions and enhance flexibility.
The technical scheme of the invention is as follows:
a simulated water sports robot comprising: a bottom assembly, a flexible swing mechanism assembly and a head assembly,
the right end of the flexible swing mechanism assembly is hinged with the bottom assembly, the left end of the flexible swing mechanism assembly is hinged with the head assembly, and the head assembly swings relative to the left end of the flexible swing mechanism assembly;
the bottom assembly includes: the device comprises a base, a lifting mechanism, a lower body mechanism and an upper body mechanism, wherein the lifting mechanism is arranged on the base, the lower body mechanism is arranged at the upper end of the lifting mechanism, the upper body mechanism is arranged at the upper end of the lower body mechanism, the upper body mechanism rotates relative to the lower body mechanism, the right end of a flexible swing mechanism assembly is hinged with the upper body mechanism, and the flexible swing mechanism assembly swings relative to the upper body mechanism.
Further, the lifting mechanism includes: the lifting device comprises a lifting cylinder and a U-shaped sliding rail, wherein a plurality of lifting cylinders and the U-shaped sliding rail are arranged on a base, the output end of the lifting cylinder is connected with a lower body mechanism, the U-shaped sliding rail is arranged around the lower body mechanism, and the lower body mechanism slides up and down on the U-shaped sliding rail.
Further, the lower body mechanism includes: the lower body frame, lower body loading board, truckle, lifting support and lower body hinge pivot, both ends all are provided with the lifting support around the lower body frame, and the lifting support links to each other with the output that promotes the cylinder, and four lateral walls of lower body frame all are provided with a plurality of truckles, and the truckle is placed in U type slide rail, and lower body frame left end is provided with the lower body loading board, and the lower body loading board passes through swivel bearing and links to each other with upper body mechanism, and lower body frame right-hand member top is provided with two lower body hinge pivots that are parallel to each other, and the one end of two sixteenth two pole cylinders is articulated with two lower body hinge respectively, and the other end of two sixteenth two pole cylinders is articulated with upper body mechanism left end.
Further, the upper body mechanism includes: the upper body frame, the upper body loading board, the first articulated pivot of upper body, the second articulated pivot of upper body and back rocker, the lower terminal surface of upper body frame left end bottom is provided with upper body loading board and two upper body third articulated pivots, the upper body loading board passes through the swing bearing and links to each other with the lower body loading board, two upper body third articulated pivots set up both sides around the upper body loading board respectively, the other end of two sixteen twin-screw cylinders articulates with two upper body third articulated pivots respectively, the up end of upper body loading board left end bottom is provided with two upper body first articulated pivots, upper body frame right-hand member top is provided with two second articulated pivots, back rocker upper end both sides are articulated with two second articulated pivots respectively, the one end of two seventeenth twin-screw cylinders is articulated with two first articulated pivots respectively, the other end of two seventeenth twin-screw cylinders is articulated with back rocker lower extreme both sides respectively, two upper body connecting rod one end are articulated with back rocker lower extreme both sides, two upper body connecting rod other ends are articulated with flexible swing mechanism assembly right-hand member middle part, upper body frame right-hand member frame left end bottom is provided with the second articulated pivot, the four-screw rod is provided with the axis of four-pin-shaped cylinder, the four-shaped axis is articulated mutually, the four-pin-shaped axis is articulated with the upper body, the upper body is articulated, the four-bar assembly is provided with the axis of four-shaped, the upper body is articulated, the axis is articulated.
Further, the head assembly includes: the head support, the eye mounting panel, the eye assembly, head connecting rod, head articulated lever, head No. two connecting rods, head No. three connecting rods, head No. four connecting rods, mouth skeleton and mouth connecting rod, head support upper end is provided with the eye mounting panel, be provided with eye assembly and head connecting rod on the eye mounting panel, head connecting rod both sides all are provided with head articulated lever, two head connecting rod one end are articulated with two head articulated levers respectively, two head connecting rod other ends are articulated with flexible swing mechanism assembly left end, head support right-hand member is provided with two head No. two connecting rods perpendicularly, head No. two connecting rod other ends are articulated with flexible swing mechanism assembly left end, head support lower extreme face is provided with head No. three connecting rods and head No. four connecting rods perpendicularly, head No. three connecting rods are located head No. four connecting rod right sides, head No. four connecting rod lower extreme is articulated with mouth connecting rod middle part, mouth connecting rod left end is articulated with mouth skeleton, the bottom of head cylinder is articulated with mouth connecting rod right-hand member, the output of head cylinder is articulated with head No. three connecting rod lower extreme.
Further, the ocular assembly comprises: eye actuating lever, eye connecting rod, eye semi-ring frame, eye L type support and eyeball mounting panel, eye mounting panel up end central point symmetry is provided with two eye cylinders, the output of eye cylinder links to each other with eye actuating lever middle part, eye actuating lever both ends are articulated to have the eye connecting rod, the eye connecting rod other end is articulated with eye semi-ring frame blind end, the open end of two eye semi-ring frames is articulated through the eye round pin axle, eye mounting panel up end right side is provided with two eye L type supports perpendicularly, two eye L type support other ends are articulated with the eye round pin axle respectively, be provided with the eyeball mounting panel directly between two eye L type supports, be provided with the arc eyelid on the eye semi-ring frame.
The invention has the following beneficial effects on the prior art:
the flexible swing mechanism assembly adopts the multi-section repeated structure, is convenient to install, and simultaneously, when one part of the flexible swing mechanism assembly is damaged, the whole part can be quickly replaced, so that the maintenance speed is increased, the neck of the dragon can be simulated more realistically by the multi-section repeated structure, and the problem of stiff and distorted actions is solved.
The invention adopts the lifting structure, can better simulate the rising and squatting of the dragon, and further achieves the vivid effect.
The head part of the invention adopts more degrees of freedom, and can realize the action of the dragon mouth part and the action of the longan part.
The invention adopts pneumatic, has good flexibility, only needs weak current control and has high safety.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an isometric view of the bottom assembly of the present invention;
FIG. 3 is a schematic view of the bottom assembly of the present invention;
FIG. 4 is a schematic view of the lower body mechanism of the present invention;
FIG. 5 is a schematic view of the upper body mechanism of the present invention;
FIG. 6 is a schematic illustration of the connection of the head assembly to a fourth cross-shaft set in accordance with the present invention;
FIG. 7 is a schematic view of the head assembly of the present invention;
FIG. 8 is a schematic view of the eye assembly of the present invention;
FIG. 9 is a schematic view of a fourth cross-shaft assembly of the present invention;
FIG. 10 is a schematic view of the flexible swing mechanism assembly of the present invention;
FIG. 11 is a schematic illustration of the connection of a first inferior condyle mechanism to a second inferior condyle mechanism;
FIG. 12 is a schematic view of the root condyle assembly of the present invention;
FIG. 13 is a schematic view of the mounting location of a second dual rod cylinder of the present invention;
FIG. 14 is a schematic view of a third inferior condyle mechanism coupled to a second inferior condyle mechanism;
FIG. 15 is a schematic view of the connection of a first superior condyle mechanism to a second superior condyle mechanism;
FIG. 16 is a schematic illustration of the connection of a third superior condyle mechanism to a fourth superior condyle mechanism of the present invention;
FIG. 17 is a schematic view of the structure of a first bone segment according to the present invention;
FIG. 18 is a schematic view of the structure of a first bone segment No. two according to the present invention;
FIG. 19 is a schematic view of a second bone segment according to the present invention;
FIG. 20 is a schematic view of a second condyle of the present invention;
FIG. 21 is a schematic view of a third bone segment according to the present invention;
FIG. 22 is a schematic view of a second condyle of the present invention;
FIG. 23 is a schematic view of the structure of the intermediate transition support of the present invention;
FIG. 24 is a schematic view of the structure of the first superior condyle mechanism of the present invention;
FIG. 25 is a schematic view of the structure of a second superior condyle mechanism of the present invention;
FIG. 26 is a schematic view of a third superior condyle mechanism of the present invention;
FIG. 27 is a schematic view of a fourth superior condyle mechanism of the present invention;
FIG. 28 is a schematic view of the first, second and third cross sets of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Embodiment one: a high-simulation water interactive device, comprising: a base assembly 31, a flexible swing mechanism assembly 32 and a head assembly 33,
The right end of the flexible swing mechanism assembly 32 is hinged with the bottom assembly 31, the left end of the flexible swing mechanism assembly 32 is hinged with the head assembly 33, and the head assembly 33 swings relative to the left end of the flexible swing mechanism assembly 32;
the bottom assembly 31 includes: the novel swing mechanism comprises a base 31-1, a lifting mechanism 31-2, a lower body mechanism 31-3 and an upper body mechanism 31-4, wherein the lifting mechanism 31-2 is arranged on the base 31-1, the lower body mechanism 31-3 is arranged at the upper end of the lifting mechanism 31-2, the upper body mechanism 31-4 is arranged at the upper end of the lower body mechanism 31-3, the upper body mechanism 31-4 rotates relative to the lower body mechanism 31-3, the right end of a flexible swing mechanism assembly 32 is hinged with the upper body mechanism 31-4, and the flexible swing mechanism assembly 32 swings relative to the upper body mechanism 31-4.
Embodiment two: the elevating mechanism 31-2 includes: the lifting cylinder 31-2-1 and the U-shaped sliding rail 31-2-2 are arranged on the base 31-1, a plurality of lifting cylinders 31-2-1 and the U-shaped sliding rail 31-2-2 are arranged on the base 31-1, the output end of the lifting cylinder 31-2-1 is connected with the lower body mechanism 31-3, the U-shaped sliding rail 31-2-2 is arranged around the lower body mechanism 31-3, and the lower body mechanism 31-3 slides up and down on the U-shaped sliding rail 31-2-2.
Embodiment III: the lower body mechanism 31-3 includes: the lower body frame 31-3-1, the lower body bearing plate 31-3-2, the truckles 31-3-3, the lifting support 31-3-4 and the lower body hinge rotating shaft 31-3-5 are arranged at the front end and the rear end of the lower body frame 31-3-1, the lifting support 31-3-4 is connected with the output end of the lifting cylinder 31-2-1, the plurality of truckles 31-3-3 are arranged on four side walls of the lower body frame 31-3-1, the truckles 31-3-3 are placed in the U-shaped sliding rail 31-2-2, the lower body bearing plate 31-3-2 is arranged at the left end of the lower body frame 31-3-1 and connected with the upper body mechanism 31-4 through a rotary bearing, the lower body hinge rotating shaft 31-3-5 which is parallel to each other is arranged at the top of the right end of the lower body frame 31-3-1, one ends of the two sixteenth double-rod cylinders 22 are respectively hinged with the two lower body hinge rotating shafts 31-3-5, and the other ends of the sixteenth double-rod cylinders 22 are hinged with the left end of the upper body mechanism 31-4.
Embodiment four: the upper body mechanism 31-4 includes: the upper body frame 31-4-1, the upper body bearing plate 31-4-2, the upper body first hinging rotating shaft 31-4-3, the upper body second hinging rotating shaft 31-4-4 and the rear swinging frame 31-4-5, the lower end face of the bottom of the left end of the upper body frame 31-4-1 is provided with the upper body bearing plate 31-4-2 and two upper body third hinging rotating shafts 31-4-6, the upper body bearing plate 31-4-2 is connected with the lower body bearing plate 31-3-2 through a slewing bearing, the two upper body third hinging rotating shafts 31-4-6 are respectively arranged at the front side and the rear side of the upper body bearing plate 31-4-2, the other ends of the two sixteenth double-rod air cylinders 22 are respectively hinged with the two upper body third hinging rotating shafts 31-4-6, the upper end face of the bottom of the left end of the upper body bearing plate 31-4-2 is provided with two first hinge rotating shafts 31-4-3 of the upper body, the top of the right end of the upper body frame 31-4-1 is provided with two second hinge rotating shafts 31-4-4, two sides of the upper end of the rear swing frame 31-4-5 are respectively hinged with the two second hinge rotating shafts 31-4-4, one end of the seventeenth two-rod air cylinder 23 is respectively hinged with the two first hinge rotating shafts 31-4-3, the other ends of the seventeenth two-rod air cylinder 23 are respectively hinged with two sides of the lower end of the rear swing frame 31-4-5, one end of the two upper body connecting rods 31-4-8 are hinged with two sides of the lower end of the rear swing frame 31-4-5, the other ends of the two upper body connecting rods 31-4-8 are hinged with the right end of the flexible swing mechanism assembly 32, the middle part of the top end of the upper body frame 31-4-1 is provided with a fourth hinging shaft cross rod, the fourth hinging shaft cross rod is provided with an upper body fourth hinging shaft 31-4-7, one end of the eighteenth double-rod air cylinder 24 is hinged with the upper body fourth hinging shaft 31-4-7, the other end of the eighteenth double-rod air cylinder 24 is hinged with the right end of the flexible swinging mechanism assembly 32, the axes of the first hinging rotating shaft 31-4-3 of the upper body, the second hinging rotating shaft 31-4-4 of the upper body and the fourth hinging shaft 31-4-7 of the upper body are mutually parallel, and the axis of the third hinging rotating shaft 31-4-6 of the upper body and the axis of the fourth hinging shaft 31-4-7 of the upper body are mutually perpendicular.
Fifth embodiment: the head assembly 33 includes: the head support 33-1, the eye mounting plate 33-2, the eye assembly 33-3, the head first connecting rod 33-4, the head hinging rod 33-5, the head second connecting rod 33-6, the head third connecting rod 33-7, the head fourth connecting rod 33-8, the mouth framework 33-9 and the mouth connecting rod 33-10, the eye mounting plate 33-2 is arranged at the upper end of the head support 33-1, the eye assembly 33-3 and the head first connecting rod 33-4 are arranged on the eye mounting plate 33-2, the head hinging rods 33-5 are arranged at both sides of the head first connecting rod 33-4, one ends of the two head connecting rods 33-11 are respectively hinged with the two head hinging rods 33-5, the other end of the two head connecting rods 33-11 is hinged with the left end of the flexible swinging mechanism assembly 32, the right end of the head support 33-1 is vertically provided with two head connecting rods 33-6, the other end of the head connecting rod 33-6 is hinged with the left end of the flexible swinging mechanism assembly 32, the lower end face of the head support 33-1 is vertically provided with a head connecting rod 33-7 and a head connecting rod 33-8, the head connecting rod 33-7 is positioned on the right side of the head connecting rod 33-8, the lower end of the head connecting rod 33-8 is hinged with the middle part of the mouth connecting rod 33-10, the left end of the mouth connecting rod 33-10 is hinged with the mouth framework 33-9, the bottom of the head cylinder 33-12 is hinged with the right end of the mouth connecting rod 33-10, the output end of the head cylinder 33-12 is hinged with the lower end of the head connecting rod 33-7.
Example six: the eye assembly 33-3 includes: the eye driving rod 33-3-1, the eye connecting rod 33-3-2, the eye semi-ring frame 33-3-3, the eye L-shaped brackets 33-3-4 and the eyeball mounting plate 33-3-5, wherein two eye air cylinders 33-3-6 are symmetrically arranged at the center of the upper end face of the eye mounting plate 33-2, the output end of each eye air cylinder 33-3-6 is connected with the middle part of the eye driving rod 33-3-1, the two ends of each eye driving rod 33-3-1 are hinged with the eye connecting rod 33-3-2, the other end of each eye connecting rod 33-3-2 is hinged with the closed end of the eye semi-ring frame 33-3-3, the open ends of the two eye semi-ring frames 33-3-3 are hinged through eye pins, the right side of the upper end face of the eye mounting plate 33-2 is vertically provided with two eye L-shaped brackets 33-3-4, the other ends of the two eye L-shaped brackets 33-3-4 are respectively hinged with the eye pins, the two eye L-shaped brackets 33-3-4 are directly arranged with the eyeballs 33-3-3-5, and the eye semi-ring frame 33-3-3-3 is provided with an arc-shaped mounting plate.
Embodiment seven: the flexible swing mechanism assembly 32 includes: root condyle assembly 1, lower segment condyle assembly 2, middle segment transition bracket 3 and upper segment condyle assembly 4,
the left end of the root condyle assembly 1 is connected with the right end of the lower condyle assembly 2 through a rotating shaft, the lower condyle assembly 2 rotates relative to the root condyle assembly 1, the left end of the lower condyle assembly 2 is connected with the middle transition bracket 3 through the rotating shaft, and the middle transition bracket 3 rotates relative to the lower condyle assembly 2;
The middle section transition support 3 links to each other with upper segment condyle assembly 4 right-hand member through the round pin axle, and upper segment condyle assembly 4 is for middle section transition support 3 swing, so sets up, adopts multisection repeated appearance, can subdivide overall structure into a plurality of parts, from this increase flexibility, the flexibility and the softness when finally joining in marriage with the outward appearance of mechanism, in addition, the same structure is convenient to assemble and dismantle to the control is convenient. When all the sub-structures can be independently controlled, any branch mechanism can be moved on the premise of having action influence on the whole structure, different postures are realized, the whole flexible movement is completed, the movement is smooth and does not block, and the effect is real.
Example eight: the root condyle assembly 1 includes: the U-shaped root frame 1-1, the rotating shaft mounting seat 1-2, the root upper connecting frame 1-3 and the root connecting rotating shaft 1-4, wherein the rotating shaft mounting seat 1-2 is arranged at the central position of the left end face of the U-shaped root frame 1-1, the rotating shaft mounting seat 1-2 is connected with the right end of the lower-section condyle assembly 2 through a rotating shaft, the root upper connecting frame 1-3 is arranged on the side wall of the left end of the U-shaped root frame 1-1, the root upper connecting frame 1-3 is vertically provided with two root connecting rotating shafts 1-4, one ends of the two first double-rod cylinders 7 are hinged with the two root connecting rotating shafts 1-4 respectively, and the other ends of the two first double-rod cylinders 7 are hinged with the right end of the lower-section condyle assembly 2 respectively.
Example nine: the lower segment condyle assembly 2 includes: the first lower segment condyle mechanism 2-1, the second lower segment condyle mechanism 2-2 and the third lower segment condyle mechanism 2-3, the right end of the first lower segment condyle mechanism 2-1 is connected with the rotating shaft mounting seat 1-2 through a rotating shaft, the other end of the first double-rod air cylinder 7 is hinged with the right end of the first lower segment condyle mechanism 2-1, the left end of the first lower segment condyle mechanism 2-1 is connected with the right end of the second lower segment condyle mechanism 2-2 through a rotating shaft, the second lower segment condyle mechanism 2-2 rotates relative to the first lower segment condyle mechanism 2-1, one end of the second double-rod air cylinder 8 is hinged with the left end of the first lower segment condyle mechanism 2-1, the other end of the second double-rod air cylinder 8 is hinged with the right end of the second lower segment condyle mechanism 2-2, the left end of the second lower segment condyle mechanism 2-2 is connected with the right end of the third lower segment condyle mechanism 2-3 through a rotating shaft, the third hypomere mechanism 2-3 rotates for second hypomere mechanism 2-2, the one end of third double-pole cylinder 9 articulates with second hypomere mechanism 2-2 left end, the other end of third double-pole cylinder 9 articulates with third hypomere mechanism 2-3 right-hand member, third hypomere mechanism 2-3 left end links to each other with middle section transition support 3 through the turnover, fourth double-pole cylinder 10 one end articulates with third hypomere mechanism 2-3 left end, the other end of fourth double-pole cylinder 10 articulates with middle section transition support 3, so set up, can subdivide overall structure into a plurality of parts, thereby increase flexibility, the flexibility of mechanism and the softness when the flexibility of freedom and finally with the outward appearance fit, in addition, the same structure is convenient for equipment and dismantlement, and control is convenient.
Example ten: the first lower-segment condyle mechanism 2-1 includes: the first two-rod type bone joint comprises a first two-rod type bone joint 2-1-1 and a first two-rod type bone joint 2-1-2, wherein the right end of the first two-rod type bone joint 2-1 is connected with a rotating shaft mounting seat 1-2 through a rotating shaft, the other end of a first two-rod type cylinder 7 is hinged with the right end of the first two-rod type bone joint 2-1-1, the left end of the first two-rod type bone joint 2-1-1 is connected with the first two-rod type bone joint 2-1-2 through a pin shaft, the first two-rod type bone joint 2-1-2 swings relative to the first two-rod type bone joint 2-1-1, one end of a fifth two-rod type cylinder 11 is hinged with the first two-rod type bone joint 2-1-1, the other end of the fifth two-rod type cylinder 11 is hinged with the first two-rod type bone joint 2-1-2, the left end of the first two-rod type bone joint 2-1-2 is connected with a second lower segment bone joint mechanism 2-2 through a rotating shaft, and one end of the second two-rod type bone joint 8 is connected with the first two-rod type bone joint 2-1-2.
Example eleven: the first bone segment No. 2-1-1 comprises: the central position of the left end face of the first U-shaped frame 2-1-1-1, the upper side wall of the left end of the first U-shaped frame 2-1-1-1 is vertically provided with two first upper connecting rods 2-1-1-2, the upper connecting rods 2-1-1-1-2 are respectively and vertically provided with a first upper connecting shaft 2-1-1-1-3, a first lower connecting shaft 2-1-1-1-3 is arranged on the first upper connecting rods 2-1-1-2, one end of a fifth double-rod cylinder 11 is hinged with the first upper connecting shaft 2-1-1-3, the lower side wall of the left end of the first U-shaped frame 2-1-1-1 is vertically provided with two first lower connecting rods 2-1-4 respectively, the other end of the first double-rod cylinder is hinged with the first lower connecting shaft 2-1-1-3, the upper connecting rods 2-1-1-1 are respectively arranged on the left end of the first U-shaped frame 2-1-1-1, the other end of the first double-rod cylinder 11 is hinged with the first upper connecting shafts 2-1-1-3, the lower connecting rods 2-1-1-4 are respectively, the upper connecting rods 2-1-1-5 are respectively hinged with the other ends of the first double-rod cylinders 1-1-1-2, the axis of the first U-shaped frame is perpendicular to the axis of the first lower connecting rotating shaft 2-1-1-5 and the axis of the first upper connecting rotating shaft 2-1-1-3
The left end of the second first second hinge plate 2-1-1-6 is provided with a second first hinge plate 2-1-1-6, and the second first hinge plate 2-1-1-6 is connected with one end of the second first second bone joint 2-1-2 through a pin shaft.
Embodiment twelve: the first bone segment number 2-1-2 comprises: the central position of the right end face of the first second U-shaped frame 2-1-2-1 is connected with the right end of the second lower bone joint mechanism 2-2 through a rotating shaft, the upper side wall of the right end of the first second U-shaped frame 2-1-2-1 is vertically provided with two first upper connecting rods 2-1-2-2 respectively, the first second upper connecting rod 2-1-2-2 is provided with a first second upper connecting shaft 2-1-2-3, the other end of the fifth double-rod cylinder 11 is hinged with the first second upper connecting shaft 2-1-2-3, the first second lower connecting rod 2-1-2-4 is vertically arranged in the side wall of the left end of the first second U-shaped frame 2-1-1-1, the first second lower connecting rod 2-1-2-4 is provided with a first second lower connecting shaft 2-1-2-5, one end of the second double-rod cylinder 8 is hinged with the first second lower connecting shaft 2-1-2-5, the axis of the first second lower connecting shaft 2-1-2-5 is mutually perpendicular with the axis of the first second upper connecting shaft 2-1-2-3, the left end of the first second U-shaped frame 2-1-2-1 is provided with a first second hinge plate 2-1-2-6, and the first hinge plate 2-1-1-6 is connected with the first second hinge plate 2-1-2-6 through a pin shaft.
Embodiment thirteen: the second lower-segment condyle mechanism 2-2 includes: the right end of the second first bone joint 2-2-1 is connected with the left end of the first second bone joint 2-1-2 through a rotating shaft, the other end of the second double-rod air cylinder 8 is hinged with the second first bone joint 2-2-1, the left end of the second first bone joint 2-2-1 is connected with the right end of the second bone joint 2-2-2 through a pin shaft, the second bone segment 2-2-2 swings relative to the second first bone segment 2-2-1, one end of the sixth double-rod air cylinder 12 is hinged with the second first bone segment 2-2-1, the other end of the sixth double-rod air cylinder 12 is hinged with the second bone segment 2-2, the left end of the second bone segment 2-2 is connected with the right end of the third lower segment bone segment mechanism 2-3 through a rotating shaft, and one end of the third double-rod air cylinder 9 is hinged with the second bone segment 2-2-2.
Fourteen examples: the second bone segment number 2-2-1 comprises: the central position of the right end face of the second U-shaped frame 2-2-1-1 is connected with the central position of the right end face of the first U-shaped frame 2-1-2-1 through a rotating shaft, the upper side wall of the right end of the second U-shaped frame 2-2-1-1 is vertically provided with two second upper connecting rods 2-2-1-2 respectively, the second upper connecting rod 2-2-1-2 is provided with a second upper connecting rotating shaft 2-2-1-3, one end of a sixth double-rod cylinder 12 is hinged with the second upper connecting rotating shaft 2-2-1-3, the lower side wall of the right end of the second first U-shaped frame 2-2-1-1 is vertically provided with a second first lower connecting rod 2-2-1-4 respectively, the second first lower connecting rod 2-2-1-4 is provided with a second first lower connecting rotating shaft 2-2-1-5, the other end of the second double-rod cylinder 8 is hinged with the second first lower connecting rotating shaft 2-2-1-5, the axis of the second first lower connecting rotating shaft 2-2-1-5 is mutually perpendicular to the axis of the second first upper connecting rotating shaft 2-2-1-3, the left end of the second first U-shaped frame 2-2-1-1 is provided with a second first hinge plate 2-2-1-6, and the second first hinge plate 2-2-1-6 is connected with one end of a second bone segment 2-2-2 through a pin shaft.
Example fifteen: the second bone segment 2-2-2 comprises: the central position of the left end face of the second U-shaped frame 2-2-2-1 is connected with the right end of a third lower segment bone joint mechanism 2-3 through a rotating shaft, the upper side wall of the left end of the second U-shaped frame 2-2-2-1 is vertically provided with two second upper connecting rods 2-2-2 respectively, the second upper connecting rod 2-2-2-2 is provided with a second upper connecting rotating shaft 2-2-2-3, the other end of the sixth double-rod air cylinder 12 is hinged with the second upper connecting rotating shaft 2-2-2-3, the lower side wall of the left end of the second U-shaped frame 2-2-1-1 is vertically provided with a second lower connecting rod 2-2-4, the second lower connecting rod 2-2-2-4 is provided with a second lower connecting rotating shaft 2-2-2-5, one end of the third double-rod air cylinder 9 is hinged with the second lower connecting rotating shaft 2-2-2-5, the axis of the second lower connecting rotating shaft 2-2-2-5 is mutually perpendicular with the axis of the second upper connecting rotating shaft 2-2-2-3, the right end of the second U-shaped frame 2-2-2-1 is provided with a second hinge plate 2-2-2-6, and the second hinge plate 2-2-1-6 is connected with the second hinge plate 2-2-2-6 through a pin shaft.
Example sixteen: the third lower-segment condyle mechanism 2-3 includes: the left end of the third first bone joint 2-3-1 is connected with the third second bone joint 2-3-2 through a pin shaft, the third second bone joint 2-3-2 swings relative to the third first bone joint 2-3-1, one end of the seventh double-rod cylinder 13 is hinged with the third first bone joint 2-3-1, the other end of the third double-rod cylinder 9 is hinged with the third first bone joint 2-3-1 through a rotating shaft, the left end of the third first bone joint 2-3-1 is hinged with the third second bone joint 2-3-2 through a pin shaft, one end of the fourth double-rod cylinder 10 is hinged with the third second bone joint 2-3-2.
Example seventeenth: the third bone segment No. 2-3-1 comprises: the central position of the right end face of the third U-shaped frame 2-3-1-1 is connected with the central position of the left end face of the second U-shaped frame 2-2-2-1 through a rotating shaft, the upper side wall of the right end of the third U-shaped frame 2-3-1-1 is vertically provided with two third upper connecting rods 2-3-1-2, the third upper connecting rods 2-3-1-4 are arranged on the third upper connecting rods 2-3-1-2, the third upper connecting shafts 2-3-1-3 are hinged with the third upper connecting shafts 2-3-1-3, one end of the seventh double-rod cylinder 13 is hinged with the third upper connecting shafts 2-3-1-3, the third upper connecting rods 2-3-1-1 are hinged with the third upper connecting shafts 2-3, the other end of the third double-rod cylinder 2-1 is vertically provided with the third upper connecting rods 2-3-1-2, the third upper connecting rods 2-3-4 are vertically arranged on the right end of the third upper connecting rods 2-3-1-2, the third upper connecting rods 2-3-1-2 are hinged with the third upper connecting shafts 2-3 are arranged on the third upper connecting rods 2-3, the axis of the third first lower connecting rotating shaft 2-3-1-5 is mutually perpendicular to the axis of the third first upper connecting rotating shaft 2-3-1-3, the left end of the third first U-shaped frame 2-3-1-1 is provided with a third first hinge plate 2-3-1-6, and the third first hinge plate 2-3-1-6 is connected with one end of a third second bone segment 2-3-2 through a pin shaft.
Example eighteenth: the third bone segment No. 2-3-2 comprises: the central position of the left end face of the third U-shaped frame 2-3-2-1 is connected with the right end of the middle section transition support 3 through a rotating shaft, the upper side wall of the left end of the third U-shaped frame 2-3-2-1 is vertically provided with two third upper connecting rods 2-3-2-2 respectively, the third upper connecting rods 2-3-2-2 are provided with third upper connecting shafts 2-3-2-3, the other end of the seventh double-rod cylinder 13 is hinged with a third upper connecting rotating shaft 2-3-2-3, a third lower connecting rod 2-3-2-4 is vertically arranged on the lower side wall of the left end of the third U-shaped frame 2-3-1-1, a third lower connecting rotating shaft 2-3-2-5 is arranged on the third lower connecting rod 2-3-2-4, one end of the fourth double-rod cylinder 10 is hinged with the third lower connecting rotating shaft 2-3-2-5, the axis of the third lower connecting rotating shaft 2-3-2-5 is mutually perpendicular with the axis of the third upper connecting rotating shaft 2-3-2-3, the right end of the third U-shaped frame No. 2-3-2-1 is provided with a third hinge plate No. 2-3-2-6, and the third hinge plate No. 2-3-1-6 is connected with the third hinge plate No. 2-3-2-6 through a pin shaft.
Example nineteenth: the middle section transition support 3 includes: the U-shaped transition frame 3-1, the top plate 3-2 and the transition hinge plate 3-3, the center of the right end face of the U-shaped transition frame 3-1 is connected with the left end of the third second bone joint 2-3-2 through a rotating shaft, the opening end of the U-shaped transition frame 3-1 is hinged with the right end of the upper bone joint assembly 4 through a pin shaft, the top plate 3-2 is arranged on the side wall of the U-shaped transition frame 3-1, the transition hinge plate 3-3 is vertically arranged on the top plate 3-2, one end of the eighth double-rod cylinder 14 is hinged with the transition hinge plate 3-3, the other end of the eighth double-rod cylinder 14 is hinged with the upper bone joint assembly 4, the outer side wall of the opening end of the U-shaped transition frame 3-1 is provided with an excessive connecting rod 3-4, the excessive connecting rotating shaft 3-5 is arranged on the excessive connecting rod 3-4, and the other end of the fourth double-rod cylinder 10 is hinged with the excessive connecting rotating shaft 3-5;
the central position of the right end face of the U-shaped transition frame 3-1 is connected with the central position of the left end face of the third U-shaped frame 2-3-2-1 through a rotating shaft.
Example twenty: the upper segment condyle assembly 4 includes: the right end of the first upper segment condyle mechanism 4-1, the second upper segment condyle mechanism 4-2, the third upper segment condyle mechanism 4-3 and the fourth upper segment condyle mechanism 4-4 are hinged with the opening end of the U-shaped transition frame 3-1 through a pin shaft, the other end of the eighth double-rod cylinder 14 is hinged with the left end of the first upper segment condyle mechanism 4-1, the left end of the first upper segment condyle mechanism 4-1 is connected with the right end of the second upper segment condyle mechanism 4-2 through a first cross shaft group 4-5, one end of the two ninth double-rod cylinders 15 is hinged with the left end of the first upper segment condyle mechanism 4-1, the other ends of the two ninth double-rod cylinders 15 are hinged with a first cross shaft group 4-5, the second upper segment condyle mechanism 4-2 swings relative to the first upper segment condyle mechanism 4-1, one end of each tenth double-rod air cylinder 16 is hinged with a first cross shaft group 4-5, the other end of each tenth double-rod air cylinder 16 is hinged with the left end of a second upper section condyle mechanism 4-2, the left end of the second upper section condyle mechanism 4-2 is connected with the right end of a third upper section condyle mechanism 4-3 through a second cross shaft group 4-6, one end of each eleventh double-rod air cylinder 17 is hinged with the right end of the second upper section condyle mechanism 4-2, the other end of each eleventh double-rod air cylinder 17 is hinged with the second cross shaft group 4-6, the third upper section condyle mechanism 4-3 swings relative to the second upper section condyle mechanism 4-2, one end of each twelfth double-rod air cylinder 18 is hinged with the second cross shaft group 4-6, the other end of each twelfth double-rod air cylinder 18 is hinged with the left end of the third upper section condyle mechanism 4-3, the left end of the third upper segment condyle mechanism 4-3 is connected with the right end of the fourth upper segment condyle mechanism 4-4 through a third cross shaft group 4-7, one end of two thirteenth double-rod air cylinders 19 is hinged with the right end of the third upper segment condyle mechanism 4-3, the other ends of the two thirteenth double-rod air cylinders 19 are hinged with the third cross shaft group 4-7, the fourth upper segment condyle mechanism 4-4 swings relative to the third upper segment condyle mechanism 4-3, one end of two fourteenth double-rod air cylinders 20 is hinged with the third cross shaft group 4-7, the other ends of the two fourteenth double-rod air cylinders 20 are hinged with the left end of the fourth upper segment condyle mechanism 4-4, one ends of the two fifteenth double-rod air cylinders 21 are connected with the right end of the fourth upper segment condyle mechanism 4-4, and the other ends of the two fifteenth double-rod air cylinders 21 are hinged with the fourth cross shaft group 4-8.
Example twenty-one: the first upper segment condyle mechanism 4-1 includes: the lower end of the first T-shaped bracket 4-1-1, the second T-shaped bracket 4-1-2, the first connecting plate 4-1-3 and the second connecting plate 4-1-4 are connected with the lower end of the second T-shaped bracket 4-1-2 through the first connecting plate 4-1-3, two first bracket mounting plates 4-1-5 are vertically arranged at the upper end of the first T-shaped bracket 4-1-1, a first bracket rotating rod 4-1-6 is arranged between the first bracket mounting plates 4-1-5, the other end of the eighth double-rod cylinder 14 is hinged with the first bracket rotating rod 4-1-6, two second bracket mounting plates 4-1-7 are vertically arranged at the upper end of the second T-shaped bracket 4-1-2, the upper ends of the two second bracket mounting plates 4-1-7 are connected through a second transverse plate 4-1-8, the first bracket mounting plates 4-1-5 are connected with the second transverse plate 4-1-8 through a first connecting plate 4-1-3, the left end of the first connecting plate 4-1-3 is hinged with a first cross shaft group 4-5, the front and rear ends of the first T-shaped bracket 4-1-1 are connected with the front and rear ends of the second T-shaped bracket 4-1-2 through a second connecting plate 4-1-4, the right end of the second connecting plate 4-1-4 is hinged with the left end of the U-shaped transition frame 3-1 through a pin shaft, two parallel second bracket rotating rods 4-1-9 are arranged on the second T-shaped bracket 4-1-2, one end of each ninth double-rod cylinder 15 is hinged with each second bracket rotating rod 4-1-9.
Example twenty two: the second superior condyle mechanism 4-2 includes: the upper and lower ends of the second first cross support 4-2-1, the second cross support 4-2-2, the second first connecting plate 4-2-3 and the second connecting plate 4-2-4 are respectively connected with the upper and lower ends of the second cross support 4-2-2 through the second first connecting plate 4-2-3, the left end of the second first connecting plate 4-2-3 is hinged with the second cross shaft group 4-6, the front and rear ends of the second first cross support 4-2-1 are respectively connected with the front and rear ends of the second cross support 4-2-2 through the second connecting plate 4-2-4, the right end of the second connecting plate 4-2-4 is hinged with the first cross shaft group 4-5, the two sides of the vertical rod of the second first cross bracket 4-2-1 are respectively provided with a second first hinge post 4-2-5, one end of the two tenth double-rod air cylinders 16 is respectively hinged with the two second first hinge posts 4-2-5, the horizontal rod of the second cross bracket 4-2-2 is provided with two second hinge posts 4-2-6, and one end of the two eleventh double-rod air cylinders 17 is respectively hinged with the two second hinge posts 4-2-6.
Example twenty-three: the third superior condyle mechanism 4-3 includes: the upper and lower ends of the third hexagonal frame 4-3-1 are connected with the upper and lower ends of the third hexagonal frame 4-3-2 through a third connecting plate 4-3-9, the front and rear ends of the third hexagonal frame 4-3-1 are connected with the front and rear ends of the third hexagonal frame 4-3-2 through a third connecting plate 4-3-10, the four end points of the thirty-first bracket 4-3-3 are respectively connected with the inner walls of the first connecting plate 4-3-9 and the second connecting plate 4-3-10, the two ends of the third horizontal plate 4-3-4 are respectively connected with the inner walls of the second connecting plates 4-3-10, the two sides of the vertical rod of the thirty-first bracket 4-3-3 are respectively provided with a third first hinging column 4-3-5, the other ends of the two twelfth double-rod cylinders 18 are respectively hinged with the first hinging columns 4-3-5, the third horizontal plate 4-3-4 is vertically provided with the second hinging columns 4-3-6, the other ends of the two thirteenth double-rod cylinders 19 are respectively hinged with the second hinging columns 4-3-6, the axis of the third second hinging column 4-3-6 is mutually perpendicular to the axis of the third first hinging column 4-3-5, the left end of the third first connecting plate 4-3-9 is provided with a third first hinging block 4-3-7, the third first hinging block 4-3-7 is hinged with the third cross shaft group 4-7, the right end of the third second connecting plate 4-3-10 is provided with a third second hinging block 4-3-8, and the third second hinging block 4-3-8 is hinged with the second cross shaft group 4-6.
Example twenty-four: the fourth upper segment condyle mechanism 4-4 includes: the four-way air cylinder four-way frame comprises a fourth first hexagonal frame 4-4-1, a fourth second hexagonal frame 4-4-2, a fourth cross bracket 4-4-3, a fourth first hinge post 4-4-5 and a fourth second hinge block 4-4-8, wherein the upper end and the lower end of the fourth first hexagonal frame 4-4-1 are respectively connected with the upper end and the lower end of the fourth second hexagonal frame 4-4-2 through a fourth first connecting plate 4-4-9, the front end and the rear end of the fourth first hexagonal frame 4-4-1 are respectively connected with the front end and the rear end of the fourth second hexagonal frame 4-2 through a fourth second connecting plate 4-10, the four end points of the fourth cross bracket 4-4-3 are respectively connected with the inner walls of the fourth first connecting plate 4-9 and the fourth second connecting plate 4-10, the two ends of the fourth cross bracket 4-3 are respectively connected with the inner walls of the two fourth connecting plates 4-4-10, the two sides of the fourth cross bracket 4-3 are respectively provided with the front end and rear end of the fourth second hinge post 4-4-4-5, the other end of the fourth cross post 4-3 is respectively connected with the four cylinder four-4-4-5, the other end of the cross post is respectively perpendicular to the four cylinder four-4-4-4-5, the four ends of the cross post 4-5 is respectively connected with the four cylinder four ends of the fourth cross post 4-4-4-5, the four end of the cross post 4-5 is respectively, the left end of the fourth connecting plate 4-4-9 is provided with a fourth hinge block 4-4-7, the fourth hinge block 4-4-7 is hinged with the fourth cross shaft group 4-8, the right end of the fourth connecting plate 4-4-10 is provided with a fourth hinge block 4-4-8, and the fourth hinge block 4-4-8 is hinged with the third cross shaft group 4-7.
Example twenty-five: the first cross axle set 4-5 comprises: the first cross rod 4-5-1, the first longitudinal axis 4-5-2, the first transverse swing hinge shaft 4-5-3, the first middle hinge frame 4-5-4 and the first longitudinal swing hinge shaft 4-5-5 are coaxially arranged at the two ends of the first cross rod 4-5-1, the first longitudinal swing hinge shaft 4-5-5 is arranged at the two ends of the second connecting plate 4-2-4, the right ends of the second connecting plate are respectively hinged with the first longitudinal swing hinge shafts 4-5-5, a through hole is arranged at the center of the first cross rod 4-5-1, the first longitudinal axis 4-5-2 is arranged in the through hole of the first cross rod 4-5-1 and rotates in the through hole, the left ends of the two first connecting plates 4-1-3 are respectively hinged with the upper end and the lower end of the first longitudinal shaft 4-5-2, the first transverse rod 4-5-1 is vertically provided with two first transverse swing hinge shafts 4-5-3, the axes of the first transverse swing hinge shafts 4-5-3 are parallel to the axes of the first longitudinal shaft 4-5-2 and distributed on two sides of the first longitudinal shaft 4-5-2, the other ends of the two ninth double-rod cylinders 15 are respectively hinged with the two first transverse swing hinge shafts 4-5-3, the center position of the first transverse rod 4-5-1 is provided with two first middle hinge frames 4-5-4, and one ends of the two tenth double-rod cylinders 16 are respectively hinged with the two first middle hinge frames 4-5-4.
Example twenty-six: the second cross axle set 4-6 comprises: the two ends of the second cross rod 4-6-1 are coaxially provided with the second longitudinal swing hinge shaft 4-6-5, the two third hinging blocks 4-3-8 are respectively hinged with the two second longitudinal swing hinge shafts 4-6-5, the center of the second cross rod 4-6-1 is provided with a through hole, the second longitudinal shaft 4-6-2 is arranged in the through hole of the second cross rod 4-6-1 and rotates in the through hole, the left ends of the two second first connecting plates 4-2-3 are respectively hinged with the upper end and the lower end of the second longitudinal shaft 4-6-2, the second cross rod 4-6-1 is vertically provided with two second cross swing hinge shafts 4-6-3, the axis of the second cross swing hinge shafts 4-6-3 is parallel to the axis of the second longitudinal shaft 4-6-2 and distributed on two sides of the second longitudinal shaft 4-6-2, the other ends of the two eleventh double-rod air cylinders 17 are hinged with the two second cross swing hinge shafts 4-6-3 respectively, the center position of the second cross rod 4-6-1 is provided with two second middle hinge frames 4-6-4, and one ends of the two twelfth double-rod air cylinders 18 are hinged with the two second middle hinge frames 4-6-4 respectively.
Example twenty-seventh: the third cross axle set 4-7 comprises: the third cross rod 4-7-1, the third longitudinal axis 4-7-2, the third horizontal swing hinge shaft 4-7-3, the third middle hinge frame 4-7-4 and the third longitudinal swing hinge shaft 4-7-5 are coaxially arranged at the two ends of the third cross rod 4-7-1, the third longitudinal swing hinge shaft 4-7-5 is coaxially arranged at the two ends of the third cross rod 4-7-1, the two fourth hinging blocks 4-4-8 are respectively hinged with the two third longitudinal swing hinge shafts 4-7-5, a through hole is arranged at the center of the third cross rod 4-7-1, the third longitudinal axis 4-7-2 is arranged in the through hole of the third cross rod 4-7-1 and rotates in the through hole, the left ends of the two third hinging blocks 4-3-7 are respectively hinged with the upper end and the lower end of the third longitudinal axis 4-7-2, the cross rod 4-7-1 is vertically provided with two cross swing hinge shafts 4-7-3, the axis of the cross swing hinge shaft 4-7-3 is parallel to the axis of the longitudinal shaft 4-7-2, the cross swing hinge shafts are distributed on two sides of the longitudinal shaft 4-7-2, the other ends of the thirteenth double-rod air cylinders 19 are hinged with the cross swing hinge shafts 4-7-3 respectively, the center of the cross rod 4-7-1 is provided with two middle hinge frames 4-7-4, and one ends of the fourteenth double-rod air cylinders 20 are hinged with the middle hinge frames 4-7-4 respectively.
Example twenty-eight: the fourth cross axle set 4-8 comprises: the four cross bars 4-8-1, the four longitudinal shafts 4-8-2, the four horizontal and vertical shafts 4-8-3, the four driving cylinders 4-8-4, the four vertical shafts 4-8-5 and the four driving plates 4-8-6, the two ends of the four cross bars 4-8-1 are coaxially provided with the four vertical shafts 4-8-5, the other ends of the two head second connecting rods 33-6 are respectively hinged with the two four vertical shafts 4-8-5, the center of the four cross bars 4-8-1 is provided with a through hole, the four longitudinal shafts 4-8-2 are arranged in the through holes of the four cross bars 4-8-1 and rotate in the through holes, the left ends of the two fourth first hinging blocks 4-4-7 are respectively hinged with the upper end and the lower end of the fourth longitudinal shaft 4-8-2, the fourth transverse rod 4-8-1 is vertically provided with two fourth transverse swinging hinging shafts 4-8-3, the axes of the fourth transverse swinging hinging shafts 4-8-3 are parallel to the axes of the fourth longitudinal shaft 4-8-2 and distributed on two sides of the fourth longitudinal shaft 4-8-2, the other ends of the two fifteenth double-rod air cylinders 21 are respectively hinged with the two fourth transverse swinging hinging shafts 4-8-3, the center position of the fourth transverse rod 4-8-1 is provided with a fourth driving air cylinder 4-8-4, the output end of the fourth driving air cylinder 4-8-4 is provided with a fourth driving plate 4-8-6, the other ends of the two head connecting rods 33-11 are respectively hinged with two ends of the fourth driving plate 4-8-6.
Working principle:
flexible swing mechanism assembly:
when the root condyle assembly 1 is stationary,
the first double-rod cylinder 7 works to realize the rotation of the first lower-section condyle mechanism 2-1 relative to the root condyle assembly 1;
the second double-rod air cylinder 8 works to realize the swing of the second lower-section condyle mechanism 2-2 relative to the first lower-section condyle mechanism 2-1;
the third double-rod air cylinder 9 works to realize the swinging of the third lower-section condyle mechanism 2-3 relative to the second lower-section condyle mechanism 2-2;
the fourth double-rod cylinder 10 works to realize the rotation of the middle-section transition bracket 3 relative to the third lower-section condyle mechanism 2-3;
the fifth double-rod air cylinder 11 can swing the first second bone segment 2-1-2 relative to the first bone segment 2-1-1;
the sixth double-rod air cylinder 12 works to realize the swinging of the second bone segment 2-2-2 relative to the second bone segment 2-2-1;
the seventh double-rod air cylinder 13 works to realize the swinging of the third second condyle 2-3-2 relative to the third first condyle 2-3-1;
the eighth double-rod air cylinder 14 can realize the up-and-down swing of the first upper section condyle mechanism 4-1 relative to the middle section transition bracket 3;
the ninth double-rod air cylinder 15 can realize the left-right swing of the first upper segment condyle mechanism 4-1 relative to the middle segment transition bracket 3;
The tenth double-rod air cylinder 16 can work to realize the up-and-down swinging of the second upper segment condyle mechanism 4-2 relative to the first upper segment condyle mechanism 4-1;
the eleventh double-rod air cylinder 17 can work to realize the left-right swing of the second upper-section condyle mechanism 4-2 relative to the first upper-section condyle mechanism 4-1;
the twelfth double-rod air cylinder 18 works to realize the up-and-down swinging of the third upper segment condyle mechanism 4-3 relative to the second upper segment condyle mechanism 4-2;
the thirteenth double-rod air cylinder 19 can realize the left-right swing of the third upper segment condyle mechanism 4-3 relative to the second upper segment condyle mechanism 4-2;
the fourteenth double-rod cylinder 20 can realize the up-and-down swing of the fourth upper segment condyle mechanism 4-4 relative to the third upper segment condyle mechanism 4-3;
the fifteenth double-rod cylinder 21 can be operated to swing the fourth upper segment condyle mechanism 4-4 to the left and right with respect to the third upper segment condyle mechanism 4-3.
The bottom assembly comprises:
the sixteenth double-rod air cylinder 22 works to drive the upper body mechanism 31-4 to swing relative to the lower body mechanism 31-3 so as to simulate the twisting of a dragon;
the seventeenth double-rod air cylinder 23 works to drive the rear swing frame 31-4-5 to swing, so that the upper body connecting rod 31-4-8 is driven to push the right end of the flexible swing mechanism assembly 32, and the swing of the flexible swing mechanism assembly 32 relative to the bottom assembly 31 is realized;
The eighteenth double-rod air cylinder 24 works to directly drive the right end of the flexible swing mechanism assembly 32, and has the same function as the seventeenth double-rod air cylinder 23, and the eighteenth double-rod air cylinder 24 drives from the other direction, so that the problem of insufficient power of the seventeenth double-rod air cylinder 23 caused by overlarge flexible swing mechanism assembly 32 can be prevented.
The head assembly comprises:
the work of the head cylinder 33-12 drives the mouth framework 33-9 to swing relative to the head fourth connecting rod 33-8, so that the occlusion of the mouth is simulated;
the operation of the eye cylinder 33-3-6 drives the eye driving rod 33-3-1 to move so as to drive the two eye semi-ring frames 33-3-3 to swing in opposite directions, thereby simulating the blinking of the dragon.
Claims (4)
1. A simulated water sports robot comprising: a bottom assembly (31), a flexible swing mechanism assembly (32) and a head assembly (33), characterized in that,
the right end of the flexible swing mechanism assembly (32) is hinged with the bottom assembly (31), the left end of the flexible swing mechanism assembly (32) is hinged with the head assembly (33), and the head assembly (33) swings relative to the left end of the flexible swing mechanism assembly (32);
the bottom assembly (31) comprises: the novel multifunctional swing device comprises a base (31-1), a lifting mechanism (31-2), a lower body mechanism (31-3) and an upper body mechanism (31-4), wherein the lifting mechanism (31-2) is arranged on the base (31-1), the lower body mechanism (31-3) is arranged at the upper end of the lifting mechanism (31-2), the upper body mechanism (31-4) is arranged at the upper end of the lower body mechanism (31-3), the upper body mechanism (31-4) rotates relative to the lower body mechanism (31-3), the right end of a flexible swing mechanism assembly (32) is hinged with the upper body mechanism (31-4), and the flexible swing mechanism assembly (32) swings relative to the upper body mechanism (31-4);
The upper body mechanism (31-4) includes: the upper body frame (31-4-1), the upper body bearing plate (31-4-2), the upper body first hinging rotating shaft (31-4-3), the upper body second hinging rotating shaft (31-4-4) and the rear swinging frame (31-4-5), wherein the lower end face of the bottom of the left end of the upper body frame (31-4-1) is provided with the upper body bearing plate (31-4-2) and the two upper body third hinging rotating shafts (31-4-6), the upper body bearing plate (31-4-2) is connected with the lower body bearing plate (31-3-2) through a slewing bearing, the two upper body third hinging rotating shafts (31-4-6) are respectively arranged at the front side and the rear side of the upper body bearing plate (31-4-2), the other ends of the two sixteenth double-rod air cylinders (22) are respectively hinged with the two upper body third hinging rotating shafts (31-4-6), the upper end face of the bottom of the left end of the upper bearing plate (31-4-2) is provided with the two upper body first hinging rotating shafts (31-4-3), the upper body third hinging rotating shafts (31-4-2) are respectively hinged with the two upper body second hinging rotating shafts (31-4-2), the two upper body third hinging rotating shafts (31-4-2) are respectively arranged at the two upper body third hinging rotating shafts (31-4-2) are respectively, one end of each seventeenth double-rod air cylinder (23) is hinged with two first hinging shafts (31-4-3) respectively, the other end of each seventeenth double-rod air cylinder (23) is hinged with two sides of the lower end of each rear swinging frame (31-4-5) respectively, one end of each upper body connecting rod (31-4-8) is hinged with two sides of the lower end of each rear swinging frame (31-4-5), the other end of each upper body connecting rod (31-4-8) is hinged with the right end of each flexible swinging mechanism assembly (32), a fourth hinging shaft cross rod is arranged in the middle of the top end of each upper body frame (31-4-1), an upper body fourth hinging shaft (31-4-7) is arranged on each fourth hinging shaft cross rod, one end of each eighteenth double-rod air cylinder (24) is hinged with the corresponding upper body fourth hinging shaft (31-4-7), the other end of each eighteenth double-rod air cylinder (24) is hinged with the right end of each flexible swinging mechanism assembly (32), the upper body second hinging shaft (31-4-3), the upper body hinging shafts (31-4-4) and the upper body fourth hinging shaft (31-7) are perpendicular to each other, and the upper body shafts (31-4-7) are perpendicular to each other;
The head assembly (33) comprises: the head support (33-1), the eye mounting plate (33-2), the eye assembly (33-3), the head first connecting rod (33-4), the head hinging rod (33-5), the head second connecting rod (33-6), the head third connecting rod (33-7), the head fourth connecting rod (33-8), the mouth framework (33-9) and the mouth connecting rod (33-10), the eye mounting plate (33-2) is arranged at the upper end of the head support (33-1), the eye assembly (33-3) and the head first connecting rod (33-4) are arranged on the eye mounting plate (33-2), the head hinging rods (33-5) are arranged at two sides of the head first connecting rod (33-4), one end of each of the two head connecting rods (33-11) is hinged with the two head hinging rods (33-5), the other end of each head connecting rod (33-11) is hinged with the left end of the flexible swinging mechanism assembly (32), the two head second connecting rods (33-6) are vertically arranged at the right end of the head support (33-1), the other end of each head second connecting rod (33-6) is hinged with the left end of the flexible swinging mechanism assembly (32), the lower end face of the head support (33-1) is vertically provided with a head No. three connecting rod (33-7) and a head No. four connecting rod (33-8), the head No. three connecting rod (33-7) is positioned on the right side of the head No. four connecting rod (33-8), the lower end of the head No. four connecting rod (33-8) is hinged with the middle part of the mouth connecting rod (33-10), the left end of the mouth connecting rod (33-10) is hinged with the mouth framework (33-9), the bottom of the head cylinder (33-12) is hinged with the right end of the mouth connecting rod (33-10), and the output end of the head cylinder (33-12) is hinged with the lower end of the head No. three connecting rod (33-7).
2. A simulated water sports robot as claimed in claim 1, wherein said lifting mechanism (31-2) comprises: lifting cylinder (31-2-1) and U type slide rail (31-2-2), be provided with a plurality of lifting cylinder (31-2-1) and U type slide rail (31-2-2) on base (31-1), the output and the lower part of the body mechanism (31-3) of lifting cylinder (31-2-1) link to each other, and U type slide rail (31-2-2) set up around lower part of the body mechanism (31-3), lower part of the body mechanism (31-3) slide from top to bottom at U type slide rail (31-2-2).
3. A simulated water sports robot as claimed in claim 2, wherein said lower body mechanism (31-3) comprises: the lower body frame (31-3-1), the lower body bearing plate (31-3-2), the truckles (31-3-3), the lifting support (31-3-4) and the lower body hinging rotating shaft (31-3-5), wherein the lifting support (31-3-4) is arranged at the front end and the rear end of the lower body frame (31-3-1), the lifting support (31-3-4) is connected with the output end of the lifting cylinder (31-2-1), the plurality of truckles (31-3-3) are arranged on the four side walls of the lower body frame (31-3-1), the truckles (31-3-3) are arranged in the U-shaped sliding rail (31-2-2), the left end of the lower body frame (31-3-1) is provided with the lower body bearing plate (31-3-2), the lower body bearing plate (31-3-2) is connected with the upper body mechanism (31-4) through a slewing bearing, the top of the right end of the lower body frame (31-3-1) is provided with two mutually parallel lower body hinging rotating shafts (31-3-5), the sixteen second ends of the lower body frame (31-3-1) are respectively hinged with the two lower body hinging shafts (22) are hinged with the two lower body hinging shafts (2-5), the other ends of the sixteenth two-rod air cylinders (22) are hinged with the left end of the upper body mechanism (31-4).
4. A simulated water sports robot as claimed in claim 1, wherein said eye assembly (33-3) comprises: the eye driving rod (33-3-1), the eye connecting rod (33-3-2), the eye semi-ring frame (33-3-3), the eye L-shaped brackets (33-3-4) and the eyeball mounting plate (33-3-5), two eye air cylinders (33-3-6) are symmetrically arranged at the center of the upper end face of the eye mounting plate (33-2), the output end of each eye air cylinder (33-3-6) is connected with the middle part of the eye driving rod (33-3-1), the two ends of each eye driving rod (33-3-1) are hinged with the eye connecting rod (33-3-2), the other ends of the eye connecting rods (33-3-2) are hinged with the closed ends of the eye semi-ring frames (33-3-3), the open ends of the two eye semi-ring frames (33-3-3) are hinged with the eyeball mounting plate (33-3-5) through eye pin shafts, the right sides of the upper end faces of the eye mounting plate (33-2) are vertically provided with two eye L-shaped brackets (33-3-4), the other ends of the two eye L-shaped brackets (33-3-4) are respectively hinged with the eye pin shafts, and the two eye L-shaped brackets (33-3-3-4) are arranged between the two eye semi-ring frames (33-3-3) and the upper eyelid half-3 arc-3.
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