CN212966763U - Tour bionic equipment for performance - Google Patents

Abstract

The utility model provides a tour bionic equipment for performance, include: the bionic robot comprises a touring vehicle, a bionic mechanical animal, a front support frame, a rear support frame and a driving system; the touring vehicle is used for providing advancing power for the bionic mechanical animal; the front support frame and the rear support frame are respectively arranged at the front part and the rear part of the touring vehicle; the driving system is used for driving the bionic mechanical animal to move. Has the advantages that: the equipment restrains the bionic mechanical animal on the touring vehicle structure frame through the front support frame and the rear support frame, and realizes the large-amplitude overall space motion of the bionic mechanical animal by utilizing the driving units connected to the front support frame and the rear support frame. In addition, the traveling speed of the tour vehicle is matched with the walking pace of the limbs of the bionic mechanical animal, so that the walking of the animal can be truly simulated under the condition of low cost.

Description

Tour bionic equipment for performance

Technical Field

The utility model belongs to the technical field of performance equipment, concretely relates to tour bionic equipment for performance.

Background

In recent years, the Chinese travel industry is developed vigorously, the travel consumption enthusiasm of people is also rising at all times, the special red-net facilities are particularly favored, and site operators in parks, orchards, scenic spots, urban roads and various squares often need to develop creative, interactive, attractive and vivid bionic equipment for tour performance in a certain site to solicit tourists in order to meet consumption requirements. The existing lifelike bionic equipment mainly comprises the following devices:

the tour festooned vehicle in theme parks and orchards is characterized in that a driver controls the direction of the vehicle, and performance personnel perform performances on the festooned vehicle or the ground nearby, the festooned vehicle can be made into a certain animal, but the static display is mainly adopted, the actions are only limited to local simple limbs and expression actions, and the simple repetition is carried out under the control of a program.

And (II) the exhibition type walking bionic animal mainly simulates animal skin by a silica gel outer skin, a balance rack and walking wheels are installed at the bottom of animal limbs, and the bionic animal walks by being driven by a motor reducer.

And (III) the exhibition-type fixed-position dynamic model cannot move freely, is controlled by a program and has insufficient expressive force, and the actions of the dynamic model are local limb actions.

(IV) intelligent bionic walking animals, which belong to the field of intelligent robots, are self-walking mechanisms, rely on the intelligent drive of limbs, simulate walking actions, do not rely on the control of operators, the actions are executed according to intelligent programs, have various detection functions, such as mechanical vision, automatic obstacle avoidance and the like, have complex structures and control, and are mainly used for executing special tasks, such as explosion elimination, disaster relief and other scenes; has the problems of heavy weight and high cost.

And (V) the bionic performance model in the park is installed at a fixed position of a park project or limited in a fixed track, is completely controlled by a program, is continuously repeated in action, cannot move freely to advance, and is insufficient in infectivity.

Therefore, various kinds of current vivid bionic equipment have certain limitations and cannot meet the requirements of touring performance.

SUMMERY OF THE UTILITY MODEL

The defect to prior art exists, the utility model provides a patrol bionic equipment for performance can effectively solve above-mentioned problem.

The utility model adopts the technical scheme as follows:

the utility model provides a tour bionic equipment for performance, include: the bionic robot comprises a touring vehicle (100), a bionic mechanical animal (200), a front support frame (300), a rear support frame (400) and a driving system (500);

the touring vehicle (100) provides advancing power for the bionic mechanical animal (200); the front support frame (300) and the rear support frame (400) are respectively disposed at the front and rear of the cruise vehicle (100); two ends of the front support frame (300) are respectively connected with the structures of the touring vehicle (100) and the bionic mechanical animal (200); two ends of the rear support frame (400) are respectively connected with the structures of the touring vehicle (100) and the bionic mechanical animal (200); the driving system (500) is used for driving the bionic mechanical animal (200) to move.

Preferably, the front support frame (300) is of an integrated rigid structure or a telescopic structure, and the top end of the front support frame (300) is hinged with the bionic mechanical animal (200); the bottom end of the front support frame (300) is hinged with the touring vehicle (100);

the rear support frame (400) is of an integrated rigid structure or a telescopic structure, and the top end of the rear support frame (400) is hinged with the bionic mechanical animal (200); the bottom end of the rear support frame (400) is hinged to the cruise vehicle (100).

Preferably, the cruise vehicle (100) comprises a front axle assembly (110), a rear axle assembly (120), a structural frame (130) and a power system (140);

the front axle assembly (110) is hinged with the front part of the structural frame (130) and can swing left and right relative to the longitudinal axis of the structural frame (130); the rear axle assembly (120) is fixedly connected with the rear part of the structural frame (130); the front axle assembly (110), the rear axle assembly (120) and the structural frame (130) form a stable structure which can walk on rugged terrain and can land on the ground by four wheels at the same time.

Preferably, the front axle assembly (110) comprises a front axle frame (111), a front steering support (112) and a front tyre assembly (113); the front bridge (111) is hinged with the front part of the structural frame (130); the number of the front steering supports (112) is two, the front steering supports are respectively arranged at the left end and the right end of the front bridge (111), and the front steering supports are rotatably connected with the front bridge (111) in the vertical direction; the number of the front tire assemblies (113) is two, and each front tire assembly (113) is rotatably connected with the front steering support (112) on the corresponding side.

Preferably, the rear axle assembly (120) comprises a rear axle frame (121), a balance frame (122), a rear steering bracket (123), a driving tire assembly (124) and a rear tire assembly (125);

the rear bridge frame (121) is fixedly connected with the structural frame (130), and the left end and the right end of the rear bridge frame (121) are respectively hinged with one balancing frame (122);

the front end and the rear end of each balancing stand (122) are respectively provided with one rear steering support (123), and the rear steering supports (123) are rotatably connected with the balancing stands (122) in the vertical direction; each rear steering bracket (123) is rotatably connected to one of the rear tire assemblies (125); the rear steering bracket (123), the drive tire assembly (124), and the rear tire assembly (125) rotate together along a vertical axis;

the driving mode of the driving tire assembly (124) is a hydraulic walking speed reducer or a motor speed reducer.

Preferably, the power system (140) comprises an energy output system (141), a vehicle drive system (142) and a control system (143); the energy output end of the energy source output system (141) is connected with the input end of the vehicle driving system (142); the control system (143) is connected with the vehicle driving system (142), and the traveling and steering of the touring vehicle are realized by controlling the vehicle driving system (142).

Preferably, the structure frame (130) is provided with a first cabin body assembly (150) for tourists or staff to sit or stand; the first cabin component (150) is detachably connected with the structural frame (130);

a second cabin component (280) for tourists or employees to sit or stand is arranged on the bionic mechanical animal (200); the second cabin component (280) is detachably connected with the bionic mechanical animal (200).

Preferably, the bionic mechanical animal (200) comprises a head mechanism (210), a neck mechanism (220), a trunk (230), an abdominal breathing mechanism (240), a limb mechanism (250), a tail mechanism (260) and an appearance decoration body (270);

the head mechanism (210) is hinged with the front part of the neck mechanism (220), the head mechanism (210) can swing up and down relative to the neck mechanism (220) under the action of a fourth driving unit (504), and the appearance structure of the head mechanism (210) can rotate longitudinally relative to the self supporting structure;

the back part of the neck mechanism (220) is hinged with the trunk (230), so that the neck mechanism (220) and the head mechanism (210) can swing together relative to the trunk (230) in the up-and-down direction; a fifth driving unit (505) is arranged between the neck mechanism (220) and the trunk (230), and the angle of the neck mechanism (220) is adjusted under the driving of the fifth driving unit (505);

the upper part of the four-limb mechanism (250) is hinged with the trunk (230) to realize the forward and backward swinging of four limbs relative to the trunk (230);

the front of the tail mechanism (260) is hinged to the rear of the torso (230), enabling the tail mechanism (260) to swing relative to the torso (230);

the abdominal breathing mechanism (240) is hinged with the middle part of the trunk (230), so that the abdominal breathing mechanism (240) can swing up and down in the left-right direction of the trunk (230);

the head mechanism (210), the neck mechanism (220), the trunk (230), the limb mechanism (250) and the tail mechanism (260) are externally coated with the appearance decorating body (270); the appearance decorative body (270) is fixedly connected with a structure corresponding to the bionic mechanical animal (200) and moves synchronously with the corresponding structure.

Preferably, the neck mechanism (220) is formed by connecting a plurality of groups of independent structural units in series in a transverse and longitudinal alternate hinged mode, and the head and the tail of the independent structural units are respectively connected with the head mechanism (210) and the trunk (230) so as to meet the requirements of the left-right and up-down swinging freedom degree of the neck.

Preferably, the extremity mechanism (250) comprises a humerus structure (251), a thigh structure (252), a lower leg structure (253), and a hoof structure (254);

the humeral structure (251), the thigh structure (252), the calf structure (253), and the hoof structure (254) are articulated two-by-two in series; the upper part of the humeral structure (251) is hinged with the trunk (230), and a sixth drive unit (506) is installed between the humeral structure (251) and the trunk (230), and the whole limb can swing back and forth relative to the trunk (230) by being driven by the sixth drive unit (506);

for the humerus structure (251), the thigh structure (252), the shank structure (253) and the foot and hoof structure (254), a seventh driving unit (507) is respectively arranged between every two adjacent structures for driving so as to realize swinging between the adjacent structures, and various limb actions of the bionic mechanical animal are simulated through a control time sequence driven by the seventh driving unit (507);

the abdominal breathing mechanism (240) comprises an oscillating body and an eighth drive unit (508); the upper end of the swinging body is hinged with the upper part of the trunk (230), the eighth driving unit (508) is hinged with the middle lower part of the swinging body, and the abdomen breathing action of the bionic animal is simulated under the action of the eighth driving unit;

the front part of the tail mechanism (260) is hinged with the rear part of the trunk (230), and a ninth driving unit (509) is arranged between the front part of the tail mechanism (260) and the trunk (230) to realize the swinging of the tail body relative to the trunk (230);

the tail mechanism (260) adopts a serial linkage mechanism, and the tail mechanism (260) swings in various combinations relative to the left and right directions of the trunk (230) in a mode of combining a driving unit with a connecting rod.

The utility model provides a pair of patrol and perform bionic equipment has following advantage:

this equipment passes through preceding support frame and back support frame and retrains bionical mechanical animal on the vehicle structure frame of patrolling, and utilize the drive unit who connects on preceding support frame and back support frame, realize bionical mechanical animal's the whole space motion by a wide margin, combine bionical mechanical animal self head, the neck, the shank, the belly, the coordinated action of each structure of afterbody simultaneously, and the action of imitative animal facial expression, accomplish freely, changeable combination action performance, the performance form is abundant various, for the visitor with very strong sense of immersing. In addition, the traveling speed of the tour vehicle is matched with the walking pace of the limbs of the bionic mechanical animal, so that the walking of the animal can be truly simulated under the condition of low cost.

Drawings

Fig. 1 is a schematic view of the overall structure of a bionic device for touring performance provided by the present invention;

fig. 2 is a schematic structural diagram of a chassis diagram of a touring vehicle provided by the present invention;

fig. 3 is a schematic structural view of a front axle assembly of a touring vehicle provided by the present invention;

fig. 4 is a schematic structural view of a rear axle assembly of the touring vehicle provided by the present invention;

FIG. 5 is a diagram of the relationship between the whole skeleton of the bionic device for touring performance provided by the present invention;

fig. 6 is a schematic structural diagram of the front support frame provided by the present invention;

fig. 7 is a schematic structural view of an abdominal breathing mechanism provided by the present invention;

fig. 8 is a schematic structural diagram of a tail swing mechanism provided by the present invention;

fig. 9 is a schematic structural view of a cabin module installed on an inspection vehicle according to the present invention;

fig. 10 is a schematic structural diagram of a cabin assembly installed on a bionic mechanical animal.

Detailed Description

In order to make the technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in detail below with reference to the embodiments and the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model provides a patrol and travel bionic equipment for performance, it belongs to performance equipment field, belong to the bionic facility of the performance class of patrolling and traveling, more specifically relate to a by the bionic equipment who is used for patrolling and traveling performance that people or procedure controlled that the vehicle dragged, can be applied to the park, the paradise, the scenic spot, the urban road, all kinds of squares, bionic machine animal is according to the form of the animal of bionical mark, the action characteristic, its action of behavior habit imitation, the myth, and combine water, fog, light, smog, the music special effect, it makes for advancing and can present health and limbs action simultaneously in suitable place, the expression action, the performance equipment of various special effects, the overall dimension of bionic machine animal is made according to the certain proportion of the animal of looking after the mark. The device is dragged by the tour vehicle, can move and stop under the control of an operator, can realistically simulate the corresponding limb action and the facial expression of a given animal, and adopts an exaggerated method to give visual impact to tourists by combining the equipment package and special effects of sound, light, smog, water vapor and the like; the cabin body for tourists or operators to sit or stand can be still installed on the vehicle and the simulation mechanical animal body of the equipment, the operators or a proper amount of tourists are carried, the performance form is rich, and the tourists can deeply participate in the tour process.

The utility model provides a tour bionic equipment for performance, refer to fig. 1, include: the touring vehicle 100, the bionic mechanical animal 200, the front support frame 300, the rear support frame 400 and the driving system 500;

wherein, the tour vehicle provides advancing power for the bionic mechanical animal and drags the bionic equipment to advance along the performance route, and the driving mode is front driving, rear driving or four-driving;

a biomimetic mechanical animal;

the two ends of the front support frame and the rear support frame are respectively connected with the structures of the touring vehicle and the bionic mechanical animal and are respectively arranged at the front part and the rear part of the touring vehicle;

the driving system provides the executing elements and power needed by finishing all actions for the bionic mechanical animal. All drive units described later constitute an integrated drive system.

The following details are provided for each of the constituent elements:

front support frame 300 and rear support frame 400

The left limb of the bionic mechanical animal 200 spans the left side of the touring vehicle 100; the right limb of the biomimetic mechanical animal 200 spans the right side of the roving vehicle 100.

The front support frame and the rear support frame are of an integrated rigid structure or a telescopic structure, and the top end of the front support frame 300 is hinged with the bionic mechanical animal 200; the bottom end of front support frame 300 is hinged to the cruise vehicle 100. The top end of the rear support frame 400 is hinged with the bionic mechanical animal 200; the bottom end of the rear support frame 400 is hinged to the cruise vehicle 100.

As a specific implementation mode, the lower end of the front support frame is hinged with the front part and the rear part of the touring vehicle structure frame respectively, the upper ends of the front support frame and the rear support frame are hinged with the front part and the rear part of the trunk of the bionic mechanical animal respectively, linear drivers are installed on the front support frame and the rear support frame, the upper parts of the front support frame and the rear support frame are hinged with the trunk structure of the bionic mechanical animal, the whole body is a plane deformation five-rod mechanism based on the touring vehicle structure frame, the structure frame of the touring vehicle chassis is used as a supporting base to push the front support frame and the rear support frame to swing back and forth, and meanwhile, the telescopic motion of the front support frame is matched, so that the bionic mechanical animal connected to the front support frame and the rear support frame performs designed motion in space, and the pronation, jump and.

(1.1) front support frame 300

Specifically, the top end of the front support frame 300 is hinged with the abdomen of the bionic mechanical animal 200; the bottom end of the front support frame 300 is hinged with the middle position of the touring vehicle 100; the top end of the rear support frame 400 is hinged with the back position of the bionic mechanical animal 200; the bottom end of the rear support frame 400 is hinged to the rear position of the cruise vehicle 100; therefore, the biomimetic mechanical animal 200 can swing back and forth with respect to the patrol vehicle 100; meanwhile, when the touring vehicle 100 travels, the bionic mechanical animal 200 is dragged to travel in a walking manner;

the front support frame structure is an integrated rigid structure or a telescopic structure, the lower part of the whole structure is hinged with the touring vehicle structure frame, and the upper part of the whole structure is hinged with the bionic mechanical animal.

As a specific implementation manner, the front support frame 300 is a telescopic support arm, as shown in fig. 6, and includes a first driving unit 501, a front support frame upper structure 320, and a front support frame lower structure 330; the first driving unit 501 is installed inside the front support frame shell, and the upper part of the first driving unit 501 is connected with the front support frame upper structure 320; the lower part of the first drive unit 501 is connected with the front support frame lower structure 330; under the driving of the first driving unit 501, the front support frame upper structure 320 is controlled to slide up and down along a straight line, and further the front support frame 300 is controlled to perform telescopic action;

(1.2) rear support frame 400

The rear support frame structure is an integrated rigid structure or a telescopic structure, the lower part of the whole structure is hinged with the touring vehicle structure frame, and the upper part of the whole structure is hinged with the bionic mechanical animal.

As a specific implementation, the rear support frame 400 is a rigid support arm; the bottom of the second driving unit 502 is mounted on the touring vehicle 100, the top of the second driving unit 502 is connected with the lower part of the front support frame 300, and the angle of the front support frame 300 is adjusted through the action of the second driving unit 502; the bottom of the third driving unit 503 is mounted on the touring vehicle 100, the top of the third driving unit 503 is connected with the lower part of the rear support frame 400, and the angle of the rear support frame 400 is adjusted through the action of the third driving unit 503; under the thrust and limiting effects of the first driving unit 501, the second driving unit 502 and the third driving unit 503, the bionic mechanical animal 200 can stably stop at a space setting position, and simultaneously can complete corresponding space movement to simulate the prone and jumping actions of the target bionic animal.

Cruise vehicle 100

The touring vehicle, which provides the power for the bionic device to travel, drags the bionic device to travel along the performance route, the driving mode is the front driving mode, the rear driving mode or the four-driving mode, as shown in fig. 2, the touring vehicle 100 comprises a front axle assembly 110, a rear axle assembly 120, a structural frame 130 and a power system 140.

The front axle assembly 110 is hinged with the front part of the structural frame 130 and can swing left and right relative to the longitudinal axis of the structural frame 130; the rear axle assembly 120 is fixedly connected with the rear part of the structural frame 130; the front axle assembly 110, the rear axle assembly 120 and the structural frame 130 constitute a stable structure that can walk on rough terrain and land on four wheels at the same time.

(2.1) front axle Assembly 110

As shown in fig. 3, front axle assembly 110 includes a front axle frame 111, a front steering support 112, and a front tire assembly 113; the front bridge frame 111 is hinged with the front part of the structural frame 130, and the rotating shaft of the hinge is consistent with the normal advancing direction of the vehicle, so that the front bridge frame 111 has the freedom of left-right swinging; the number of the front steering supports 112 is two, the front steering supports are respectively arranged at the left end and the right end of the front bridge frame 111, and the front steering supports are rotatably connected with the front bridge frame 111 in the vertical direction; the number of the front tire assemblies 113 is two, and each front tire assembly 113 is rotatably connected to the front steering bracket 112 on the corresponding side.

(2.2) rear axle Assembly 120

As shown in fig. 4, the rear axle assembly 120 includes a rear axle frame 121, a balance bracket 122, a rear steering bracket 123, a drive tire assembly 124, and a rear tire assembly 125;

the rear bridge frame 121 is fixedly connected with the structural frame 130, and the left end and the right end of the rear bridge frame 121 are respectively hinged with one balancing frame 122, so that the balancing frame 122 has a front-back swinging freedom degree relative to the rear bridge frame 121;

the front end and the rear end of each balancing stand 122 are respectively provided with a rear steering bracket 123, and the rear steering brackets 123 are rotatably connected with the balancing stands 122 in the vertical direction; each rear steering bracket 123 is rotatably connected to a rear tire assembly 125; the rear steering bracket 123, the drive tire assembly 124, and the rear tire assembly 125 rotate together along the vertical axis;

the drive mode of the drive tire assembly 124 is a hydraulic travel reducer, with the motive power provided by the hydraulic system. Alternatively, the drive mode of the drive tire assembly 124 is motor reducer drive.

(2.3) structural Rack 130

The structural frame 130 is composed of a steel plate and a section bar which are welded into a front sub-component and a rear sub-component, and the two sub-components are connected into a whole through bolts;

(2.4) powertrain 140

As shown in fig. 2, the powertrain 140 includes an energy output system 141, a vehicle drive system 142, and a control system 143; wherein the energy output system includes, but is not limited to, a diesel generator; vehicle drive systems include, but are not limited to, hydraulic systems.

The energy output end of the energy output system 141 is connected with the input end of the vehicle driving system 142; the control system 143 is connected to the vehicle drive system 142, and controls the vehicle drive system 142 to realize the traveling and steering of the cruise vehicle. In practical application, the power system comprises a walking power system, a steering power system, an energy system and a control system, wherein the energy system is an internal combustion generator or a storage battery and is used for completing steering and advancing driving of the touring vehicle.

(2.5) cabin Assembly

The cabin body assembly that touring vehicle structure shelf location supplied visitor or the staff to take or stand, cabin body assembly and touring vehicle structure frame can dismantle the connection. Specifically, as shown in fig. 9, a first cabin assembly 150 for guests or employees to sit or stand is installed at the upper rear part of the structure frame 130; the first hull assembly 150 is detachably connected to the structural frame 130, the first hull assembly 150 comprises a hull 151, a support 152 and a staircase 153; the bracket 152 is connected with the structural frame 130 through a pin, and the bracket 152 is fixedly connected with the cabin 151 and the stairs 153; the visitors or the staff reach the interior of the cabin through the stairs connected to the cabin bracket.

(III) bionic mechanical animal 200

As shown in fig. 5, the biomimetic mechanical animal 200 includes a head mechanism 210, a neck mechanism 220, a torso 230, an abdominal breathing mechanism 240, a limb mechanism 250, a tail mechanism 260, and a shape adornment 270;

(3.1) head mechanism 210

The head mechanism 210 is hinged with the front part of the neck mechanism 220, and under the action of the fourth driving unit 504, the head mechanism 210 can swing up and down relative to the neck mechanism 220, and the appearance structure of the head mechanism 210 can rotate longitudinally relative to the self supporting structure; in practical application, the head mechanism comprises a support frame, an outline frame and a driving system, wherein the support frame is hinged with the front part of the neck mechanism, the head mechanism can swing up and down relative to the neck mechanism, the outline frame of the head mechanism is hinged with the support frame, the outline frame rotates relative to the longitudinal axis of the support frame, the animal shaking motion is simulated under the head driving effect, and the head mechanism can still comprise mechanisms of ear swinging and rotating, tongue stretching and retracting, eye blinking, eyeball up-down and left-right rotating.

(3.2) torso 230

The trunk structure is formed by fixedly connecting sectional materials and steel plates and is a main support body of the bionic mechanical animal.

(3.3) neck mechanism 220

The back part of the neck mechanism 220 is hinged with the trunk 230, so that the neck mechanism 220 and the head mechanism 210 swing together relative to the trunk 230 in the up-and-down direction; a fifth driving unit 505 is arranged between the neck mechanism 220 and the trunk 230, and the angle of the neck mechanism 220 is adjusted under the driving of the fifth driving unit 505; the neck mechanism 220 is formed by connecting a plurality of groups of independent structural units in series in a transverse and longitudinal alternate hinged mode, and the head and the tail of the independent structural units are respectively connected with the head mechanism 210 and the trunk 230 so as to meet the requirements of the left-right and up-down swinging freedom degree of the neck.

(3.4) Limb mechanism 250

The upper part of the four-limb mechanism 250 is hinged with the trunk 230, so that the four limbs swing forwards and backwards relative to the trunk 230; specifically, the extremity mechanism 250 includes a humeral structure 251, a thigh structure 252, a lower leg structure 253, and a hoof structure 254;

humeral structure 251, thigh structure 252, calf structure 253, and hoof structure 254 are articulated two-by-two in series; the upper part of the humeral structure 251 is hinged to the trunk 230, and a sixth drive unit 506 is installed between the humeral structure 251 and the trunk 230, and is driven by the sixth drive unit 506 so that the entire limb can swing back and forth with respect to the trunk 230;

for the humerus structure 251, the thigh structure 252, the calf structure 253 and the foot and hoof structure 254, a seventh driving unit 507 is respectively installed between the two adjacent structures for driving, the seventh driving unit 507 is a linear driving unit so as to realize the swinging between the adjacent structures, and the whole body simulates various limb actions of the bionic mechanical animal through the control time sequence driven by the seventh driving unit 507.

(3.5) Tail mechanism 260

The front of tail mechanism 260 is hinged to the rear of torso 230, enabling tail mechanism 260 to swing relative to torso 230; specifically, the front part of the tail mechanism 260 is hinged with the rear part of the trunk 230, and a ninth driving unit 509 is installed between the front part of the tail mechanism 260 and the trunk 230, as shown in fig. 8, to realize the swing of the tail body integrally relative to the trunk 230; the tail mechanism 260 is a serial linkage mechanism, and the tail mechanism 260 swings in various combinations in the left-right direction with respect to the trunk 230 by means of a driving unit combined with a link.

(3.6) Abdominal breathing mechanism 240

The abdominal breathing mechanism 240 is hinged with the middle part of the trunk 230, so that the abdominal breathing mechanism 240 swings up and down relative to the trunk 230 in the left-right direction; specifically, the abdominal breathing mechanism 240 includes an oscillating body and an eighth driving unit 508; as shown in fig. 7, the upper end of the swinging body is hinged with the upper part of the trunk 230, the eighth driving unit 508 is hinged with the middle lower part of the swinging body, and simulates the abdominal breathing action of the bionic animal under the action of the eighth driving unit 508;

(3.7) appearance decorative body 270

The head mechanism 210, the neck mechanism 220, the trunk 230, the limb mechanisms 250 and the tail mechanism 260 are externally covered with an appearance decorative body 270; the appearance decorative body 270 is fixedly connected with the structure corresponding to the bionic mechanical animal 200 and moves synchronously with the corresponding structure. That is to say, the outside of the metal structure main body of the bionic mechanical animal is provided with a bionic animal appearance decoration body, the appearance decoration body is fixedly connected with the structure corresponding to the bionic mechanical animal and moves synchronously with the corresponding structure, so that the appearance of the bionic animal is always complete in the process of movement of each mechanism.

(3.8) cabin body

The bionic mechanical animal is provided with a cabin body for tourists or employees to sit or stand on, and the cabin body is detachably connected with the bionic mechanical animal structure. Specifically, as shown in fig. 10, the bionic mechanical animal 200 is provided with a second cabin assembly 280 for the tourists or the staff to sit or stand; the second cabin assembly 280 is detachably connected with the bionic mechanical animal 200. The tourists or the staff can climb up the cabin body through the ground auxiliary stairs. The cabin body can be conveniently disassembled and assembled according to the performance requirement.

In specific implementation, the above description refers to each driving unit, including but not limited to a driving cylinder.

The utility model provides a tour bionic equipment for performance, this equipment passes through preceding support frame and back support frame and retrains the bionic machinery animal on tour vehicle structure frame, and utilize the drive unit who connects on preceding support frame and back support frame, realize the whole space motion of bionical machinery animal's big amplitude, combine the coordinated action of each structure of the head of bionic machinery animal self, neck, shank, belly, afterbody simultaneously, and the action of imitating animal facial expression, cooperate with multiple special effect simultaneously, like water, fog, light, smog, music special effect, under the control of operator and procedure, accomplish free, changeable combination action performance, the performance form is abundant and diverse; the bionic mechanical animal interacts with the tourist in real time, and the tourist is provided with strong immersion.

The method has the following characteristics:

(1) the traveling and performance actions of the bionic equipment are completed by an operator through a human-computer interface, or the operator can drive the vehicle to travel in the direction, other performance actions are automatically completed by a program, or all actions are automatically completed by the program, or a plurality of operators take a plurality of positions of the trunk of the bionic mechanical animal, corresponding limbs are controlled at proper visual angles, and a whole set of performance actions are completed through close cooperation of a plurality of people. The traveling speed of the touring vehicle is matched with the walking pace of the limbs of the bionic mechanical animal so as to truly simulate the walking feeling of the animal.

(2) The bionic equipment has the advantages that the performance field is convenient to select, the equipment is provided with a walking power system, the equipment is free to move and perform, and more exertion space is provided for performance planning;

(3) the bionic equipment takes the tour vehicle as a traveling carrier, the traveling speed of the bionic mechanical animal is matched with the walking pace of limbs of the bionic mechanical animal, and the appearance of the bionic equipment looks like that of a real animal walking.

(4) In order to meet the requirements of various performances, the passenger carrying cabin bodies are arranged on the bionic mechanical animal bodies of the bionic equipment and the structural frame of the tour vehicle, so that the riding of tourists or staff during tour of the equipment is met, the interaction of the tourists is enhanced, the operation and receipts are increased, the riding of the staff is increased, and various possibilities are provided for tour planning; the cabin body is detachably connected with the equipment main body, and the cabin body is installed or removed according to the performance requirement.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be viewed as the protection scope of the present invention.

Claims (10)

1. The utility model provides a tour bionic equipment for performance which characterized in that includes: the bionic robot comprises a touring vehicle (100), a bionic mechanical animal (200), a front support frame (300), a rear support frame (400) and a driving system (500);

the touring vehicle (100) provides advancing power for the bionic mechanical animal (200); the front support frame (300) and the rear support frame (400) are respectively disposed at the front and rear of the cruise vehicle (100); two ends of the front support frame (300) are respectively connected with the structures of the touring vehicle (100) and the bionic mechanical animal (200); two ends of the rear support frame (400) are respectively connected with the structures of the touring vehicle (100) and the bionic mechanical animal (200); the driving system (500) is used for driving the bionic mechanical animal (200) to move.

2. The bionic device for touring performances according to claim 1, wherein the front support frame (300) is a one-piece rigid structure or a telescopic structure, and the top end of the front support frame (300) is hinged with the bionic mechanical animal (200); the bottom end of the front support frame (300) is hinged with the touring vehicle (100);

the rear support frame (400) is of an integrated rigid structure or a telescopic structure, and the top end of the rear support frame (400) is hinged with the bionic mechanical animal (200); the bottom end of the rear support frame (400) is hinged to the cruise vehicle (100).

3. The biomimetic device for tour performance of claim 1, wherein the tour vehicle (100) comprises a front axle assembly (110), a rear axle assembly (120), a structural frame (130), and a power system (140);

the front axle assembly (110) is hinged with the front part of the structural frame (130) and can swing left and right relative to the longitudinal axis of the structural frame (130); the rear axle assembly (120) is fixedly connected with the rear part of the structural frame (130); the front axle assembly (110), the rear axle assembly (120) and the structural frame (130) form a stable structure which can walk on rugged terrain and can land on the ground by four wheels at the same time.

4. The biomimetic device for tour performances as claimed in claim 3, wherein the front axle assembly (110) comprises a front axle frame (111), a front steering support (112) and a front tire assembly (113); the front bridge (111) is hinged with the front part of the structural frame (130); the number of the front steering supports (112) is two, the front steering supports are respectively arranged at the left end and the right end of the front bridge (111), and the front steering supports are rotatably connected with the front bridge (111) in the vertical direction; the number of the front tire assemblies (113) is two, and each front tire assembly (113) is rotatably connected with the front steering support (112) on the corresponding side.

5. The bionic equipment for touring performances according to claim 3, wherein the rear axle assembly (120) comprises a rear axle frame (121), a balancing stand (122), a rear steering support (123), a driving tire assembly (124) and a rear tire assembly (125);

the rear bridge frame (121) is fixedly connected with the structural frame (130), and the left end and the right end of the rear bridge frame (121) are respectively hinged with one balancing frame (122);

the front end and the rear end of each balancing stand (122) are respectively provided with one rear steering support (123), and the rear steering supports (123) are rotatably connected with the balancing stands (122) in the vertical direction; each rear steering bracket (123) is rotatably connected to one of the rear tire assemblies (125); the rear steering bracket (123), the drive tire assembly (124), and the rear tire assembly (125) rotate together along a vertical axis;

the driving mode of the driving tire assembly (124) is a hydraulic walking speed reducer or a motor speed reducer.

6. The biomimetic apparatus for tour performances of claim 3, wherein the power system (140) includes an energy output system (141), a vehicle driving system (142), and a control system (143); the energy output end of the energy source output system (141) is connected with the input end of the vehicle driving system (142); the control system (143) is connected with the vehicle driving system (142), and the traveling and steering of the touring vehicle are realized by controlling the vehicle driving system (142).

7. The bionic device for touring performances as claimed in claim 3, wherein the structural frame (130) is mounted with a first cabin assembly (150) for a guest or a staff to sit or stand; the first cabin component (150) is detachably connected with the structural frame (130);

a second cabin component (280) for tourists or employees to sit or stand is arranged on the bionic mechanical animal (200); the second cabin component (280) is detachably connected with the bionic mechanical animal (200).

8. The biomimetic device for tour performance according to claim 1, wherein the biomimetic mechanical animal (200) includes a head mechanism (210), a neck mechanism (220), a trunk (230), an abdominal breathing mechanism (240), a limb mechanism (250), a tail mechanism (260), and an outer shape decoration (270);

the head mechanism (210) is hinged with the front part of the neck mechanism (220), the head mechanism (210) can swing up and down relative to the neck mechanism (220) under the action of a fourth driving unit (504), and the appearance structure of the head mechanism (210) can rotate longitudinally relative to the self supporting structure;

the back part of the neck mechanism (220) is hinged with the trunk (230), so that the neck mechanism (220) and the head mechanism (210) can swing together relative to the trunk (230) in the up-and-down direction; a fifth driving unit (505) is arranged between the neck mechanism (220) and the trunk (230), and the angle of the neck mechanism (220) is adjusted under the driving of the fifth driving unit (505);

the upper part of the four-limb mechanism (250) is hinged with the trunk (230) to realize the forward and backward swinging of four limbs relative to the trunk (230);

the front of the tail mechanism (260) is hinged to the rear of the torso (230), enabling the tail mechanism (260) to swing relative to the torso (230);

the abdominal breathing mechanism (240) is hinged with the middle part of the trunk (230), so that the abdominal breathing mechanism (240) can swing up and down in the left-right direction of the trunk (230);

the head mechanism (210), the neck mechanism (220), the trunk (230), the limb mechanism (250) and the tail mechanism (260) are externally coated with the appearance decorating body (270); the appearance decorative body (270) is fixedly connected with a structure corresponding to the bionic mechanical animal (200) and moves synchronously with the corresponding structure.

9. The bionic equipment for touring performances according to claim 8, wherein the neck mechanism (220) is formed by connecting multiple groups of independent structural units in series in a transverse and longitudinal alternate hinge mode, and the head mechanism (210) and the trunk (230) are respectively connected with the head and the tail so as to meet the freedom degree of the neck in swinging left and right and up and down.

10. The biomimetic apparatus for tour performance according to claim 8, wherein the extremity mechanism (250) includes a humerus structure (251), a thigh structure (252), a shank structure (253), and a hoof structure (254);

the humeral structure (251), the thigh structure (252), the calf structure (253), and the hoof structure (254) are articulated two-by-two in series; the upper part of the humeral structure (251) is hinged with the trunk (230), and a sixth drive unit (506) is installed between the humeral structure (251) and the trunk (230), and the whole limb can swing back and forth relative to the trunk (230) by being driven by the sixth drive unit (506);

for the humerus structure (251), the thigh structure (252), the shank structure (253) and the foot and hoof structure (254), a seventh driving unit (507) is respectively arranged between every two adjacent structures for driving so as to realize swinging between the adjacent structures, and various limb actions of the bionic mechanical animal are simulated through a control time sequence driven by the seventh driving unit (507);

the abdominal breathing mechanism (240) comprises an oscillating body and an eighth drive unit (508); the upper end of the swinging body is hinged with the upper part of the trunk (230), the eighth driving unit (508) is hinged with the middle lower part of the swinging body, and the abdomen breathing action of the bionic animal is simulated under the action of the eighth driving unit;

the front part of the tail mechanism (260) is hinged with the rear part of the trunk (230), and a ninth driving unit (509) is arranged between the front part of the tail mechanism (260) and the trunk (230) to realize the swinging of the tail body relative to the trunk (230);

the tail mechanism (260) adopts a serial linkage mechanism, and the tail mechanism (260) swings in various combinations relative to the left and right directions of the trunk (230) in a mode of combining a driving unit with a connecting rod.

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