CN210751250U

CN210751250U - Crane robot

Info

Publication number: CN210751250U
Application number: CN201921390568.3U
Authority: CN
Inventors: 吕圣龙; 马超; 洪涛
Original assignee: Shanghai Xiuyu Culture Technology Co ltd
Current assignee: Shanghai Xiuyu Culture Technology Co ltd
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2020-06-16
Anticipated expiration: 2029-08-26

Abstract

The utility model discloses a hairyvein crane robot, include: a support device; a crane leg device which is connected with the supporting device and can move in a stepping way relative to the supporting device; the crane body device is connected with the crane leg device at the middle part and supported by the crane leg device; a head and neck device connected with and supported by one side of 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. The crane robot of the utility model can simulate and dynamically reappear the pitching and stepping actions of the crane, thereby increasing the ornamental value of the performance.

Description

Crane robot

Technical Field

The utility model relates to a performance device especially relates to a crane robot.

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, if the said crane ballet has no comprehensive function of light, digital art and LED display screen and is against the black background, for example, when watching in daytime, it is difficult to imagine the device as crane, so the simulation effect is very poor; in addition, the hairyvein crane ballet has no two legs, so the walking motion of the hairyvein crane cannot be simulated, and the telepresence and the shocking power for watching the performance are greatly reduced.

Disclosure of Invention

The object of the present invention is to solve the above problems in the prior art, and to provide a crane robot, which can simulate and dynamically reproduce the pitching and stepping actions of the crane, and increase the ornamental value of the performance.

In order to achieve the above object of the present invention, the present invention provides a crane robot, which includes: a support device; a crane leg device which is connected with the supporting device and can move in a stepping way relative to the supporting device; the crane body device is connected with the crane leg device at the middle part and supported by the crane leg device; a head and neck device connected with and supported by one side of 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 the head and neck device comprises: 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.

The crane body device 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.

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.

The driving device comprises a leg swinging driving mechanism for driving the crane leg device to step relative to the crane body device.

Further, the driving device further includes a head and neck driving mechanism for driving the head and neck device to perform a pitching motion, and the head and neck driving mechanism includes: the head driving mechanism is connected with the crane head moving arm and is used for driving the crane head moving arm to perform pitching motion relative to the crane neck moving arm; and the neck driving mechanism is connected with the crane neck moving arm and is used for driving the crane neck moving arm to perform pitching motion relative to the crane body device.

Furthermore, the driving device also comprises a crane body pitching driving mechanism for driving the crane body device to perform pitching motion relative to the crane leg device.

Furthermore, the crane also comprises a wing device connected with the crane body device, and two groups of pipelines positioned at two sides of the crane body device are arranged.

Further, the support device comprises a support platform for mounting the sled mechanism thereon.

Furthermore, the supporting device also comprises a supporting column which is vertically arranged on the supporting platform and the top end of which is connected with the crane body middle frame.

Compared with the prior art, the utility model discloses a crane robot has following outstanding advantage:

1. the utility model discloses a crane robot can be according to the performance needs every single move and step, and various postures when the crane moves are vividly simulated out, have strengthened the sense of reality that ornamental personnel watched the performance, bring the bigger vision shock power for spectator.

2. The utility model discloses a crane robot has crane leg device, crane body device, neck device and covers and establishes at each outside profile modeling shell of device, therefore the profile modeling is effectual, even makes daytime, does not have the cooperation of light effect, also can supply spectator to watch as a crane view.

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

Drawings

Fig. 1a is a front view of the crane robot of the present invention (showing the supporting device);

FIG. 1b is a left side view of the crane robot of FIG. 1 a;

FIG. 1c is a top view of the crane robot of FIG. 1 a;

fig. 2 is a schematic structural diagram of the crane robot of the present invention (the supporting device is not shown);

fig. 3a is a schematic structural view of the head and neck device of the present invention (in an inactive initial state);

fig. 3b is a schematic structural view of the head and neck device of the present invention (the head is in a state of bending downward);

fig. 4a is a front view of the head drive mechanism of the present invention;

fig. 4b is a top view of the head drive mechanism of the present invention;

fig. 5a is a front view of the swing link of the present invention;

fig. 5b is a left side view of the swing link of the present invention;

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

figure 6b is a top view of the neck drive mechanism of the present invention;

fig. 7a is a front view of the crane leg device of the present invention;

fig. 7b is a top view of the crane leg assembly of the present invention;

fig. 7c is a left side view of the crane leg assembly of the present invention;

fig. 7d is a schematic view of the direction of the wire rope in the leg-crane of the present invention;

fig. 8a is a front view of the leg swing driving mechanism of the present invention;

fig. 8b is a left side view of the leg swing driving mechanism of the present invention;

fig. 9a is a front view of the tackle mechanism of the present invention mounted on the support device;

fig. 9b is a left side view of the tackle mechanism of the present invention mounted on the support device;

fig. 9c is a top view of the carriage mechanism of the present invention mounted on the support device;

FIG. 10a is a front view of a first configuration of the horizontal traction mechanism of the present invention;

fig. 10b is a left side view of the first configuration of the horizontal traction mechanism of the present invention;

FIG. 10c is a top view of the first configuration of the horizontal traction mechanism of the present invention;

FIG. 10d is a top view of a second configuration of the horizontal traction mechanism of the present invention;

fig. 11a is a front view of the crane body pitch drive mechanism of the present invention;

fig. 11b is a left side view of the crane body pitch drive mechanism of the present invention;

fig. 11c is a top view of the crane body pitch drive mechanism of the present invention;

fig. 12a is a front view of the crane body assembly of the present invention;

fig. 12b is a left side view of the crane body assembly of the present invention;

fig. 12c is a top view of the crane body assembly of the present invention;

FIG. 13a is a front view of the middle frame of the crane body according to the present invention;

FIG. 13b is a left side view of the crane body middle frame according to the present invention;

fig. 13c is a top view of the crane body middle frame of the present invention.

Detailed Description

As shown in fig. 1 a-1 c, which are the front view, the left view and the top view of the crane robot provided by the present invention, respectively, fig. 2 is a schematic structural diagram of the crane robot after the support device and part of the drive device are not shown, as can be seen from fig. 1 a-2, the crane robot of the present invention comprises: a support device 12; a crane leg device 45 connected to the support device 12 and movable in a stepping motion with respect to the support device 12; a crane body device 44 connected with the crane leg device 45 at the middle part and supported by the crane leg device 45; a head and neck device 41 connected to and supported by one side of 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 utility model discloses a crane robot has crane leg device 45, crane body device 44, head and neck device 41 and covers and establishes at each device outside and crane shape approximate profile modeling shell 49, consequently can simulate crane shape better, and bionic effect is good, not only makes daytime, does not have the cooperation of light effect, also can regard crane robot as a crane view for spectator to watch, both beautifies the environment, improves ornamental again.

Wherein, the head and neck device 41 of the crane robot of the utility model is integrally in the shape of a slender bar with a bend, the profiling shell 49 is arranged outside, the top end of the profiling shell 49 is made into a crane mouth shape, and the head and neck device 41 is arranged on one side of the crane body device 44 and basically consistent with the head and neck position of the real crane.

The head and neck device 41 of the present invention can adopt a structure with a bend as shown in fig. 3a and fig. 3b, including: 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 (i.e., the right side in fig. 1a, 3a and 3 b) of the moving arms 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. 3 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. 3 b).

In order to make the head and neck device 41 in the initial state of not performing the pitching motion, the abutting surfaces of the three moving arms may be exactly overlapped (as shown in fig. 3 a), when it is designed, 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. 3a, 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.

Wherein, the crane body device 44 of the utility model is in the shape of the middle part being wide, front part and rear part respectively narrowed forward and backward by the middle part, and when being in the unmoved initial state, the crane body device 44 is roughly parallel with the horizontal plane, and when moving, the horizontal plane pitching relatively.

The crane body assembly 44 of the present invention may be configured as shown in fig. 12a-12c, including: 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 text, front, rear, 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 device or element referred to must have a specific direction, be constructed in a specific direction and operate, 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. 13 a-13 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, each frame of the crane body device 44 of the present invention can adopt the structure formed by welding other pipes besides the above structure, as long as the whole is in the shape of narrowing forward and backward by the middle part respectively in the middle part width, the front part and the rear part, and the frame is provided with the needed base, the nozzle clamp plate, the LED holder, etc.

Wherein, the utility model discloses a crane body device 44 middle part is supported by strutting arrangement 12, and this strutting arrangement 12 includes supporting platform, and vertical the installing has support column 121 on supporting platform, and support column 121's top is articulated with crane body middle part 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 it is steady, safe and reliable when whole robot moves.

The leg attachment may take the form of a structure as shown in figures 7 a-7 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. 7a to 7d, a pair of crane legs of the crane leg device of the present invention are located at two 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 around the hinged portion with respect to the crane body middle frame 442. 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. 9a to 9 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 utility model discloses a coaster 4532, through a pair of gyro wheel 4536 of settling from beginning to end, can follow guide rail 4531 walking, and support guide rail 4531 lateral wall and make coaster 4532 can follow the stable walking of upper rail surface of guide rail 4531 through a pair of riding wheel 4533 that is located a pair of gyro wheel 4536 centre, and because crane leg lower limbs 452 is articulated with upper and middle portion of coaster 4532, thereby can drive crane leg lower limbs 452 and remove along guide rail 4531 when coaster 4532 walks, and then simulate out the action that the crane took a step along the extension direction removal of guide rail 4531.

Furthermore, the utility model discloses a crane robot still has the wing device 48 of being connected with crane body device, and wing device 48 has two sets of pipelines that are located crane body device both sides, and the pipeline is connected with water supply installation to water spray outwards and cooperate the action that other devices simulate out crane wing through the pipeline.

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. 1a and 2), 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. 7 a-7 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. 8a and 8b, 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. 8 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. 7 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.

And for walking a pair of crane legs through a steel cord tractive, the utility model discloses a crane leg drive mechanism includes: 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. 7c and 7d, each of the traction vertical guide mechanisms 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 traction horizontal guide mechanism 454 of the present invention may adopt a structure as shown in fig. 10a to 10c, including: 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. 10 c); and a pair of diverting pulleys 4543, 4546 (shown in fig. 10 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.

The utility model discloses wire rope 4554's both ends are fixed in respectively on two double pulley yoke that correspond with the both sides swing arm. The connection of the wire 4554 to other elements will now be described with reference to fig. 7a to 10 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. 10d, 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 utility model discloses the action of a pair of crane leg is pulled by crane leg drive mechanism's a wire rope, and through the circulation action of whole crane leg drive mechanism like a pair of swing arm etc. make wire rope produce the power that makes a round trip to receive and release, drive a pair of coaster and correspond along a pair of guide rail and remove to make crane robot can a real simulation a pair of crane leg move step, and move step and be realized by wire rope towed whole mechanism simply and easily, greatly reduce manufacturing cost.

The utility model discloses a crane robot except that the crane leg can step a step, head neck portion device can also carry out the luffing motion, consequently, drive arrangement except foretell crane leg actuating mechanism 46 that is used for driving the crane leg to step a step, can also be including the head neck portion actuating mechanism who is used for driving 41 luffing motions of head neck portion device, it has: 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. 4a and 4b, 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. 4a, 5 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. And for making two cables upwards extend the in-process can not take place to interfere with other components, the utility model discloses can also install a double flute pulley in the articulated department of the front side of linking arm 414 and crane body front portion frame, two cables can walk around in the grooving that double flute pulley corresponds respectively.

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. 6a and 6b, 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 utility model discloses a crane robot except that the crane leg can step a step, the neck device can every single move, crane body device can also carry out the every single move action relative crane leg device 45 (or horizontal plane), consequently, drive arrangement except foretell be used for driving crane leg drive mechanism 46 that the crane leg stepped a step, be used for driving the head and neck drive mechanism of 41 every single move actions of neck device, can also be including being used for driving crane body device crane body every single move actuating mechanism 47 of the relative crane leg device every single move action of crane body device.

Specifically, the crane pitch drive mechanism 47 may be configured as shown in fig. 11a to 11c, 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.

The utility model discloses a crane robot is except including above-mentioned each device, still include the wing device of being connected with crane body device 44, have two sets of pipelines that are located crane body device 44 both sides, every group pipeline can include along crane body device's length extending direction by preceding a plurality of delivery ports 48 that set gradually after to and with the water supply installation who is used for towards the pipeline water supply of pipeline intercommunication (water supply installation can adopt the prior art structure, do not describe again here), form the wing of crane through the rivers that jet from delivery port 48 outwards to relative crane body device 44's angle when the intensity control rivers that jet through control rivers, thereby cooperate other each device simulation crane's different gestures.

In addition, the present invention is provided with a profile modeling casing 49 on each device housing, which has a shape similar to the shape of an arm, such as a head and neck casing with a bend, a body casing approximately parallel to the horizontal plane, a leg casing similar to the shape of an arm, and a foot casing similar to the shape of an arm (as shown in fig. 1 a), and the profile modeling casing can adopt a multi-section casing to match different actions of the arm (such as adopting a disconnection process at each connection 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 crane are arranged on two sides of the head and neck device of the copying shell, a plurality of luminous parts and the like (arranged on the inner wall of the copying shell) which enable the crane to flash at night are arranged on other parts of the copying shell, preferably, the plurality of luminous parts which enable the crane to flash at night can be color-changing luminous parts, so that the crane can show different colors through circuit control.

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.

To sum up, the utility model discloses a crane robot has following outstanding advantage:

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 therefore, various modifications performed according to the principle of the present invention should be understood as falling into the protection scope of the present invention.

Claims

1. A crane robot, comprising:

a support device;

a crane leg device which is connected with the supporting device and can move in a stepping way relative to the supporting device;

the crane body device is connected with the crane leg device at the middle part and supported by the crane leg device;

a head and neck device connected with and supported by one side of 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.

2. The agrimonia robot as claimed in claim 1, wherein said head and neck means comprises:

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.

3. The crane robot as claimed in claim 2, wherein said crane body means comprises a crane body front frame, a crane body middle frame, and a crane body rear frame, said crane neck moving arm is connected to said crane body front frame, and said crane leg means is connected to said crane body middle frame.

4. A robot according to claim 3, wherein said 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.

5. The robot according to claim 2, wherein said driving means includes a leg swing driving mechanism for driving said crane leg means to make a stepping motion with respect to said crane body means.

6. The robot according to claim 5, wherein said driving means further comprises a head and neck driving mechanism for driving said head and neck device to tilt.

7. A robot as claimed in claim 5 or 6, wherein said drive means further comprises a crane body pitch drive mechanism for driving the crane body means in pitch motion relative to the leg means.

8. A robot as claimed in claim 4, further comprising wing means connected to said crane body means.

9. A robot as claimed in claim 8, wherein the support means comprises a support platform for mounting the trolley mechanism thereon.

10. The crane robot of claim 9, wherein said support means further comprises a support post mounted vertically on said support platform and having a top end connected to said crane body middle frame.