A large-scale double-wing dynamic performance robot structure

Abstract

A large-scale double-wing dynamic performance robot structure, the performance robot structure includes a body, a lever bracket, and a base; the body includes a head mechanism, a wing mechanism, a trunk mechanism, a leg mechanism, and a claw mechanism; the above mechanisms are axially connected or fixedly connected to each other in a close-fitting manner; the lever bracket is a lever motion mechanism formed by connecting the middle of the rocker frame with the top of the tripod; the back of the trunk mechanism is axially connected to the front end of the rocker frame in a close-fitting manner; the base is provided with a traction device for pulling the rear end of the rocker frame up and down to make the body move in the opposite direction accordingly. The present invention can cover the outer layer of the robot skeleton with a veneer to form a giant beast artwork; by manually controlling the pulley group and the lever mechanism, the beast artwork can be lifted and lowered and the wing-shaking effect can be achieved; at the same time, the electric push rods of various parts of the robot can be extended and retracted through a manual control device to achieve bionic movement of various parts of the robot with the connecting shaft as the axis.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a performance robot. Background Art

[0002] The giant exhibits in existing urban space exhibition areas are mostly static artworks, lacking giant exhibition installations with dynamic changes. Summary of the invention

[0003] The purpose of the present invention is to solve at least one of the above-mentioned technical defects and to design a large-scale performance robot that can perform dynamic activities of releasing animals.

[0004] To this end, the purpose of the present invention is to propose a large-scale double-wing dynamic performance robot structure, including a body, a lever bracket, and a base;

[0005] The body includes a head mechanism, a wing mechanism, a trunk mechanism, a leg mechanism, and a claw mechanism;

[0006] The head mechanism is axially connected or fixedly connected to the upper middle part of the trunk mechanism in a close-fitting manner;

[0007] The two leg mechanisms are axially connected or fixedly connected to the two sides below the trunk mechanism in a tightly fitting manner;

[0008] The two claw mechanisms are axially connected or fixedly connected to the bottom of the two leg mechanisms in a tightly matched manner;

[0009] The lever bracket is a lever motion mechanism formed by connecting the middle part of the rocker frame with the top shaft of the tripod;

[0010] The back of the trunk mechanism is axially connected to the front end of the rocker frame in a close-fitting manner;

[0011] The base is provided with a traction device for traction of the rear end of the rocker frame to lift and lower so that the body moves in the opposite direction accordingly;

[0012] The traction device includes a lifting control position, a groove, a traction hand pulley, a front fixed pulley, a traction wire rope, and a rear fixed pulley;

[0013] The lifting control position is a seat arranged at the rear end of the groove and above the base;

[0014] The traction hand-crank pulley is fixed on the bracket at the front end of the groove and above the base;

[0015] The front fixed pulley is fixed below the traction hand-crank pulley and on the top surface of the base;

[0016] One of the rear fixed pulleys is fixed to the rear bottom of the rocker frame, and two of the rear fixed pulleys are fixed to the top surface of the base just below the rear end of the rocker frame;

[0017] One end of the traction wire rope is clamped at the bottom of the rear end of the rocker frame, and then passes through the three rear end fixed pulleys in a wave shape, and passes through the front end fixed pulley along the top surface of the base, and finally the other end of the traction wire rope is wound around and fixed to the traction hand crank pulley, thereby the traction hand crank pulley, the front end fixed pulley, and the rear end fixed pulley form a fixed pulley group to pull the traction wire rope to drive the rocker frame to perform lever movement;

[0018] A wing control device is provided above the rocker frame, and the wing control device includes a wing control position, a wing control hand-cranked pulley, a wing control wire rope, a T-frame, a wing control fixed pulley, and a longitudinal rotating shaft;

[0019] The wing control position is fixed above the rear end of the rocker frame;

[0020] The wing control hand pulley is fixed on a bracket just in front of the wing control position and above the rocker frame;

[0021] The lower end of the longitudinal support of the T-shaped frame is fixed above the front end of the rocker frame;

[0022] The two wing-controlled fixed pulleys are respectively fixed at the two ends below the crossbar of the T-shaped frame;

[0023] One end of the wing control wire rope is fixed and wound around the wing control hand pulley, and then the wire rope is extended to the T-shaped frame and is divided into two strands, which then pass through the wing control fixed pulleys respectively, and finally the ends of the two strands of the wire rope are respectively clamped to the outer edges of the rear ends of the two wing mechanisms;

[0024] The two longitudinal rotating shafts are respectively located at the connection points on both sides of the two wing mechanisms and the trunk mechanism, so as to realize the axial connection between the wing mechanism and the trunk mechanism, and are used for the wing mechanism to synchronously swing back and forth with the two rotating shafts as the axis when the wing-controlled hand-cranked pulley is shaken forward or reversely.

[0025] The head mechanism is an electrically controlled bionic movement mechanism of the head composed of a neck frame, a lower jaw frame, a skull frame, a cavity frame, a tongue frame, a vertical movement mechanism, a horizontal movement mechanism, and a tongue mechanism;

[0026] The vertical movement mechanism includes a vertical movement electric push rod, a neck joint fixed to the inner side of the corner of the neck frame, a lower jaw joint fixed to the rear end of the bottom of the jaw frame, and a vertical movement shaft;

[0027] The neck frame is in a hollow L-shape, and the bottom end of the neck frame is fixed to the middle position of the upper part of the torso mechanism;

[0028] The neck frame has a hollow top portion into which the jaw frame is inserted, and the vertical movable shaft realizes a pin connection between the jaw frame and the neck frame;

[0029] The rear end hole of the vertically movable electric push rod is connected to the neck joint shaft, and the front end hole of the electric push rod is connected to the lower joint shaft of the mandible, so as to form a longitudinal arc movement relative to the neck frame by the extension and contraction of the electric push rod to drive the mandible frame with the vertically movable rotating shaft as the axis;

[0030] The horizontal movement mechanism includes a horizontal movement electric push rod, an upper jaw joint located at the front end of the top of the jaw frame, a skull joint, and a horizontal movement shaft;

[0031] The rear bottom surface of the skull frame is placed on the rear top surface of the mandibular frame, and the mandibular frame and the skull frame are connected by a pin via the horizontal movable shaft;

[0032] The rear end hole of the horizontally movable electric push rod is connected to the upper joint axis of the mandible, and the front end hole of the electric push rod is connected to the skull joint axis, so as to form a transverse fan-shaped movement relative to the mandible frame by the extension and contraction of the electric push rod to drive the skull frame with the horizontally movable rotating shaft as the axis;

[0033] The tongue mechanism includes a tongue electric push rod, a cavity joint fixed to the front end of the bottom of the skull frame, a tongue joint fixed to the top surface of the rear end of the tongue frame, and a tongue shaft;

[0034] The middle part of the cavity frame is hollowed out, the top of the cavity frame is fixed to the front end of the bottom of the skull frame, and the lower part of the cavity is connected to the tongue shaft;

[0035] The rear end hole of the tongue electric push rod is connected to the cavity joint shaft, and the front end hole of the electric push rod is connected to the tongue joint shaft;

[0036] The tongue shaft is pin-connected to the lower part of the cavity frame;

[0037] The rear portion of the top surface of the tongue frame is fixed to the bottom surface of the tongue joint,

[0038] The tongue frame is placed in the cavity frame and is fixed to the tongue shaft at the middle and rear section of the tongue frame.

[0039] The wing mechanism is an electrically controlled bionic opening and closing mechanism of the wing composed of a long wing frame, a short wing frame, and a long and short wing opening and closing device;

[0040] The long-wing frame is a parallel four-bar linkage mechanism formed by two long-wing parallel horizontal bars and more than two long-wing parallel longitudinal bars that move in relative coordination;

[0041] The short-wing frame is a parallel four-bar linkage mechanism formed by two short-wing parallel cross bars and more than two short-wing parallel longitudinal bars that move in relative coordination;

[0042] The joints of the two long-wing parallel cross bars and the two short-wing parallel cross bars form a parallel four-bar linkage mechanism for relative cooperation and movement between the long-wing frame and the short-wing frame;

[0043] The inner ends of the two short-wing parallel cross bars are nested and connected with the longitudinal rotating shaft;

[0044] The long-short wing opening and closing device comprises an opening and closing device upright pole, an upright pole joint, a short wing joint, and an opening and closing device electric push rod;

[0045] The bottom of the opening and closing device upright pole is fixed to the upper part of the short-wing parallel cross bar near the side of the longitudinal rotating shaft, the rear end hole of the opening and closing device electric push rod is connected to the upright pole joint shaft located at the top of the opening and closing device upright pole, and the front end hole of the opening and closing device electric push rod is connected to the short-wing joint shaft located at the middle end of the short-wing parallel cross bar, forming a triangular linkage rod that moves relatively coordinatedly, which is used to drive the parallel four-bar linkage mechanism of the short-wing frame, the parallel four-bar linkage mechanism between the long-wing frame and the short-wing frame, and the parallel four-bar linkage mechanism of the long-wing frame to cooperate with each other to perform the opening and closing movement of the long-wing frame and the short-wing frame along their intersection through the extension and retraction of the opening and closing device electric push rod.

[0046] A trunk forward tilting device for driving the trunk mechanism to tilt forward and stand upright is provided between the trunk mechanism and the rocker frame;

[0047] A rear frame is provided in the middle section of the back of the trunk mechanism, and two vertical frames are provided on both sides of the trunk mechanism;

[0048] The trunk forward tilting device includes a forward tilting electric push rod, a rocker frame joint located on the top surface of the front end of the rocker frame, a rear frame joint located at the midpoint of the rear frame, a diamond bearing, a rocker shaft, and two U-shaped buckles fixed on both sides of the lower back of the trunk mechanism;

[0049] The rocker shaft crosses the shaft hole at the front end of the rocker frame and the two diamond-shaped bearings are clamped on both sides of the shaft hole at the front end of the rocker frame by bolts. The two ends of the rocker shaft are sleeved under the two vertical frames by the two U-shaped buckles, so that the rocker shaft rotates under the constraints of the two U-shaped buckles.

[0050] The rear end hole of the forward tilting electric push rod is connected to the joint shaft of the rocker frame, and the front end hole of the electric push rod is connected to the joint shaft of the rear frame, which is used to drive the trunk mechanism to perform forward tilting and upright movement relative to the rocker frame with the rocker shaft as the axis through the telescopic movement of the forward tilting electric push rod;

[0051] The leg mechanism is composed of the upper leg frame, the lower leg frame, and the leg swing device to form an electrically controlled bionic leg motion mechanism;

[0052] The leg swing device comprises a leg swing electric push rod, a cross-link joint, a vertical frame joint, a hip shaft, a hip sleeve, a round nut, a leg shaft, and a leg swing wire rope;

[0053] The crotch axis is fixed at the bottom ends of the two vertical frames;

[0054] Insert two hip shaft sleeves into the hip shaft extension sections outside the two vertical frames, and fix the two sleeves with two round nuts at their outer ends, so that the hip shaft sleeves can rotate around the axis of the hip shaft;

[0055] The connecting rod ends of the two cross-connecting rod joints are respectively fixed to the inner sides of the two hip sleeves;

[0056] The rear end holes of the two leg swing electric push rods are respectively connected to the two vertical frame joint shafts located below the two vertical frames;

[0057] The front end holes of the two leg swing electric push rods are respectively connected to the joint end shafts of the two cross-link joints;

[0058] The top ends of the two upper leg frames are respectively fixed to the outsides of the two hip sleeves;

[0059] The upper leg frame and the lower leg frame are connected at the joint by the leg shaft.

[0060] The lower parts of the rear ends of the two lower leg frames are respectively clamped with one end of the two leg-swinging steel wire ropes, and the other ends of the two steel wire ropes are respectively clamped with the front ends of the tripods, so as to form a coordinated bionic striding movement driven by the two leg-swinging electric push rods to drive the two straddle connecting rod joints, the two hip sleeves, the two upper leg frames, the two leg shafts, and the two lower leg frames under the traction of the two leg-swinging steel wire ropes.

[0061] The claw mechanism is an electrically controlled bionic opening and closing mechanism of the claw composed of a palm frame, a finger frame, and a finger-moving device;

[0062] The palm frame is composed of a three-pronged straight handle at the front end and a crank handle at the rear end;

[0063] The finger skeleton is L-shaped;

[0064] The ends of the front three-pronged straight handle are respectively embedded in the hollow parts of the upper ends of the short sides of the three finger skeletons and are axially connected to each other. The front rotating shaft is provided in the hollow part of the bending of the finger skeleton;

[0065] The end of the crank is embedded in the hollow part of the L-shaped corner of the finger frame and is axially connected to each other. The hollow part at the upper end of the short side of the finger frame is provided with a rear shaft;

[0066] The finger-moving device comprises a finger skeleton shaft, a finger-moving electric push rod, a finger-moving push rod joint fixed to the lower end of the leg mechanism, a finger-moving push rod connector, a through rod, a long straight rod, and a short straight rod;

[0067] The top end of the finger frame and the lower end of the leg mechanism are pin-connected via the finger frame shaft;

[0068] The finger push rod joint is connected to the rear end hole axis of the finger electric push rod;

[0069] The end of the telescopic rod of the finger-actuated electric push rod is fixed to the top surface of the finger-actuated push rod connecting piece;

[0070] The penetration rod is inserted into the lower through hole of the finger push rod connecting piece and fixed at the midpoint of the penetration rod;

[0071] One end of the three long straight rods is fixed to the three front rotating shafts, and the other end is fixed to the through rod;

[0072] One end of the short straight rod is fixed to the rear rotating shaft, and the other end is fixed to the through rod; it is used to realize the extension and retraction of the finger-driven electric push rod, and drive the palm skeleton and finger skeleton to realize the bionic claw grasping and stretching movement.

[0073] As an improvement of the present invention, a wing reciprocating motion device is provided between the two wing mechanisms, which is electrically controlled to drive the two wing mechanisms to perform synchronous reciprocating fan-shaped motion;

[0074] The wing reciprocating motion device includes a wing transverse axis, an Ω bearing, a T-shaped shaft sleeve, a sleeve connecting rod, a connecting rod joint, a wing reciprocating electric push rod, and a front frame joint;

[0075] The wing transverse axis is sleeved on the upper rear part of the trunk mechanism through two Ω bearings arranged on both sides of the transverse axis, so that the transverse axis can rotate under the constraint of the two Ω bearings, and two T-shaped shaft sleeve middle end sockets are respectively inserted into the two ends of the transverse axis, and the middle section of the longitudinal rotating shaft is embedded in the T-shaped shaft sleeve through pipe;

[0076] The front middle section of the trunk mechanism is provided with a front frame;

[0077] The wing transverse axis is embedded in the sleeve end of the sleeve connecting rod, the front end hole axis of the wing reciprocating electric push rod is connected to the connecting rod joint at the front end of the sleeve connecting rod, and the rear end hole of the wing reciprocating electric push rod is connected to the front frame joint axis fixed at the midpoint of the front frame, which is used to drive the wing transverse axis, the longitudinal rotating shaft, and the wing mechanism to sequentially transmit through the telescopic movement of the wing reciprocating electric push rod to realize the synchronous reciprocating fan-shaped motion of the two wing mechanisms.

[0078] As another improvement of the present invention, an electric push rod control position for a power push rod controller to sit on is provided above the midpoint of the rocker arm frame, and an electric push rod handle control frame is provided directly in front of the electric push rod control position.

[0079] The beneficial effects of the present invention are: the outer layer of the robot skeleton can be covered with a finish to form a giant beast artwork; the pulley group and the lever mechanism can be controlled manually to achieve the lifting and flapping effects of the beast artwork; at the same time, the electric push rods of various parts of the robot can be extended and retracted through a manual control device to achieve bionic movement of various parts of the robot with the connecting shaft as the axis. This type of shape-changing modeling robot can attract more audience attention in urban public spaces than still life exhibits. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0081] Figure 1 It is a front perspective view of the structure of the large-scale double-wing dynamic performance robot of the present invention;

[0082] Figure 2 It is a rear perspective view of the structure of the large-scale double-wing dynamic performance robot of the present invention;

[0083] Figure 3 for Figure 1 A perspective view of the mid-head mechanism;

[0084] Figure 4 for Figure 1 A perspective view of the mid-wing mechanism;

[0085] Figure 5 for Figure 1 A perspective view of the mid-torso mechanism;

[0086] Figure 6 for Figure 1 A perspective view of the mid-leg mechanism;

[0087] Figure 7 for Figure 1 A perspective view of the middle claw mechanism.

[0088] In the figure, 100. body, 110. head mechanism, 111. neck frame, 112. mandibular frame, 113. skull frame, 114. cavity frame, 115. tongue frame, 116. vertical movement mechanism, 116a. vertical movement electric push rod, 116b. neck joint, 116c. lower jaw joint, 116d. vertical movement shaft, 117. horizontal movement mechanism, 117a. horizontal movement electric push rod, 117b. upper jaw joint, 117c. skull joint, 117d. horizontal movement shaft, 118. tongue mechanism, 118a. tongue electric push rod, 118b. cavity joint, 118c. tongue joint, 118d. tongue shaft, 120. wing mechanism, 121. long wing bone Frame, 121a. Long wing parallel crossbar, 121b. Long wing parallel longitudinal rod, 122. Short wing frame, 122a. Short wing parallel crossbar, 122b. Short wing parallel longitudinal rod, 123. Long and short wing opening and closing device, 123a. Opening and closing device vertical rod, 123b. Vertical rod joint, 123c. Short wing joint, 123d. Opening and closing device electric push rod, 124. Wing reciprocating motion device, 124a. Wing horizontal axis, 124b. Ω bearing, 124c. T-type shaft sleeve, 124d. Sleeve connecting rod, 124e. Connecting rod joint, 124f. Wing reciprocating electric push rod, 124g. Front frame joint, 130. Trunk mechanism, 131. Front frame, 132. Rear frame, 133. Forward tilt device, 133a. Forward tilt electric push rod, 13 3b. Rocker frame joint, 133c. Rear frame joint, 133d. Diamond bearing, 133e. Rocker shaft, 133f. U-shaped buckle, 140. Leg mechanism, 141. Upper leg frame, 142. Lower leg frame, 143. Leg swing device, 143a. Leg swing electric push rod, 143b. Cross-link joint, 143c. Vertical frame joint, 143d. Hip shaft, 143e. Hip sleeve, 143f. Round nut, 143g. Leg shaft, 143h. Leg swing wire rope, 150. Claw mechanism, 151. Palm frame, 151a. Three-pronged straight handle, 151b. Crank, 152. Finger frame, 152a. Front shaft, 152b. Rear shaft, 153. Finger moving device, 153a. Finger frame shaft, 15 3b. finger push rod, 153c. finger push rod joint, 153d. finger push rod connector, 153e. through rod, 153f. long straight rod, 153g. short straight rod, 200. lever bracket, 210. tripod, 220. rocker frame, 230. wing control device, 231. wing control position, 232. wing control hand pulley, 233. wing control wire rope, 234. T-frame, 235. wing control fixed pulley, 236. longitudinal rotating shaft, 241. electric push rod control position, 242. electric push rod handle control frame, 300. base, 310. traction device, 311. lifting control position, 312. groove, 313. traction hand pulley, 314. front fixed pulley, 315. traction wire rope, 316. rear fixed pulley. DETAILED DESCRIPTION

[0089] The present invention will be described in more detail below with reference to the accompanying drawings, in which preferred embodiments of the present invention are shown, and it should be understood that those skilled in the art can modify the present invention described herein and still achieve the beneficial effects of the present invention. Therefore, the following description should be understood as being widely known to those skilled in the art, and not as a limitation of the present invention.

[0090] like Figure 1 , Figure 2 As shown, a large-scale double-wing dynamic performance robot structure includes a body 100, a lever bracket 200, and a base 300;

[0091] The body 100 includes a head mechanism 110, a wing mechanism 120, a trunk mechanism 130, a leg mechanism 140, and a claw mechanism 150;

[0092] The head mechanism 110 is axially connected or fixedly connected to the upper middle part of the trunk mechanism 130 in a close-fitting manner;

[0093] The two leg mechanisms 140 are axially connected or fixedly connected to the two sides below the trunk mechanism 130 in a tightly fitting manner;

[0094] The two claw mechanisms 150 are axially connected or fixedly connected to the bottom of the two leg mechanisms 140 in a tightly fitting manner;

[0095] The lever bracket 200 is a lever motion mechanism formed by connecting the middle of the rocker bracket 220 with the top axis of the tripod bracket 210;

[0096] The back of the trunk mechanism 130 is axially connected to the front end of the rocker frame 220 in a close-fitting manner;

[0097] The base 300 is provided with a traction device 310 for lifting the rear end of the traction rocker frame 220 so that the body 100 moves in the opposite direction accordingly;

[0098] The traction device 310 includes a lifting control position 311, a groove 312, a traction hand-crank pulley 313, a front fixed pulley 314, a traction wire rope 315, and a rear fixed pulley 316;

[0099] The lifting control position 311 is a seat disposed at the rear end of the groove 312 and above the base 300;

[0100] The traction hand-crank pulley 313 is fixed to the front end of the groove 312 and on the bracket above the base 300;

[0101] The front fixed pulley 314 is fixed below the traction hand-crank pulley 313 and on the top surface of the base 300;

[0102] One rear fixed pulley 316 is fixed to the bottom of the rear end of the rocker frame 220, and two rear fixed pulleys 316 are fixed to the top surface of the base 300 just below the rear end of the rocker frame 220;

[0103] One end of the traction wire rope 315 is clamped at the bottom of the rear end of the rocker frame 220, and then passes through the three rear fixed pulleys 316 in a wave shape, and passes through the front fixed pulley 314 along the top surface of the base 300, and finally the other end of the traction wire rope 315 is wound around and fixed to the traction hand pulley 313, thereby the traction hand pulley 313, the front fixed pulley 314, and the rear fixed pulley 316 form a fixed pulley group to pull the traction wire rope 315 and drive the rocker frame 220 to perform a lever movement;

[0104] A wing control device 230 is provided above the rocker frame 220, and the wing control device includes a wing control position 231, a wing control hand-cranked pulley 232, a wing control wire rope 233, a T-shaped frame 234, a wing control fixed pulley 235, and a longitudinal rotating shaft 236;

[0105] The wing control position 231 is fixed above the rear end of the rocker frame 220;

[0106] The wing control hand pulley 232 is fixed on a bracket just in front of the wing control position 231 and above the rocker frame 220;

[0107] The lower end of the longitudinal support of the T-shaped frame 234 is fixed above the front end of the rocker frame 220;

[0108] Two wing-controlled fixed pulleys 235 are fixed to the two ends below the crossbar of the T-shaped frame 234;

[0109] The wing control wire rope 233 has one end fixed and wound around the wing control hand-cranked pulley 232, and then the wire rope is extended to the T-shaped frame 234 and is divided into two strands, which are then passed through the wing control fixed pulley 235 respectively. Finally, the ends of the two strands of the wire rope are respectively clamped to the outer edges of the rear ends of the two wing mechanisms 120;

[0110] The two longitudinal rotating shafts 236 are respectively located at the connection points on both sides of the two wing mechanisms 120 and the trunk mechanism 130, so as to realize the axial connection between the wing mechanism 120 and the trunk mechanism 130, and are used for the wing mechanism 120 to synchronously swing back and forth with the two rotating shafts as the axis when the wing-controlled hand-cranked pulley 232 is shaken forward or reversely.

[0111] like Figure 3 As shown, the head mechanism 110 is a head electric-controlled bionic motion mechanism composed of a neck frame 111, a mandibular frame 112, a skull frame 113, a cavity frame 114, a tongue frame 115, a vertical moving mechanism 116, a horizontal moving mechanism 117, and a tongue mechanism 118;

[0112] The vertical moving mechanism 116 includes a vertical moving electric push rod 116a, a neck joint 116b fixed to the inner side of the corner of the neck frame 111, a lower jaw joint 116c fixed to the rear end of the bottom of the lower jaw frame 112, and a vertical moving shaft 116d;

[0113] The neck frame 111 is hollow L-shaped, and the bottom end of the neck frame is fixed to the middle position of the upper part of the trunk mechanism 130;

[0114] The neck frame 111 has a hollow top portion into which the jaw frame 112 is inserted, and a vertically movable rotating shaft 116d is used to realize a pin connection between the jaw frame 112 and the neck frame 111;

[0115] The rear end hole of the vertical moving electric push rod 116a is connected to the neck joint 116b axis, and the front end hole of the electric push rod is connected to the lower jaw joint 116c axis, so as to form a longitudinal arc motion relative to the neck frame 111 by the extension and contraction of the electric push rod to drive the jaw frame 112 with the vertical moving shaft 116d as the axis.

[0116] The horizontal movement mechanism 117 includes a horizontal movement electric push rod 117a, a lower jaw upper joint 117b located at the front end of the upper jaw frame 112, a skull joint 117c, and a horizontal movement shaft 117d;

[0117] The rear bottom surface of the skull frame 113 is placed on the rear top surface of the mandibular frame 112, and the mandibular frame 112 and the skull frame 113 are connected by a pin via a horizontal movable shaft 117d;

[0118] The rear end hole of the horizontal moving electric push rod 117a is connected to the axis of the upper jaw joint 117b, and the front end hole of the electric push rod is connected to the axis of the skull joint 117c, so as to form a horizontal fan-shaped movement relative to the jaw frame 112 by the extension and contraction of the electric push rod to drive the skull frame 113 with the horizontal moving shaft 117d as the axis.

[0119] The tongue mechanism 118 includes a tongue electric push rod 118a, a cavity joint 118b fixed to the front end of the bottom of the skull frame 113, a tongue joint 118c fixed to the top surface of the rear end of the tongue frame 115, and a tongue shaft 118d;

[0120] The middle part of the cavity frame 114 is hollowed out, the top of the cavity frame is fixed to the front end of the bottom of the skull frame 113, and the lower part of the cavity is connected to the tongue shaft 118d;

[0121] The rear end hole of the tongue electric push rod 118a is connected to the axis of the cavity joint 118b, and the front end hole of the electric push rod is connected to the axis of the tongue joint 118c;

[0122] The tongue shaft 118d is pin-connected to the lower part of the cavity frame 114;

[0123] The rear portion of the top surface of the tongue frame 115 is fixed to the bottom surface of the tongue joint 118c.

[0124] The tongue frame is placed in the cavity frame 114 and fixed to the tongue shaft 118d at the middle and rear section of the tongue frame.

[0125] like Figure 4 , Figure 5 As shown, the wing mechanism 120 is a wing electric-controlled bionic opening and closing mechanism composed of a long-wing frame 121, a short-wing frame 122, and a long-short-wing opening and closing device 123;

[0126] The long-wing frame 121 is a parallel four-bar linkage mechanism formed by two long-wing parallel horizontal bars 121a and more than two long-wing parallel longitudinal bars 121b that move in coordination with each other;

[0127] The short-wing frame 122 is a parallel four-bar linkage mechanism formed by two short-wing parallel cross bars 122a and more than two short-wing parallel longitudinal bars 122b that move in relative coordination;

[0128] The joints of the two long-wing parallel cross bars 121a and the two short-wing parallel cross bars 122a form a parallel four-bar linkage mechanism for the long-wing frame 121 and the short-wing frame 122 to move relative to each other;

[0129] The inner ends of the two short-wing parallel cross bars 122a are nested and connected with the longitudinal rotating shaft 236;

[0130] The long-short wing opening and closing device 123 comprises an opening and closing device upright pole 123a, an upright pole joint 123b, a short wing joint 123c, and an opening and closing device electric push rod 123d;

[0131] The bottom of the opening and closing device upright 123a is fixed to the upper part of the short-wing parallel cross bar 122a near the longitudinal rotating shaft 236, the rear end hole of the opening and closing device electric push rod 123d is connected to the upright joint 123b axis located at the top of the opening and closing device upright 123a, and the front end hole of the opening and closing device electric push rod 123d is connected to the short-wing joint 123c axis located at the middle end of the short-wing parallel cross bar 122a, forming a triangular linkage rod that moves relatively coordinated, which is used to drive the parallel four-bar linkage mechanism of the short-wing frame 122, the parallel four-bar linkage mechanism between the long-wing frame 121 and the short-wing frame 122, and the parallel four-bar linkage mechanism of the long-wing frame 121 to coordinate with each other to perform the opening and closing movement of the long-wing frame 121 and the short-wing frame 122 along the intersection with each other through the extension and retraction of the opening and closing device electric push rod 123d.

[0132] like Figure 5 As shown, a trunk forward tilting device 133 for driving the trunk mechanism 130 to tilt forward and stand upright is provided between the trunk mechanism 130 and the rocker frame 220;

[0133] A rear frame 132 is provided in the middle of the back of the trunk mechanism 130, and two vertical frames 134 are provided on both sides of the trunk mechanism;

[0134] The trunk forward tilting device 133 includes a forward tilting electric push rod 133a, a rocker frame joint 133b located on the top surface of the front end of the rocker frame 220, a rear frame joint 133c located at the midpoint of the rear frame 132, a diamond bearing 133d, a rocker shaft 133e, and two U-shaped buckles 133f fixed on both sides of the lower back of the trunk mechanism 130;

[0135] The rocker shaft 133e crosses the shaft hole at the front end of the rocker frame 220 and clamps two diamond-shaped bearings 133d on both sides of the shaft hole at the front end of the rocker frame 220 by bolts. The two ends of the rocker shaft are sleeved under the two vertical frames 134 by two U-shaped buckles 133f, so that the rocker shaft can rotate under the constraint of the two U-shaped buckles 133f.

[0136] The rear end hole of the forward tilting electric push rod 133a is connected to the axis of the rocker frame joint 133b, and the front end hole of the electric push rod is connected to the axis of the rear frame joint 133c, which is used to drive the trunk mechanism 130 to perform forward tilting and upright movement relative to the rocker frame 220 with the rocker shaft 133e as the axis through the telescopic movement of the forward tilting electric push rod 133a;

[0137] like Figure 5 , Figure 6 As shown, the leg mechanism 140 is composed of an upper leg frame 141, a lower leg frame 142, and a leg swing device 143 to form a leg electric-controlled bionic motion mechanism;

[0138] The leg swing device 143 includes a leg swing electric push rod 143a, a cross-link joint 143b, a vertical frame joint 143c, a hip shaft 143d, a hip shaft sleeve 143e, a round nut 143f, a leg shaft 143g, and a leg swing wire rope 143h;

[0139] The bottom ends of the two vertical frames 134 are fixed with the hip shaft 143d;

[0140] Two hip sleeves 143e are inserted into the outer extension of the hip shaft 143d outside the two vertical frames 134, and the outer ends of the two sleeves are fixed with two round nuts 143f respectively, so that the hip sleeves 143e rotate around the axis of the hip shaft 143d as the axis center;

[0141] The connecting rod ends of the two cross-connecting rod joints 143b are respectively fixed to the inner sides of the two hip sleeves 143e;

[0142] The rear end holes of the two leg swing electric push rods 143a are respectively connected to the two vertical frame joints 143c located below the two vertical frames 134;

[0143] The front end holes of the two leg swing electric push rods 143a are respectively connected to the joint end shafts of the two cross-link joints 143b;

[0144] The top ends of the two upper leg frames 141 are respectively fixed to the outsides of the two hip sleeves 143e;

[0145] The upper leg frame 141 and the lower leg frame 142 are connected by a leg shaft 143g;

[0146] The lower parts of the rear ends of the two lower leg frames 142 are respectively connected to one end of the two leg swing steel wires 143h, and the other ends of the two steel wires are respectively connected to the front end of the tripod 210, so as to form a coordinated bionic striding movement driven by the two leg swing electric push rods 143a to drive the two cross-link joints 143b, two hip sleeves 143e, two upper leg frames 141, two leg shafts 143g, and two lower leg frames 142 under the traction of the two leg swing steel wires 143h.

[0147] like Figure 7 As shown, the claw mechanism 150 is a claw electric-controlled bionic opening and closing mechanism composed of a palm frame 151, a finger frame 152, and a finger-actuating device 153;

[0148] The palm frame 151 is composed of a front three-pronged straight handle 151a and a rear crank handle 151b;

[0149] The finger frame 152 is L-shaped;

[0150] The ends of the front three-pronged straight handle 151a are respectively embedded in the hollow spaces at the upper ends of the short sides of the three finger frames 152 and are axially connected to each other. The hollow space at the bend of the finger frame 152 is provided with a front rotating shaft 152a.

[0151] The end of the crank 151b is embedded in the hollow part of the L-shaped corner of the finger frame 152 and is axially connected to each other. The hollow part of the upper end of the short side of the finger frame is provided with a rear shaft 152b;

[0152] The finger-moving device 153 includes a finger skeleton shaft 153a, a finger-moving electric push rod 153b, a finger-moving push rod joint 153c fixed to the lower end of the leg mechanism 140, a finger-moving push rod connector 153d, a through rod 153e, a long straight rod 153f, and a short straight rod 153g;

[0153] The top end of the finger frame 152 and the lower end of the leg mechanism 140 are pin-connected via the finger frame shaft 153a;

[0154] The finger push rod joint 153c is connected to the rear end hole axis of the finger electric push rod 153b;

[0155] The end of the telescopic rod of the finger-actuated electric push rod 153b is fixed to the top surface of the finger-actuated push rod connecting piece 153d;

[0156] The through rod 153e is inserted into the through hole at the bottom of the finger push rod connecting member 153d and fixed at the midpoint of the through rod 153e;

[0157] One end of the three long straight rods 153f is fixed to the three front rotating shafts 152a, and the other end is fixed to the through rod 153e;

[0158] One end of the short straight rod 153g is fixed to the rear shaft 152b, and the other end is fixed to the through rod 153e; it is used to realize the extension and retraction of the finger-driven electric push rod 153b, driving the palm skeleton 151 and the finger skeleton 152 to realize the bionic claw grasping and stretching movement.

[0159] like Figure 5 As shown, a wing reciprocating motion device 124 is provided between the two wing mechanisms 120 to drive the two wing mechanisms to perform synchronous reciprocating fan-shaped motion;

[0160] The wing reciprocating motion device 124 includes a wing transverse shaft 124a, an Ω bearing 124b, a T-shaped shaft sleeve 124c, a sleeve connecting rod 124d, a connecting rod joint 124e, a wing reciprocating electric push rod 124f, and a front frame joint 124g;

[0161] The wing transverse axis 124a is sleeved on the upper rear part of the trunk mechanism 130 through two Ω bearings 124b arranged on both sides of the transverse axis, so that the transverse axis can rotate under the constraint of the two Ω bearings 124b. The two ends of the transverse axis are respectively inserted into the middle end plug holes of two T-shaped shaft sleeves 124c, and the middle section of the longitudinal rotating shaft 236 is embedded in the through pipe of the T-shaped shaft sleeve 124c.

[0162] A front frame 131 is provided in the middle section of the front end of the trunk mechanism 130;

[0163] The wing transverse axis 124a is embedded in the sleeve end of the sleeve connecting rod 124d, the front end hole axis of the wing reciprocating electric push rod 124f is connected to the connecting rod joint 124e at the front end of the sleeve connecting rod 124d, and the rear end hole of the wing reciprocating electric push rod 124f is connected to the front frame joint 124g axis fixed at the midpoint of the front frame 131, which is used to drive the wing transverse axis 124a, the longitudinal rotating shaft 236, and the wing mechanism 120 to transmit in sequence through the telescopic movement of the wing reciprocating electric push rod 124f to realize the synchronous reciprocating fan-shaped motion of the two wing mechanisms 120.

[0164] like Figure 2 As shown, an electric push rod control position 241 for a power push rod controller to sit on is provided above the midpoint of the rocker arm frame 220 , and an electric push rod handle control frame 242 is provided right in front of the electric push rod control position 241 .

[0165] The present invention is described in detail through the embodiments above, but the contents described are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A large-scale dual-wing dynamic performance robot structure, characterized in that: The robot structure comprises a body (100), a lever support (200), and a base (300); The body (100) comprises a head mechanism (110), a wing mechanism (120), a trunk mechanism (130), a leg mechanism (140), and a claw mechanism (150); The head mechanism (110) is axially connected or fixedly connected to the upper middle part of the trunk mechanism (130) in a tightly fitting manner; The two leg mechanisms (140) are axially connected or fixedly connected to the two sides below the trunk mechanism (130) in a tightly fitting manner; The two claw mechanisms (150) are respectively axially connected or fixedly connected below the two leg mechanisms (140) in a tightly fitting manner; The lever bracket (200) is a lever motion mechanism formed by connecting the middle part of the rocker bracket (220) with the top end axis of the tripod bracket (210); The back of the trunk mechanism (130) is axially connected to the front end of the rocker frame (220) in a tightly fitting manner; The base (300) is provided with a traction device (310) for traction of the rear end of the rocker frame (220) to move up and down so that the body (100) moves in the opposite direction accordingly; The traction device (310) comprises a lifting control position (311), a groove (312), a traction hand-cranked pulley (313), a front fixed pulley (314), a traction wire rope (315), and a rear fixed pulley (316); The lifting control position (311) is a seat arranged at the rear end of the groove (312) and above the base (300); The traction hand-crank pulley (313) is fixed to the front end of the groove (312) and on a bracket above the base (300); The front fixed pulley (314) is fixed below the traction hand-cranked pulley (313) and on the top surface of the base (300); One of the rear fixed pulleys (316) is fixed to the rear bottom of the rocker frame (220), and two of the rear fixed pulleys (316) are fixed directly below the rear end of the rocker frame (220) and on the top surface of the base (300); One end of the traction steel wire rope (315) is clamped to the bottom of the rear end of the rocker frame (220), and then passes through the three rear end fixed pulleys (316) in a wave shape, and passes through the front end fixed pulley (314) along the top surface of the base (300), and finally the other end of the traction steel wire rope (315) is wound around and fixed to the traction hand-cranked pulley (313), thereby the traction hand-cranked pulley (313), the front end fixed pulley (314), and the rear end fixed pulley (316) form a fixed pulley group to pull the traction steel wire rope (315) to drive the rocker frame (220) to perform lever movement; A wing control device (230) is provided above the rocker frame (220), and the wing control device comprises a wing control position (231), a wing control hand-cranked pulley (232), a wing control wire rope (233), a T-shaped frame (234), a wing control fixed pulley (235), and a longitudinal rotating shaft (236); the wing control position (231) is fixed above the rear end of the rocker frame (220); The wing control hand-crank pulley (232) is fixed on a bracket just in front of the wing control position (231) and above the rocker frame (220); The lower end of the longitudinal support of the T-shaped frame (234) is fixed above the front end of the rocker frame (220); The two wing-controlled fixed pulleys (235) are respectively fixed to the two ends below the crossbar of the T-shaped frame (234); One end of the wing-control steel wire rope (233) is fixed and wound around the wing-control hand-cranked pulley (232), and then the steel wire rope is extended to a position close to the T-shaped frame (234) and is divided into two strands, which are then passed through the wing-control fixed pulley (235) respectively, and finally the ends of the two strands of the steel wire rope are respectively clamped to the outer edges of the rear ends of the two wing mechanisms (120); The two longitudinal rotating shafts (236) are respectively located at the connection points on both sides of the two wing mechanisms (120) and the trunk mechanism (130), so as to realize the axial connection between the wing mechanism (120) and the trunk mechanism (130), and are used for the wing mechanism (120) to be synchronously moved forward and backward with the two rotating shafts as the axis when the wing-control hand-cranked pulley (232) is shaken forward or reversely; The head mechanism (110) is a head electrically controlled bionic motion mechanism composed of a neck frame (111), a lower jaw frame (112), a skull frame (113), a cavity frame (114), a tongue frame (115), a vertical movement mechanism (116), a horizontal movement mechanism (117), and a tongue mechanism (118); The vertical moving mechanism (116) comprises a vertical moving electric push rod (116a), a neck joint (116b) fixed to the inner side of the corner of the neck frame (111), a lower jaw joint (116c) fixed to the rear end of the bottom of the lower jaw frame (112), and a vertical moving rotating shaft (116d); The neck frame (111) is hollow L-shaped, and the bottom end of the neck frame is fixed to the middle position of the upper part of the trunk mechanism (130); The neck frame (111) has a hollow top portion into which the jaw frame (112) is inserted, and the vertical movable shaft (116d) is used to realize a pin connection between the jaw frame (112) and the neck frame (111); The rear end hole of the vertically movable electric push rod (116a) is connected to the axis of the neck joint (116b), and the front end hole of the electric push rod is connected to the axis of the lower jaw joint (116c), so as to form a longitudinal arc movement relative to the neck frame (111) by driving the lower jaw frame (112) to move with the vertically movable rotating shaft (116d) as the axis through the extension and retraction of the electric push rod; The horizontal moving mechanism (117) comprises a horizontal moving electric push rod (117a), an upper jaw joint (117b) located at the front end of the top of the jaw frame (112), a skull joint (117c), and a horizontal moving rotating shaft (117d); The rear bottom surface of the skull frame (113) is placed on the rear top surface of the mandibular frame (112), and the pin connection between the mandibular frame (112) and the skull frame (113) is realized by the horizontal movable shaft (117d); The rear end hole of the horizontally movable electric push rod (117a) is connected to the axis of the upper mandibular joint (117b), and the front end hole of the electric push rod is connected to the axis of the skull joint (117c), so as to form a transverse fan-shaped movement relative to the mandibular skeleton (112) by driving the skull skeleton (113) to move with the horizontal movable shaft (117d) as the axis through the extension and contraction of the electric push rod; The tongue mechanism (118) comprises a tongue electric push rod (118a), a cavity joint (118b) fixed to the front end of the bottom of the skull frame (113), a tongue joint (118c) fixed to the top surface of the rear end of the tongue frame (115), and a tongue rotating shaft (118d); The middle part of the cavity frame (114) is hollowed out, the top of the cavity frame is fixed to the front end of the bottom of the skull frame (113), and the lower part of the cavity is connected to the tongue shaft (118d); The rear end hole of the tongue electric push rod (118a) is connected to the axis of the cavity joint (118b), and the front end hole of the electric push rod is connected to the axis of the tongue joint (118c); The tongue rotating shaft (118d) is pin-connected to the lower part of the cavity frame (114); The rear portion of the top surface of the tongue frame (115) is fixed to the bottom surface of the tongue joint (118c); The tongue frame is placed in the cavity frame (114) and is fixed to the tongue rotating shaft (118d) at the middle and rear section of the tongue frame; The wing mechanism (120) is a wing electrically controlled bionic opening and closing mechanism composed of a long wing frame (121), a short wing frame (122), and a long and short wing opening and closing device (123); The long-wing frame (121) is a parallel four-bar linkage mechanism formed by two long-wing parallel horizontal bars (121a) and more than two long-wing parallel longitudinal bars (121b) that move in relative coordination; The short-wing frame (122) is a parallel four-bar linkage mechanism formed by two short-wing parallel cross bars (122a) and more than two short-wing parallel longitudinal bars (122b) that move in relative coordination; The joints between the two long-wing parallel cross bars (121a) and the two short-wing parallel cross bars (122a) form a parallel four-bar linkage mechanism for relative cooperation and movement between the long-wing frame (121) and the short-wing frame (122); The inner ends of the two short-wing parallel cross bars (122a) are nested and connected with the longitudinal rotating shaft (236); The long-short wing opening and closing device (123) comprises an opening and closing device upright pole (123a), an upright pole joint (123b), a short wing joint (123c), and an opening and closing device electric push rod (123d); The bottom of the opening and closing device upright pole (123a) is fixed to the upper part of the short-wing parallel cross bar (122a) near the longitudinal rotating shaft (236); the rear end hole of the opening and closing device electric push rod (123d) is connected to the axis of the upright pole joint (123b) located at the top of the opening and closing device upright pole (123a); the front end hole of the opening and closing device electric push rod (123d) is connected to the axis of the short-wing joint (123c) located at the middle end of the short-wing parallel cross bar (122a), forming a triangular linkage rod that moves relatively in coordination, and is used to drive the parallel four-bar linkage mechanism of the short-wing frame (122), the parallel four-bar linkage mechanism between the long-wing frame (121) and the short-wing frame (122), and the parallel four-bar linkage mechanism of the long-wing frame (121) to cooperate with each other to perform the opening and closing movement of the long-wing frame (121) and the short-wing frame (122) along the intersection with each other through the telescopic movement of the opening and closing device electric push rod (123d); A trunk forward tilting device (133) for driving the trunk mechanism (130) to tilt forward and stand upright is provided between the trunk mechanism (130) and the rocker frame (220); The trunk mechanism (130) is provided with a rear frame (132) at the middle section of the back side, and two vertical frames (134) are provided on both sides of the trunk mechanism; The trunk forward tilting device (133) comprises a forward tilting electric push rod (133a), a rocker frame joint (133b) located on the front end top surface of the rocker frame (220), a rear frame joint (133c) located at the midpoint of the rear frame (132), a diamond bearing (133d), a rocker shaft (133e), and two U-shaped buckles (133f) fixed on both sides of the lower back of the trunk mechanism (130); The rocker shaft (133e) crosses the front end shaft hole of the rocker frame (220) and enables the two diamond bearings (133d) to be clamped on both sides of the front end shaft hole of the rocker frame (220) by bolt fixing, and the two ends of the rocker shaft are sleeved under the two vertical frames (134) by the two U-shaped buckles (133f), so that the rocker shaft can rotate under the constraints of the two U-shaped buckles (133f); The rear end hole of the forward tilting electric push rod (133a) is connected to the axis of the rocker frame joint (133b), and the front end hole of the electric push rod is connected to the axis of the rear frame joint (133c), so as to drive the trunk mechanism (130) to perform forward tilting and upright movement relative to the rocker frame (220) with the rocker shaft (133e) as the axis through the telescopic movement of the forward tilting electric push rod (133a); The leg mechanism (140) is composed of an upper leg frame (141), a lower leg frame (142), and a leg swing device (143) to form an electrically controlled bionic leg motion mechanism; The leg swing device (143) comprises a leg swing electric push rod (143a), a cross-link joint (143b), a vertical frame joint (143c), a hip shaft (143d), a hip shaft sleeve (143e), a round nut (143f), a leg shaft (143g), and a leg swing wire rope (143h); The bottom ends of the two vertical frames (134) are fixed with the hip shaft (143d); Two hip shaft sleeves (143e) are inserted into the outer extension of the hip shaft (143d) outside the two vertical frames (134), and the outer ends of the two shaft sleeves are fixed with two round nuts (143f) respectively, so that the hip shaft sleeves (143e) rotate around the axis of the hip shaft (143d); The connecting rod ends of the two cross-connecting rod joints (143b) are respectively fixed to the inner sides of the two hip sleeves (143e); The rear end holes of the two leg swing electric push rods (143a) are respectively connected to the shafts of two vertical frame joints (143c) located below the two vertical frames (134); The front end holes of the two leg swing electric push rods (143a) are respectively connected to the joint end shafts of the two cross-link joints (143b); The top ends of the two upper leg frames (141) are respectively fixed to the outsides of the two hip sleeves (143e); The upper leg frame (141) and the lower leg frame (142) are connected by the leg shaft (143g); The lower parts of the rear ends of the two lower leg frames (142) are respectively connected to one end of the two leg swing steel wires (143h), and the other ends of the two steel wires are respectively connected to the front end of the tripod (210), so as to form a coordinated bionic stride motion by which the two leg swing electric push rods (143a) cooperate to extend and retract to drive the two straddle connecting rod joints (143b), the two hip sleeves (143e), the two upper leg frames (141), the two leg shafts (143g), and the two lower leg frames (142) under the traction of the two leg swing steel wires (143h); The claw mechanism (150) is an electrically controlled bionic opening and closing claw mechanism consisting of a palm frame (151), a finger frame (152), and a finger-actuating device (153); The palm frame (151) is composed of a front three-pronged straight handle (151a) and a rear crank (151b); The finger frame (152) is L-shaped; The ends of the front three-pronged straight handle (151a) are respectively embedded in the hollow spaces at the upper ends of the short sides of the three finger frames (152) and are axially connected to each other. The hollow space at the bend of the finger frame (152) is provided with a front rotating shaft (152a); The end of the crank (151b) is embedded in the hollow portion of the L-shaped corner of the finger frame (152) and is axially connected to each other. A rear rotating shaft (152b) is provided in the hollow portion of the upper end of the short side of the finger frame. The finger-moving device (153) comprises a finger skeleton shaft (153a), a finger-moving electric push rod (153b), a finger-moving push rod joint (153c) fixed to the lower end of the leg mechanism (140), a finger-moving push rod connecting piece (153d), a through rod (153e), a long straight rod (153f), and a short straight rod (153g); The top end of the finger frame (152) and the lower end of the leg mechanism (140) are connected by a pin via the finger frame shaft (153a); The finger-actuated push rod joint (153c) is connected to the rear end hole axis of the finger-actuated electric push rod (153b); The end of the telescopic rod of the finger-actuated electric push rod (153b) is fixed to the top surface of the finger-actuated push rod connecting piece (153d); The penetration rod (153e) is inserted into the lower through hole of the finger push rod connecting piece (153d) and fixed at the midpoint of the penetration rod (153e); One end of the three long straight rods (153f) is fixed to the three front rotating shafts (152a), and the other end is fixed to the through rod (153e); One end of the short straight rod (153g) is fixed to the rear rotating shaft (152b), and the other end is fixed to the through rod (153e); it is used to realize the extension and retraction of the finger-driven electric push rod (153b), thereby driving the palm frame (151) and the finger frame (152) to realize bionic claw grasping and stretching movements.

2. The large-scale dual-wing dynamic performance robot structure according to claim 1 is characterized in that: A wing reciprocating motion device (124) is provided between the two wing mechanisms (120) to drive the two wing mechanisms to perform synchronous reciprocating fan-shaped motion; The wing reciprocating motion device (124) comprises a wing transverse axis (124a), an Ω bearing (124b), a T-shaped shaft sleeve (124c), a sleeve connecting rod (124d), a connecting rod joint (124e), a wing reciprocating electric push rod (124f), and a front frame joint (124g); The wing transverse axis (124a) is sleeved on the upper rear part of the trunk mechanism (130) through two Ω bearings (124b) arranged on both sides of the transverse axis, so that the transverse axis can rotate under the constraint of the two Ω bearings (124b), and the two ends of the transverse axis are respectively inserted into the middle end insertion holes of the two T-shaped shaft sleeves (124c), and the middle section of the longitudinal rotating shaft (236) is embedded in the through pipe of the T-shaped shaft sleeve (124c); A front frame (131) is provided at the middle section of the front end of the trunk mechanism (130); The wing transverse axis (124a) is embedded in the sleeve end of the sleeve connecting rod (124d); the front end hole axis of the wing reciprocating electric push rod (124f) is connected to the connecting rod joint (124e) at the front end of the sleeve connecting rod (124d); the rear end hole of the wing reciprocating electric push rod (124f) is connected to the front frame joint (124g) axis fixed at the midpoint of the front frame (131), and is used to drive the wing transverse axis (124a), the longitudinal rotating shaft (236), and the wing mechanism (120) to sequentially transmit through the telescopic movement of the wing reciprocating electric push rod (124f) to realize the synchronous reciprocating fan-shaped motion of the two wing mechanisms (120).

3. The large-scale dual-wing dynamic performance robot structure according to claim 1 or 2, characterized in that: An electric push rod control position (241) for a power push rod control person to sit on is provided above the midpoint of the rocker arm frame (220), and an electric push rod handle control frame (242) is provided directly in front of the electric push rod control position (241).

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