Monkey robot device for simulating dynamic performance

Abstract

The utility model discloses a simulation dynamic performance monkey robot device which comprises a neck assembly which is arranged on a base trunk assembly and can twist and pitch, a head assembly which is arranged on the neck assembly and can shake heads and nodding heads, and the head assembly is provided with an opening and closing mouth component and a blinking eye component. The left arm assembly and the right arm assembly are connected to the two sides of the base trunk assembly and can swing front and back, twist big arms and bend elbows, and all the assemblies are wrapped with monkey skin models. The device is simple and ingenious in overall structure and reliable in performance, multi-degree-of-freedom and multi-joint movement can be achieved, and the problems that in the performance process of simulation primates, joints are stiff, actions are stiff, and the expressive force is insufficient are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of amusement performance equipment, in particular to a simulated dynamic performance monkey robot device. Background Art

[0002] With the continuous advancement of technology, various automated and intelligent simulation equipment has been widely used in theme parks, amusement parks, theaters, and other venues, bringing people more vivid and interesting experiences. Primate simulations, especially those featuring the Monkey King, have attracted considerable attention due to their rich expressions and movements. However, most existing monkey simulations are limited to static displays or simple movements, failing to convey the Monkey King's vivid and dynamic image. In particular, the coordination between facial expressions and limb movements needs to be improved.

[0003] In view of this, the present utility model is proposed. Summary of the Invention

[0004] The purpose of the utility model is to provide a simulated dynamic performance monkey robot device that can make coordinated facial expressions and limb movements to achieve a more vivid and realistic performance effect, enhance the product's viewing and fun, and thus solve the above-mentioned technical problems existing in the prior art.

[0005] The purpose of this utility model is achieved through the following technical solutions:

[0006] A simulated dynamic performance monkey robot device, comprising:

[0007] Base torso assembly, neck assembly, head assembly, left arm assembly, right arm assembly and monkey skin modeling; among them,

[0008] The neck assembly is mounted on the base torso assembly;

[0009] The head assembly is mounted on top of the neck assembly and can perform shaking and nodding movements under the drive of the neck assembly;

[0010] The head assembly is provided with a mouth component capable of opening and closing and an eye component capable of blinking;

[0011] The left arm assembly is connected to the left side of the neck assembly and can swing forward and backward relative to the base torso assembly, twist the upper arm, and bend the elbow;

[0012] The right arm assembly is connected to the right side of the neck assembly, is symmetrical with the left arm assembly, and can perform forward and backward swinging movements, upper arm twisting movements, and elbow bending movements relative to the base torso assembly;

[0013] The monkey skin shape is sleeved on the outside of the connected base trunk component, neck component, head component, left arm component and right arm component.

[0014] Compared with the prior art, the simulated dynamic performance monkey robot device provided by the utility model has the following beneficial effects:

[0015] By attaching a neck, head, left, and right arm components to a base torso assembly and then covering the connected components with monkey skin, a dynamic, simulated monkey robot with fully movable neck, head, left, and right arms is created. This significantly enhances the product's visual appeal and enjoyment. The dynamic, vivid movements create a more realistic portrayal of Monkey King and other monkey characters, significantly enhancing the product's visual appeal and enjoyment. This device can be widely used in theme parks, stage plays, film and television productions, and other fields, providing audiences with a brand new visual experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is an overall schematic diagram of a simulated dynamic performance monkey robot device provided by an embodiment of the utility model.

[0018] Figure 2 This is a schematic structural diagram of the base and trunk components of the simulated dynamic performance monkey robot device provided by an embodiment of the utility model.

[0019] Figure 3 It is a structural schematic diagram of the neck assembly of the simulated dynamic performance monkey robot device provided by an embodiment of the utility model.

[0020] Figure 4 It is a structural schematic diagram of the differential parallel mechanism of the neck assembly of the simulated dynamic performance monkey robot device provided by an embodiment of the utility model.

[0021] Figure 5 It is a structural schematic diagram of the head mechanism of a simulated dynamic performance monkey robot device provided by an embodiment of the utility model.

[0022] Figure 6 It is a structural schematic diagram of the left arm assembly of the simulated dynamic performance monkey robot device provided by an embodiment of the utility model.

[0023] In the figure: 100 - base torso assembly; 101 - bottom plate; 102 - profile frame; 103 - neck mounting block; 104 - arm mounting block;

[0024] 200 - Neck assembly; 201 - Right drive motor; 202 - Right driving bevel gear; 203 - Right driven bevel gear; 204 - Right driving pulley; 205 - Right synchronous belt; 206 - Neck main bracket; 207 - Left synchronous belt; 208 - Left driving pulley; 209 - Left driven bevel gear; 210 - Driving bevel gear; 211 - Left drive motor; 220 - Differential parallel mechanism;

[0025] 2201-Main bearing A; 2202-Main shaft A; 2203-Differential driven pulley A; 2204-Differential driving bevel gear A; 2205-Differential driven bevel gear; 2206-Head connecting plate; 2207-Sliding bearing A; 2208-Differential driving bevel gear B; 2209-Differential driven pulley B; 2210-Main shaft B; 2211-Main bearing B; 2212-Sliding bearing B; 2213-Driven shaft;

[0026] 300 - Head assembly; 301 - Head stand; 302 - Lower jaw; 303 - Small connecting rod; 304 - Linear motor; 305 - Servo; 306 - Servo crank; 307 - Connecting rod A; 308 - Connecting rod B; 309 - Connecting rod C; 310 - Connecting rod D; 311 - Upper eyelid; 312 - Eyeball; 313 - Lower eyelid; 314 - Eye support; 315 - Eyeball support; 316 - Upper jaw; 317 - Lower jaw support; 318 - Main mounting plate;

[0027] 400-left arm assembly; 401-upper arm fixing frame; 402-upper arm swing motor; 403-swing driving gear; 404-swing driven gear; 405-upper arm swing frame; 406-upper arm torsion motor; 407-torsion driving gear; 408-torsion driven gear; 409-upper arm frame; 410-elbow swing motor; 411-elbow swing driving gear; 412-elbow swing driven gear; 413-forearm and palm frame. DETAILED DESCRIPTION

[0028] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them, and do not constitute a limitation of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0029] First, the following terms may be used in this article:

[0030] The term “and / or” means that either or both of them can be realized at the same time. For example, X and / or Y includes both “X” or “Y” and “X and Y”.

[0031] The terms "include," "comprises," "contains," "has," or other similar expressions should be interpreted as non-exclusive. For example, "including certain technical features (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products, or manufactured articles)" should be interpreted as including not only the technical features explicitly listed, but also other technical features known in the art that are not explicitly listed.

[0032] The term "consisting of" excludes any technical features not explicitly listed. If used in a claim, this term renders the claim closed, excluding any technical features other than those explicitly listed, except for conventional impurities associated with them. If this term appears only in a clause of a claim, it limits only the elements explicitly listed in that clause; elements listed in other clauses are not excluded from the claim as a whole.

[0033] Unless otherwise specified or limited, the terms "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this document based on specific circumstances.

[0034] The terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings and are only for the convenience and simplification of description, and do not explicitly or implicitly indicate that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation to this document.

[0035] The solutions provided by the present invention are described in detail below. Any content not described in detail in the examples of the present invention belongs to the prior art known to those skilled in the art. Where specific conditions are not specified in the examples of the present invention, the experiments were carried out according to conventional conditions in the art or the conditions recommended by the manufacturer. Where the manufacturers of reagents or instruments used in the examples of the present invention are not specified, they are all conventional products that can be purchased commercially.

[0036] like Figure 1 As shown, the embodiment of the present invention provides a simulated dynamic performance monkey robot device, comprising:

[0037] Base torso component 100, neck component 200, head component 300, left arm component 400, right arm component 500 and monkey skin shape 600; wherein,

[0038] The neck assembly 200 is mounted on the base torso assembly 100;

[0039] The head assembly 300 is mounted on the top of the neck assembly 200 and can perform shaking and nodding movements under the drive of the neck assembly 200;

[0040] The head assembly 300 is provided with a mouth component capable of opening and closing and an eye component capable of blinking;

[0041] The left arm assembly 400 is connected to the left side of the base trunk assembly 100 and can perform forward and backward swinging movements, upper arm twisting movements, and elbow bending movements relative to the base trunk assembly 100;

[0042] The right arm assembly 500 is connected to the right side of the base trunk assembly 100 and is symmetrical with the left arm assembly 400. It can swing forward and backward relative to the base trunk assembly 100, twist the upper arm, and bend the elbow.

[0043] The monkey skin shape 600 is mounted on the outside of the connected base trunk component 100, neck component 200, head component 300, left arm component 400 and right arm component 500.

[0044] See also Figure 2 Preferably, in the above device, the base trunk assembly 100 includes:

[0045] Base plate 101, profile frame 102, neck mounting block 103 and two arm mounting blocks 104; wherein,

[0046] The profile frame 102 is a simulated monkey torso structure formed by welding profiles, and the profile frame 102 is fixedly arranged on the base plate 101;

[0047] Two arm mounting blocks 104 are fixedly and symmetrically mounted on the top of the profile frame 102 , the left arm mounting block 104 is connected to the left arm assembly 400 , and the right arm mounting block 104 is connected to the right arm assembly 500 ;

[0048] The neck mounting block 103 is fixedly mounted on the top of the profile frame 102 , between the two arm mounting blocks 104 , and connected to the neck assembly 200 .

[0049] See also Figure 3 Preferably, in the above device, the neck component 200 includes:

[0050] A set of differential parallel mechanism, neck main support 206 and two sets of transmission bevel gear mechanisms; wherein,

[0051] The differential parallel mechanism is provided on the neck main support 206 , and the driving end of the differential parallel mechanism is connected to the head assembly 300 ;

[0052] The two sets of transmission bevel gear mechanisms have the same structure and are arranged in parallel below the differential parallel mechanism. The left driven pulley of the transmission bevel gear mechanism on the left and the right driven pulley of the transmission bevel gear mechanism on the right are respectively connected to the left and right sides of the main shaft of the differential parallel mechanism;

[0053] The transmission bevel gear mechanism on the right side includes: a right driving motor 201, a right driving bevel gear 202, a right driven bevel gear 203, a right driving pulley 204 and a right synchronous belt 205; wherein,

[0054] The lower end of the right driving motor 201 is disposed in the base trunk assembly 100, and the upper end is fixedly connected to the neck main support 206;

[0055] The output shaft of the right driving motor 201 is connected to the right driving bevel gear 202, the right driving bevel gear 202 is meshed with the right driven bevel gear 203, the outer side of the right driven bevel gear 203 is fixedly connected to the right driving pulley 204, and the right driving pulley 204 is connected to the differential driven pulley A2203 fixedly connected to the main shaft A2202 of the differential parallel mechanism via the right synchronous belt 205;

[0056] The transmission bevel gear mechanism on the left side includes: a left driving motor 211, a left driving bevel gear 210, a left driven bevel gear 209, a left driving pulley 208 and a left synchronous belt 207; wherein,

[0057] The lower end of the left driving motor 211 is disposed in the base trunk assembly 100, and the upper end is fixedly connected to the neck main support 206;

[0058] The output shaft of the left drive motor 211 is connected to the left active bevel gear 210, and the left active bevel gear 210 is meshed with the left driven bevel gear 209. The outer side of the left driven bevel gear 209 is fixedly connected to the left active pulley 208, and the left active pulley 208 is connected to the differential driven pulley B2209 fixedly connected to the main shaft B2210 of the differential parallel mechanism via the left synchronous belt 207.

[0059] See also Figure 4 Preferably, in the above device, the differential parallel mechanism 220 includes:

[0060] Main bearing A2201, main shaft A2202, differential driven pulley A2203, differential driving bevel gear A2204, differential driven bevel gear 2205, head connecting plate 2206, sliding bearing A2207, differential driving bevel gear B2208, differential driven pulley B2209, main shaft B2210, main bearing B2211, sliding bearing B2212 and driven shaft 2213; wherein,

[0061] The head connecting plate 2206 is connected to the head assembly 300;

[0062] The lower end of the head connecting plate 2206 is fixedly connected to the differential driven bevel gear 2205. The differential driven bevel gear 2205 is arranged on the driven shaft 2213 through the sliding bearing A2207. The differential driven bevel gear 2205 can rotate around the driven shaft 2213 together with the head connecting plate 2206.

[0063] The main shaft A2202 is arranged on the right side of the neck main support 206 through the main bearing A2201. The outer end of the main shaft A2202 is fixedly connected to the differential driven pulley A2203. The inner side of the main shaft A2202 is fixedly provided with the differential driving bevel gear A2204. The differential driving bevel gear A2204 is meshed with the differential driven bevel gear 2205.

[0064] The main shaft B2210 is arranged on the left side of the neck main support 206 through the main bearing B2211. The outer end of the main shaft B2210 is fixedly connected to the differential driven pulley B2209. The inner side of the main shaft B2210 is fixedly provided with the differential driving bevel gear B2208. The differential driving bevel gear B2208 is meshed with the differential driven bevel gear 2205.

[0065] The axis of the main shaft A2202 and the axis of the main shaft B2210 are in the same straight line, and the sliding bearing B2212 is provided on the main shaft A2202 and the main shaft B2210;

[0066] The lower end of the passive shaft 2213 is disposed on the main shaft A2202 and the main shaft B2210 through the sliding bearing B2212 and can rotate around the main shaft A2202 and the main shaft B2210.

[0067] See also Figure 5 Preferably, in the above device, the head assembly 300 includes: a head stand 301, a lower jaw component 302, a lower connecting rod 303, a linear motor 304, a servo 305, a servo crank 306, a connecting rod assembly, a left eye assembly, a right eye assembly, an upper jaw component 316, a lower jaw support 317 and a main mounting plate 318; wherein,

[0068] The lower end of the head stand 301 is connected to the neck assembly 200;

[0069] The main mounting plate 318 is arranged on the head stand 301 through a column;

[0070] The lower jaw member 302 is movably arranged at the front lower portion of the main mounting plate 318 via the lower jaw bracket 317;

[0071] The upper jaw member 316 is disposed at the lower front end of the main mounting plate 318 and is located above the lower jaw member 302 ;

[0072] The linear motor 304 is disposed at the rear end of the main mounting plate 318 . The driving end of the linear motor 304 is connected to the rear end of the lower jaw support 317 via the lower connecting rod 303 , and can drive the lower jaw support 317 to open and close toward the upper jaw member 316 .

[0073] The eye support 314 is provided at the front end of the main mounting plate 318 , above the upper jaw member 316 ;

[0074] The left eye assembly and the right eye assembly are respectively arranged on both sides of the eye support 314;

[0075] The servo 305 is arranged on the main mounting plate 318, on which the servo crank 306 is arranged. The servo crank 306 is connected to the left eye assembly and the right eye assembly respectively through the connecting rod assembly, and can drive the left eye assembly and the right eye assembly to blink.

[0076] See also Figure 5 , preferably, in the above device, an eyeball bracket 315 is provided on each side of the eye bracket 314;

[0077] The left eye component and the right eye component have the same structure, both including: an upper eyelid component 311, an eyeball component 312 and a lower eyelid component 313; wherein,

[0078] The eyeball component 312 is fixed on the corresponding eyeball bracket 315, and the upper eyelid component 311 and the lower eyelid component 313 wrap the eyeball component 312 from top to bottom.

[0079] The upper eyelid component 311 and the lower eyelid component 313 are both movably mounted on the eye support 314 and can move up and down around the eye support 314 and the eyeball component 312 to open and close.

[0080] The connecting rod assembly includes: a connecting rod A307 and a connecting rod B308 connected in sequence, the connecting rod C309 and the connecting rod D310 are connected in parallel at the end of the connecting rod B308, the end of the connecting rod C309 is respectively connected to the upper eyelid component 311 of the left eye component and the upper eyelid component 311 of the right eye component, and the end of the connecting rod D310 is respectively connected to the lower eyelid component 313 of the left eye component and the lower eyelid component 313 of the right eye component.

[0081] See also Figure 6 Preferably, in the above device, the structure of the right arm assembly 500 is the same as that of the left arm assembly 400.

[0082] Preferably, in the above device, the left arm assembly 400 includes:

[0083] The upper arm fixing frame 401, the upper arm swing motor 402, the swing driving gear 403, the swing driven gear 404, the upper arm swing frame 405, the upper arm torsion motor 406, the torsion driving gear 407, the torsion driven gear 408, the upper arm frame 409, the elbow swing motor 410, the elbow swing driving gear 411, the elbow swing driven gear 412 and the forearm and palm frame 413; wherein,

[0084] The boom swing motor 402 is mounted on the boom fixing frame 401, and the output shaft of the boom swing motor 402 is fixedly connected to the swing driving gear 403;

[0085] The boom swing frame 405 is fixedly connected to the swing driven gear 404 and is mounted on the boom fixed frame 401 via a bearing. The swing driven gear 404 is meshed with the swing driving gear 403.

[0086] The boom torsion motor 406 is mounted on the boom swing frame 405 , and the output shaft of the boom torsion motor 406 is fixedly connected to the torsion driven gear 408 ;

[0087] The torsion driving gear 407 is mounted on the boom swing frame 405 via a bearing and meshes with the torsion driven gear 408 at 90 degrees;

[0088] The rear end of the boom frame 409 is fixedly connected to the torsion driving gear 407 and can perform a torsion motion on the boom swing frame 405 driven by the torsion driving gear 407;

[0089] The elbow swing motor 410 is disposed in the front end of the upper arm frame 409, and the output shaft of the elbow swing motor 410 is fixedly connected to the elbow swing driving gear 411;

[0090] The forearm and palm skeleton 413 is rotatably connected to the front end of the upper arm skeleton 409, and the elbow swing driven gear 412 is fixedly provided on the forearm and palm skeleton 413. The elbow swing driven gear 412 is engaged with the elbow swing driving gear 411 at 90 degrees, and can drive the forearm and palm skeleton 413 to swing at the front end of the upper arm skeleton 409 under the drive of the elbow swing driving gear 411.

[0091] In summary, the present invention forms a dynamic, simulated monkey robot with fully movable neck, head, left, and right arms, by attaching a neck assembly, head assembly, left arm assembly, and right arm assembly to a base torso assembly. The robot then coats the connected components with monkey skin, creating a fully movable, simulated, dynamic monkey robot. This significantly enhances the product's visual appeal and appeal, creating dynamic, vivid movements that more realistically recreate the image of Monkey King and other monkey characters. This device can be widely used in theme parks, stage plays, film and television productions, and other fields, providing audiences with a brand-new visual experience.

[0092] In order to more clearly demonstrate the technical solution and technical effects provided by the present invention, the solution provided by the embodiments of the present invention will be described in detail with reference to specific embodiments below. Example

[0093] like Figure 1 As shown, this embodiment provides a simulated dynamic performance monkey robot device, including: a base torso component 100, a neck component 200, a head component 300, a left arm component 400 and a right arm component 500.

[0094] The base trunk assembly 100 supports the entire robot device. The neck assembly 200 is installed on the base trunk assembly. The left arm assembly 400 and the right arm assembly 500 are two symmetrical arms, which are installed on the left and right sides of the base trunk assembly 100 respectively.

[0095] The head assembly 300 is installed on the neck assembly 200, and the neck assembly 200 can drive the entire head assembly 300 to achieve shaking and nodding movements.

[0096] The head assembly 300 can realize the movements of opening and closing the mouth and blinking the eyes.

[0097] The left arm assembly 400 is driven by the shoulder mechanism, enabling forward and backward swinging and upper arm twisting relative to the base torso assembly 100. Both degrees of freedom are located within the torso. The elbow can also bend. The right arm assembly 500 is structurally symmetrical to the left arm assembly 400 and has the same construction.

[0098] like Figure 2 As shown, in the monkey robot device, the base torso assembly 100 is a set of welded components. The base plate 101 serves as the primary support, connecting the mounting surface to the entire robot structure. The profile frame 102 not only supports the robot torso structure but also supports the bionic monkey-shaped torso shell, forming the upper body of the monkey. The neck mounting block 103 connects to the neck assembly 200, and the arm mounting block 104 connects to the arm assembly 400.

[0099] like Figure 3 As shown, in the above-mentioned simulated monkey robot, the neck assembly 200 includes two sets of transmission bevel gear mechanisms and a set of differential parallel mechanisms. Specifically, due to space limitations, the right drive motor 201 and the left drive motor 211 are arranged in the base trunk assembly 100. The right drive motor 201 reverses and reduces speed through the right driving bevel gear 202 and the right driven bevel gear 203 of the right bevel gear set, driving the right driving pulley 204. The right driving pulley 204 transmits power to the differential driven pulley A2203 of the differential parallel mechanism through the right synchronous belt 206. The structure of the differential parallel mechanism 220 is shown in FIG. Figure 4 The other power transmission path, from the left drive motor 211, is transmitted via the left driving bevel gear 210, the left driven bevel gear 209, and the left driving pulley 208 to the left timing belt 207. The transmission is then transferred via the left timing belt 207 to the differential driven pulley B2209 of the differential parallel mechanism 220, using the same structure as the previous power transmission path. All components of the entire neck assembly 200 are mounted on the welded neck main support 206.

[0100] like Figure 4As shown, in the neck assembly 200, the differential parallel mechanism 220 comprises a differential structure consisting of three bevel gears. Specifically, power transmitted from the right drive motor 201 and the left drive motor 211 is input from both sides by the right synchronous belt 205 and the left synchronous belt 207 to the differential driven pulleys A2203 and B2209. These differential driven pulleys A2203 and B2209 are respectively fixed to the main shafts A2202 and B2211, which are equipped with main bearings A2201 and B2211, and sliding bearings B2212. The main shaft A2202 and the main shaft B2211 drive the differential driving bevel gear A2204 and the differential driving bevel gear B 2208 to rotate respectively. The differential driving bevel gear A 2204 and the differential driving bevel gear B 2208 are engaged with the differential passive bevel gear 2205 at the same time. The differential passive bevel gear 2205 is sleeved on the passive shaft 2213 through the sliding bearing A2207. The differential passive bevel gear 2205 can rotate relative to the passive shaft 2213. At the same time, the differential passive bevel gear 2205 and the passive shaft 2213 can rotate around the main shaft B2211 through the sliding bearing B2212. In this way, the differential passive bevel gear 2205 has two degrees of freedom. When the differential driving bevel gear A2204 and the differential driving bevel gear B 2208 are engaged with the differential passive bevel gear 2205 at the same time, the differential passive bevel gear 2205 can rotate relative to the passive shaft 2213. At the same time, the differential passive bevel gear 2205 and the passive shaft 2213 can rotate around the main shaft B2211 through the sliding bearing B2212. When differential bevel gears 2209 rotate in the same direction, differential driven bevel gear A 2205 and driven shaft 2213 oscillate around main shaft B 2211. When differential driving bevel gears A 2204 and differential driving bevel gear B 2209 rotate in opposite directions, differential driven bevel gear 2205 rotates around driven shaft 2213. When differential driving bevel gears A 2204 and B 2209 have different speeds or operate independently, differential driven bevel gear 2205 exhibits different motion patterns, and differential driving bevel gears A 2204 and B 2209 can rotate independently. A head connecting plate 2206 is fixed to differential driven bevel gear 2205 and can connect to head assembly 300, outputting power to drive head assembly 300 to perform two-degree-of-freedom motion.

[0101] like Figure 4As shown, in the above-mentioned monkey robot device, the head assembly 300 includes: a head stand 301, a lower jaw 302, a small connecting rod 303, a linear motor 304, a servo 305, a servo crank 306, a connecting rod A307, a connecting rod B308, a connecting rod C309, a connecting rod D310, an upper eyelid 311, an eyeball 312, a lower eyelid 313, an eye bracket 314, an eyeball bracket 315, an upper jaw 316, a lower jaw bracket 317 and a main mounting plate 318; wherein, the head stand 301 and the main mounting plate 318 constitute the main supporting structure of the head, the head stand 301 is connected to the neck assembly 200, and structural parts such as the eyes and mouth are fixed on the main mounting plate 318. A linear motor 304, connected via a small connecting rod 303, drives the lower jaw 302 to open and close. The lower jaw 302 is hinged to a lower jaw support 317. Both the lower jaw support 317 and the stationary upper jaw 316 are fixed to a main mounting plate 318. The servo 305, via a series of connecting rods A 307, B 308, C 309, and D 310, drives the upper and lower eyelids 311 and 313 to blink. These eyelids rotate around an eye support 314, enveloping the eyeball 312, which is fixed to an eyeball support 315. The entire head realizes facial expressions, blinking, and mouth opening and closing.

[0102] As can be seen, in the head assembly 300, the eye mechanism is divided into a left eye assembly and a right eye assembly, both of which have the same structure, namely, an upper eyelid 311, an eyeball 312, and a lower eyelid 313. The aforementioned connecting rods A 307, B 308, C 309, and D 310 are connected to form a connecting rod assembly.

[0103] like Figure 5As shown, in the above-mentioned simulation robot device, the left arm assembly 400 includes: a large arm fixed frame 401, a large arm swing motor 402, a swing driving gear 403, a swing driven gear 404, a large arm swing frame 405, a large arm torsion motor 406, a torsion driving gear 407, a torsion driven gear 408, a large arm skeleton 409, an elbow swing motor 410, an elbow swing driving gear 411, an elbow swing driven gear 412 and a forearm and palm skeleton 413; wherein, the large arm swing motor 402 is connected to the swing driving gear 403 and is installed on the large arm fixed frame 401 together, the large arm swing frame 405 is connected to the swing driven gear 404 and is installed on the large arm fixed frame through a bearing, and the swing driving gear 403 is engaged with the swing driven gear 404 to realize the large arm swinging back and forth relative to the torso. A similar mechanism is used, in which the boom torsion motor 406 is connected to the torsion driving gear 407 and is installed on the boom swing frame 405. The boom frame 409 is connected to the torsion driven gear 408 and is installed on the boom swing frame 405 through a bearing. The torsion driving gear 407 and the torsion driven gear 408 are meshed at 90 degrees, so that the boom frame 409 can be twisted relative to the boom swing frame 405, that is, the torsion movement of the boom is achieved. The elbow is also equipped with a pair of bevel gears: the elbow swing driving gear 411 and the elbow swing driven gear 412 to achieve swinging. The elbow swing driving gear 411 is connected to the elbow swing motor 410 and is fixed together in the boom frame 409 structure. The forearm and palm frame 413 are connected to the elbow swing driven gear 412 and are hinged to the boom frame 409. The boom, forearm, and palm frames also need to bear the function of connecting the external shape. The palm frame can be deformed according to the palm posture. In the above-mentioned left arm assembly 400, the elbow is driven by a single motor, and the bending movement of the elbow is achieved through a pair of bevel gears, thereby achieving simulation of simulated movements with a relatively simple structure.

[0104] The right arm assembly 500 and the left arm 400 are completely symmetrical in structure and have the same composition, so they will not be described in detail.

[0105] This device simulates the upper body of a monkey, with limb proportions close to those of a real monkey. It achieves up to 10 degrees of freedom in joint movements, including three in each arm, two in the neck, one in the eye, and one in the mouth. This significantly enhances the expressiveness of the simulated monkey and provides a more realistic experience for the audience. Achieving as many degrees of freedom as possible in a small primate is a design challenge. By selecting an appropriate power source and rationally arranging components, this device ensures both a rich variety of degrees of freedom and stable and reliable movement. The shoulder power for arm movement is localized within the torso, with a pair of spur gears and a pair of bevel gears enabling forward and backward swinging and twisting of the upper arms. The elbow motor is located along the arm axis, also using bevel gears to transmit power 90° to achieve elbow flexion. The neck utilizes a reverse differential structure, with three bevel gears forming a dual-input, single-point output mechanism to achieve neck pitch and twist. This mechanism is both more power-efficient and closer to the joints than a series mechanism. Head expressions include eye blinking and mouth opening and closing. Eye blinking is achieved by the simultaneous movement of the upper and lower eyelids, while mouth opening and closing is driven by a linear motor. The entire device is powered by industrial-grade servo motors and stepper motors, ensuring simple control, smooth movement, and a reliable structure. This simulated dynamic performance monkey robot boasts a simple and ingenious overall structure, reliable performance, and multi-degree-of-freedom, multi-joint motion. This solves the problems of stiff joints, rigid movements, and lack of expressiveness often seen in simulated primates during performances. This new simulated dynamic performance monkey robot can provide more vivid and lifelike performances in theaters and theme parks, demonstrating broad application potential and market prospects.

[0106] It can be seen that the device of the present invention realizes multi-degree-of-freedom movements in thin primates such as monkeys, and the mixed use of parallel and series mechanisms saves space. The neck, shoulders, mouth, eyes and other mechanisms in the mechanism can be used as reference for other simulated robot devices. Other primate simulated animals, such as orangutans, simulated humans, etc., can also be designed with reference to the scheme of the present invention.

[0107] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art.

Claims

1. A simulated dynamic performance monkey robot device, characterized in that: include: A base torso component (100), a neck component (200), a head component (300), a left arm component (400), a right arm component (500) and a monkey skin shape (600); wherein, The neck component (200) is mounted on the base trunk component (100) and is capable of twisting and pitching. The head component (300) is mounted on the top of the neck component (200) and can perform shaking and nodding movements under the drive of the neck component (200); The head assembly (300) is provided with a mouth component capable of opening and closing and an eye component capable of blinking; The left arm assembly (400) is connected to the left side of the base trunk assembly (100) and can perform forward and backward swinging movements, upper arm twisting movements, and elbow bending movements relative to the base trunk assembly (100); The right arm assembly (500) is connected to the right side of the base trunk assembly (100), is symmetrical with the left arm assembly (400), and can perform forward and backward swinging movements, upper arm twisting movements, and elbow bending movements relative to the base trunk assembly (100); The monkey skin shape (600) is sleeved on the outside of the connected base trunk component (100), neck component (200), head component (300), left arm component (400) and right arm component (500).

2. The simulated dynamic performance monkey robot device according to claim 1, characterized in that: The base trunk assembly (100) comprises: A base plate (101), a profile frame (102), a neck mounting block (103) and two arm mounting blocks (104); wherein, The profile frame (102) is a simulated monkey trunk structure formed by welding profiles, and the profile frame (102) is fixedly arranged on the base plate (101); Two arm mounting blocks (104) are fixedly and symmetrically mounted on the top of the profile frame (102), the left arm mounting block (104) is connected to the left arm assembly (400), and the right arm mounting block (104) is connected to the right arm assembly (500); The neck mounting block (103) is fixedly mounted on the top of the profile frame (102), located between the two arm mounting blocks (104), and connected to the neck assembly (200).

3. The simulated dynamic performance monkey robot device according to claim 1 or 2, characterized in that: The neck assembly (200) comprises: A set of differential parallel mechanism, a neck main support (206) and two sets of transmission bevel gear mechanisms; wherein, The differential parallel mechanism is arranged on the neck main support (206), and the driving end of the differential parallel mechanism is connected to the head assembly (300); The two sets of transmission bevel gear mechanisms have the same structure and are arranged in parallel below the differential parallel mechanism. The left driven pulley of the transmission bevel gear mechanism on the left and the right driven pulley of the transmission bevel gear mechanism on the right are respectively connected to the left and right sides of the main shaft of the differential parallel mechanism; The transmission bevel gear mechanism on the right side includes: a right driving motor (201), a right driving bevel gear (202), a right driven bevel gear (203), a right driving pulley (204) and a right synchronous belt (205); wherein, The lower end of the right driving motor (201) is arranged in the base trunk assembly (100), and the upper end is fixedly connected to the neck main support (206); The output shaft of the right driving motor (201) is connected to the right driving bevel gear (202), the right driving bevel gear (202) is meshed with the right driven bevel gear (203), the outer side of the right driven bevel gear (203) is fixedly connected to the right driving pulley (204), and the right driving pulley (204) is connected to the differential driven pulley A (2203) fixedly connected to the main shaft A (2202) of the differential parallel mechanism via the right synchronous belt (205); The transmission bevel gear mechanism on the left side includes: a left driving motor (211), a left driving bevel gear (210), a left driven bevel gear (209), a left driving pulley (208) and a left synchronous belt (207); wherein, The lower end of the left-side driving motor (211) is arranged in the base trunk assembly (100), and the upper end is fixedly connected to the neck main support (206); The output shaft of the left driving motor (211) is connected to the left driving bevel gear (210), the left driving bevel gear (210) is meshed with the left driven bevel gear (209), the outer side of the left driven bevel gear (209) is fixedly connected to the left driving pulley (208), and the left driving pulley (208) is connected to the differential driven pulley B (2209) fixedly connected to the main shaft B (2210) of the differential parallel mechanism via the left synchronous belt (207).

4. The simulated dynamic performance monkey robot device according to claim 3 is characterized in that: The differential parallel mechanism (220) comprises: Main bearing A (2201), main shaft A (2202), differential driven pulley A (2203), differential driving bevel gear A (2204), differential driven bevel gear (2205), head connecting plate (2206), sliding bearing A (2207), differential driving bevel gear B (2208), differential driven pulley B (2209), main shaft B (2210), main bearing B (2211), sliding bearing B (2212) and driven shaft (2213); wherein, The head connecting plate (2206) is connected to the head assembly (300); The lower end of the head connecting plate (2206) is fixedly connected to the differential passive bevel gear (2205); the differential passive bevel gear (2205) is arranged on the passive shaft (2213) via the sliding bearing A (2207); the differential passive bevel gear (2205) can rotate around the passive shaft (2213) together with the head connecting plate (2206); The main shaft A (2202) is arranged on the right side of the neck main support (206) through the main bearing A (2201), the outer end of the main shaft A (2202) is fixedly connected to the differential driven pulley A (2203), the inner side of the main shaft A (2202) is fixedly provided with the differential driving bevel gear A (2204), and the differential driving bevel gear A (2204) is meshed with the differential driven bevel gear (2205); The main shaft B (2210) is arranged on the left side of the neck main support (206) through the main bearing B (2211), the outer end of the main shaft B (2210) is fixedly connected to the differential driven pulley B (2209), the inner side of the main shaft B (2210) is fixedly provided with the differential driving bevel gear B (2208), and the differential driving bevel gear B (2208) is meshed with the differential driven bevel gear (2205); The axis of the main shaft A (2202) and the axis of the main shaft B (2210) are in the same straight line, and the sliding bearing B (2212) is provided on the main shaft A (2202) and the main shaft B (2210); The lower end of the passive shaft (2213) is arranged on the main shaft A (2202) and the main shaft B (2210) through the sliding bearing B (2212) and can rotate around the main shaft A (2202) and the main shaft B (2210).

5. The simulated dynamic performance monkey robot device according to claim 1 or 2, characterized in that: The head assembly (300) comprises: a head stand (301), a lower jaw component (302), a lower connecting rod (303), a linear motor (304), a steering gear (305), a steering gear crank (306), a connecting rod assembly, an eye support (314), a left eye assembly, a right eye assembly, an upper jaw component (316), a lower jaw support (317) and a main mounting plate (318); wherein, The lower end of the head stand (301) is connected to the neck assembly (200); The main mounting plate (318) is arranged on the head stand (301) via a column; The lower jaw member (302) is movably arranged at the lower front end of the main mounting plate (318) via the lower jaw bracket (317); The upper jaw member (316) is arranged at the lower front end of the main mounting plate (318) and is located above the lower jaw member (302); The linear motor (304) is arranged at the rear end of the main mounting plate (318), and the driving end of the linear motor (304) is connected to the rear end of the lower jaw support (317) via the lower connecting rod (303), and can drive the lower jaw support (317) to open and close toward the upper jaw member (316); The eye support (314) is arranged at the front end of the main mounting plate (318) and is located above the upper jaw member (316); The left eye component and the right eye component are respectively arranged on both sides of the eye support (314); The servo (305) is arranged on the main mounting plate (318), on which the servo crank (306) is arranged. The servo crank (306) is connected to the left eye assembly and the right eye assembly respectively through the connecting rod assembly, and can drive the left eye assembly and the right eye assembly to perform a blinking action.

6. The simulated dynamic performance monkey robot device according to claim 5, characterized in that: An eyeball support (315) is provided on each side of the eye support (314); The left eye component and the right eye component have the same structure, both including: an upper eyelid component (311), an eyeball component (312) and a lower eyelid component (313); wherein, The eyeball component (312) is fixed on the corresponding eyeball bracket (315), and the upper eyelid component (311) and the lower eyelid component (313) relatively wrap around the eyeball component (312) from top to bottom; The upper eyelid component (311) and the lower eyelid component (313) are both movably arranged on the eye support (314) and can move up and down around the eye support (314) and the eyeball component (312) to open and close; The connecting rod assembly includes: a connecting rod A (307) and a connecting rod B (308) connected in sequence, the connecting rod C (309) and the connecting rod D (310) are connected in parallel to the ends of the connecting rod B (308), the ends of the connecting rod C (309) are respectively connected to the upper eyelid component (311) of the left eye component and the upper eyelid component (311) of the right eye component, and the ends of the connecting rod D (310) are respectively connected to the lower eyelid component (313) of the left eye component and the lower eyelid component (313) of the right eye component.

7. The simulated dynamic performance monkey robot device according to claim 1, characterized in that: The structure of the right arm assembly (500) is the same as that of the left arm assembly (400).

8. The simulated dynamic performance monkey robot device according to claim 1 or 7, characterized in that: The left arm assembly (400) comprises: A large arm fixing frame (401), a large arm swing motor (402), a swing driving gear (403), a swing driven gear (404), a large arm swing frame (405), a large arm torsion motor (406), a torsion driving gear (407), a torsion driven gear (408), a large arm frame (409), an elbow swing motor (410), an elbow swing driving gear (411), an elbow swing driven gear (412) and a small arm and palm frame (413); wherein, The boom swing motor (402) is provided on the boom fixing frame (401), and the swing driving gear (403) is fixedly connected to the output shaft of the boom swing motor (402); The boom swing frame (405) is fixedly connected to the swing driven gear (404) and is mounted on the boom fixed frame (401) via a bearing. The swing driven gear (404) is meshed with the swing driving gear (403). The boom torsion motor (406) is mounted on the boom swing frame (405), and the output shaft of the boom torsion motor (406) is fixedly connected to drive the torsion driven gear (408); The torsion driving gear (407) is mounted on the boom swing frame (405) via a bearing and meshes with the torsion driven gear (408) at a 90° angle; The rear end of the boom frame (409) is fixedly connected to the torsion driving gear (407), and can perform a torsion motion on the boom swing frame (405) driven by the torsion driving gear (407); The elbow swing motor (410) is arranged in the front end of the upper arm frame (409), and the output shaft of the elbow swing motor (410) is fixedly connected to the elbow swing driving gear (411); The forearm and palm frame (413) is rotatably connected to the front end of the upper arm frame (409); the elbow swing driven gear (412) is fixedly arranged on the forearm and palm frame (413); the elbow swing driven gear (412) is meshed with the elbow swing driving gear (411) at 90 degrees, and can drive the forearm and palm frame (413) to perform a swinging motion at the front end of the upper arm frame (409) under the drive of the elbow swing driving gear (411).

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