CN219105665U - Simulation performance machine for simulating tug-of-war - Google Patents
Simulation performance machine for simulating tug-of-war Download PDFInfo
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- CN219105665U CN219105665U CN202320034949.8U CN202320034949U CN219105665U CN 219105665 U CN219105665 U CN 219105665U CN 202320034949 U CN202320034949 U CN 202320034949U CN 219105665 U CN219105665 U CN 219105665U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The utility model discloses a simulation performance machine for simulating a tug-of-war, which comprises a first robot, a second robot, a base and a connecting rod; the first robot and the second robot are respectively arranged at two opposite ends of the base, and are respectively connected with the base through pin shafts; the first robot and the second robot are respectively connected with two ends of the connecting rod through pin shafts; and driving the first robot to act with the second robot so as to realize the tug-of-war action process of the performance machine. The simulation performance machine for simulating the tug-of-war disclosed by the utility model adopts a mode of combining the motion characteristics of the tug-of-war and the motion conditions of joints of a human body and adopting a multi-connecting-rod structure to simulate the motion process of mutual pulling in the tug-of-war realistically, and has the characteristics of simplicity and reliability in control, low cost and vivid motion effect.
Description
Technical Field
The utility model relates to the technical field of mechanical manufacturing, in particular to a simulation performance machine for simulating a tug-of-war.
Background
With the development of new generation theme parks, the requirements on high simulation robots are more and more, the performance requirements of the robots are more and more, more action expression forms are needed to increase project effects, particularly, the simulation performance machines simulating the tug-of-war can greatly promote the attraction of the project, the tug-of-war action cost is very high, the control is complex, the stability is not high, and the action effect is not good by adopting the general robots on the market.
Therefore, the existing simulation performance machine for simulating the tug-of-war has the technical problems of higher cost and poor action effect.
Disclosure of Invention
The embodiment of the utility model provides a simulation performance machine for simulating a tug-of-war, which aims to solve the technical problems of higher cost and poor action effect of the existing simulation performance machine for simulating the tug-of-war.
The utility model discloses a simulated performance machine for simulating a tug-of-war, which comprises a first robot, a second robot, a base and a connecting rod; the first robot and the second robot are respectively arranged at two opposite ends of the base; the base comprises a first base layer and a second base layer, and the first robot and the second robot are respectively connected with the first base layer and the second base layer through pin shafts; the first robot and the second robot are respectively connected with two ends of the connecting rod; the connecting rod is provided with a first connecting point, a second connecting point, a third connecting point and a fourth connecting point which are used for connecting the first robot and the second robot, the first robot is in pin shaft connection with the connecting rod through the first connecting point and the second connecting point, and the second robot is in pin shaft connection with the connecting rod through the third connecting point and the fourth connecting point.
The first robot comprises a first driving unit, a first thigh, a second shank, a first crotch structural member, a second driving unit, a first body structural member, a first big arm, a first small arm and a second arm; the first thigh is connected with the first driving unit, and the first driving unit is connected with the base; the first thigh and the second thigh are respectively connected with the first crotch structural part; one end of the second lower leg is connected with the second thigh, and the other end of the second lower leg is connected with the base; the second driving unit and the first crotch structural member are respectively connected with the first body structural member; the first large arm and the second large arm are respectively connected with the first body structural member; one end of the first small arm is connected with the first large arm, and the other end of the first small arm is connected with the connecting rod.
The second robot comprises a third driving unit, a third thigh, a fourth shank, a second crotch structural member, a second body structural member, a third big arm, a third small arm and a fourth arm; the third thigh is connected with the third driving unit, and the third driving unit is connected with the base; the third thigh and the fourth thigh are respectively connected with the second crotch structural part; one end of the fourth shank is connected with the fourth thigh, and the other end of the fourth shank is connected with the base; the second crotch structural member is disposed in the second body structural member connection; the third big arm and the fourth arm are respectively connected with the second body structural part; one end of the third small arm is connected with the third large arm, and the other end of the third small arm is connected with the connecting rod.
The first connecting point and the fourth connecting point are respectively arranged at two opposite ends of the connecting rod, the second connecting point is arranged at the position, close to the first connecting point, of the middle of the connecting rod, and the third connecting point is arranged at the position, close to the fourth connecting point, of the middle of the connecting rod.
The second arm is in pin shaft connection with the connecting rod through the second connecting point; the first small arm is connected with the connecting rod through a first connecting point through a pin shaft.
The fourth arm is in pin shaft connection with the connecting rod through the third connecting point; the third small arm is in pin shaft connection with the connecting rod through a fourth connecting point.
The first base layer is arranged in parallel with the second base layer, and the first base layer is connected with the second base layer.
The first driving unit is connected with the second base layer through a pin shaft structure, and the first thigh and the second shank are respectively connected with the first base layer.
The third driving unit is connected with the second base layer, and the third thigh and the fourth shank are respectively connected with the first base layer.
And driving the first robot to act with the second robot so as to realize the tug-of-war action process of the performance machine.
The utility model discloses a simulation performance machine for simulating a tug-of-war, which comprises a first robot, a second robot, a base and a connecting rod; the first robot and the second robot are respectively arranged at two opposite ends of the base, and are respectively connected with the base through pin shafts; the first robot and the second robot are respectively connected with two ends of the connecting rod through pin shafts; and driving the first robot to act with the second robot so as to realize the tug-of-war action process of the performance machine. The simulation performance machine for simulating the tug-of-war disclosed by the utility model adopts a mode of combining the motion characteristics of the tug-of-war and the motion conditions of joints of a human body and adopting a multi-connecting-rod structure to simulate the motion process of mutual pulling in the tug-of-war realistically, and has the characteristics of simplicity and reliability in control, low cost and vivid motion effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an overall block diagram of a simulated performance machine simulating a tug-of-war according to an embodiment of the present utility model;
fig. 2 is a block diagram of a first robot in a simulated performance machine simulating a tug-of-war according to an embodiment of the present utility model;
fig. 3 is a block diagram of a second robot in the simulated performance machine simulating a tug-of-war according to the embodiment of the present utility model;
fig. 4 is a partial block diagram of a connecting rod of a simulated performance machine simulating a tug-of-war according to an embodiment of the present utility model;
FIG. 5 is a diagram showing the motion relationship of a machine in embodiment 1 according to an embodiment of the present utility model;
FIG. 6 is a diagram showing the motion relationship of a machine in embodiment 2 according to an embodiment of the present utility model;
fig. 7 is a diagram showing a motion relationship of a machine in embodiment 3 according to an embodiment of the present utility model.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
The utility model discloses a simulation performance machine for simulating a tug-of-war, which is shown in figure 1 and comprises a first robot 1, a second robot 2, a base 3 and a connecting rod 4; the first robot 1 and the second robot 2 are respectively arranged at two opposite ends of the base 3 so as to ensure that the moving ranges of the first robot 1 and the second robot 2 are large enough; the base 3 comprises a first base layer 31 and a second base layer 32, the first robot 1 and the second robot 2 are respectively connected with the first base layer 31 and the second base layer 32 through pin shafts, and the base 3 is used for bearing the weight of the first robot 1 and the second robot 2 so as to ensure that the first robot 1 and the second robot 2 can normally act;
as shown in fig. 1 and 4, the first robot 1 and the second robot 2 are respectively disposed at two ends of the connecting rod 4 to fully simulate the tug-of-war action; the connecting rod 4 is provided with a first connecting point 41, a second connecting point 42, a third connecting point 43 and a fourth connecting point 44, the first robot 1 is in pin shaft connection with the connecting rod 4 through the first connecting point 41 and the second connecting point 42, the first robot 1 pushes or pulls the connecting rod 4 through the first connecting point 41 and the second connecting point 42, the second robot 2 is in pin shaft connection with the connecting rod 4 through the third connecting point 43 and the fourth connecting point 44, and the second robot 2 pushes or pulls the connecting rod 4 through the third connecting point 43 and the fourth connecting point 44.
Specifically, as shown in fig. 2, the first machine 1 includes a first driving unit 11, a first thigh 15, a second thigh 16, a second shank 17, a first crotch structure 14, a second driving unit 12, a first body structure 13, a first thigh 19, a first forearm 20, and a second arm 18;
the first thigh 15 is connected with the first driving unit 11 through a pin shaft, the first driving unit 11 is connected with the base 3 through a first pin shaft 111, the first driving unit 11 drives the first thigh 15 to move, specifically, the first driving unit 11 rotates or stretches around the first pin shaft 111 by a certain angle so as to drive the first thigh 15 to rotate by a certain angle, and controls the angle and the direction of the first robot 1.
The first thigh 15, the second thigh 16 are each arranged in connection with the first crotch structure 14; when the first thigh 15 rotates, the first crotch structure 14 is driven to move, and the second thigh 16 is pushed or pulled to move.
One end of the second lower leg 17 is connected with the second thigh 16, and the other end of the second lower leg 17 is connected with the base 3; the second thigh 16 moves to push or pull the second calf 17 to move, thereby controlling the first robot 1 to tilt forward or backward.
The second drive unit 12, the first crotch structure 14 are arranged to be connected to the first body structure 13, respectively; the second drive unit 12 drives the first body structure 13 in movement with the first crotch structure 14.
The first big arm 19 and the second arm 18 are respectively connected with the first body structural member 13; when the first body structure 13 moves, the first large arm 19 and the second arm 18 are driven to move.
One end of the first small arm 20 is connected with the first large arm 19, and the other end of the first small arm 20 is connected with the connecting rod 4. The first large arm 19 moves to drive the first small arm 20 to move so as to push or pull the connecting rod 4 to move.
Specifically, as shown in fig. 3, the second robot 2 includes a third driving unit 21, a third thigh 24, a fourth thigh 25, a fourth shank 26, a second crotch structural member 23, a second body structural member 22, a third large arm 27, a third small arm 28, and a fourth arm 29; the third thigh 24 is connected with the third driving unit 21 through a pin shaft, the third driving unit 21 is connected with the base 3 through a third pin shaft 211, the third driving unit 21 drives the third thigh 24 to move, specifically, the third driving unit 21 rotates or stretches around the third pin shaft 211 by a certain angle so as to drive the third thigh 24 to rotate by a certain angle, and the angle and the direction of the second robot 2 are controlled.
The third thigh 24 and the fourth thigh 25 are respectively connected with the second crotch structural member 23, and when the third thigh 24 rotates, the second crotch structural member 23 is driven to move, and the fourth thigh 25 is pushed or pulled to move.
One end of the fourth lower leg 26 is connected with the fourth thigh 25, the other end of the fourth lower leg 26 is connected with the base 3, and the fourth lower leg 26 is pushed or pulled to move when the fourth thigh 26 moves, so that the second robot 2 is controlled to tilt forwards or backwards.
The second crotch structural member 23 is disposed on the second body structural member 22 and connected thereto, and the second crotch structural member 23 moves to drive the second body structural member 22 to move.
The third large arm 27 and the fourth arm 29 are respectively connected to the second body structural member 22, and the second body structural member 22 will drive the third large arm 27 and the fourth arm 29 to move when moving.
One end of the third small arm 28 is connected with the third large arm 27, the other end of the third small arm 28 is connected with the connecting rod 4, and the third small arm 28 is driven to move when the third large arm 27 moves so as to push or pull the connecting rod 4 to move.
Specifically, as shown in fig. 4, the connecting rod 4 is provided with a first connecting point 41, a second connecting point 42, a third connecting point 43 and a fourth connecting point 44, the first connecting point 41 and the fourth connecting point 44 are respectively disposed at two opposite ends of the connecting rod 4, the second connecting point 42 is disposed at a position close to the first connecting point 41 in the middle of the connecting rod 4, and the third connecting point 43 is disposed at a position close to the fourth connecting point 44 in the middle of the connecting rod 4. The first robot 1 and the second robot 2 push or pull the connecting rod 4 through the first connecting point 41 and the fourth connecting point 44 to realize the tug-of-war action of the performance machine, and the first robot 1 and the second robot 2 control the balance and the stability of the connecting rod 4 through the second connecting point 42 and the third connecting point 43.
As shown in fig. 2 and 4, the second arm 18 is pin-connected to the link 4 through the second connection point 42; the first forearm 20 is pin-connected to the connecting rod 4 via the first connection point 41. The first big arm 19 pushes or pulls the first small arm 20 and completes the pushing or pulling action of the connecting rod 4 through the first connecting point 41; the second arm 18 pushes or pulls the link 4 through the second connection point 42 and helps to maintain the balance of the link 4.
As shown in fig. 3 and 4, the fourth arm 29 is connected to the link 4 through the third connection point 43 by a pin; the third arm 28 is pivotally connected to the link 4 via the fourth connection point 44. The third big arm 27 pushes or pulls the third small arm 28 and completes the pushing or pulling action of the connecting rod 4 through the fourth connecting point 44; the fourth arm 29 pushes or pulls the link 4 through the third connection point 43 and helps to maintain the balance of the link 4.
As shown in fig. 1, the base 3 includes a first base layer 31 and a second base layer 32, the first base layer 31 and the second base layer 32 are disposed in parallel, the first base layer 31 and the second base layer 32 are connected by a plurality of vertical rods with the same length, and the length of the vertical rods is adjusted to adjust the height of the base 3.
As shown in fig. 2, the first driving unit 11 is connected to the second base layer 32 through a first pin 111, and when in operation, the first driving unit 11 rotates or stretches around the first pin 111 by a certain angle; the first driving unit 11 is in pin connection with the first thigh 15, and the first thigh 15 is driven to move when the first driving unit 11 rotates; the first thigh 15 and the second shank 17 are respectively connected with the first base layer 31, a second pin shaft 151 is arranged on the first base layer 31, the first thigh 15 penetrates through the first base layer 31 and is connected with the first base layer 31 through the second pin shaft 151, and the first driving unit 11 pushes the first thigh 15 to rotate around the second pin shaft 151; the second lower leg 17 is fixedly connected with the first base layer 31 through a pin shaft, so as to maintain the stability of the second lower leg 17 and the first robot 1.
As shown in fig. 3, the third driving unit 21 is connected to the second base layer 32 through a third pin 211, and in operation, the third driving unit 21 rotates or stretches around the third pin 211 by a certain angle; the third driving unit 21 is in pin connection with the third thigh 24, and the third driving unit 21 drives the third thigh 24 to move when rotating; the third thigh 24 and the fourth thigh 26 are respectively connected with the first base layer 31, a fourth pin shaft 241 is disposed on the first base layer 31, the third thigh 24 is disposed through the first base layer 31 and is connected with the first base layer 31 through the fourth pin shaft 241, and the third driving unit 21 pushes the third thigh 24 to rotate around the fourth pin shaft 241; the fourth lower leg 26 is fixedly connected with the first base layer 31 through a pin shaft, so as to maintain stability of the fourth lower leg and the second robot 2.
In a specific embodiment, the first robot 1 and the second robot 2 are driven to perform actions, so as to realize a tug-of-war action process of the performance machine. Specifically, the first driving unit 11, the second driving unit 12, and the third driving unit 21 are driven to move respectively or simultaneously to drive the first robot 1 and the second robot 2 to forward or backward move, so that overall motion planning control can be performed in combination with performance effects, and different tug-of-war motion effects of the performance machine can be realized.
Example 1
The first driving unit 11 is pushed out, and neither the second driving unit 12 nor the third driving unit 21 is operated.
As shown in fig. 5, the driving rod of the first driving unit 11 extends to push the first thigh 15 of the first robot 1 to rotate clockwise around the second pin 151 by a certain angle, and drives the first robot 1 to tilt forward and drive the connecting rod 4 to push the second robot 2 to tilt backward, so as to realize the action effect that the second robot 2 pulls the first robot 1 to the direction of the second robot 2. Specifically, the first thigh 15, the second arm 18, the link 4, the fourth arm 29, and the second body member 22 form a first spatial link mechanism; the first thigh 15 moves, so that each component in the first space link mechanism is driven to move, the second thigh 16, the second shank 17, the first big arm 19, the first small arm 20, the third big arm 27 and the third small arm 28 follow the movement, so that the gesture of the two hands and the two legs when the second robot 2 pulls the first robot 1 can be better simulated, and the tug-of-war effect of the second robot 2 pulling the first robot 1 towards the direction of the second robot 2 can be realistically shown.
Example 2
The first driving unit 11, the second driving unit 12 are pushed out, and the third driving unit 21 is not operated.
As shown in fig. 6, on the basis of embodiment 1, the driving rod of the second driving unit 12 is extended to push the first body member 13 to tilt forward and drive the connecting rod 4 to push the second robot 2 to tilt backward, so that the second robot 2 further pulls the first robot 1 toward the second robot 2. Specifically, the first thigh 15, the first body member 13, the second arm 18, the link 4, the fourth arm 29, and the second body member 22 form a first spatial link mechanism; the first body structure 13, the second arm 18, the link 4, the fourth arm 29, the second body structure 22 form a second spatial link mechanism; the first thigh 15 and the first body member 13 move, so that each part in the first space link mechanism and the second space link mechanism is driven to move, and the second thigh 16, the second calf 17, the first big arm 19, the first small arm 20, the third big arm 27 and the third small arm 28 follow the movement, so as to simulate vividly a tug-of-war effect that the second robot 2 pulls the first robot 1 further towards the second robot 2.
Example 3
The first drive unit 11, the second drive unit 12 are retracted inwards and the third drive unit 21 is pushed outwards. As shown in fig. 7, the driving rod of the first driving unit 11 is shortened to pull the first thigh 15 of the first robot 1 to rotate counterclockwise around the second pin 151 by a certain angle, and the driving rod of the second driving unit 12 is shortened to pull the first body member 13 to fall backward and drive the link 4 to pull the second robot 2 to tilt forward, and simultaneously drive the first robot 1 to fall backward and drive the link 4 to pull the second robot 2 to tilt forward; the driving rod of the third driving unit 21 stretches to push the third thigh 24 of the second robot 2 to rotate clockwise around the fourth pin shaft 241 by a certain angle, and drives the second robot 2 to tilt forward and drive the connecting rod 4 to push the first robot 1 to tilt backward, so that the action effect that the first robot 1 pulls the second robot 2 to the direction of the first robot 1 is achieved. Specifically, the first thigh 15, the first body member 13, the second arm 18, the link 4, the fourth arm 29, and the second body member 22 form a first spatial link mechanism; the first body member 13, second arm 18, link 4, fourth arm 29, second body member 22 form a second spatial linkage; the third thigh 24, the second body structure 22, the link 4, the second arm 18, the first body structure 13 form a third spatial link mechanism; the first thigh 15, the first body member 13, and the third thigh 24 move, so as to drive each component in the first space link mechanism, the second space link mechanism, and the third space link mechanism to move, and the second thigh 16, the second shank 17, the first big arm 19, the first small arm 20, the third big arm 27, and the third small arm 28 follow the movement, so as to simulate the gesture of both hands and both legs when the first robot 1 pulls the second robot 2, and realistically display the tug-of-war effect that the first robot 1 pulls the second robot 2 toward the first robot 1.
The utility model discloses a simulation performance machine for simulating a tug-of-war, which comprises a first robot, a second robot, a base and a connecting rod; the first robot and the second robot are respectively arranged at two opposite ends of the base, and are respectively connected with the base through pin shafts; the first robot and the second robot are respectively connected with two ends of the connecting rod through pin shafts; and driving the first robot to act with the second robot so as to realize the tug-of-war action process of the performance machine. The simulation performance machine for simulating the tug-of-war disclosed by the utility model adopts a mode of combining the motion characteristics of the tug-of-war and the motion conditions of joints of a human body and adopting a multi-connecting-rod structure to simulate the motion process of mutual pulling in the tug-of-war realistically, and has the characteristics of simplicity and reliability in control, low cost and vivid motion effect.
The present utility model is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the present utility model, and these modifications and substitutions are intended to be included in the scope of the present utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.
Claims (10)
1. The simulated performance machine for simulating the tug-of-war is characterized by comprising a first robot, a second robot, a base and a connecting rod;
the first robot and the second robot are respectively arranged at two opposite ends of the base; the base comprises a first base layer and a second base layer, and the first robot and the second robot are respectively connected with the first base layer and the second base layer through pin shafts;
the first robot and the second robot are respectively connected with two ends of the connecting rod; the connecting rod is provided with a first connecting point, a second connecting point, a third connecting point and a fourth connecting point which are used for connecting the first robot and the second robot, the first robot is in pin shaft connection with the connecting rod through the first connecting point and the second connecting point, and the second robot is in pin shaft connection with the connecting rod through the third connecting point and the fourth connecting point.
2. A simulated performance machine simulating a tug-of-war according to claim 1 wherein the first robot comprises a first drive unit, a first thigh, a second calf, a first crotch structure, a second drive unit, a first body structure, a first thigh, a first forearm, a second arm;
the first thigh is connected with the first driving unit, and the first driving unit is connected with the base;
the first thigh and the second thigh are respectively connected with the first crotch structural part;
one end of the second lower leg is connected with the second thigh, and the other end of the second lower leg is connected with the base;
the second driving unit and the first crotch structural member are respectively connected with the first body structural member;
the first large arm and the second large arm are respectively connected with the first body structural member;
one end of the first small arm is connected with the first large arm, and the other end of the first small arm is connected with the connecting rod.
3. A simulated performance machine simulating a tug-of-war according to claim 1 wherein the second robot comprises a third drive unit, a third thigh, a fourth calf, a second crotch structure, a second body structure, a third thigh, a third forearm, a fourth arm;
the third thigh is connected with the third driving unit, and the third driving unit is connected with the base;
the third thigh and the fourth thigh are respectively connected with the second crotch structural part;
one end of the fourth shank is connected with the fourth thigh, and the other end of the fourth shank is connected with the base;
the second crotch structure is arranged to be connected to the second body structure;
the third big arm and the fourth arm are respectively connected with the second body structural part;
one end of the third small arm is connected with the third large arm, and the other end of the third small arm is connected with the connecting rod.
4. A simulated tug-of-war playing machine as claimed in claim 1 wherein said first and fourth connection points are provided at opposite ends of said connecting rod respectively, said second connection point being provided at a location intermediate said connecting rod adjacent said first connection point and said third connection point being provided at a location intermediate said connecting rod adjacent said fourth connection point.
5. A simulated performance machine as claimed in claim 2 wherein said second arm is pinned to said link by said second point of attachment; the first small arm is connected with the connecting rod through a first connecting point through a pin shaft.
6. A simulated performance machine as claimed in claim 3 wherein said fourth arm is pinned to said link via said third connection point; the third small arm is in pin shaft connection with the connecting rod through a fourth connecting point.
7. A simulated performance machine as claimed in claim 1 wherein said first base layer is disposed in parallel with said second base layer.
8. A simulated performance machine as claimed in claim 2 wherein said first drive unit is connected to said second base layer by a pin arrangement, said first thigh and said second shank being connected to said first base layer respectively.
9. A simulated performance machine simulating a tug-of-war according to claim 3 wherein the third drive unit is connected to the second base layer and the third thigh and the fourth calf are each connected to the first base layer.
10. A simulated performance machine as claimed in claim 1 wherein said first robot is driven in motion with said second robot to effect a tug action process of said performance machine.
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| CN202320034949.8U CN219105665U (en) | 2023-01-06 | 2023-01-06 | Simulation performance machine for simulating tug-of-war |
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| CN202320034949.8U CN219105665U (en) | 2023-01-06 | 2023-01-06 | Simulation performance machine for simulating tug-of-war |
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