CN110624249A

CN110624249A - Crane performance equipment

Info

Publication number: CN110624249A
Application number: CN201910789072.1A
Authority: CN
Inventors: 吕圣龙; 于建平; 马超; 张燕
Original assignee: Beijing Sau Domain Science And Technology Culture Ltd By Share Ltd
Current assignee: Beijing Sau Domain Science And Technology Culture Ltd By Share Ltd
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2019-12-31

Abstract

The invention discloses a crane performance device, which comprises: a track system having a pair of rails arranged side-by-side and under the water; a traveling system disposed above the rail system and having a traveling vehicle body traveling along a pair of guide rails thereof; a rotating system mounted on the traveling vehicle body and rotating relative thereto; and the crane system is arranged on the rotating system and used for simulating the pitching and stepping actions of the crane. The crane performance equipment can simulate and dynamically reproduce the crane stepping movement action, thereby increasing the ornamental value of the performance.

Description

Crane performance equipment

Technical Field

The invention relates to a performance system, in particular to a crane performance device.

Background

At present, the system for performing is generally a novel show, popular science and entertainment project, and the system gathers a plurality of modern advanced technologies and provides different and original visual impact for audiences.

For example, the system of the crane ballet performance of the san Taosha West world, Singapore, is the largest-scale outdoor electromechanical performance system in the world to date, and has created a new landmark for nighttime entertainment for the beach trees of the san Taosha West. The crane ballet adopts two crane type systems to perform magic love stories, each system weighs 80 tons and can rise to the height of 30 meters (10 stories), so that the crane ballet becomes the highest outdoor electromechanical performance in the world, and a great dreamlike electric wonderful appearance is shown to audiences through digital art, an LED display screen, exclamatory light and water curtain effects and perfect match.

However, the whole crane ballet is formed by hinging a plurality of connecting arms, the whole crane ballet is cuboid, the profiling effect is poor, and if the crane ballet is not provided with the functions of lamplight, digital art and an LED display screen, for example, the crane ballet can be hardly imagined as a crane by people when being watched in daytime; in addition, the hairyvein crane ballet can only simulate the rotation and pitching actions, but can not simulate the walking and stepping actions of the hairyvein crane, thereby greatly reducing the telepresence and the shocking power of watching the performance.

Disclosure of Invention

The present invention is directed to solve the above problems of the prior art, and an object of the present invention is to provide an apparatus for performing an operation of an electric crane, which can simulate and dynamically reproduce the stepping movement of the electric crane, and simulate a wing fountain on both sides of a laser, a color-changeable crane body, and so on to increase the ornamental value of the operation.

To achieve the above object of the present invention, the present invention provides an agrimonia performance apparatus, comprising: a track system having a pair of rails arranged side-by-side and under the water; a traveling system disposed above the rail system and having a traveling vehicle body traveling along a pair of guide rails thereof; a rotating system mounted on the traveling vehicle body and rotating relative thereto; and the crane system is arranged on the rotating system and used for simulating the pitching and stepping actions of the crane.

The track system is also provided with a sinking iron fixedly arranged at the water bottom, and the pair of guide rails are fixedly arranged at two sides of the sinking iron.

Wherein, the driving system still includes: the traveling crane driving mechanism is arranged on the traveling vehicle body and is used for providing driving force for the traveling of the traveling vehicle body; and the traveling crane traction guide mechanism is respectively connected with the traveling crane driving mechanism and the pair of guide rails and is used for guiding the traveling direction of the traveling crane body.

Wherein, two rows of traveling wheel groups which can drive the traveling vehicle body to travel along the pair of guide rails are arranged on the traveling vehicle body.

Preferably, the traveling traction guide mechanism includes: a pair of chain fixing seats which are respectively arranged at two ends of the pair of guide rails and are respectively and vertically connected with the two ends of the pair of guide rails; the roller chains are arranged on the same side of the pair of chain fixing seats; the chain wheel component is meshed with the roller chain and drives the walking vehicle body to walk along a pair of guide rails through the matching of the roller chain and the roller chain; wherein the extending direction of the roller chain is parallel to the guide rail and is positioned at the outer side of the guide rail.

Wherein the sprocket assembly comprises: a first guide chain wheel and a second guide chain wheel which are sequentially arranged on the walking vehicle body along the front-back extension direction of the walking vehicle body and are respectively meshed with the roller chains; a idler wheel installed between a pair of guide sprockets; wherein the roller chain sequentially bypasses the first guide chain wheel, the output chain wheel and the second guide chain wheel.

Wherein the rotation system comprises: the rotating platform assembly is provided with a supporting platform for supporting the crane system and a supporting column which penetrates through the center of the supporting platform and is connected with the bottom of the crane body device of the crane system; and the rotary driving mechanism drives the supporting platform to rotate relative to the traveling system.

Further, the crane system further includes: the crane leg device is connected with the rotating system and can move in a stepping way relative to the rotating system, and the crane body device is connected with and supported by the crane leg device; a head and neck device connected with and supported by the crane body device; the driving device is used for driving the crane leg device, the crane body device and the head and neck device; the cover is arranged outside the crane leg device, the crane body device, the head and neck device and the driving device to form a crane-shaped profiling shell.

Wherein, head and neck device is the structure of buckling, includes: a crane head moving arm; a crane neck moving arm connected with the crane head moving arm; and the connecting arm is fixedly connected with the crane neck moving arm and forms an included angle with the central axis of the crane neck moving arm.

Wherein, the crane body device is by the middle part structure of constricting respectively to front side and rear side, including crane body anterior frame, crane body middle part frame, crane body afterbody frame, crane neck motion arm and crane body anterior frame attach, crane leg device and crane body middle part frame attach.

Wherein, the crane leg device includes: the crane legs are positioned at two sides of the crane body middle frame and are respectively connected with the crane body middle frame, and each crane leg is provided with a crane leg upper limb and a crane leg lower limb hinged with the crane leg upper limb; a pulley mechanism respectively connected with the lower limbs of the crane legs.

Wherein the driving device includes: the leg swinging driving mechanism is used for driving the crane leg device to step relative to the crane body device; the head and neck driving mechanism is used for driving the head and neck device to perform pitching motion; and the crane body pitching driving mechanism is used for driving the crane body device to perform pitching motion relative to the crane leg device.

The supporting column is a hollow shaft, and the top end of the supporting column is communicated with the two groups of pipelines of the wing device respectively.

Compared with the prior art, the crane performance equipment has the following outstanding advantages:

1. according to the crane performance equipment, the crane system can rotate, pitch and walk relative to the water surface, various postures of the crane during natural actions are vividly and vividly simulated, the reality sense of watching the performance by an observer is enhanced, and the crane performance equipment brings greater visual impact to audiences.

2. According to the crane performance equipment, when the crane system moves along the preset pair of guide rails, the pair of crane legs of the crane leg device can walk, so that the defect that a crane ballet in the prior art cannot walk is overcome, and the crane system can be prevented from shaking along with the fluctuation of the water surface when moving on the water surface, so that the crane system can perform stably and safely and is more effectively combined with light videos.

3. The invention relates to a crane performance device, wherein the crane system comprises a crane leg device, a crane body device, a head and neck device and a profiling shell covering the outer parts of the devices, so that the profiling effect is good, and the crane performance device can be used as a crane landscape for audiences to watch even in the daytime without the cooperation of light effect.

The present invention will be described in detail with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic diagram of the construction of the crane performance apparatus of the present invention;

FIG. 2a is a front view of the travel system of the present invention;

FIG. 2b is a top view of the travel system of the present invention;

FIG. 3a is a front view of the traction guide mechanism of the present invention;

FIG. 3b is a top view of the traction guide mechanism of the present invention;

FIG. 4a is a front view of the running vehicle body of the present invention;

FIG. 4b is a plan view of the running vehicle body of the present invention;

FIG. 4c is a left side view of the invention's running vehicle body;

FIG. 5a is a front view of a first configuration of the inventive road wheel;

FIG. 5b is a right side view of a first configuration of the road wheel of the present invention;

FIG. 5c is a front view of a second configuration of the inventive road wheel;

FIG. 5d is a right side view of a second configuration of the road wheel of the present invention;

FIG. 6a is a front view of the drive mechanism of the present invention;

FIG. 6b is a left side view of the travel drive mechanism of the present invention;

FIG. 6c is a top plan view of the travel drive mechanism of the present invention;

FIG. 7a is a front view of the rotary system of the present invention;

FIG. 7b is a top view of the rotational system of the present invention;

fig. 8a is a front view of the crane system of the present invention (showing the support means);

FIG. 8b is a left side view of the crane system of FIG. 8 a;

FIG. 8c is a top view of the crane system of FIG. 8 a;

fig. 9 is a schematic view of the construction of the crane system of the present invention (support means not shown);

fig. 10a is a schematic view of the structure of the cervical device of the present invention (in an inactive initial state);

fig. 10b is a schematic view of the head and neck device of the present invention (with the head in a prone position);

FIG. 11a is a front view of the head drive mechanism of the present invention;

FIG. 11b is a top view of the head drive mechanism of the present invention;

FIG. 12a is a front view of the swing link of the present invention;

FIG. 12b is a left side view of the swing link of the present invention;

FIG. 13a is a front view of the neck drive mechanism of the present invention;

FIG. 13b is a partial top view of the neck drive mechanism of the present invention;

fig. 14a is a front view of the leg assembly of the present invention;

fig. 14b is a top view of the leg assembly of the present invention;

fig. 14c is a left side view of the leg assembly of the present invention;

FIG. 14d is a schematic view of the orientation of the wire rope in the leg attachment of the present invention;

FIG. 15a is a front view of the swing leg drive mechanism of the present invention;

FIG. 15b is a left side elevational view of the swing leg drive mechanism of the present invention;

FIG. 16a is a front view of the carriage mechanism of the present invention mounted on a support device;

FIG. 16b is a left side view of the carriage mechanism of the present invention mounted on the support device;

FIG. 16c is a top view of the carriage mechanism of the present invention mounted on a support device;

FIG. 17a is a front view of a first configuration of the horizontal traction mechanism of the present invention;

FIG. 17b is a left side view of the first configuration of the horizontal traction mechanism of the present invention;

FIG. 17c is a top plan view of a first configuration of the horizontal pulling mechanism of the present invention;

FIG. 17d is a top plan view of a second configuration of the horizontal traction mechanism of the present invention;

fig. 18a is a front view of the hull pitch drive mechanism of the present invention;

fig. 18b is a left side view of the hull pitch drive mechanism of the present invention;

fig. 18c is a top view of the hull pitch drive mechanism of the present invention;

fig. 19a is a front view of the crane body assembly of the present invention;

fig. 19b is a left side elevational view of the crane body assembly of the present invention;

fig. 19c is a top plan view of the crane body assembly of the present invention;

FIG. 20a is a front view of the mid-body frame of the crane of the present invention;

FIG. 20b is a left side elevational view of the mid-body frame of the crane of the present invention;

FIG. 20c is a top view of the mid-body frame of the crane of the present invention;

fig. 21a-21j are schematic views of the crane system of the present invention in different pitch and step states.

Detailed Description

As shown in fig. 1, which is a schematic structural diagram of the crane performance apparatus provided by the present invention, it can be seen that the crane performance apparatus includes: a rail system 3 having a pair of guide rails 31 arranged side by side and under water; a traveling system 2 disposed above the rail system 3 and having a traveling vehicle body 23 traveling along a pair of guide rails 31 thereof; a rotation system 1 mounted on the traveling vehicle body 23 and rotating relative thereto; and a crane system 4 mounted on the rotating system 1 for simulating crane pitching and stepping actions.

According to the crane performance equipment, the crane system is arranged on the rotating system which can rotate relative to the traveling vehicle body of the traveling vehicle system, so that the crane system can rotate relative to the traveling vehicle body, and the traveling vehicle body can travel along the track system, so that the crane system can rotate, pitch and step relative to the water surface, various postures of the crane during natural movement are vividly simulated, the reality sense of watching the performance by an observer is enhanced, and the crane performance equipment brings greater visual shock to audiences.

Specifically, the track system 3 of the present invention is disposed under the water, and includes a sinking iron 32 (as shown in fig. 5b and 5 d) fixedly installed on the water bottom, and a pair of parallel guide rails 31 fixedly installed on both sides of the sinking iron 32, wherein the guide rails 31 are i-shaped guide rails. The rail system 3 is a supporting base of the whole performance equipment, and because the rail system is arranged under water and adopts a steel structural member, the surface shot blasting treatment (to SA2.5 level) needs to be carried out on the corresponding structural member during manufacturing, and in addition, the following process treatment needs to be carried out on the steel structural member and the corresponding machine which are required to be positioned at the part under water related to the performance equipment:

1) spraying 1: J150 aluminum powder chlorinated rubber antirust paint (immediately brushing after rust removal) to 147um (dry film thickness is 60 um);

2) 2, spraying 2: J160 iron oxide red chlorinated rubber thick paste antirust paint with the thickness of 147um (the thickness of a dry film is 60 um);

3) b, spraying 1: J172 of chlorinated rubber finish with various colors, 200um (the thickness of a dry film is 60 um);

4) and B, paint spraying 2: B300 purple brown acrylic acid long-acting antifouling paint, 148um (dry film thickness 100 um);

5) and paint B is sprayed with 3: B300 red acrylic acid long-acting antifouling paint, 216 um.

The invention arranges a traveling system 2 above a pair of guide rails 31 of a track system 3, the traveling system 2 comprises a traveling vehicle body 23, two rows of traveling wheel sets 24 and a traveling driving mechanism 22 which can drive the traveling vehicle body 23 to travel along the pair of guide rails 31 are arranged on the traveling vehicle body 23, the traveling driving mechanism 22 provides driving force for the traveling of the traveling vehicle body 23, and in addition, the traveling system 2 also comprises a traveling traction guide mechanism 21 respectively connected with the traveling driving mechanism 22 and the pair of guide rails 31 so as to guide the traveling vehicle body 23 along the traveling direction of the pair of guide rails 31.

As shown in fig. 4a and 4b, the traveling vehicle body 23 of the present invention includes a main beam 231, a pillar 234, a wall plate 232, a short beam 235, a fixing plate 238, and the like. The length extension directions of the pair of main beams 231 are respectively consistent with the length extension directions of the pair of guide rails, that is, the main beams extend along the horizontal direction, a plurality of short cross beams 235 are arranged between the pair of main beams 231, and the pair of main beams 231 are connected into a whole through the short cross beams 235. A plurality of vertical posts 234 extending in the vertical direction are provided at both ends of the pair of main beams 231, respectively, and baffle plates at both ends of the traveling vehicle body 23 are formed by fixing the wall plates 232 to the vertical posts 234. A fixing plate 238 is welded in the middle of the pair of main beams 231, the fixing plate 238 is a U-shaped plate, and a through hole for the tubular object to pass through is formed in the center of the U-shaped plate.

Two rows of walking wheel sets 24 are respectively installed on two sides below the walking vehicle body 23, each row of walking wheel set 24 comprises a plurality of walking wheels, and the walking wheels can adopt the structure shown in fig. 5 a-5 d, including: a traveling wheel 241; a support frame 242 installed outside the main beam 231 of the traveling vehicle body 23, and a traveling wheel 241 rotatably installed on the upper portion of the support frame 242; and a wheel 243 rotatably mounted at the lower part of the supporting frame 242, the axle of which is parallel to the axle of the wheel 241 and is used for abutting against the side wall of the corresponding guide rail 31. The traveling wheel 241 may adopt a structure as shown in fig. 5a and 5b, that is, the middle part of the outer circumference of the traveling wheel 241 is provided with a groove, and the groove can be buckled on the upper guide surface of the guide rail 31, so as to prevent the traveling wheel 241 from slipping off the guide rail 31; alternatively, the traveling wheels 241 may be configured as shown in fig. 5c and 5d, that is, the outer circumferential surfaces of the traveling wheels 241 are smooth surfaces, and when the smooth surfaces are used, the width of the traveling wheels 241 should be smaller than the width of the upper guide surface of the guide rail 31 to prevent the derailment phenomenon from occurring when the traveling wheels 241 travel on the guide rail 31. In practical application, the traveling wheels of the two rows of traveling wheel sets 24 may adopt the traveling wheels of one structure, or may adopt the traveling wheels of two structures, for example, each row of traveling wheel set includes the traveling wheels of two structures arranged at intervals, or one row of traveling wheels adopts the traveling wheels of one structure and the other row of traveling wheels adopts the traveling wheels of another structure.

The traveling vehicle body 23 travels along the pair of guide rails 31 under the driving of the traveling drive mechanism 22, and the traveling drive mechanism 22 may be configured as shown in fig. 6a to 6c, and includes: a box body arranged on the walking vehicle body 23, wherein the inner bottom of the box body is fixedly provided with a base 221; a motor 223 with a decelerator installed on the base 221 for providing a driving force; an output sprocket 222 mounted on the output shaft of the motor 223. The central axis of the output sprocket 222 is parallel to the axle of the road wheels.

In order to prevent the traveling wheels from being separated from the guide rails when the traveling vehicle body 23 travels along the pair of guide rails 31, the traveling direction of the traveling vehicle body 23 is also towed by the traveling vehicle towing guide mechanism 21, as shown in fig. 3a and 3b, the traveling vehicle towing guide mechanism 21 includes: a pair of chain holders 212 respectively disposed at both ends of the pair of guide rails 31 and vertically connected to both ends of the pair of guide rails 31; a roller chain 215 installed on the same side of the pair of chain fixing seats 212, wherein the roller chain 215 can adopt a double-row roller chain 215, and a pressing plate 211 for preventing the roller chain 215 from being separated is arranged on the pair of chain fixing seats 212; a chain wheel component which is engaged with the roller chain 215 and drives the walking vehicle body 23 to walk along the pair of guide rails 31 through the cooperation of the chain wheel component and the roller chain 215; the roller chain 215 extends in a direction parallel to the guide rail 31 and outside the guide rail 31.

The sprocket assembly employed in the present invention comprises: a first guide sprocket 214 and a second guide sprocket 213 mounted on the traveling vehicle body 23 in this order along the front-rear extension direction of the traveling vehicle body 23 and respectively engaged with the roller chain 215; a cam 216 installed between a pair of guide sprockets for preventing a chain from being separated; the output sprocket 222 of the driving mechanism can be disposed directly above the idler wheel 216, and the roller chain 215 sequentially passes around the first guide sprocket 214, the output sprocket 222, and the second guide sprocket 213. The guide chain wheel, the idler wheel and the like can be installed in a mode of the prior art, and are not described in detail.

When the motor 223 of the traveling crane driving mechanism works, the output sprocket 222 mounted on the output shaft of the motor rotates, and the output sprocket 222 drives the first guide sprocket 214 and the second guide sprocket 213 to roll along the roller chain 215 when rotating, so as to drive the whole traveling vehicle body 23 to move along the extending direction of the roller chain, so that the traveling wheels on the traveling vehicle body 23 travel along the guide rail 31. When the walking vehicle body 23 moves, the crane system arranged on the walking vehicle body is driven to move, and the actions of cranes walking along the water surface can be simulated.

The crane system can simulate the action of turning the crane body besides the action of walking along the water surface, and the action of turning the crane body is realized by the rotating system 1.

The rotating system 1 of the present invention may adopt a structure as shown in fig. 7a and 7b, including: the rotating platform assembly 12 is provided with a supporting platform 122 for supporting the crane system 4 and a supporting column 121 which passes through the center of the supporting platform 122 and is connected with the bottom of the crane body device of the crane system; a rotary drive mechanism 11 for driving the support platform 122 in rotation relative to the vehicle system 2.

Specifically, the rotation driving mechanism 11 of the present invention drives the supporting platform 122 to rotate relative to the traveling system 2 through the steel cable, and includes: a driving box body 111 fixedly arranged on the walking vehicle body 23, wherein a rotary speed reducer is arranged in the driving box body, and an output shaft of the rotary speed reducer extends upwards along the vertical direction; a wire sheave 112 mounted on an output shaft of the rotary reduction gear; a steel wire rope 113 wound around the steel wire rope wheel 112 and the supporting platform 122. In addition, the rotation driving mechanism 11 further includes a cable tension assembly 114 for preventing the cable 113 from being loosened and released, and the cable tension assembly 114 is disposed between the cable pulley 112 and the supporting platform 122, includes a pair of tension assemblies, and may adopt a structure of the prior art.

When the speed reducer arranged in the box body 111 works, the output shaft drives the wire rope wheel 112 to rotate, so that the supporting platform 122 is driven by the wire rope 113 to rotate relative to the walking vehicle body 23, and the crane system arranged on the supporting platform 122 is driven to rotate, so that the crane turning action is simulated. During design, the connection point of the steel wire rope and the supporting platform can be determined according to the situation.

The turntable assembly 12 of the present invention is mounted on the traveling vehicle body 23 and located between the rotation driving mechanism 11 and the traveling driving mechanism 22, and includes a turntable support frame fixedly mounted on the traveling vehicle body 23, and a support platform 122 rotatably connected to the turntable support frame is mounted on the turntable support frame. The center of the rotating platform support frame is provided with a sleeve 123 fixedly connected with the rotating platform support frame, the support column 121 is sleeved in the sleeve 123, and the top end of the support column 121 penetrates through the center of the support platform 122 and extends upwards so as to be convenient for the connection of the bottom of the crane body device of the crane system and provide support for the crane body device.

The rotary system 1 further includes a rotary table travel switch unit 13 attached to one side of the rotary table support frame for controlling the operation of each electric component of the rotary table, and the switch can be provided by referring to the conventional technique.

Fig. 8a to 8c show a front view, a left view and a top view of the crane system provided by the present invention, respectively, and fig. 9 is a schematic structural diagram of the crane system after a supporting device of the crane system is not shown and a part of a driving device is desalinized, as can be seen from fig. 8a to 9, the crane system of the present invention includes: a crane leg device 45 connected to the support platform 122 of the rotation system 1 and movable in steps relative to the support platform 122; a crane body unit 44 connected to and supported by the crane leg unit 45; a head and neck device 41 connected to and supported by the crane body device 44; the driving device is used for driving the crane leg device, the crane body device and the head and neck device; a profile modeling shell 49 which is covered outside the crane leg device, the crane body device, the head and neck device and the driving device to form a crane shape.

The crane system of the invention is provided with a crane leg device 45, a crane body device 44, a head and neck device 41 and a profiling shell 49 which is covered outside each device and is similar to the crane shape, thereby better simulating the crane shape, having good bionic effect, not only having no light effect in the daytime, but also being capable of using the crane system as a crane landscape for audiences to watch, not only beautifying the environment, but also improving the ornamental performance.

The head and neck device 41 of the crane system is in a slender strip shape with a bend, a profile casing 49 is arranged outside, the top end of the profile casing 49 is made into a crane mouth shape, and the head and neck device 41 is arranged on one side of a crane body device 44 and basically coincides with the head and neck position of a real crane.

The head and neck device 41 of the present invention may have a structure with a bend as shown in fig. 10a and 10b, and includes: a crane head moving arm having a first moving arm 411, a second moving arm 412 hinged to one side of the first moving arm 411; a crane neck moving arm 413 whose top end is hinged with one side of the second moving arm 412 of the crane head moving arm; and the connecting arm 414 is fixedly connected with one side of the bottom of the crane neck moving arm 413 and forms an included angle with the central axis thereof. During manufacturing, the crane head moving arm, the crane neck moving arm 413 and the connecting arm 414 can be made of square steel respectively.

To fully simulate the pitching motion of the head of the crane, the hinges of the moving arms are connected to the adjacent members by hinges 416, and the hinges 416 are disposed on the front side of the moving arms (i.e., the right side of fig. 8a, 3a, 10 b) for simulating the head of the crane. In order to improve the stability of the crane head moving arm during movement, one or more clips 415 for two steel cables of the head driving mechanism to pass through are respectively arranged on two sides (namely the front side and the rear side) of each moving arm so that the direction of the steel cables is consistent with the extending direction of the head and neck device 41, and therefore the crane head moving arm is pulled by the two steel cables on the two sides of each moving arm so that the crane head moving arm can perform pitching motion relative to the crane neck moving arm 413.

In addition, the first moving arm 411 and the second moving arm 412 are both arc-shaped, the upper portion of the gooseneck moving arm 413 is also arc-shaped, and the centers of the arc-shaped centers of the three arms coincide with a same point O (as shown in fig. 10 a), so that the first moving arm 411 and the second moving arm 412 can rotate relatively around the point O (as shown in fig. 10 b).

In order to make the head and neck device 41 in the initial state of not performing pitching action, the abutting surfaces of the three moving arms may be exactly overlapped (as shown in fig. 10 a), when designing, the abutting surface of the bottom end of the first moving arm 411, the abutting surfaces of the two ends of the second moving arm 412, and the abutting surface of the top end of the gooseneck moving arm 413 are all inclined surfaces, the inclined direction of the inclined surfaces is inclined downwards from the front side to the rear side (i.e. the length of the front side of each moving arm is smaller than that of the rear side), and the inclined surfaces and the connecting lines from the point O to the corresponding hinge points have an included angle of more than 0 degree, while the angles of the adjacent inclined surfaces should match each other, as shown in fig. 10a, the inclination angle of a pair of abutting surfaces between the first moving arm 411 and the second moving arm 412 is 20 degrees in this embodiment, and the angle of inclination of a pair of abutment surfaces between the second moving arm 412 and the top end of the gooseneck moving arm 413 is 15 degrees. Of course, the inclination angle may be set according to the angle of relative rotation of each moving arm.

The crane body device 44 of the present invention is in a shape that the middle part is wide, and the front part and the rear part are respectively narrowed from the middle part towards the front and the rear, and when the crane body device 44 is in an unmoved initial state, the crane body device is approximately parallel to the horizontal plane, and when the crane body device moves, the crane body device can pitch relative to the horizontal plane.

The crane assembly 44 of the present invention may take the form of a structure as shown in fig. 19a-19c, comprising: the crane body front frame 441, the crane body middle frame 442 and the crane body tail frame 443 are fixedly connected from front to back, the crane neck moving arm is connected with the front side of the crane body front frame 441, namely, the bottom end of the connecting arm 414 of the crane neck moving arm is hinged with the front side of the crane body front frame, and the crane leg device 45 is hinged with the crane body middle frame 442.

It should be noted that the directions or positional relationships referred to in the present document, such as front, back, left, right, upper, lower, etc., are the directions or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention.

Specifically, the crane body front frame 441 is formed by welding two bent tubes 4414, two transverse tubes 4411, two short inclined tubes 4412 and two long inclined tubes 4413 which are respectively equal in length, wherein the two short inclined tubes 4412 and the two long inclined tubes 4413 are respectively positioned on two sides of the two transverse tubes 4411. The upper part of the elbow 4414 is a vertical straight pipe section, the lower part of the elbow 4414 is an arc section, one transverse pipe 4411 is connected with the top ends of the straight pipe sections of the two elbow 4414, one transverse pipe 4411 is connected with the middle parts of the straight pipe sections of the two elbow 4414, a short inclined pipe 4412 is welded at the joint of the top end of the straight pipe section and the transverse pipe 4411 in an inclined mode, and a long inclined pipe 4413 is welded at the joint of the top end of the straight pipe section and the transverse pipe 44.

The angle between the short inclined tube 4412 and the corresponding horizontal connecting tube 4411 is smaller than the angle between the long inclined tube 4413 and the corresponding horizontal connecting tube 4411, so that the whole crane body front frame 441 has a shape with a narrowed front end and a widened rear end (the rear end refers to the end for connecting with the crane body middle frame 442). The bottom end of the connecting arm 414 of the gooseneck motion arm can be hinged to the cross tube 4411 for connecting to the top end of the straight section of the elbow 4414 or the top end of the straight section of the elbow 4414.

The crane body middle frame 442 is a rectangular frame structure, which may be a structure shown in fig. 20 a-20 c, and includes a first frame 4421, a second frame 4422, and a third frame 4423 that are adjacently disposed from top to bottom and fixedly connected, a plurality of lower LED holders 4426 for fixing LED lamps are mounted on the third frame 4423, a plurality of upper LED holders 4424 for fixing LED lamps are mounted on the first frame 4421, the front and rear sides of the first frame 4421 and the second frame 4422 are respectively connected to a first connection pipe 4427, the two sides of the second frame 4422 and the third frame 4423 are respectively connected to a second connection pipe 4428, and a plurality of nozzle clamping plates 4425 are mounted on the second frame 4422.

During manufacturing, the first frame 4421, the second frame 4422 and the third frame 4423 are respectively formed by welding a plurality of cross beams, longitudinal beams, upright posts, inclined tubes and the like, a base for mounting each mechanism in the driving device is arranged on each frame in addition to the above components, for example, a base for mounting a neck driving mechanism is arranged on one side (front side) of the first frame 4421, a base for mounting a leg swinging driving mechanism is arranged on the middle rear side of the second frame 4422, and bases for mounting a head driving mechanism and a crane body pitching driving mechanism are respectively arranged on the front side and the rear side of the third frame 4423.

Wherein, crane body afterbody frame 443 is by the shape of front end widen, rear end constriction, includes: a short pipe 4431, a middle pipe 4437, an intermediate long pipe 4435 and a long pipe 4438 which are arranged from top to bottom in sequence, wherein one end of the short pipe 4431, the middle pipe 4437, the intermediate long pipe 4435 and the long pipe 4438 is respectively fixed at the corresponding position of the crane body middle frame 442; a short inclined tube 4432 connecting the other ends of the short tube 4431 and the middle tube 4437; a long inclined tube 4434 connected with the middle tube 4437, the middle long tube 4435 and the other end of the long tube 4438; a pair of inclined tubes 4433 and a pair of inclined tubes 4436 which are positioned at the left and right sides of the crane body middle frame 442 and one end of which is fixedly connected with the crane body middle frame. The crane body tail frame 443 is formed by the pipe members.

Of course, in addition to the above structure, the frames of the crane body assembly 44 of the present invention may also be welded by other pipes, so long as the whole crane body assembly is in a shape that the middle part is wide, and the front part and the rear part are respectively narrowed from the middle part forward and backward, and the frames are provided with a required base, a nozzle clamp plate, an LED holder, and the like.

The crane body device 44 of the present invention is supported by the support device 12 in the middle, the support device 12 includes a support platform, a support column 121 is vertically installed on the support platform, and the top end of the support column 121 is hinged with the crane body middle frame 442. In addition, the crane body assembly 44 is also supported by a crane leg assembly 45, the crane leg assembly 45 having an upper portion hingedly connected to the crane body mid-frame 442 and a lower portion connected to the support platform. Through support column 121 and crane leg device 45, can provide three point support to crane body device for steady, safe and reliable when whole crane system moves.

The leg attachment can take the form of a structure as shown in figures 14 a-14 d, comprising: a pair of crane legs which are respectively connected with the two sides of the crane body middle frame 442, each crane leg is in a slender strip shape and is provided with a crane leg upper limb 451 and a crane leg lower limb 452 hinged with the lower part of the crane leg upper limb 451; and a pair of tackle mechanisms 453 connected to the pair of leg lower limbs 452, respectively.

Specifically, as shown in fig. 14a to 14d, a pair of crane legs of the leg assembly of the present invention are located at both sides of the crane body middle frame 442, and the upper ends of the upper limbs 451 of the crane legs of the pair of crane legs are hinged to a pair of bases on the third frame 4434 of the crane body middle frame 442, respectively, so that the pair of crane legs can perform stepping motion with respect to the crane body middle frame 442 around the hinged portion. And the upper limb 451 of the crane leg is hinged with the lower limb 452 of the crane leg, so that the upper limb and the lower limb can relatively bend and move by taking a hinged point as a center, and the relative bending operation of the upper limb and the lower limb of the crane leg is better simulated.

The pair of leg lower limbs 452 are respectively connected to a pair of pulley mechanisms 453 which include a pulley 4532 (the other side is a pulley 4532', only one pulley mechanism is described below as an example), the pulley is slidably connected to a rail 4531 so as to run on a guide surface on the upper portion of the rail 4531 (as shown in fig. 16a to 16 c), the rail 4531 is an i-shaped rail, the bottom of which is fixedly mounted on the support platform, the extending direction of the rail coincides with the running direction of the leg, that is, the front and rear direction of the crane body in a horizontal state, the rail may be a linear rail or an arc rail, that is, the rail may be a linear rail parallel to the horizontal plane or an upwardly convex arc rail as viewed from the side of the extending direction of the rail (only the arc rail is shown in the figure).

Wherein, coaster 4532 includes: a pair of clamping plates 4532 which are arranged side by side and are in an inverted triangle shape, each clamping plate 4532 is provided with a first through hole, a second through hole and a pair of third through holes, the first through hole and the second through hole are vertically arranged along a symmetry axis, the pair of third through holes are symmetrically positioned at two sides of the symmetry axis, and the second through hole is close to the vertex angle of the triangle; a fixed shaft which is fixedly connected with the clamping plates and penetrates through the first through holes of the clamping plates 4532 at two ends, and the lower limbs 452 of the crane legs are sleeved outside the articulated shaft and are rotatably connected with the articulated shaft; a nylon sleeve 4534 which is sleeved on the fixed shaft and is used for limiting the crane leg lower limb 452 along the axial direction of the fixed shaft; two articulated shafts which are arranged at two corresponding pairs of third through holes of a pair of clamping plates 4532, wherein each articulated shaft is sleeved with a roller 4536 which is rotatably connected with the articulated shaft and can walk along the upper guide rail surface of a guide rail 4531; a pair of bearing shafts installed at the second through holes of the pair of clamping plates 4532, one end of each bearing shaft passes through the second through hole of the corresponding clamping plate and is fixedly connected with the clamping plate, the other end of each bearing shaft is suspended, a supporting wheel 4533 is rotatably installed at the suspended end, and the pair of supporting wheels 4533 oppositely abut against two vertical side walls of the guide rail 4531 below the upper guide rail surface; an angle iron 4535 fixedly installed on one of the pair of clamping plates 4532 close to the center of the supporting platform is used for fixing the steel wire rope thereon, and correspondingly, a rope hole for fixing the steel wire rope is formed on the angle iron 4535.

The trolley 4532 of the invention can walk along the guide rail 4531 through a pair of rollers 4536 arranged in front and back, can stably walk along the upper guide surface of the guide rail 4531 by abutting a pair of supporting rollers 4533 positioned in the middle of the pair of rollers 4536 against the side wall of the guide rail 4531, and can drive the lower limbs 452 of the crane leg to move along the guide rail 4531 when the trolley 4532 walks because the lower limbs 452 of the crane leg are hinged with the middle upper part of the trolley 4532, thereby simulating the movement of the crane to take a step along the extension direction of the guide rail 4531.

The crane leg device, the crane body device and the head and neck device respectively execute corresponding actions of stepping, pitching and the like under the driving of the driving device. Correspondingly, the driving device comprises a leg swing driving mechanism 46 (shown in fig. 8a and 9), and a leg swing device 45 is driven by the leg swing driving mechanism 46 to perform stepping motion relative to the crane body device 44 and the supporting platform.

Specifically, the leg swing drive mechanism 46 may be configured as shown in fig. 14 a-14 d, including: a power drive mechanism; and a crane leg traction mechanism connected to the power drive mechanism and the tackle mechanism 453, respectively, for driving a pair of crane legs to walk by the output power of the power drive mechanism.

As shown in fig. 15a and 15b, the power drive mechanism includes: a motor 463 fixedly mounted on a corresponding base of the second frame of the crane body 44, the motor 463 having dual output shafts projecting away from each other, the axial extension direction of the dual output shafts being perpendicular to the length extension direction of the guide rail 4531 and the front-rear extension direction of the crane body 44; a pair of swing arms 462, one end of which is connected with the dual output shafts of the motor 463 respectively, the extending directions of the pair of swing arms 462 are perpendicular to the extending directions of the dual output shafts respectively, and the pair of swing arms 462 extend out opposite to the central axes of the dual output shafts (as shown in fig. 15 b) and are positioned at the left side and the right side of the crane body device; a pair of connecting shafts fixedly arranged at the extending ends of the pair of swing arms 462 and vertical to the swing arms, a pair of swing frames rotatably arranged outside the pair of connecting shafts, one ends of the swing frames rotatably connected with the connecting shafts, a pair of swing pulleys rotatably connected with the corresponding swing frames respectively arranged at the other ends of the pair of swing frames, namely a first swing pulley 461, a second swing pulley 464, and two ends of a steel wire rope (namely a steel wire rope 4554 shown in fig. 14 d) of the crane leg pulling mechanism for pulling the pair of crane legs to move, respectively, pass around the first swing pulley 461 and the second swing pulley 464 and then extend downwards along the vertical direction. When the motor 463 works, the dual output shafts drive the pair of swing arms to rotate relative to the central axes of the dual output shafts, and the pair of swing arms correspondingly drive the steel wire ropes wound on the first swing pulley 461 and the second swing pulley 464 to pull the pair of crane legs to correspondingly move so as to complete the action of walking.

In order to pull a pair of crane legs to walk by a steel wire rope, the crane leg traction mechanism of the invention comprises: a pair of vertical guide mechanisms 455 are respectively connected to the two sides of the crane body middle frame 442 for guiding the direction of the wire 4554 passing through the swing pulley on the corresponding side, that is, each vertical guide mechanism 455 corresponds to the swing pulley on the crane body middle frame 442; the horizontal guide mechanism 454 connected to the pair of tackle mechanisms 453 is configured to guide the wire 4554 guided by the pair of vertical guide mechanisms 455 such that the wire 4554 extends horizontally and both ends of the wire 4554 are connected to the pair of tackle mechanisms 453, respectively.

Specifically, as shown in fig. 14c and 14d, each of the pulling vertical guides 455 includes: a double pulley 4551 arranged below the swing arm on the corresponding side, arranged on the double pulley frame, and provided with two pulleys arranged below the swing pulley side by side and having the same size as the swing pulley, wherein one pulley is arranged right below the swing pulley (namely, the pulley shafts of the double pulleys are respectively parallel to the pulley shaft of the swing pulley, and the pulley shaft of one pulley and the pulley shaft of the swing pulley are arranged in the same vertical plane), a clearance hole for the steel wire rope 4554 to pass through is formed between the two pulleys, two ends of the steel wire rope 4554 are respectively fixed on the pair of double pulley frames, and the steel wire rope extends from bottom to top from one side of one pulley of the double pulleys, winds around the swing pulley from bottom to top from the same side of the swing pulley, then extends from top to bottom and passes through the clearance hole of the double pulleys; a connecting pipe 4552 extending in a vertical direction, a double pulley holder being provided at a top end thereof, the center of the connecting pipe 4552 being aligned with a clearance hole of the double pulley 4551, and a wire rope 4554 introduced from the clearance hole of the double pulley being led out from top to bottom by the connecting pipe 4552; and a single pulley frame arranged at the bottom end of the connecting pipe 4552, wherein a single pulley 4553 with a pulley shaft parallel to the pulley shaft of the swinging pulley is arranged on the single pulley frame, that is, the pulley shaft of one pulley, the pulley shaft of the swinging pulley and the pulley shaft of the single pulley 4553 in the double pulleys are positioned in the same vertical plane, and a steel wire rope 4554 led out from the bottom end of the connecting pipe 4552 is wound around the single pulley 4553 and then led out in a direction perpendicular to the vertical direction.

The wire rope 4554 led out from the vertical guide mechanism 455 is guided by the horizontal guide mechanism 454 and connected to the pair of tackle mechanisms 453. The pulling horizontal guide 454 of the present invention may take the form of a structure as shown in fig. 17 a-17 c, comprising: a pair of horizontal brackets 4542 parallel to the length extension direction of a pair of guide rails 4531 on the support platform, located between the pair of guide rails 4531 and disposed adjacent to the guide rails 4531; four pulleys installed at front and rear ends of a pair of horizontal brackets 4542, i.e., a first pulley 4541 and a second pulley 4544 installed at both ends of one horizontal bracket, and a third pulley 4545 and a fourth pulley 4547 installed at both ends of the other horizontal bracket (as shown in fig. 17 c); and a pair of diverting pulleys 4543, 4546 (shown in fig. 17 c) installed at the middle of the pair of horizontal brackets 4542, respectively, for horizontally drawing out the wire ropes 4554 pulled out by the corresponding side single pulleys 4553.

Two ends of a steel wire rope 4554 are respectively fixed on two double-pulley frames corresponding to swing arms on two sides. The connection of the wire 4554 to other elements will now be described with reference to fig. 14a to 17 c.

One end of the steel wire 4554 may be fixed to a double pulley frame on the same side as the swing arm 462, and then the other end of the steel wire is firstly wound around the swing pulley above the pulley from the bottom to the top by one side of one of the double pulleys on the double pulley frame (or directly wound around the swing pulley by the double pulley frame), and the steel wire is made to pass through the clearance hole of the double pulley from the top to the bottom and pass through the connecting pipe 4552 on the corresponding side. The other end of the steel wire rope led out from the connecting pipe 4552 firstly bypasses the single pulley 4553, is reversed by the reversing pulley 4543 positioned on the same side, extends towards one end of the horizontal support along the length extension direction of the corresponding horizontal support 4542, extends towards the other end of the horizontal support 4542 along the length extension direction of the horizontal support 4542 after bypassing the pulley 4541 positioned on one end of the horizontal support 4542, fixes the pulley 4532 on the steel wire rope 4554 through a rope hole arranged on an angle iron 4535 on the corresponding side pulley 4532 in the process of not extending to the other end (if the steel wire rope can pass through a part of the rope hole, the pulley is fixed on the steel wire rope by means of binding, other prior art methods can also be adopted), then continuously extends the other end of the steel wire rope 4554 towards the other end, and performs 90-degree angle reversing through the pulley 4544 positioned. After reversing, the steel wire rope extends towards the corresponding end of the other horizontal support, and after the steel wire rope passes around the pulley 4545 at the corresponding end of the other horizontal support, the steel wire rope continues to extend towards the other end of the other horizontal support, the pulley 4532' is fixed on the steel wire rope in the extending process (the same fixing mode can be adopted), then the steel wire rope 4554 passes around the pulley 4547 at the other end of the horizontal support and extends towards the direction of the reversing pulley 4543 at the corresponding side, then passes around the single pulley 4553 at the corresponding side, passes through the connecting pipe at the corresponding side from bottom to top, passes through the gap hole of the double pulleys at the corresponding side from back to top after passing through the connecting pipe, passes through the swinging pulley at the corresponding side, and then extends downwards and is fixed on the corresponding double pulley frame.

Of course, the connection of the steel wire rope can be performed without adopting the sequence, as long as the connection is convenient and the two ends of the steel wire rope are respectively fixed on the two double-pulley frames.

In addition, in order to ensure that the steel wire 4554 does not become long or loose during the process of pulling a pair of crane legs, the crane leg pulling mechanism of the present invention may also adopt a structure as shown in fig. 17d, that is, a set of tensioning assembly 4548 is arranged between the second pulley 4544 and the third pulley 4545 which are positioned at the same side ends of a pair of horizontal supports, and is used for tensioning the steel wire 4554 between the two pulleys, and the tensioning assembly may adopt a structure comprising: a tension pulley provided between the second pulley 4544 and the third pulley 4545, around which the wire rope 4554 passes; one end of the traction piece is respectively connected with two sides of the tension wheel, the other end of the traction piece is respectively fixedly arranged, and the traction piece can adopt an elastic piece with certain elasticity, such as a spring and the like. In addition, the tensioning assembly may also adopt a structure in the prior art, and the structure thereof is not described herein in detail.

The action of a pair of crane legs is dragged by a steel wire rope of the crane leg traction mechanism, the steel wire rope generates power for winding and unwinding back and forth through the circulating action of the whole crane leg traction mechanism such as a pair of swing arms and the like, and drives a pair of pulleys to correspondingly move along a pair of guide rails, so that the crane system can truly simulate the stepping action of the pair of crane legs, the stepping action of the whole crane leg traction mechanism is simple and easy to realize, and the manufacturing cost is greatly reduced.

Since the crane system according to the present invention can perform the pitching operation of the head and neck device in addition to the stepping operation of the crane leg, the driving device may further include a head and neck driving mechanism for driving the pitching operation of the head and neck device 41 in addition to the above-described crane leg driving mechanism 46 for driving the crane leg to step, and the head and neck driving mechanism includes: a head driving mechanism 42 connected with the crane head moving arm and used for driving the crane head moving arm to perform pitching motion relative to the crane neck moving arm; and a neck driving mechanism 43 connected with the crane neck moving arm and used for driving the crane neck moving arm to perform pitching motion relative to the crane body device.

Specifically, the head driving mechanism 42 may adopt a structure as shown in fig. 11a and 11b, including: a lower fixing plate 4209 and an upper fixing plate 4203 are mounted on the lower portion of a crane body front frame 441 of the crane body device, and the upper fixing plate and the lower fixing plate can be respectively a U-shaped plate; a motor 4201 with a decelerator, whose output shaft extends toward the right side of the crane body assembly, mounted on a lower fixing plate 4209; a crank 4211 having one end connected to an output shaft of the motor 4201; a rocker structure 4204 (shown in fig. 11a, 12 b) connected to the crank 4211, having a swing arm 4241 in an L-shape; a switch fixing plate 4206 mounted on the upper fixing plate 4203, on which a handle type switch 4207 is mounted, which may be a pivot R handle type switch; and a cable structure connected with the swing arm 4241. In addition, a first pressing piece 4202 and a second pressing piece 4205 for defining the swing arm 4241 may be further included, and the first pressing piece 4202 and the second pressing piece 4205 are respectively installed at both ends of the swing arm 4241.

The swing arm 4241 is provided with a plurality of mounting holes, which include a crank mounting hole for connecting with the crank 4211, a plurality of cable mounting holes for mounting the cable 4208, and a plurality of fixing plate mounting holes for connecting with the upper fixing plate 4203, and by providing a plurality of fixing plate mounting holes on the swing arm 4241, the mounting position of the swing arm 4241 on the upper fixing plate 4203 can be determined as required.

When the swing arm 4241 is designed, the fixing plate mounting hole and the crank mounting hole may be located at two ends of the swing arm 4241, the first connecting shaft 4243 is disposed in the crank mounting hole, the second connecting shaft 4242 is disposed in the fixing plate mounting hole, and the first connecting shaft 4243 and the second connecting shaft 4242 extend away from each other with respect to the swing arm 4241, one end of the second connecting shaft 4242 is rotatably connected to the upper fixing plate 4203, and the other end is fixedly connected to the swing arm 4241, or one end of the second connecting shaft 4242 is fixedly connected to the upper fixing plate 4203, and the other end is rotatably connected to the swing arm 4241, so that the swing arm 4241 may rotate with respect to the upper fixing plate 4203 with the central axis of the second connecting shaft 4242 as the center, and the first connecting shaft.

The cable structure is connected with cable fixing holes (at least two cable fixing holes are formed in the swing arm) formed in the swing arm 4241, the cable structure comprises two cables 4208, and a first cable sequentially penetrates through a plurality of clips arranged on the front portion of the head and neck device from bottom to top (clips are not required to be arranged on the front portion of the second moving arm) and is connected with the front portion of the first moving arm. The second cable sequentially penetrates through a plurality of clips (clips are required to be arranged at the rear part of the second moving arm) arranged at the rear part of the head and neck device from bottom to top and is connected with the rear part of the first moving arm. In order to prevent the two guys from interfering, the guy structure further comprises a guy isolation plate for isolating the two guys, wherein the guy isolation plate is provided with through holes for the two guys to respectively pass through, and one end of the guy isolation plate is hinged to the upper fixing plate 4203. In order to prevent the two inhaul cables from interfering with other components in the process of extending upwards, a double-groove pulley can be further installed at the hinged position of the connecting arm 414 and the front side of the crane body front frame, and the two inhaul cables can respectively pass through the corresponding rope grooves of the double-groove pulley.

When the motor during operation, drive two cables through crank, swing arm and realize the pitching action of the relative crane body device of head neck device:

by the first cable, the front portion of the first moving arm 411 can be pulled, and the first moving arm 411 can be tilted down or up (i.e., a pitching motion) around the joint of the hinge (hinge located at the front portion) connected to the second moving arm 412.

By means of the second cable, the rear part of the first moving arm 411 and the rear part of the second moving arm 412 can be pulled, the first moving arm 411 can be lowered or raised around the joint of the hinge (the hinge is located at the front part) connected with the second moving arm 412, the second moving arm 412 can be lowered or raised around the joint of the hinge (the hinge is located at the front part) connected with the crane neck moving arm 413, and therefore the head can be lifted relative to the neck. And the angle of the pitching motion can be realized by adjusting the pulling force of the two inhaul cables.

The neck driving mechanism 43 is connected to the neck moving arm 413 and drives the neck moving arm 413 to tilt relative to the crane body 44. The neck driving mechanism 43 may be configured as shown in fig. 13a and 13b, and includes: a base 4307 mounted on the upper part of the crane body front frame 441 of the crane body device; a fixing plate 4303 arranged on the top of the machine base 4307, wherein the fixing plate 4303 can adopt a U-shaped plate; a motor 4301 with a reducer, which is installed on the base 4307, and an output shaft of which extends toward the right side of the crane body device; a crank 4308 mounted on an output shaft of the motor 4301; a connecting rod plate 4302 connected to an extending end of the crank 4308 and having a long bar shape; the connecting rod 4304 which is a T-shaped connecting rod and is arranged at one end of the connecting rod plate 4302 comprises a long rod part and a vertical rod part which is perpendicular to the long rod part and is fixedly connected with one side of the middle part of the long rod part, one end of the long rod part of the connecting rod is hinged with one end of the connecting rod plate 4302, and the vertical rod part is hinged with the upper part of the fixing plate 4303; a long connecting rod plate 4305 with one end hinged to the other end of the long rod part and the other end fixedly connected to the bottom of the neck moving arm 413 of the head and neck device; the switch fixing plate 4310 is connected with the connecting rod 4304 through a bolt, the switch 4306 is mounted on the switch fixing plate, and the switch 4306 can be a cross-slot ball switch.

When the motor 4301 works, the crank 4308 drives the T-shaped link to rotate around the hinge of the T-shaped link and the fixing plate 4303 through the link plate 4302, and drives the neck moving arm 413 to rotate around the hinge of the connecting arm 414 and the front side of the front frame of the crane body through the long link plate 4350 during the rotation process, that is, the neck moving arm 413 and the first and second moving arms connected to the top end of the neck moving arm 413 tilt relative to the crane body device, so as to simulate the tilting of the neck of the crane.

When the head-mounted lifting robot is actually used, the neck driving mechanism and the head driving mechanism can work cooperatively, so that the pitching motion of the head and neck joints of the crane can be simulated more truly.

The crane system of the present invention can perform the pitching operation of the crane body device with respect to the crane leg device 45 (or the horizontal plane) in addition to the stepping operation of the crane leg and the pitching operation of the head and neck device, and therefore, the driving device can include the crane body pitching driving mechanism 47 for driving the crane body device to pitch with respect to the crane leg device in addition to the crane leg driving mechanism 46 for driving the crane leg to step and the head and neck driving mechanism for driving the head and neck device 41 to pitch.

Specifically, the crane pitch drive mechanism 47 may be configured as shown in fig. 18a to 18c, and includes: the base 472 mounted on the second frame and/or the third frame 4423 of the crane body middle frame 442 of the crane body device 44 has a pair of clamp plates 4722 located on both sides of the crane body device 44 and extending in the vertical direction, and a support 4721 having both ends connected to the pair of clamp plates 4722, respectively, the support 4721 is a U-shaped support, a through hole for the support column 121 to pass through is provided in the center thereof, the parallel both side walls thereof are connected to the pair of clamp plates 4722, respectively, the pair of crane legs upper limbs 451 are hinged to both side walls of the support 4721 through shafts, the central axis of the shafts is perpendicular to the extending direction of the support in the length direction, and the pair of clamp plates 4722 are hinged to both sides of the second frame and/or the third frame 44; the driving device 471, which is mounted on the second and/or third frame 4423, has a driving motor 4711, a crank link structure connected to an output shaft of the driving motor 4711, a crank 4712 connected to the output shaft, and a link 4713 having one end connected to the crank 4712, the other end of the link 4713 being cross-shaped, and the other end of the link 4712 having the cross-shape being hinged to the support 4721 through a hinge 473.

When the driving motor 4711 works, the output shaft thereof drives the crank-link structure to move, so that the support 4721 is driven by the link 4713 to perform pitching motion by using the hinged parts at the two sides of the pair of clamping plates 4722 and the second frame and/or the third frame 4423 as pivots, thereby driving the whole crane body device 44 to perform pitching motion relative to the crane leg device 45 (or horizontal plane), and further simulating the pitching motion of the crane body relative to the crane legs.

In practical application, the devices of the crane system of the present invention can cooperate with each other to perform various pitching and stepping actions of the crane, as shown in fig. 21a-21j, which only show some action postures, as follows: the crane system is in a state that the crane body device is tilted backwards (namely, the back part is low and the front part is high) (as shown in fig. 21 a); the crane system is in a posture that the crane body device is forward inclined (or forward and downward inclined) and the crane head device is downward inclined (as shown in fig. 21 b); the crane system is in a position that the crane body is horizontal and the crane head is looking forward (as shown in fig. 21 c); the crane system is in a posture that the crane body is horizontal and the crane head is low (as shown in fig. 21 d); the crane system is in a posture that the crane body device tilts backwards (or the front part is raised upwards) and the crane head device is tilted downwards (as shown in fig. 21 e); the crane system is in the posture that the crane body device is horizontal, the crane head device is low, and a pair of crane legs of the crane leg device take a step (as shown in fig. 21 f); the crane system is in the posture that the crane body is horizontal, the crane head is raised and the crane legs step (as shown in fig. 21 g); the crane system is in a posture that the crane body device is inclined backwards, the crane head device is lifted to be horizontal to the ground, and the pair of crane legs are slightly folded (as shown in fig. 21 h); the crane system is in a state that the crane body device is inclined backwards, the crane neck of the crane head device is inclined backwards, the crane head is lifted to be horizontal to the ground, and the crane legs are completely folded (as shown in fig. 21 i); the crane system is in the posture that the crane body device is inclined backwards, the crane neck of the crane head device is inclined backwards, the crane head is inclined downwards, and the crane legs are completely folded (as shown in fig. 21 j).

It can be seen from the above figures that the crane system of the present invention can simulate the operation and shape of the crane almost truly. And when the device is applied, the device can be matched with the movement of the uplink system along the track system, so that the walking action of the crane in water can be perfectly reproduced, and the visual regret is greatly enhanced.

The crane system of the present invention comprises, in addition to the above-mentioned devices, a wing device connected to the crane body device 44, and has two sets of pipes located at both sides of the crane body device 44, each set of pipes may comprise a plurality of water outlet pipes 48 sequentially arranged from front to back along the length extension direction of the crane body device and a water supply device (not shown in the drawings, which is not repeated here) communicated with the pipes for supplying water to the pipes, the wings of the crane are formed by water streams jetted outward from the water outlet pipes 48, and the angle of the water streams relative to the crane body device 44 during jetting is controlled by controlling the intensity of the water streams, so as to simulate different postures of the crane in cooperation with other systems and/or devices. The outlet pipe 48 is hinged to the spray head clamp plate so that the outlet pipe can swing relative to the crane body device to form a swinging fountain simulating wings.

In order to provide the required water source for the pipeline, the supporting column 121 is designed as a hollow supporting column for guiding water, the top end of the supporting column 121 is connected to two sets of pipelines, and the bottom end of the supporting column 121 is connected to the water source supply port of the water supply device (as shown by the dotted line at the bottom end of the supporting column 121 in fig. 1), and if necessary, can also be connected to each other through the pipeline. Because the track system of the device is arranged in water, water can be taken in situ, and a water source required by wing motion is provided for the crane system.

In addition, the invention is provided with a profile casing 49 on each device cover, the profile casing has a shape similar to the shape of the crane, such as a head and neck casing with a bend, a crane body casing approximately parallel to the horizontal plane, a crane leg casing similar to the crane leg shape and a crane foot casing similar to the crane foot shape (as shown in fig. 8 a), and the profile casing can adopt a multi-section casing to match different actions of the crane (such as adopting disconnection processing at each connection part with relative movement). When in design, a plurality of luminous parts (the luminous parts are LED lamps or LED luminous bands and the like) which can emit light are arranged on the copying shell according to needs, for example, a pair of LED lamps or LED luminous bands used for simulating the eyes of the hairyvein agrimony are arranged on two sides of the head and neck device of the copying shell, a plurality of luminous parts which enable the hairyvein agrimony to flash at night are arranged on other parts of the copying shell, and the like.

Furthermore, a laser emitting device (the laser emitting device can adopt the prior art structure) can be used in a matching way, for example, a laser lamp head is arranged at the head part or other positions of the head and neck device, and light with variable colors is emitted through a slightly-opened crane mouth, so that the crane performance device can increase the ornamental value of the performance through the laser, the crane body with variable colors and a swinging fountain with simulated wings at two sides.

In summary, the crane performance device of the invention has the following outstanding advantages:

1. according to the crane performance equipment, the crane system can rotate, pitch and walk relative to the ground or water surface, various postures of the crane during natural actions are vividly and vividly simulated, the reality sense of watching the performance by an observer is enhanced, and the crane performance equipment brings greater visual impact to audiences.

4. According to the crane performance equipment, walking, turning, stepping and pitching actions of the crane system are realized by drawing the steel wire rope, the driving structure is simple, the manufacturing cost is low, and the structure of the whole equipment can be simplified.

Although the present invention has been described in detail, the present invention is not limited thereto, and those skilled in the art can modify the principle of the present invention, and thus, various modifications made in accordance with the principle of the present invention should be understood to fall within the scope of the present invention.

Claims

1. An apparatus for crane performance, comprising:

a track system having a pair of rails arranged side-by-side and under the water;

a traveling system disposed above the rail system and having a traveling vehicle body traveling along a pair of guide rails thereof;

a rotating system mounted on the traveling vehicle body and rotating relative thereto; and

the crane system is arranged on the rotating system and used for simulating the pitching and stepping actions of the crane.

2. The crane performance apparatus of claim 1, wherein the travel system further comprises:

the traveling crane driving mechanism is arranged on the traveling vehicle body and is used for providing driving force for the traveling of the traveling vehicle body;

and the traveling crane traction guide mechanism is respectively connected with the traveling crane driving mechanism and the pair of guide rails and is used for guiding the traveling direction of the traveling crane body.

3. The crane performance apparatus of claim 2, wherein the crane traction guidance mechanism comprises:

a pair of chain fixing seats which are respectively arranged at two ends of the pair of guide rails and are respectively and vertically connected with the two ends of the pair of guide rails;

the roller chains are arranged on the same side of the pair of chain fixing seats;

the chain wheel component is meshed with the roller chain and drives the walking vehicle body to walk along a pair of guide rails through the matching of the roller chain and the roller chain;

wherein the extending direction of the roller chain is parallel to the guide rail and is positioned at the outer side of the guide rail.

4. The crane performance apparatus of claim 3, wherein the sprocket assembly comprises:

a first guide chain wheel and a second guide chain wheel which are sequentially arranged on the walking vehicle body along the front-back extension direction of the walking vehicle body and are respectively meshed with the roller chains;

a idler wheel installed between a pair of guide sprockets;

wherein the roller chain sequentially bypasses the first guide chain wheel, the output chain wheel and the second guide chain wheel.

5. A crane performance apparatus as claimed in any one of claims 1 to 4 wherein said rotation system comprises:

the rotating platform assembly is provided with a supporting platform for supporting the crane system and a supporting column which penetrates through the center of the supporting platform and is connected with the bottom of the crane body device of the crane system;

and the rotary driving mechanism drives the supporting platform to rotate relative to the traveling system.

6. The crane performance apparatus of claim 5, wherein the crane system further comprises:

the crane leg device is connected with the rotating system and can move in a stepping way relative to the rotating system, and the crane body device is connected with and supported by the crane leg device;

a head and neck device connected with and supported by the crane body device;

the driving device is used for driving the crane leg device, the crane body device and the head and neck device;

the cover is arranged outside the crane leg device, the crane body device, the head and neck device and the driving device to form a crane-shaped profiling shell.

7. The crane performance apparatus of claim 6, wherein the head and neck device is of a bent configuration comprising:

a crane head moving arm; a crane neck moving arm connected with the crane head moving arm;

and the connecting arm is fixedly connected with the crane neck moving arm and forms an included angle with the central axis of the crane neck moving arm.

8. The crane performance apparatus as claimed in claim 7, wherein the crane body device is a structure with a middle part narrowing towards the front side and the back side, and comprises a crane body front frame, a crane body middle frame and a crane body tail frame, the crane neck moving arm is connected with the crane body front frame, and the crane leg device is connected with the crane body middle frame.

9. A crane performance apparatus as claimed in claim 8 wherein the crane leg means comprises:

the crane legs are positioned at two sides of the crane body middle frame and are respectively connected with the crane body middle frame, and each crane leg is provided with a crane leg upper limb and a crane leg lower limb hinged with the crane leg upper limb;

a pulley mechanism respectively connected with the lower limbs of the crane legs.

10. The crane performance apparatus of claim 9, wherein the drive means comprises:

the leg swinging driving mechanism is used for driving the crane leg device to step relative to the crane body device;

the head and neck driving mechanism is used for driving the head and neck device to perform pitching motion;

and the crane body pitching driving mechanism is used for driving the crane body device to perform pitching motion relative to the crane leg device.