Crane performance equipment

Abstract

The invention discloses a crane performance device, comprising: a track system having a pair of guide rails arranged in parallel and located underwater; a vehicle system arranged above the track system and having a traveling vehicle body traveling along the pair of guide rails; a rotating system installed on the traveling vehicle body and rotating relative to the traveling vehicle body; and a crane system installed on the rotating system for simulating the pitching and stepping movements of the crane. The crane performance device of the invention can simulate and dynamically reproduce the movement of the crane stepping, thereby increasing the viewing value of the performance.

Description

Technical Field

[0001] The invention relates to a performance system, in particular to a crane performance device. Background Art

[0002] At present, the systems used for performances are usually relatively novel displays, popular science, and entertainment projects. They bring together a variety of modern advanced technologies to provide the audience with unprecedented visual shock.

[0003] For example, the world-famous Crane Ballet performance system in Sentosa, Singapore, is the world's largest outdoor electromechanical performance system to date, setting up a new landmark for nighttime entertainment at the Waterfront at Resorts World Sentosa. The Crane Ballet uses two crane-style systems to interpret a magical love story, each weighing 80 tons and rising to a height of 30 meters (10 stories high), making the Crane Ballet the world's tallest outdoor electromechanical performance, and presenting a magnificent and dreamy electromechanical spectacle to the audience through digital art, LED displays, amazing lighting and water curtain effects, and perfect music.

[0004] However, the crane ballet is hinged with multiple connecting arms and is in the shape of a rectangular block, so the imitation effect is very poor. Without the effects of lighting, digital art and LED display screens, such as watching during the day, it would be difficult for people to imagine that the system is a crane. In addition, the crane ballet can only simulate rotation and pitching movements, but cannot simulate the walking and stepping movements of a crane, which greatly reduces the sense of presence and shock of watching the performance. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art and to provide a crane performance equipment which can simulate and dynamically reproduce the movement of the crane stepping, and increase the viewing experience of the performance by using lasers, a crane body with changeable colors, and fountains simulating wings on both sides.

[0006] To achieve the above-mentioned purpose of the present invention, the present invention provides a crane performance equipment, which includes: a track system having a pair of guide rails arranged in parallel and located underwater; a traveling system arranged above the track system and having a traveling vehicle body that travels along its pair of guide rails; a rotating system installed on the traveling vehicle body and rotating relative to the traveling vehicle body; and a crane system installed on the rotating system for simulating the pitching and stepping movements of the crane.

[0007] The track system further comprises a sinker fixedly installed on the bottom of the water, and the pair of guide rails are fixedly installed on both sides of the sinker.

[0008] Among them, the driving system also includes: a driving mechanism installed on the walking body, used to provide driving force for the walking body; a driving traction guide mechanism, which is respectively connected to the driving mechanism and a pair of guide rails, used to guide the walking direction of the walking body.

[0009] Wherein, two rows of traveling wheel groups are arranged on the traveling vehicle body and can drive the traveling vehicle body to travel along a pair of guide rails.

[0010] Preferably, the vehicle traction guide mechanism includes: a pair of chain fixing seats respectively arranged at the two ends of a pair of guide rails and respectively vertically connected to the two ends of the pair of guide rails; a roller chain installed on the same side of the pair of chain fixing seats; a sprocket assembly meshingly connected to the roller chain and driving the traveling vehicle body to travel along the pair of guide rails through its cooperation with the roller chain; wherein the extension direction of the roller chain is parallel to the guide rail and is located on the outside of the guide rail.

[0011] Among them, the sprocket assembly includes: a first guide sprocket and a second guide sprocket installed on the traveling body in sequence along the front and rear extension direction of the traveling body, which are respectively meshed and connected with the roller chain; a supporting wheel installed between a pair of guide sprockets; wherein the roller chain passes around the first guide sprocket, the output sprocket, and the second guide sprocket in sequence.

[0012] Among them, the rotating system includes: a rotating table assembly, which has a supporting platform for supporting the crane system and a supporting column passing through the center of the supporting platform and connected to the bottom of the crane body device of the crane system; and a rotating drive mechanism that drives the supporting platform to rotate relative to the traveling system.

[0013] Furthermore, the crane system also includes: a crane leg device connected to the rotating system and capable of moving relative to the rotating system by steps, the crane body device is connected to and supported by the crane leg device; a head and neck device connected to and supported by the crane body device; a driving device for driving the crane leg device, the crane body device, and the head and neck device; and a contoured shell arranged on the outside of the crane leg device, the crane body device, the head and neck device, and the driving device to form a crane-shaped contoured shell.

[0014] Among them, the head and neck device is a bent structure, including: a crane head movement arm; a crane neck movement arm connected to the crane head movement arm; and a connecting arm fixedly connected to the crane neck movement arm and having an angle with its central axis.

[0015] Among them, the crane body device is a structure that narrows from the middle to the front and rear sides respectively, including a crane body front frame, a crane body middle frame, and a crane body tail frame. The crane neck motion arm is connected to the crane body front frame, and the crane leg device is connected to the crane body middle frame.

[0016] The crane leg device comprises: a pair of crane legs located on both sides of the middle frame of the crane body and respectively connected thereto, the crane legs having an upper leg limb and a lower leg limb hinged to the upper leg limb; and a pulley mechanism respectively connected to the pair of lower leg limbs.

[0017] Among them, the driving device includes: a leg swinging driving mechanism for driving the crane leg device to step relative to the crane body device; a head and neck driving mechanism for driving the head and neck device to pitch; and a crane body pitching driving mechanism for driving the crane body device to pitch relative to the crane leg device.

[0018] Wherein, the support column is a hollow shaft, and the top end of the support column is respectively connected with two groups of pipelines of the wing device.

[0019] Compared with the prior art, the crane performance equipment of the present invention has the following outstanding advantages:

[0020] 1. The crane performance equipment of the present invention can rotate, pitch and walk relative to the water surface, vividly simulating various postures of the crane's natural movements, enhancing the sense of reality of the spectators watching the performance and bringing greater visual shock to the audience.

[0021] 2. In the crane performance equipment of the present invention, when the crane system moves along a pair of preset guide rails, the pair of crane legs of its crane leg device can walk, thereby overcoming the shortcoming that the crane ballet in the prior art cannot walk, and can prevent the crane system from shaking when moving on the water surface and with the fluctuation of the water surface, so that the crane system of the present invention can perform smoothly and safely, and can be more effectively combined with lighting and video.

[0022] 3. The crane performance equipment of the present invention comprises a crane system having a crane leg device, a crane body device, a head and neck device and a profiling shell covered on the outside of each device, so that the profiling effect is good, and even in the daytime, without the cooperation of lighting effects, it can also be used as a crane landscape for audiences to watch.

[0023] The present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the crane performance equipment of the present invention;

[0025] Figure 2a It is a front view of the driving system of the present invention;

[0026] Figure 2b is a top view of the driving system of the present invention;

[0027] Figure 3a It is a front view of the vehicle traction guide mechanism of the present invention;

[0028] Figure 3b It is a top view of the vehicle traction guide mechanism of the present invention;

[0029] Figure 4a It is a front view of the walking vehicle body of the present invention;

[0030] Figure 4b is a top view of the walking vehicle body of the present invention;

[0031] Figure 4c It is a left side view of the walking vehicle body of the present invention;

[0032] Figure 5a This is a front view of a first structure of the traveling wheel of the present invention;

[0033] Figure 5b It is a right side view of the first structure of the traveling wheel of the present invention;

[0034] Figure 5c It is a front view of the second structure of the traveling wheel of the present invention;

[0035] Figure 5d It is a right side view of the second structure of the traveling wheel of the present invention;

[0036] Figure 6a It is a front view of the crane driving mechanism of the present invention;

[0037] Figure 6b It is a left side view of the crane driving mechanism of the present invention;

[0038] Figure 6c is a top view of the crane driving mechanism of the present invention;

[0039] Figure 7a is a front view of the rotating system of the present invention;

[0040] Figure 7b is a top view of the rotating system of the present invention;

[0041] Figure 8a is a front view of the crane system of the present invention (showing the support device);

[0042] Figure 8b yes Figure 8a Crane system shown is a left view of the crane system;

[0043] Figure 8c yes Figure 8a Crane system A top view of the crane system shown;

[0044] Fig. 9 1 is a schematic diagram of the structure of the crane system of the present invention (the supporting device is not shown);

[0045] Fig.10aSchematic diagram of the structure of the head and neck device of the present invention (in an initial state without action);

[0046] Fig.10b Schematic diagram of the structure of the head and neck device of the present invention (the state when the head is bent down);

[0047] Fig.11a is a front view of the head drive mechanism of the present invention;

[0048] Fig.11b is a top view of the head drive mechanism of the present invention;

[0049] Fig.12a It is a front view of the swing rod of the present invention;

[0050] Figure 12b It is a left side view of the swing rod of the present invention;

[0051] Fig.13a is a front view of the neck drive mechanism of the present invention;

[0052] Fig.13b is a partial top view of the neck drive mechanism of the present invention;

[0053] Fig.14a is a front view of the crane leg device of the present invention;

[0054] Fig.14b is a top view of the crane leg device of the present invention;

[0055] Fig.14c It is a left side view of the crane leg device of the present invention;

[0056] Fig.14d It is a schematic diagram of the direction of the steel wire rope in the crane leg device of the present invention;

[0057] Fig.15a It is a front view of the swing leg driving mechanism of the present invention;

[0058] Fig.15b It is a left side view of the swing leg driving mechanism of the present invention;

[0059] Fig.16a is a front view of the pulley mechanism of the present invention installed on the supporting device;

[0060] Fig.16b is a left side view of the pulley mechanism of the present invention installed on the supporting device;

[0061] Fig.16c is a top view of the pulley mechanism of the present invention installed on the supporting device;

[0062] Fig.17a It is a front view of the first structure of the horizontal traction mechanism of the present invention;

[0063] Fig.17b It is a left side view of the first structure of the horizontal traction mechanism of the present invention;

[0064] Fig.17c is a top view of a first structure of the horizontal traction mechanism of the present invention;

[0065] Fig.17d is a top view of a second structure of the horizontal traction mechanism of the present invention;

[0066] Fig.18a This is a front view of the crane body pitching drive mechanism of the present invention;

[0067] Fig.18b It is a left side view of the crane body pitch driving mechanism of the present invention;

[0068] Fig.18c It is a top view of the crane body pitch driving mechanism of the present invention;

[0069] Fig.19a It is a front view of the crane body device of the present invention;

[0070] Fig.19b It is a left side view of the crane body device of the present invention;

[0071] Fig.19c is a top view of the crane body device of the present invention;

[0072] Fig.20a This is a front view of the middle frame of the crane body of the present invention;

[0073] Fig.20b It is a left view of the middle frame of the crane body of the present invention;

[0074] Fig.20c It is a top view of the middle frame of the crane body of the present invention;

[0075] Figures 21a-21j It is a schematic diagram of the crane system of the present invention in different pitching and stepping states. DETAILED DESCRIPTION

[0076] like Figure 1 As shown in the figure, it is a structural schematic diagram of the crane performance equipment provided by the present invention. As can be seen from the figure, the crane performance equipment includes: a track system 3 having a pair of guide rails 31 arranged in parallel and located underwater; a vehicle system 2 arranged above the track system 3 and having a walking body 23 that travels along its pair of guide rails 31; a rotating system 1 installed on the walking body 23 and rotating relative to the walking body 23; and a crane system 4 installed on the rotating system 1 for simulating the pitching and stepping movements of the crane.

[0077] The crane performance equipment of the present invention installs the crane system on a rotating system that can rotate relative to the traveling body of the driving system, so that the crane system can rotate relative to the traveling body, and the traveling body can move along the track system, so that the crane system can rotate, pitch and walk relative to the water surface, vividly simulating various postures of the crane's natural movements, enhancing the sense of reality of the spectators watching the performance, and bringing greater visual shock to the audience.

[0078] Specifically, the track system 3 of the present invention is placed under the water surface, including a sinker 32 (such as Figure 5b , Figure 5d The track system 3 is the support base of the entire performance equipment. Since it is placed underwater and uses steel structural parts, the corresponding components need to be shot peened (to SA2.5 level) during manufacturing. In addition, the steel structural parts and corresponding machinery involved in the performance equipment that need to be in the underwater part need to be processed as follows:

[0079] 1) Paint spraying 1: J150 aluminum powder chlorinated rubber anti-rust paint (apply immediately after rust removal), 147um (dry film thickness 60um);

[0080] 2) Paint spraying 2: J160 iron red chlorinated rubber thick paste anti-rust paint, 147um (dry film thickness 60um);

[0081] 3) B paint spraying 1: J172 various colors of chlorinated rubber topcoat, 200um (dry film thickness 60um);

[0082] 4) B paint spray 2: B300 purple-brown acrylic long-lasting antifouling paint, 148um (dry film thickness 100um);

[0083] 5) B paint spray 3: B300 red acrylic long-lasting antifouling paint, 216um.

[0084] The present invention arranges a traveling system 2 above a pair of guide rails 31 of a track system 3, and the traveling system 2 includes a traveling body 23, on which are arranged two rows of traveling wheel groups 24 and a traveling drive mechanism 22 that can drive the traveling body 23 to travel along the pair of guide rails 31. The traveling drive mechanism 22 provides driving force for the traveling body 23 to travel. In addition, the traveling system 2 also includes a traveling traction guide mechanism 21 that is respectively connected to the traveling drive mechanism 22 and the pair of guide rails 31 to guide the traveling body 23 along the walking direction of the pair of guide rails 31.

[0085] like Figure 4a , Figure 4bAs shown, the walking vehicle body 23 of the present invention includes components such as a main beam 231, a column 234, a wall panel 232, a short cross beam 235, and a fixed plate 238. The length extension direction of a pair of main beams 231 is respectively consistent with the length extension direction of a pair of guide rails, that is, the main beams extend in the horizontal direction, and a plurality of short cross beams 235 are arranged between the pair of main beams 231, and the pair of main beams 231 are connected as a whole by the short cross beams 235. A plurality of columns 234 extending in the vertical direction are respectively arranged at both ends of the pair of main beams 231, and baffles located at both ends of the walking vehicle body 23 are formed by fixing the wall panel 232 on the column 234. A fixed plate 238 is welded at the middle position of the pair of main beams 231, and the fixed plate 238 is a U-shaped plate, and a through hole for a tubular object to pass through is opened in the center of the U-shaped plate.

[0086] Two rows of travel wheel groups 24 are respectively installed on both sides of the lower side of the travel vehicle body 23. Each row of travel wheel groups 24 includes a plurality of travel wheels. The travel wheels can be made of Figure 5a-5d The structure shown in FIG. 1 includes: a running wheel 241; a support frame 242 mounted on the outside of the main beam 231 of the running vehicle body 23, the running wheel 241 being rotatably mounted on the upper part of the support frame 242; and a supporting wheel 243 rotatably mounted on the lower part of the support frame 242, the wheel axle of which is parallel to the wheel axle of the running wheel 241 and is used to abut against the side wall of the corresponding guide rail 31. The running wheel 241 can be made of Figure 5a , Figure 5b The structure shown in FIG. 1 is that the middle portion of the outer circumference of the running wheel 241 has a groove, and the groove can be snapped onto the upper guide rail surface of the guide rail 31 to prevent the running wheel 241 from slipping off the guide rail 31; or the running wheel 241 can also be used as shown in FIG. Figure 5c , Figure 5d The structure shown, that is, the outer peripheral surface of the running wheel 241 is a smooth surface. When the smooth surface is adopted, the width of the running wheel 241 should be smaller than the width of the upper guide rail surface of the guide rail 31 to prevent the running wheel 241 from derailing when running on the guide rail 31. In practical application, the running wheels of the two rows of running wheel groups 24 can adopt the running wheels of one structure mentioned above, or can adopt the running wheels of two structures, such as each row of running wheel groups includes running wheels of two structures arranged at intervals, or one row of running wheels adopts running wheels of one structure, and the other row of running wheels adopts running wheels of another structure.

[0087] The traveling vehicle body 23 travels along a pair of guide rails 31 under the drive of the traveling vehicle driving mechanism 22. The traveling vehicle driving mechanism 22 can be a Figure 6a-6c The structure shown includes: a box body mounted on a traveling vehicle body 23, a base 221 fixedly mounted on the inner bottom thereof; a motor 223 with a reducer mounted on the base 221 for providing driving force; and an output sprocket 222 mounted on the output shaft of the motor 223. The central axis of the output sprocket 222 is parallel to the wheel axle of the traveling wheel.

[0088] When the traveling vehicle body 23 travels along a pair of guide rails 31, in order to prevent the traveling wheels from leaving the guide rails, the present invention further uses the traveling traction guide mechanism 21 to traction the traveling vehicle body 23 in the traveling direction, such as Figure 3a , Figure 3b As shown, the vehicle traction guide mechanism 21 includes: a pair of chain fixing seats 212 respectively arranged at the two ends of a pair of guide rails 31 and respectively vertically connected to the two ends of the pair of guide rails 31; a roller chain 215 installed on the same side of the pair of chain fixing seats 212, the roller chain 215 can adopt a double-row roller chain 215, and a pressure plate 211 is provided on the pair of chain fixing seats 212 to prevent the roller chain 215 from being derailed; a sprocket assembly meshingly connected with the roller chain 215 and driving the traveling vehicle body 23 to travel along the pair of guide rails 31 through its cooperation with the roller chain 215; wherein, the extension direction of the roller chain 215 is parallel to the guide rail 31 and is located on the outside of the guide rail 31.

[0089] The sprocket assembly used in the present invention includes: a first guide sprocket 214 and a second guide sprocket 213 sequentially installed on the traveling body 23 along the front and rear extension direction of the traveling body 23, respectively meshed with a roller chain 215; a supporting wheel 216 installed between a pair of guide sprockets to prevent the chain from being derailed; wherein the output sprocket 222 of the traveling drive mechanism can be arranged directly above the supporting wheel 216, and the roller chain 215 sequentially bypasses the first guide sprocket 214, the output sprocket 222, and the second guide sprocket 213. The installation method of the guide sprocket, the supporting wheel, etc. can adopt the method of the existing technology, which will not be repeated here.

[0090] When the motor 223 of the traveling driving mechanism is working, the output sprocket 222 installed on the output shaft of the motor rotates, and the output sprocket 222 drives the first guide sprocket 214 and the second guide sprocket 213 to roll along the roller chain 215, driving the entire traveling body 23 to move along the extension direction of the roller chain, so that the traveling wheels on the traveling body 23 move along the guide rail 31. When the traveling body 23 moves, it drives the crane system installed thereon to move, which can simulate the action of a crane walking along the water surface.

[0091] In addition to simulating the action of walking along the water surface, the crane system can also simulate the action of the crane turning around. The action of the crane turning around in the present invention is achieved by the rotating system 1.

[0092] The rotating system 1 of the present invention can be used as follows Figure 7a , Figure 7b The structure shown includes: a rotating table assembly 12, having a supporting platform 122 for supporting the crane system 4 and a supporting column 121 passing through the center of the supporting platform 122 and connected to the bottom of the crane body device of the crane system; and a rotating drive mechanism 11 for driving the supporting platform 122 to rotate relative to the traveling system 2.

[0093] Specifically, the rotary drive mechanism 11 of the present invention drives the support platform 122 to rotate relative to the travel system 2 through a steel wire rope, and includes: a drive box 111 fixedly mounted on the travel vehicle body 23, in which a rotary reducer is placed, and the output shaft of the rotary reducer extends upward in the vertical direction; a steel wire rope wheel 112 mounted on the output shaft of the rotary reducer; and a steel wire rope 113 passing around the steel wire rope wheel 112 and the support platform 122. In addition, the rotary drive mechanism 11 also includes a steel wire rope tensioning assembly 114 for preventing the steel wire rope 113 from loosening and falling off the rope. The steel wire rope tensioning assembly 114 is arranged between the steel wire rope wheel 112 and the support platform 122, includes a pair of tensioning assemblies, and can adopt the structure of the prior art.

[0094] When the reducer installed in the box 111 is working, the output shaft drives the wire rope wheel 112 to rotate, thereby driving the support platform 122 to rotate relative to the walking vehicle body 23 through the wire rope 113, and then driving the crane system installed on the support platform 122 to rotate, so as to simulate the turning action of the crane. During design, the connection point between the wire rope and the support platform can be determined according to the situation.

[0095] The rotating table assembly 12 of the present invention is installed on the traveling vehicle body 23 and is located between the rotating drive mechanism 11 and the traveling vehicle drive mechanism 22, and includes a rotating table support frame fixedly installed on the traveling vehicle body 23, and a supporting platform 122 rotatably connected thereto is installed on the rotating table support frame. A sleeve 123 fixedly connected thereto is provided at the center of the rotating table support frame, and a support column 121 is sleeved in the sleeve 123. The top of the support column 121 passes through the center of the supporting platform 122 and extends upward to facilitate the connection with the bottom of the crane body device of the crane system and provide support therefor.

[0096] In addition, the rotating system 1 also includes a rotating table travel switch assembly 13 installed on one side of the rotating table support frame for controlling the actions of various electrical components of the rotating table. The switch setting can refer to the existing technology.

[0097] The present invention places the crane system 4 on the support platform 122, such as Figure 8a-8c As shown, they are respectively a front view, a left view and a top view of the crane system provided by the present invention, Fig. 9 FIG. 1 is a schematic diagram of a structure in which the support device of the crane system is not shown and part of the driving device is faded. Figure 8a-Figure 9It can be seen that the crane system of the present invention includes: a crane leg device 45 connected to the support platform 122 of the rotating system 1 and capable of moving relative to the support platform 122 by steps; a crane body device 44 connected to the crane leg device 45 and supported thereby; a head and neck device 41 connected to the crane body device 44 and supported thereby; a driving device for driving the crane leg device, the crane body device, and the head and neck device; and a contoured shell 49 which is covered on the outside of the crane leg device, the crane body device, the head and neck device, and the driving device to form a crane-shaped contoured shell.

[0098] The crane system of the present invention comprises a crane leg device 45, a crane body device 44, a head and neck device 41 and a contoured shell 49 which is arranged outside each device and is similar in shape to a crane. Therefore, the shape of a crane can be better simulated and the bionic effect is good. Even in the daytime without the cooperation of lighting effects, the crane system can be used as a crane landscape for the audience to watch, which not only beautifies the environment but also improves the viewing experience.

[0099] Among them, the head and neck device 41 of the crane system of the present invention is in the shape of a slender strip with a bend as a whole, with a contoured shell 49 arranged on the outside, and the top of the contoured shell 49 is made into a crane beak shape. The head and neck device 41 is placed on one side of the crane body device 44 and is basically consistent with the position of the head and neck of a real crane.

[0100] The head and neck device 41 of the present invention can be used as follows Fig.10a , Fig.10b The structure with a bend shown includes: a crane head moving arm, which has a first moving arm 411, a second moving arm 412 hinged to one side of the first moving arm 411; a crane neck moving arm 413 whose top end is hinged to one side of the second moving arm 412 of the crane head moving arm; and a connecting arm 414 fixedly connected to one side of the bottom of the crane neck moving arm 413 and having an angle with the central axis. During manufacturing, the crane head moving arm, the crane neck moving arm 413 and the connecting arm 414 can be made of square steel respectively.

[0101] In order to fully simulate the pitching action of the crane's head, the hinges of each moving arm are connected together by hinges 416, and the hinges 416 are arranged on the front side of each moving arm for simulating the crane's head (i.e. Figure 8a , 3a , Fig.10b In order to improve the stability of the crane head motion arm during movement, one or more clips 415 are respectively provided on both sides (i.e., the front side and the rear side) of each motion arm for two steel wires of the head driving mechanism to pass through so that the direction of the steel wires is consistent with the extension direction of the head and neck device 41, so that the crane head motion arm can be pulled by the two steel wires on both sides of each motion arm to make the crane head motion arm perform a pitching action relative to the crane neck motion arm 413.

[0102] In addition, the first moving arm 411 and the second moving arm 412 are both arc-shaped, and the upper part of the crane neck moving arm 413 is also arc-shaped, and the centers of the three arcs coincide with the same point O (such as Fig.10a As shown), the first moving arm 411 and the second moving arm 412 can rotate relative to each other with point O as the center (as shown). Fig.10b shown).

[0103] When the head and neck device 41 is in an initial state without performing a pitching action, the adjacent surfaces of the three moving arms can coincide with each other (e.g. Fig.10a As shown in FIG. 1 , when designing, the bottom adjacent surface of the first moving arm 411, the two adjacent surfaces at both ends of the second moving arm 412, and the top adjacent surface of the crane neck moving arm 413 are all inclined surfaces, and the inclined surface is inclined downward from the front side to the rear side (that is, the length of the front side of each moving arm is less than the length of the rear side), and the inclined surface and the line connecting the point O to the corresponding hinge point have an angle greater than 0 degrees, and the angles of adjacent inclined surfaces should match each other, such as Fig.10a As shown, in this embodiment, the inclination angle of a pair of adjacent surfaces between the first moving arm 411 and the second moving arm 412 is 20 degrees, and the inclination angle of a pair of adjacent surfaces between the second moving arm 412 and the top of the crane neck moving arm 413 is 15 degrees. Of course, the inclination angle can be set according to the relative rotation angle of each moving arm.

[0104] The crane body device 44 of the present invention is wide in the middle, and narrows forward and backward from the middle at the front and rear, respectively. When in an initial state without movement, the crane body device 44 is generally parallel to the horizontal plane, but can pitch relative to the horizontal plane when in motion.

[0105] The crane body device 44 of the present invention can be used as follows Figures 19a-19c The structure shown includes: a front crane body frame 441, a middle crane body frame 442, and a tail crane body frame 443 which are fixedly connected in sequence from front to back, a crane neck movement arm is connected to the front side of the front crane body frame 441, that is, the bottom end of the connecting arm 414 of the crane neck movement arm is hinged to the front side of the front crane body frame, and a crane leg device 45 is hinged to the middle crane body frame 442.

[0106] It should be noted that the directions or positional relationships indicated in this document, such as front, back, left, right, up, and down, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0107] Specifically, the crane body front frame 441 is welded by two curved pipes 4414, two horizontal pipes 4411, two short oblique pipes 4412, and two long oblique pipes 4413 of equal length, and the two short oblique pipes 4412 and the two long oblique pipes 4413 are respectively located on both sides of the two horizontal pipes 4411. The upper part of the curved pipe 4414 is a vertical straight pipe section, and the lower part is an arc section. A horizontal pipe 4411 connects the top of the straight pipe section of the two curved pipes 4414, and a horizontal pipe 4411 connects the middle of the straight pipe section of the two curved pipes 4414. The short oblique pipe 4412 is welded obliquely at the connection between the top of the straight pipe section and the horizontal pipe 4411, and the long oblique pipe 4413 is welded obliquely at the connection between the top of the straight pipe section and the horizontal pipe 4411.

[0108] The angle between the short oblique tube 4412 and the corresponding connecting transverse tube 4411 is smaller than the angle between the long oblique tube 4413 and the corresponding connecting transverse tube 4411, so that the entire crane body front frame 441 is narrowed at the front end and widened at the rear end (the rear end refers to the end used to connect with the crane body middle frame 442). The bottom end of the connecting arm 414 of the crane neck movement arm can be hinged to the transverse tube 4411 used to connect the top end of the straight pipe section of the curved pipe 4414 or the top end of the straight pipe section of the curved pipe 4414.

[0109] The crane body middle frame 442 is a rectangular parallelepiped frame structure as a whole, which can be adopted as follows: Figure 20a-Figure 20c The structure shown includes a first frame 4421, a second frame 4422, and a third frame 4423 which are adjacently arranged and fixedly connected from top to bottom, a plurality of lower LED clamps 4426 for fixing LED lamps are installed on the third frame 4423, a plurality of upper LED clamps 4424 for fixing LED lamps are installed on the first frame 4421, the first frame 4421 and the second frame 4422 are connected to first connecting pipes 4427 on the front and rear sides respectively, the second frame 4422 and the third frame 4423 are connected to second connecting pipes 4428 on both sides respectively, and a plurality of nozzle clamps 4425 are installed on the second frame 4422.

[0110] During manufacturing, the first frame 4421, the second frame 4422, and the third frame 4423 are respectively formed by welding multiple cross beams, longitudinal beams, columns and oblique tubes. In addition to installing the above-mentioned components on each frame, a base for mounting various mechanisms in the drive device is also provided. For example, a base for mounting the neck drive mechanism is placed on one side (front side) of the first frame 4421, a base for mounting the swing leg drive mechanism is placed on the middle and rear side of the second frame 4422, and bases for mounting the head drive mechanism and the crane body pitch drive mechanism are respectively placed on the front and rear sides of the third frame 4423.

[0111] The crane tail frame 443 is in a shape that widens from the front end and narrows from the rear end, and includes: a short tube 4431, a middle tube 4437, a middle-long tube 4435, and a long tube 4438 arranged in sequence from top to bottom, one end of the short tube 4431, the middle tube 4437, the middle-long tube 4435, and the long tube 4438 are respectively fixed at the corresponding positions of the crane middle frame 442; a short oblique tube 4432 connecting the other ends of the short tube 4431 and the middle tube 4437; a long oblique tube 4434 connecting the other ends of the middle tube 4437, the middle-long tube 4435, and the long tube 4438; a pair of horizontal oblique tubes 4433 and a pair of oblique tubes 4436 located on the left and right sides of the crane middle frame 442 and fixedly connected to it at one end. The crane tail frame 443 is formed by the above-mentioned pipe fittings.

[0112] Of course, in addition to the above-mentioned structure, the frames of the crane body device 44 of the present invention may also adopt structures formed by welding other pipe fittings, as long as the overall shape is wide in the middle and narrows toward the front and rear from the middle respectively, and the required base, nozzle clamp, LED clamp, etc. are arranged on the frame.

[0113] The middle part of the crane body device 44 of the present invention is supported by the support device 12, and the support device 12 includes a support platform, on which a support column 121 is vertically installed, and the top of the support column 121 is hinged to the crane body middle frame 442. In addition, the crane body device 44 is also supported by a crane leg device 45, the upper part of the crane leg device 45 is hinged to the crane body middle frame 442, and the lower part is connected to the support platform. Through the support column 121 and the crane leg device 45, three-point support can be provided to the crane body device, so that the entire crane system moves stably, safely and reliably.

[0114] The crane leg device can be used as follows Figure 14a-14d The structure shown includes: a pair of crane legs located on both sides of the middle frame 442 of the crane body and respectively connected thereto, each crane leg is in the shape of a slender strip, having an upper leg limb 451 and a lower leg limb 452 hinged to the lower part of the upper leg limb 451; and a pair of pulley mechanisms 453 respectively connected to the pair of crane leg lower limbs 452.

[0115] Specifically, Figure 14a-14d As shown, a pair of crane legs of the crane leg device of the present invention are located on both sides of the crane body middle frame 442, and the upper ends of the crane leg upper limbs 451 of the pair of crane legs are respectively hinged to a pair of machine bases on the third frame 4434 of the crane body middle frame 442, so that the pair of crane legs can perform a stepping action relative to the crane body middle frame 442 around the hinge. The crane leg upper limb 451 and the crane leg lower limb 452 are hinged, so that the upper limb and the lower limb can bend and move relative to each other with the hinge point as the center, thereby better simulating the relative bending operation of the upper limb and the lower limb of the crane leg.

[0116] A pair of crane leg lower limbs 452 are respectively connected to a pair of pulley mechanisms 453, which include pulleys 4532 (the other side is a pulley 4532', and the following description only takes one side of the pulley mechanism as an example), and the pulleys are slidably connected to the guide rail 4531 so that they can walk on the guide rail surface of the upper part of the guide rail 4531 (such as Figure 16a-Figure 16c As shown), the guide rail 4531 is an I-shaped guide rail, the bottom of which is fixedly installed on the supporting platform. The extension direction of the guide rail is consistent with the walking direction of the crane legs, that is, consistent with the front-to-back direction when the crane body is in a horizontal state. The guide rail can be a straight guide rail or an arc guide rail. That is to say, viewed from the side of the guide rail extension direction, the guide rail can be a straight line parallel to the horizontal plane, or can be an upward convex arc (only the arc guide rail is shown in the figure).

[0117] The pulley 4532 includes: a pair of splints 4532 arranged side by side and in an inverted triangle shape, each splint 4532 is provided with a first through hole, a second through hole and a pair of third through holes arranged up and down along the symmetry axis, the second through hole is close to the apex of the triangle; a fixed shaft having two ends passing through the first through holes of the pair of splints 4532 and fixedly connected to the splints, the crane leg lower limb 452 is sleeved outside the hinge shaft and rotatably connected thereto; a nylon sleeve 4534 sleeved on the fixed shaft for limiting the axial position of the crane leg lower limb 452 along the fixed shaft; two hinge shafts installed at the corresponding two pairs of third through holes of the pair of splints 4532, each hinge shaft outside A roller 4536 is mounted on the guide rail 4531 and is rotatably connected to the roller 4536 and can move along the upper guide surface of the guide rail 4531; a pair of supporting shafts are installed at the second through holes of a pair of clamps 4532, one end of each supporting shaft passes through the second through hole of the corresponding clamp and is fixedly connected to the clamp, and the other end is suspended, and a supporting wheel 4533 is rotatably installed on the suspended end, and the pair of supporting wheels 4533 are pressed against the two vertical side walls of the guide rail 4531 located below the upper guide surface; an angle steel 4535 is fixedly installed on a clamp of a pair of clamps 4532 close to the center of the support platform, which is used to fix a steel wire rope thereon, and correspondingly, a rope hole for fixing the steel wire rope is opened on the angle steel 4535.

[0118] The pulley 4532 of the present invention can move along the guide rail 4531 through a pair of rollers 4536 arranged at the front and rear, and a pair of supporting wheels 4533 located between the pair of rollers 4536 press against the side walls of the guide rail 4531 so that the pulley 4532 can stably move along the upper guide surface of the guide rail 4531. Since the crane leg lower limb 452 is hinged to the upper and middle part of the pulley 4532, the crane leg lower limb 452 can be driven to move along the guide rail 4531 when the pulley 4532 moves, thereby simulating the action of the crane moving and walking along the extension direction of the guide rail 4531.

[0119] The crane leg device, the crane body device, and the head and neck device are driven by the driving device to perform corresponding actions such as stepping and pitching. Figure 8a , Fig. 9 As shown), the leg swinging driving mechanism 46 drives the crane leg device 45 to perform a stepping action relative to the crane body device 44 and the supporting platform.

[0120] Specifically, the leg swinging driving mechanism 46 can be adopted as follows Figure 14a-14d The structure shown includes: a power drive mechanism; a crane leg traction mechanism connected to the power drive mechanism and the pulley mechanism 453 respectively, which is used to drive a pair of crane legs to walk through the output power of the power drive mechanism.

[0121] Among them, Fig.15a , Fig.15b As shown, the power drive mechanism includes: a motor 463 fixedly mounted on the corresponding base of the second frame of the crane body device 44, the motor 463 has dual output shafts extending in opposite directions, and the axis extension direction of the dual output shafts is perpendicular to the length extension direction of the guide rail 4531 and the front-rear extension direction of the crane body device 44; a pair of swing arms 462, one end of which is respectively connected to the dual output shafts of the motor 463, the extension direction of the pair of swing arms 462 is respectively perpendicular to the extension direction of the dual output shafts, and the pair of swing arms 462 are extended in opposite directions relative to the central axis of the dual output shafts (as shown in FIG. Fig.15b As shown), and located on the left and right sides of the crane body device; a pair of connecting shafts fixedly mounted on the extended ends of a pair of swing arms 462 and perpendicular to the swing arms, a pair of swing frames rotatably mounted outside the pair of connecting shafts, one end of the swing frame is rotatably connected to the connecting shaft, and a pair of swing pulleys rotatably connected to the corresponding swing frames are respectively mounted at the other ends of the pair of swing frames, i.e., a first swing pulley 461 and a second swing pulley 464, and a steel wire rope (i.e., a crane leg pulling mechanism) for pulling a pair of crane legs to move Fig.14d The ends of the steel wire rope 4554 shown in the figure respectively pass through the first swing pulley 461 and the second swing pulley 464 and then extend downward in the vertical direction. When the motor 463 is working, the dual output shaft drives the pair of swing arms to rotate relative to the central axis of the dual output shaft, and the pair of swing arms correspondingly drive the steel wire ropes wound on the first swing pulley 461 and the second swing pulley 464, which will pull the pair of crane legs to move accordingly to complete the walking action.

[0122] In order to pull a pair of crane legs to walk by a steel wire rope, the crane leg traction mechanism of the present invention includes: a pair of traction vertical guide mechanisms 455 located on both sides of the middle frame 442 of the crane body and respectively connected thereto, for respectively guiding the direction of the steel wire rope 4554 that bypasses the swing pulley on the corresponding side, that is, each traction vertical guide mechanism 455 corresponds to the swing pulley on one side of the middle frame 442 of the crane body; a traction horizontal guide mechanism 454 connected to a pair of pulley mechanisms 453, for guiding the direction of the steel wire rope 4554 guided by the pair of traction vertical guide mechanisms 455, so that the steel wire rope 4554 extends in the horizontal direction and the two ends are respectively connected to the pair of pulley mechanisms 453.

[0123] Specifically, Fig.14c , Fig.14d As shown, each traction vertical guide mechanism 455 includes: a double pulley 4551 located below the swing arm on the corresponding side, which is arranged on a double pulley frame, and has two pulleys arranged side by side below the swing pulley and of the same size as the swing pulley, one of the pulleys is located directly below the swing pulley (that is, the pulley axes of the double pulleys are respectively parallel to the pulley axes of the swing pulleys, and the pulley axis of one of the pulleys is located in the same vertical plane as the pulley axis of the swing pulley), and a gap hole for a steel wire rope 4554 to pass through is formed between the two pulleys, and both ends of the steel wire rope 4554 are respectively fixed to a pair of double pulley frames, and the steel wire rope extends from one side of one of the pulleys in the double pulleys from bottom to top and is wound around the swing pulley from the same side of the swing pulley from bottom to top, and then is pulled by The connecting tube 4552 extends from top to bottom and passes through the gap hole of the double pulley; the connecting tube 4552 extends in the vertical direction, and a double pulley frame is arranged on the top thereof, and the center of the connecting tube 4552 is aligned with the gap hole of the double pulley 4551, and the wire rope 4554 introduced from the gap hole of the double pulley is led out from top to bottom by the connecting tube 4552; a single pulley frame is arranged at the bottom end of the connecting tube 4552, and a single pulley 4553 is installed on the single pulley frame, whose pulley axis is parallel to the pulley axis of the swing pulley, that is, the pulley axis of one pulley in the double pulley, the pulley axis of the swing pulley, and the pulley axis of the single pulley 4553 are located in the same vertical plane, and the wire rope 4554 led out from the bottom end of the connecting tube 4552 is wound around the single pulley 4553 and then led out in a direction perpendicular to the vertical direction.

[0124] The steel wire rope 4554 led out by the traction vertical guide mechanism 455 is guided by the traction horizontal guide mechanism 454 and connected to a pair of pulley mechanisms 453 respectively. The traction horizontal guide mechanism 454 of the present invention can be adopted as follows Figure 17a-Figure 17cThe structure shown in FIG. 1 comprises: a pair of horizontal brackets 4542 parallel to the length extension direction of the pair of guide rails 4531 on the support platform, located between the pair of guide rails 4531 and arranged close to the guide rails 4531; four pulleys respectively installed at the front and rear ends of the pair of horizontal brackets 4542, that is, a first pulley 4541 and a second pulley 4544 installed at both ends of one horizontal bracket, and a third pulley 4545 and a fourth pulley 4547 (such as Fig.17c A pair of reversing pulleys, respectively installed in the middle of a pair of horizontal brackets 4542, for guiding the wire rope 4554 pulled out by the corresponding side single pulley 4553 horizontally, that is, the reversing pulley 4543, the reversing pulley 4546 (as shown in FIG. Fig.17c shown).

[0125] The two ends of the steel wire rope 4554 of the present invention are respectively fixed on two double pulley frames corresponding to the swing arms on both sides. Figure 14a-Figure 17c , the connection relationship between the wire rope 4554 and other components is explained.

[0126] One end of the wire rope 4554 can be first fixed to a double pulley frame on the same side as a swing arm such as swing arm 462, and then the other end of the wire rope is passed from bottom to top over one side of one of the double pulleys on the double pulley frame around the swing pulley above the pulley (it can also be passed directly from the double pulley frame around the swing pulley), and the wire rope is passed from top to bottom through the gap hole of the double pulley and through the connecting pipe 4552 on the corresponding side. The other end of the steel wire rope led out from the connecting pipe 4552 first passes around the single pulley 4553 and is changed in direction by the reversing pulley 4543 on the same side, and then extends toward one end of the horizontal bracket along the length extension direction of the corresponding horizontal bracket 4542. After passing around the pulley 4541 at one end of the horizontal bracket 4542, it extends toward the other end along the length extension direction of the horizontal bracket 4542. Before extending to the other end, the pulley 4532 is fixed to the steel wire rope 4554 through the rope hole on the angle steel 4535 set on the pulley 4532 on the corresponding side (for example, the steel wire rope can be passed through a part of the rope hole, and the pulley can be fixed to the steel wire rope by binding, or other existing technical methods can be used). Then the other end of the steel wire rope 4554 continues to extend toward the other end and is changed in direction by 90 degrees through the pulley 4544 at the other end. After reversing, the wire rope extends toward the corresponding end of the other horizontal bracket, and after bypassing the pulley 4545 at the corresponding end of the other horizontal bracket, it continues to extend toward the other end of the other horizontal bracket. During the extension process, the pulley 4532' is fixed to the wire rope (the same fixing method as mentioned above can be used), and then the wire rope 4554 is bypassed by the pulley 4547 at the other end of the horizontal bracket, and extends toward the direction of the reversing pulley 4543 on the corresponding side, and then bypasses the single pulley 4553 on the corresponding side, passes through the connecting pipe on the corresponding side from bottom to top, passes through the gap hole of the double pulley on the corresponding side after passing through the connecting pipe and extends upward, bypasses the swing pulley on the corresponding side, extends downward and is fixed on the corresponding double pulley frame.

[0127] Of course, the connection of the wire rope does not need to adopt the order described above, as long as it is easy to connect and the two ends of the wire rope are respectively fixed to the two double pulley frames.

[0128] In addition, in order to ensure that the steel wire rope 4554 does not become longer or loosen during the process of pulling a pair of crane legs, the crane leg pulling mechanism of the practical type can also adopt the following method: Fig.17dThe structure shown, that is, a set of tensioning components 4548 is arranged between the second pulley 4544 and the third pulley 4545 located at the same side end of a pair of horizontal brackets, for tensioning the wire rope 4554 between the two pulleys, and the tensioning component can adopt the following structure, including: a tensioning wheel arranged between the second pulley 4544 and the third pulley 4545, and the wire rope 4554 passes around the tensioning wheel; a pair of traction members whose one end is respectively connected to the two sides of the tensioning wheel, and the other ends of the traction members are respectively fixed and placed, and the traction members can be elastic members with certain telescopic properties, such as springs, etc. In addition, the tensioning component can also adopt the structure of the prior art, and its structure will not be repeated here.

[0129] The movement of a pair of crane legs of the present invention is pulled by a steel wire rope of the crane leg traction mechanism. Through the cyclic action of the entire crane leg traction mechanism such as a pair of swing arms, the steel wire rope generates power for retracting and releasing, driving a pair of pulleys to move correspondingly along a pair of guide rails, so that the crane system can truly simulate the walking action of a pair of crane legs, and the entire mechanism of the walking action pulled by the steel wire rope is simple and easy to implement, which greatly reduces the manufacturing cost.

[0130] In addition to the crane legs being able to take steps, the crane system of the present invention can also perform pitching movements in the head and neck device. Therefore, in addition to the above-mentioned crane leg driving mechanism 46 for driving the crane legs to take steps, the driving device can also include a head and neck driving mechanism for driving the head and neck device 41 to perform pitching movements, which comprises: a head driving mechanism 42 connected to the crane head motion arm for driving its pitching movement relative to the crane neck motion arm; and a neck driving mechanism 43 connected to the crane neck motion arm for driving its pitching movement relative to the crane body device.

[0131] Specifically, the head drive mechanism 42 can be used as follows Fig.11a , Fig.11b The structure shown in FIG. 1 comprises: a lower fixing plate 4209 installed at the lower part of the front frame 441 of the crane body device and an upper fixing plate 4203 at the middle part, wherein the upper fixing plate and the lower fixing plate can be respectively U-shaped plates; a motor 4201 with a reducer installed on the lower fixing plate 4209, wherein the output shaft thereof extends toward the right side of the crane body device; a crank 4211 connected at one end to the output shaft of the motor 4201; and a rocker structure 4204 (such as Fig.11a , Fig.12a , Figure 12b As shown in FIG. 4 , the invention has an L-shaped swing arm 4241; a switch fixing plate 4206 mounted on the upper fixing plate 4203, on which a handle switch 4207 is mounted, and the handle switch can be a pivot R handle switch; and a cable structure connected to the swing arm 4241. In addition, the invention can also include a first pressing plate 4202 and a second pressing plate 4205 for limiting the swing arm 4241, and the first pressing plate 4202 and the second pressing plate 4205 are respectively mounted at both ends of the swing arm 4241.

[0132] Among them, multiple mounting holes are set on the swing arm 4241, and the multiple mounting holes include a crank mounting hole for connecting with the crank 4211, multiple cable mounting holes for installing the cable 4208, and multiple fixed plate mounting holes for connecting with the upper fixed plate 4203. By setting multiple fixed plate mounting holes on the swing arm 4241, the installation position of the swing arm 4241 on the upper fixed plate 4203 can be determined as needed.

[0133] During the design, the fixed plate mounting hole and the crank mounting hole can be located at both ends of the swing arm 4241, the first connecting shaft 4243 is placed in the crank mounting hole, and the second connecting shaft 4242 is placed in the fixed plate mounting hole, and the first connecting shaft 4243 and the second connecting shaft 4242 extend out opposite to each other relative to the swing arm 4241, one end of the second connecting shaft 4242 is rotatably connected to the upper fixed plate 4203, and the other end is fixedly connected to the swing arm 4241, or, one end of the second connecting shaft 4242 is fixedly connected to the upper fixed plate 4203, and the other end is rotatably connected to the swing arm 4241, so that the swing arm 4241 can rotate relative to the upper fixed plate 4203 with the central axis of the second connecting shaft 4242 as the center, and the first connecting shaft 4243 is rotatably connected to the crank 4211.

[0134] The cable structure is connected to the cable fixing hole provided on the swing arm 4241 (at least two cable fixing holes are provided on the swing arm), and includes two cables 4208, wherein the first cable sequentially passes through a plurality of clips provided at the front of the head and neck device from bottom to top (a clip is not required at the front of the second moving arm), and is connected to the front of the first moving arm. The second cable sequentially passes through a plurality of clips provided at the rear of the head and neck device from bottom to top (a clip is required at the rear of the second moving arm), and is connected to the rear of the first moving arm. In order to prevent the two cables from interfering with each other, the cable structure also includes a cable isolation plate for isolating the two cables, on which holes are provided for the two cables to pass through respectively, and one end of the cable isolation plate is hinged to the upper fixing plate 4203. In order to prevent the two cables from interfering with other components during their upward extension, the present invention can also install a double-groove pulley at the front hinge of the connecting arm 414 and the front frame of the crane body, and the two cables can respectively pass through the rope grooves corresponding to the double-groove pulley.

[0135] When the motor is working, the crank and swing arm drive two cables to achieve the pitching movement of the head and neck device relative to the crane body device:

[0136] The front of the first moving arm 411 can be pulled by the first cable to make the first moving arm 411 lower or raise its head (i.e., pitch action) around the connection point of the hinge (the hinge is located at the front) connected to the second moving arm 412.

[0137] The second cable can be used to pull the rear of the first moving arm 411 and the rear of the second moving arm 412, so that the first moving arm 411 can be lowered or raised around the connection of the hinge (the hinge is located at the front) connected to the second moving arm 412, and the second moving arm 412 can be lowered or raised around the connection of the hinge (the hinge is located at the front) connected to the crane neck moving arm 413, thereby achieving a pitching motion of the head relative to the neck. The pitching angle can be achieved by adjusting the pulling force of the two cables.

[0138] The neck driving mechanism 43 is connected to the crane neck motion arm 413 and drives the crane neck motion arm 413 to pitch relative to the crane body device 44. The neck driving mechanism 43 can be adopted as follows Fig.13a , Fig.13b The structure shown in the figure comprises: a machine base 4307 installed on the upper part of the crane body front frame 441 of the crane body device; a fixing plate 4303 installed on the top of the machine base 4307, and the fixing plate 4303 can be a U-shaped plate; a motor 4301 with a reducer installed on the machine base 4307, and its output shaft extends toward the right side of the crane body device; a crank 4308 installed on the output shaft of the motor 4301; a connecting rod plate 4302 connected to the protruding end of the crank 4308 and in a long strip shape; a connecting rod 4304 installed at one end of the connecting rod plate 4302, which is T-shaped The connecting rod includes a long rod portion and a vertical rod portion perpendicular to the long rod portion and fixedly connected to one side of the middle portion of the long rod portion. One end of the long rod portion of the connecting rod is hinged to one end of a connecting rod plate 4302, and the vertical rod portion is hinged to the upper part of a fixed plate 4303; a long connecting rod plate 4305, one end of which is hinged to the other end of the long rod portion, and the other end of which is fixedly connected to the bottom of the crane neck moving arm 413 of the head and neck device; a switch fixing plate 4310 connected to the connecting rod 4304 by bolts, on which a switch 4306 is installed, and the switch 4306 can adopt a cross groove ball head switch.

[0139] When the motor 4301 is working, the crank 4308 drives the T-shaped connecting rod to rotate around the hinge between it and the fixed plate 4303 through the connecting rod plate 4302, and in the process of rotation, drives the crane neck motion arm 413 to rotate around the front hinge between the connecting arm 414 and the front frame of the crane body through the long connecting rod plate 4350, that is, the crane neck motion arm 413 and the first and second motion arms connected to the top thereof are made to pitch relative to the crane body device to simulate the pitching movement of the crane's neck.

[0140] In actual use, the neck driving mechanism and the head driving mechanism can work together, so as to more realistically simulate the pitching motion of the crane's head and neck joints.

[0141] In addition to the crane legs being able to step and the head and neck device being able to pitch, the crane body device of the crane system of the present invention can also perform a pitch movement relative to the crane leg device 45 (or a horizontal plane). Therefore, in addition to the above-mentioned crane leg driving mechanism 46 for driving the crane legs to step and the head and neck driving mechanism for driving the head and neck device 41 to pitch, the driving device can also include a crane body pitch driving mechanism 47 for driving the crane body device to pitch relative to the crane leg device.

[0142] Specifically, the crane body pitch driving mechanism 47 can be adopted as follows Figure 18a-Figure 18c The structure shown comprises: a machine base 472 installed on the second frame and / or the third frame 4423 of the crane body middle frame 442 of the crane body device 44, having a pair of clamping plates 4722 located on both sides of the crane body device 44 and extending in the vertical direction, a support 4721 whose two ends are respectively connected to the pair of clamping plates 4722, the support 4721 is a U-shaped support, the center of which is provided with a through hole for the support column 121 to pass through, and the two parallel side walls thereof are respectively connected to the pair of clamping plates 4722, and a pair of crane leg upper limbs 451 are respectively hinged to the two side walls of the support 4721 through an axis, and the central axis of the axis The line is perpendicular to the extension direction of the length of the support, and a pair of clamps 4722 are hinged on both sides of the second frame and / or the third frame 4423 respectively; the driving device 471 installed on the second frame and / or the third frame 4423 has a driving motor 4711 and a crank-connecting rod structure connected to the output shaft of the driving motor 4711, a crank 4712 connected to the output shaft and a connecting rod 4713 whose one end is connected to the crank 4712, the other end of the connecting rod 4713 is cross-shaped, and the other end of the connecting rod 4712 in the cross shape is hinged to the support 4721 through a hinge 473.

[0143] When the driving motor 4711 is working, its output shaft drives the crank-connecting rod structure to move, so that the support 4721, driven by the connecting rod 4713, performs a pitch movement with a pair of splints 4722 and the hinges on both sides of the second frame and / or the third frame 4423 as fulcrums, thereby driving the entire crane body device 44 to pitch relative to the crane leg device 45 (or the horizontal plane), thereby simulating the pitching movement of the crane's body relative to the crane legs.

[0144] In practical application, the various devices of the crane system of the present invention can cooperate with each other, so that various pitching and stepping movements of the crane can be performed, such as Figure 21a-Figure 21j As shown in the figure, only part of the action postures are shown, which are as follows: the crane system is in a posture where the crane body device is tilted backward (i.e., the rear part is low and the front part is high) (such as Fig.21a The crane system is in a posture where the crane body device is leaning forward (or leaning forward) and the crane head device is leaning down (as shown in Figure 21b The crane system is in a posture where the crane body device is horizontal and the crane head device is looking forward (as shown in Fig.21cThe crane system is in a posture where the crane body device is horizontal and the crane head device is low (as shown in Fig.21d The crane system is in a posture where the crane body device is tilted backward (or the front part is raised) and the crane head device is lowered (as shown in Fig.21e The crane system is in a posture where the crane body device is horizontal, the crane head device is lowered, and the pair of crane legs of the crane leg device are stepping (as shown in Fig.21f The crane system is in the posture of the crane body device being horizontal, the crane head device being raised, and a pair of crane legs stepping (as shown in Figure 21g The crane system is in a posture where the crane body device is tilted backward, the crane head device is raised to the level of the ground, and a pair of crane legs are slightly retracted (as shown in Figure 21h The crane system is in a posture where the crane body device is tilted backward, the crane neck of the crane head device is tilted backward at an increased angle, the crane head is raised to the level of the ground, and a pair of crane legs are fully retracted (as shown in FIG. Fig.21i The crane system is in a posture where the crane body device is tilted backward, the crane neck of the crane head device is tilted backward at an increased angle, the crane head is lowered, and a pair of crane legs are completely retracted (as shown in FIG. Fig.21j shown).

[0145] As can be seen from the above figures, the crane system of the present invention can simulate the movements and forms of the crane almost realistically. Moreover, when used, it can also be combined with the movement of the vehicle system along the track system to perfectly reproduce the movement of the crane walking in the water, greatly enhancing the visual shock.

[0146] In addition to the above-mentioned devices, the crane system of the present invention also includes a wing device connected to the crane body device 44, with two sets of pipelines located on both sides of the crane body device 44, each set of pipelines may include a plurality of water outlet pipes 48 arranged in sequence from front to back along the length extension direction of the crane body device and a water supply device connected to the pipeline for supplying water to the pipeline (the water supply device is not shown in the figure, and it can adopt the existing technical structure, which will not be repeated here), the wings of the crane are formed by the water flow sprayed outward from the water outlet pipe 48, and the angle of the water flow relative to the crane body device 44 when spraying is controlled by controlling the intensity of the water flow spray, so as to cooperate with other systems and / or devices to simulate different postures of the crane. The water outlet pipe 48 is hinged with the nozzle clamp so that the water outlet pipe can swing relative to the crane body device to form a swingable fountain simulating wings.

[0147] During the design, in order to facilitate the supply of the required water source to the pipeline, the present invention designs the support column 121 as a hollow support column for guiding water, connects the top of the support column 121 with the two sets of pipelines, and connects the bottom of the support column 121 with the water supply port of the water supply device (such as Figure 1 The middle support column 121 bottom end is shown in dotted line part), and when necessary, it can also be connected through a pipeline. Since the track system of the device of the present invention is placed in the water, water can be taken on the spot to provide the crane system with the water source required for the wing movement.

[0148] In addition, the present invention provides a contoured shell 49 on the outer cover of each device, and the contoured shell has a shape similar to that of a crane, such as a crane head and neck shell with a bend, a crane body shell substantially parallel to the horizontal plane, a crane leg shell similar to the shape of a crane leg, and a crane foot shell similar to the shape of a crane foot (such as Figure 8a As shown), and the profiling shell can adopt a multi-section shell to match the different actions of the crane (such as using a disconnection process at each relatively movable connection). During design, a number of luminous elements (such as LED lights or LED light strips) that can emit light are arranged on the profiling shell as needed, such as a pair of LED lights or LED light strips for simulating the eyes of the crane are arranged on both sides of the head and neck device of the profiling shell, and a plurality of luminous elements that allow the crane to flash in the dark are arranged on other parts of the profiling shell, etc. Preferably, the plurality of luminous elements that allow the crane to flash in the dark can be luminous elements with variable colors (installed on the inner wall of the profiling shell), so that the crane can show different colors through circuit control.

[0149] Furthermore, a laser emitting device can be used in conjunction with the device (the laser emitting device can adopt the existing technical structure), such as installing a laser lamp head on the crane head or other position of the head and neck device, and emitting light of variable color through the slightly opened crane beak, so that the crane performance device can increase the viewing experience of the performance through lasers, color-changing crane bodies, and swingable fountains on both sides that simulate wings.

[0150] In summary, the crane performance equipment of the present invention has the following outstanding advantages:

[0151] 1. The crane performance equipment of the present invention can rotate, pitch and walk relative to the ground or water surface, vividly simulating various postures of the crane's natural movements, enhancing the sense of reality of the spectators watching the performance and bringing greater visual shock to the audience.

[0152] 2. In the crane performance equipment of the present invention, when the crane system moves along a pair of preset guide rails, the pair of crane legs of its crane leg device can walk, thereby overcoming the shortcoming that the crane ballet in the prior art cannot walk, and can prevent the crane system from shaking when moving on the water surface and with the fluctuation of the water surface, so that the crane system of the present invention can perform smoothly and safely, and can be more effectively combined with lighting and video.

[0153] 3. The crane performance equipment of the present invention comprises a crane system having a crane leg device, a crane body device, a head and neck device and a profiling shell covered on the outside of each device, so that the profiling effect is good, and even in the daytime, without the cooperation of lighting effects, it can also be used as a crane landscape for audiences to watch.

[0154] 4. In the crane performance equipment of the present invention, the walking, turning, stepping and pitching movements of the crane system are all achieved by pulling with a steel wire rope, the driving structure is simple and the cost is low, and the structure of the entire equipment can be simplified.

[0155] Although the present invention has been described in detail above, the present invention is not limited thereto. Those skilled in the art may make modifications based on the principles of the present invention. Therefore, all modifications made based on the principles of the present invention should be understood to fall within the protection scope of the present invention.

Claims

1. A crane performance device, characterized in that: include: A track system having a pair of rails disposed side by side and located underwater; A traveling system is arranged above the track system and has a traveling vehicle body traveling along a pair of guide rails thereof; A rotating system mounted on the traveling vehicle body and rotating relative thereto; as well as A crane system mounted on a rotating system to simulate the crane's pitch and step movements; The crane system includes a crane leg device connected to the rotating system and capable of moving relative to the rotating system; a crane body device connected to and supported by the crane leg device; a head and neck device connected to and supported by the crane body device; a driving device for driving the crane leg device, the crane body device, and the head and neck device; a contoured shell that is arranged outside the crane leg device, the crane body device, the head and neck device, and the driving device to form a crane shape; The driving device includes a leg swinging driving mechanism for driving the crane leg device to step relative to the crane body device, which includes: a power driving mechanism; a crane leg traction mechanism connected to the power driving mechanism and the pulley mechanism of the crane leg device respectively, and used to drive a pair of crane legs to step and walk through the output power of the power driving mechanism; When the walking vehicle body moves, it drives the crane system installed thereon to move, so as to simulate the action of the crane walking along the water surface, and the rotating system enables the crane system to simulate the action of the crane turning around.

2. The crane performance equipment according to claim 1, characterized in that: The driving system also includes: The traveling driving mechanism is installed on the traveling vehicle body and is used to provide driving force for the traveling vehicle body; The traveling vehicle traction guide mechanism is respectively connected with the traveling vehicle drive mechanism and a pair of guide rails, and is used for guiding the traveling direction of the traveling vehicle body.

3. The crane performance equipment according to claim 2, characterized in that: The vehicle traction guide mechanism comprises: A pair of chain fixing seats respectively arranged at two ends of a pair of guide rails and respectively vertically connected to the two ends of the pair of guide rails; A roller chain installed on the same side of a pair of chain mounts; A sprocket assembly meshingly connected with the roller chain and driving the traveling vehicle body to travel along a pair of guide rails through cooperation with the roller chain; Wherein, the extension direction of the roller chain is parallel to the guide rail and is located outside the guide rail.

4. The crane performance equipment according to claim 3, characterized in that: The sprocket assembly comprises: A first guide sprocket and a second guide sprocket are sequentially mounted on the traveling body along the front-rear extension direction of the traveling body, and are respectively meshed and connected with the roller chain; A supporting wheel mounted between a pair of guide sprockets; Wherein, the roller chain passes around the first guide sprocket, the output sprocket, and the second guide sprocket in sequence.

5. The crane performance equipment according to any one of claims 1 to 4, characterized in that: The rotating system comprises: A rotating platform assembly, comprising a supporting platform for supporting the crane system and a supporting column passing through the center of the supporting platform and connected to the bottom of the crane body device of the crane system; A rotation drive mechanism drives the support platform to rotate relative to the travel system.

6. The crane performance equipment according to claim 5, characterized in that: The head and neck device is a bent structure, comprising: A crane head motion arm; a crane neck motion arm connected to the crane head motion arm; A connecting arm fixedly connected to the crane neck moving arm and having an included angle with its central axis.

7. The crane performance equipment according to claim 6, characterized in that: The crane body device is a structure that narrows from the middle toward the front and rear sides, including a crane body front frame, a crane body middle frame, and a crane body tail frame. The crane neck movement arm is connected to the crane body front frame, and the crane leg device is connected to the crane body middle frame.

8. The crane performance equipment according to claim 7, characterized in that: The crane leg device comprises: A pair of crane legs located on both sides of the middle frame of the crane body and respectively connected thereto, the crane legs comprising a crane leg upper limb and a crane leg lower limb hinged to the crane leg upper limb; A pulley mechanism is connected to the lower limbs of a pair of crane legs respectively.

9. The crane performance equipment according to claim 8, characterized in that: The driving device further comprises: A head and neck driving mechanism for driving the head and neck device to move in a pitching motion; A crane body pitch driving mechanism is used for driving the crane body device to pitch relative to the crane leg device.

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