CN112426728A - Walking driving system for bird-flying equipment performance - Google Patents
Walking driving system for bird-flying equipment performance Download PDFInfo
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- CN112426728A CN112426728A CN201910789805.1A CN201910789805A CN112426728A CN 112426728 A CN112426728 A CN 112426728A CN 201910789805 A CN201910789805 A CN 201910789805A CN 112426728 A CN112426728 A CN 112426728A
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- pair
- pulley
- bird
- leg
- steel wire
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G31/00—Amusement arrangements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J1/00—Stage arrangements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J5/00—Auxiliaries for producing special effects on stages, or in circuses or arenas
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Abstract
The invention discloses a walking driving system for bird flying equipment performance, which comprises: a support device for supporting the bird apparatus, a support platform having a pair of trolley mechanisms for mounting the leg device of the bird apparatus thereon; a leg swing drive device connected to the bird flying apparatus and the support platform, respectively, comprising: the power driving mechanism is arranged on the trunk device of the bird flying equipment and is used for providing power for walking for the legs of the leg device of the bird flying equipment; the leg traction mechanism is respectively connected with the power driving mechanism and the pair of pulley mechanisms and is provided with a steel wire rope which is used for driving the pair of pulley mechanisms to move relative to the supporting platform through the power so as to drive the leg device to walk. Wherein, the bird-flying device is a bird-flying device with two legs, comprising a crane device. The driving device of the invention can simulate and dynamically reproduce the stepping action of the pair of lower limbs of the bird flying equipment, thereby increasing the ornamental value of the performance.
Description
Technical Field
The invention relates to a performance device, in particular to a walking driving system for bird flying equipment performance.
Background
At present, the device for performing is generally a novel show, popular science and entertainment project, integrates various modern advanced technologies, and provides different and original visual impact for audiences.
For example, the device of the crane ballet performance of the world, san Taosha, Singapore, is the largest-scale outdoor electromechanical show device in the world to date, and has created a new landmark for nighttime entertainment for the beach trees of the world, san Taosha. The crane ballet adopts two crane-type devices to perform magic love stories, each device weighs 80 tons and can rise to the height of 30 meters (the height of 10 stories), so that the crane ballet becomes the highest outdoor electromechanical performance in the world, and displays a great dreamlike electric wonderful aspect to audiences through digital art, an LED display screen, exclamatory light and water curtain effects and perfect match.
The whole crane ballet is formed by hinging a plurality of connecting arms, the whole crane ballet is in a cuboid shape, an LED display screen is arranged on the middle upper part of the whole crane ballet, and the trunk and part of the crane action are projected through the LED display screen. However, the crane ballet described above does not have two legs, and therefore cannot reproduce the stepping action of flying bird equipment with two legs.
Disclosure of Invention
The present invention is directed to solve the above problems in the prior art, and an object of the present invention is to provide a walking drive system for bird-flying apparatus performance, which can simulate and dynamically reproduce the walking motion of a pair of legs of the bird-flying apparatus, thereby increasing the ornamental value of the performance.
To achieve the above object of the present invention, the present invention provides a walking drive system for bird equipment performance, comprising: a support device for supporting the bird apparatus, a support platform having a pair of trolley mechanisms for mounting the leg device of the bird apparatus thereon; a leg swing drive device connected to the bird flying apparatus and the support platform, respectively, comprising: the power driving mechanism is arranged on the trunk device of the bird flying equipment and is used for providing power for walking for the legs of the leg device of the bird flying equipment; the leg traction mechanism is respectively connected with the power driving mechanism and the pair of pulley mechanisms and is provided with a steel wire rope which is used for driving the pair of pulley mechanisms to move relative to the supporting platform through the power so as to drive the leg device to walk.
Wherein, the bird-flying device is a bird-flying device with two legs, comprising a crane device.
The leg device of the bird flying equipment further comprises a pair of lower limbs positioned on two sides of the trunk device, the lower limbs comprise leg upper limbs hinged with the two sides of the trunk device and leg lower limbs hinged with the leg upper limbs, and the pair of pulley mechanisms are correspondingly connected with the pair of leg lower limbs.
Wherein the power drive mechanism includes: the motor is fixedly arranged on the trunk device and is provided with double output shafts which extend out of the back of the trunk device; one end of the swing arm is connected with the double output shafts of the motor respectively, and the swing arms extend out of the opposite positions of the central axes of the double output shafts and are positioned at the left side and the right side of the trunk device; a pair of connecting shafts fixedly arranged at the extending ends of the pair of swing arms; and the swinging frames are sleeved outside the pair of connecting shafts and are rotatably connected with the corresponding connecting shafts.
One end of the swing frame is rotatably connected with the corresponding connecting shaft, the other end of the swing frame is respectively provided with a swing pulley rotatably connected with the swing frame, and the steel wire rope bypasses the swing pulleys.
Wherein the leg traction mechanism further comprises: the pair of traction vertical guide mechanisms are positioned at two sides of the trunk device and are respectively connected with the trunk device, and are used for respectively guiding the trend of the steel wire rope which bypasses the swing pulleys at the corresponding sides; and the traction horizontal guide mechanism is connected with the pair of pulley mechanisms and is used for enabling the steel wire rope guided out by the pair of traction vertical guide mechanisms to extend along the horizontal direction, and two sides of the steel wire rope are respectively connected with the pair of pulley mechanisms.
Wherein, pull vertical guide mechanism includes: the double pulleys are positioned below the corresponding side swing arms and arranged on the double pulley frames, and clearance holes for the steel wire ropes to pass through are formed between the double pulleys; the top end of the connecting pipe extending along the vertical direction is fixedly provided with a double-pulley frame, the center of the connecting pipe is aligned with the clearance hole of the double pulleys, and a steel wire rope led out downwards from the clearance hole of the double pulleys penetrates through the connecting pipe from top to bottom; and the single pulley frame is arranged at the bottom end of the connecting pipe, a single pulley is arranged on the single pulley frame, and a steel wire rope led out from the bottom end of the connecting pipe bypasses the single pulley.
And two ends of the steel wire rope are respectively fixed on a pair of double pulley frames of the pair of traction vertical guide mechanisms.
The supporting platform is provided with a pair of parallel guide rails, and the pair of pulley mechanisms is connected with the pair of guide rails respectively.
Wherein, pull horizontal guiding mechanism includes: a pair of horizontal brackets which are arranged on the supporting platform and are parallel to the pair of guide rails and are positioned between the pair of guide rails; four pulleys respectively arranged at two ends of the pair of horizontal brackets; and the pair of reversing pulleys are respectively arranged in the middle parts of the pair of horizontal supports and used for leading out the steel wire rope led out by the single pulley along the horizontal direction.
Further, the rail device is provided with a pair of guide rails arranged in parallel, and the supporting device is arranged above the pair of guide rails and walks along the guide rails.
Compared with the prior art, the walking drive system for bird flying equipment performance has the following outstanding advantages:
the walking driving system for the bird flying equipment performance can drive the leg device of the bird flying equipment to walk step by step according to the performance requirement, vividly and vividly simulate the posture of the bird flying equipment during stepping action, enhance the reality sense of watching the performance by an observer and bring greater visual impact to audiences.
The present invention will be described in detail with reference to the accompanying drawings.
Drawings
Fig. 1a is a front view of a first embodiment of the flying bird apparatus with a walking drive system of the present invention (showing the support device, the flying bird apparatus being a crane apparatus);
FIG. 1b is a left side view of the first embodiment flying bird apparatus with a walking drive system;
FIG. 2 is a schematic illustration of the flying bird apparatus of the present invention as a crane apparatus (support means not shown);
fig. 3a is a front view of the leg device of the present invention;
fig. 3b is a top view of the leg device of the present invention;
fig. 3c is a left side view of the leg apparatus of the present invention;
FIG. 3d is a schematic representation of the wire rope run in the leg assembly of the present invention;
FIG. 4a is a front view of the swing leg drive of the present invention;
FIG. 4b is a left side view of the swing leg drive of the present invention;
FIG. 5a is a front view of the carriage mechanism of the present invention mounted on a support device;
FIG. 5b is a left side view of the carriage mechanism of the present invention mounted on the support device;
FIG. 5c is a top view of the carriage mechanism of the present invention mounted on a support device;
FIG. 6a is a front view of a first configuration of the horizontal traction mechanism of the present invention;
FIG. 6b is a left side view of a first configuration of the horizontal traction mechanism of the present invention;
FIG. 6c is a top view of a first configuration of the horizontal pulling mechanism of the present invention;
FIG. 6d is a top view of a second configuration of the horizontal pulling mechanism of the present invention;
fig. 7 is a front view of a second embodiment flying bird apparatus with a walking drive system of the present invention.
Detailed Description
The invention provides a walking drive system for bird flying equipment performance, which comprises: a support device for supporting the bird apparatus, a support platform having a pair of trolley mechanisms for mounting the leg device of the bird apparatus thereon; a leg swing drive device connected to the bird flying apparatus and the support platform, respectively, comprising: the power driving mechanism is arranged on the body device of the bird flying equipment and is used for providing walking power for the leg device of the bird flying equipment; the leg traction mechanism is respectively connected with the power driving mechanism and the pulley mechanism and is provided with a steel wire rope which is used for driving the pair of pulley mechanisms to move relative to the supporting platform through the power so as to drive the leg device to walk.
The leg device of the bird flying equipment comprises a pair of lower limbs positioned on two sides of a trunk device, the lower limbs comprise upper leg limbs hinged with the two sides of the trunk device and lower leg limbs hinged with the upper leg limbs, and each lower leg limb is connected with a pulley mechanism. The bird flying equipment is bird with two legs, such as crane, gull, eagle, etc.
Next, the structure of a walking drive system for bird-flying apparatus performance will be described by taking only an example of an crane apparatus.
Example 1
As shown in fig. 1a and fig. 1b, which are a front view and a left view (showing a supporting device) of the crane apparatus with a walking driving system according to the present invention, respectively, fig. 2 is a schematic structural diagram of the crane apparatus after the supporting device is not shown and a part of the driving device is desalinized, as can be seen from fig. 1a to fig. 2, the walking driving system according to the present invention includes: a support device 12 for supporting the crane apparatus, a support platform having a pair of trolley mechanisms for mounting crane apparatus leg devices 45 thereon; swing leg drive arrangement who is connected respectively with hairyvein crane equipment and supporting platform has: the power driving mechanism is arranged on the crane equipment body device 44 and is used for providing walking power for the crane equipment leg device; the leg traction mechanism is respectively connected with the power driving mechanism and the pulley mechanism and is provided with a steel wire rope which is used for driving the pair of pulley mechanisms to move relative to the supporting platform through the power so as to drive the leg device to walk.
Specifically, the frame of the crane equipment comprises a leg device 45, a trunk device 44, a head and neck device 41 and a wing device 48, wherein a leg swing driving device 46 for driving the leg device 45 to walk in steps, a crane body driving mechanism 47 for driving the trunk device 44 to pitch, a head driving mechanism 42 for driving a crane head moving arm of the head and neck device 41 to pitch relative to the crane neck moving arm, and a neck driving mechanism 43 for driving the crane neck moving arm to pitch relative to the trunk device are arranged on the frame. Further, a copying case 49 having a shape similar to that of a crane is provided outside each device.
Of course, the torso device, the leg device, the head and neck device and the profiling shell with different shapes and structures can be manufactured according to different simulated bird-flying equipment.
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.
The torso device 44 of the present invention is wide in the middle, and the front and the rear of the torso device are respectively narrowed forward and backward by the middle, the middle of the torso device 44 is supported by the support device 12, the support device 12 includes a support platform, a support column 121 is vertically installed in the middle of the support platform, the top end of the support column 121 is hinged to the torso device 44, and guide rails 4531 are respectively installed on the support platform and at two sides of the support column 121.
In addition, torso device 44 is also supported by leg devices 45, with the upper portion of leg devices 45 being hingedly connected to torso device 44 and the lower portion being connected to the support platform. Through support column 121 and leg device 45, can provide three point support to torso device for it is steady, safe and reliable when whole agrimony equipment moves.
Wherein, the leg device of the crane device can adopt the structure as shown in fig. 3 a-3 d, comprising: a pair of crane legs (i.e., lower limbs, the same below) respectively connected to and located on both sides of the trunk unit, each crane leg having an elongated shape and having a crane leg upper limb 451 (i.e., leg upper limb, the same below) and a crane leg lower limb 452 (i.e., leg lower limb, the same below) hinged to a lower portion of the crane leg upper limb 451; and a pair of tackle mechanisms 453 connected to the pair of leg lower limbs 452, respectively.
As shown in fig. 3 a-3 d, a pair of legs of the leg assembly of the present invention are positioned on opposite sides of the trunk assembly 44 and the upper ends of the upper limbs 451 of the legs of the pair of legs are hinged to the underside of the middle of the trunk assembly 44, respectively, so that the legs of the pair of legs can perform a stepping motion about the hinges with respect to the trunk assembly. 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 connected to a pair of pulley mechanisms 453, respectively, one pulley mechanism includes a pulley 4532 (the other is a pulley 4532', hereinafter, only one pulley mechanism is described as an example), the pulley is slidably connected to a rail 4531 so as to travel on a guide surface of an upper portion of the rail 4531 (as shown in fig. 5a to 5 c), the rail 4531 is an i-shaped rail, a bottom portion of the rail 4531 is fixedly mounted on the support platform, an extending direction of the rail coincides with a traveling direction of the leg, that is, a front-back direction when the crane body is 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 a side of the extending direction of the rail (only the arc rail is shown in the drawing).
As shown in fig. 5a to 5c, the pulley 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.
Wherein, the invention drives the leg device 45 to execute stepping action relative to the trunk device 44 and the supporting platform through the leg swinging driving device 46.
Specifically, the leg swing driving device 46 may adopt a structure as shown in fig. 3a to 3d, including: a power drive mechanism; and a leg traction mechanism connected to the power drive mechanism and the tackle mechanism 453, respectively, for driving the pair of crane legs to walk by the output power of the power drive mechanism.
As shown in fig. 4a and 4b, the power drive mechanism includes: a motor 463 fixedly mounted on a corresponding base of the second frame of the torso device 44, the motor 463 having dual output shafts projecting away from each other, the directions of extension of the axes of the dual output shafts being perpendicular to the direction of extension of the length of the guide rail 4531 and the direction of forward and backward extension of the torso device 44; a pair of swing arms 462, one end of which is connected with the dual output shafts of the motor 463 respectively, wherein 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. 4 b) and are positioned at the left side and the right side of the trunk 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 a wire rope (namely a wire rope 4554 shown in fig. 3 d) of the leg traction mechanism for pulling the pair of crane legs to move, wherein two ends of the wire rope 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 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. 3c and 3d, each of the traction 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. 6 a-6 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. 6 c); and a pair of diverting pulleys 4543, 4546 (shown in fig. 6 c) installed at the middle of the pair of horizontal brackets 4542, respectively, for horizontally drawing out the wire ropes 4554 drawn out by the corresponding side single pulleys 4553.
When in design, two ends of a steel wire rope 4554 are respectively fixed on two double-pulley frames corresponding to the swing arms at two sides, and a pair of crane legs are pulled by one steel wire rope to walk.
The connection of the wire 4554 to other elements will now be described with reference to fig. 3a to 6 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.
Further, in order to ensure that the steel wire 4554 does not become long or loose during the process of pulling the pair of crane legs, the leg pulling mechanism of the present invention may adopt, in addition to the above structure, a structure shown in fig. 6d on the basis of the above structure, that is, a set of tensioning members 4548 may be provided between the second pulley 4544 and the third pulley 4545 at the same side end of the pair of horizontal supports for tensioning the steel wire 4554 between the two pulleys, and the tensioning members may adopt a structure including: 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 leg traction mechanism, the steel wire rope generates power for winding and unwinding back and forth through the circulating action of the whole 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 walking driving system for crane equipment performance can truly simulate the walking action of the pair of crane legs, the whole mechanism for the walking action dragged by the steel wire rope is simple and easy to realize, and the manufacturing cost is greatly reduced.
Example 2
The present embodiment further includes a track device 3 (as shown in fig. 7) having a pair of guide rails arranged in parallel, and the support device is arranged above and runs along the pair of guide rails of the track device on the basis of embodiment 1.
In the implementation, the supporting device can be fixedly installed on a trolley 1 capable of walking along a pair of guide rails, the trolley 1 can adopt a structure which is provided with a driving mechanism on the trolley to drive the trolley to walk along the guide rails (the trolley with the driving mechanism can adopt a structure in the prior art), or can adopt a structure which is arranged outside a trolley and drives the trolley to walk along the guide rails in the prior art, and the trolley moves on the pair of guide rails to drive the supporting device to move relative to the pair of guide rails, so that the crane equipment is driven to move along the pair of guide rails and is matched with the device for driving the crane to step, and the actions of the crane to step and walk along the pair of guide rails of the rail device can be simulated.
Or, the scheme of directly mounting the travelling wheels at the bottom of the supporting device can be adopted, for example, the supporting device is connected with a steel wire rope of the hoisting device, and the supporting device is pulled by the steel wire rope to achieve the purpose of travelling along the pair of guide rails; alternatively, the support device may be driven to travel along a pair of rails by other driving structures known in the art.
In summary, the walking drive system for bird equipment performance of the invention has the following outstanding advantages:
the walking driving system for the bird flying equipment performance can drive the legs of the bird flying equipment to move step by step according to the performance requirement, vividly and vividly simulate various postures of the bird flying equipment during action, enhance the reality of watching the performance by an observer and bring greater visual impact to audiences.
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 (10)
1. A walking drive system for bird-flying apparatus performance, comprising:
a support device for supporting the bird apparatus, a support platform having a pair of trolley mechanisms for mounting the leg device of the bird apparatus thereon;
a leg swing drive device connected to the bird flying apparatus and the support platform, respectively, comprising:
the power driving mechanism is arranged on the trunk device of the bird flying equipment and is used for providing power for walking for the legs of the leg device of the bird flying equipment;
the leg traction mechanism is respectively connected with the power driving mechanism and the pair of pulley mechanisms and is provided with a steel wire rope which is used for driving the pair of pulley mechanisms to move relative to the supporting platform through the power so as to drive the leg device to walk.
2. The walking drive system of claim 1, wherein the leg means of the flying bird apparatus further comprises a pair of lower limbs on opposite sides of the torso means, the lower limbs having upper leg limbs articulated to opposite sides of the torso means and lower leg limbs articulated to the upper leg limbs, the pair of trolley mechanisms being correspondingly connected to the pair of lower leg limbs.
3. The travel drive system of claim 2, wherein the power drive mechanism comprises:
the motor is fixedly arranged on the trunk device and is provided with double output shafts which extend out of the back of the trunk device;
one end of the swing arm is connected with the double output shafts of the motor respectively, and the swing arms extend out of the opposite positions of the central axes of the double output shafts and are positioned at the left side and the right side of the trunk device;
a pair of connecting shafts fixedly arranged at the extending ends of the pair of swing arms;
and the swinging frames are sleeved outside the pair of connecting shafts and are rotatably connected with the corresponding connecting shafts.
4. The walking drive system of claim 3, wherein one end of the swing frame is rotatably connected with the corresponding connecting shaft, the other end of the swing frame is respectively provided with a swing pulley rotatably connected with the swing frame, and the steel wire rope is wound around the swing pulleys.
5. The walking drive system of claim 4, wherein the leg traction mechanism further comprises:
the pair of traction vertical guide mechanisms are positioned at two sides of the trunk device and are respectively connected with the trunk device, and are used for respectively guiding the trend of the steel wire rope which bypasses the swing pulleys at the corresponding sides;
and the traction horizontal guide mechanism is connected with the pair of pulley mechanisms and is used for enabling the steel wire rope guided out by the pair of traction vertical guide mechanisms to extend along the horizontal direction, and two sides of the steel wire rope are respectively connected with the pair of pulley mechanisms.
6. The travel drive system of claim 5, wherein the traction vertical guide mechanism comprises:
the double pulleys are positioned below the corresponding side swing arms and arranged on the double pulley frames, and clearance holes for the steel wire ropes to pass through are formed between the double pulleys;
the top end of the connecting pipe extending along the vertical direction is fixedly provided with a double-pulley frame, the center of the connecting pipe is aligned with the clearance hole of the double pulleys, and a steel wire rope led out downwards from the clearance hole of the double pulleys penetrates through the connecting pipe from top to bottom;
and the single pulley frame is arranged at the bottom end of the connecting pipe, a single pulley is arranged on the single pulley frame, and a steel wire rope led out from the bottom end of the connecting pipe bypasses the single pulley.
7. The travel drive system of claim 5, wherein both ends of the wire rope are respectively fixed to a pair of double sheave brackets of the pair of traction vertical guide mechanisms.
8. The walking drive system of claim 1, wherein the bird apparatus is a bird with two legs, including a crane apparatus.
9. The travel drive system of claim 9, wherein the traction level guide mechanism comprises:
a pair of horizontal brackets which are arranged on the supporting platform and are parallel to the pair of guide rails and are positioned between the pair of guide rails;
four pulleys respectively arranged at two ends of the pair of horizontal brackets;
and the pair of reversing pulleys are respectively arranged in the middle parts of the pair of horizontal supports and used for leading out the steel wire rope led out by the single pulley along the horizontal direction.
10. The travel drive system of any one of claims 1-9, further comprising a track assembly having a pair of rails disposed side-by-side, said support assembly being disposed above and traveling along the pair of rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910789805.1A CN112426728B (en) | 2019-08-26 | 2019-08-26 | Walking driving system for bird-flying equipment performance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910789805.1A CN112426728B (en) | 2019-08-26 | 2019-08-26 | Walking driving system for bird-flying equipment performance |
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| Publication Number | Publication Date |
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| CN112426728A true CN112426728A (en) | 2021-03-02 |
| CN112426728B CN112426728B (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910789805.1A Active CN112426728B (en) | 2019-08-26 | 2019-08-26 | Walking driving system for bird-flying equipment performance |
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| CN2464400Y (en) * | 2001-02-27 | 2001-12-12 | 郑椽林 | Assembled two-foot walking robot toy |
| JP2006320978A (en) * | 2005-05-17 | 2006-11-30 | Kawada Kogyo Kk | Assisting device of mobile robot and assisting method of mobile robot |
| CN201030231Y (en) * | 2006-09-25 | 2008-03-05 | 林政武 | Controlled electric toy capable of walking and boxing |
| CN104590413A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Bionic jumping and walking mechanism |
| CN105479438A (en) * | 2015-12-29 | 2016-04-13 | 哈尔滨工业大学 | Exoskeleton with function of assisting in jumping through energy storage of springs |
| CN205269043U (en) * | 2015-12-06 | 2016-06-01 | 刘洋洋 | Recreation ground walking doll robot |
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- 2019-08-26 CN CN201910789805.1A patent/CN112426728B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2464400Y (en) * | 2001-02-27 | 2001-12-12 | 郑椽林 | Assembled two-foot walking robot toy |
| JP2006320978A (en) * | 2005-05-17 | 2006-11-30 | Kawada Kogyo Kk | Assisting device of mobile robot and assisting method of mobile robot |
| CN201030231Y (en) * | 2006-09-25 | 2008-03-05 | 林政武 | Controlled electric toy capable of walking and boxing |
| CN104590413A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Bionic jumping and walking mechanism |
| CN205269043U (en) * | 2015-12-06 | 2016-06-01 | 刘洋洋 | Recreation ground walking doll robot |
| CN105479438A (en) * | 2015-12-29 | 2016-04-13 | 哈尔滨工业大学 | Exoskeleton with function of assisting in jumping through energy storage of springs |
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| Publication number | Publication date |
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| CN112426728B (en) | 2022-07-29 |
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