A large-scale anthropomorphic mechanical performance device and system

Abstract

This invention discloses a large-scale anthropomorphic mechanical performance device and system, including a head, hands, legs, and torso. The head includes: a head skeleton with a mouth skeleton at its front end, the mouth skeleton being connected to the head skeleton via a first push rod, and the mouth skeleton rotating on the head skeleton by extending or retracting the first push rod to complete the opening and closing action of the mouth; a turntable for supporting the head skeleton, the turntable being movably mounted on the top of the torso; a second push rod, inclined between the head skeleton and the turntable, and the head skeleton rotating around an axis parallel to the plane of the turntable by extending or retracting the second push rod to complete the pitching action of the head; and a third push rod offset between the turntable and the torso, and the turntable driving the head skeleton to rotate simultaneously by extending or retracting the third push rod to complete the rotation action of the head.

Description

Technical Field

[0001] This invention relates in particular to a large-scale anthropomorphic mechanical performance device and performance system. Background Technology

[0002] Currently, there are two main types of robots widely used in performances: humanoid robots and animal bionic robots. Animal bionic robots, such as dinosaur robots, perform by simulating simple animal behaviors. Humanoid robots, on the other hand, are mostly in the form of art displays, relying on materials, shapes, and colors to express artistic design concepts. They cannot perform corresponding actions and cannot attract a large number of customers to commercial applications. Summary of the Invention

[0003] The purpose of this invention is to provide a large-scale anthropomorphic mechanical performance device and system, both of which use electric actuators, resulting in a simple structure that is easy to procure and maintain. Furthermore, through precise design and calculation of the actuators, the device achieves mouth opening and closing, head rotation and pitching, hand opening and swinging, and alternating leg movement, with the angles and strokes of the movements meeting design requirements.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0005] A large-scale anthropomorphic mechanical performance device includes a head, hands, legs, and torso, characterized in that the head comprises:

[0006] A head skeleton, the front end of which is provided with a mouth skeleton, the mouth skeleton is connected to the head skeleton through a first push rod, and the mouth skeleton rotates on the head skeleton by the extension and retraction of the first push rod, thereby completing the opening and closing action of the mouth.

[0007] A turntable for supporting the head skeleton, the turntable being movably mounted on the top of the torso;

[0008] The second push rod is inclined between the head frame and the turntable. By extending and retracting the second push rod, the head frame rotates around an axis parallel to the plane of the turntable, thus completing the head's pitching motion.

[0009] The third push rod is offset between the turntable and the torso. The extension and retraction of the third push rod causes the turntable to drive the head skeleton to rotate simultaneously, thus completing the head rotation action.

[0010] Furthermore, the head also includes:

[0011] The first axis is used to rotatably connect the mouth skeleton to the front end of the head skeleton, and the mouth skeleton can rotate around the first axis.

[0012] The second axis connects the rear end of the head skeleton to the turntable, and the head skeleton can rotate around the second axis.

[0013] Furthermore, the hand includes:

[0014] The third axis, one end of which is fixed to the side of the torso by a pair of hand bearing seats;

[0015] The fourth push rod is mounted on the aforementioned torso;

[0016] The hand pivot arm has one end fitted onto the third shaft and located between a pair of hand bearings, and the other end connected to the fourth push rod.

[0017] The arm component is connected to the third axis;

[0018] The fourth push rod extends and retracts, driving the third axis to rotate via the hand pivot arm, causing the arm component to swing back and forth around the third axis.

[0019] Furthermore, the arm component includes:

[0020] The upper arm skeleton is located at the other end of the third axis;

[0021] The forearm frame is movably connected to the upper arm frame.

[0022] The sleeve is fixed to a third shaft between the upper arm frame and the hand bearing near the upper arm frame;

[0023] The fifth push rod has its two ends connected to the sleeve and the upper arm frame, respectively;

[0024] The sixth push rod is located between the upper arm frame and the forearm frame.

[0025] Furthermore, the telescopic movement of the fourth push rod is converted into rotation of the third axis via the hand pivot arm, allowing the upper arm and forearm skeletons on one side to swing back and forth around the third axis; and / or,

[0026] The extension and retraction of the fifth push rod causes the upper arm frame to open and close vertically around the connection point with the third axis; and / or,

[0027] The extension and retraction of the sixth push rod causes the forearm skeleton to open and close around the upper arm skeleton.

[0028] Furthermore, the leg includes a pair of leg arm components disposed on both sides of the torso, each of the leg arm components including: a fourth axis, a fifth axis, a thigh upper skeleton, a thigh lower skeleton, and a lower leg skeleton;

[0029] The fourth shaft is horizontally fixed to the torso via a leg bearing seat. One end is provided with a flange and is connected to one end of the upper thigh skeleton via the flange. The other end is provided with a leg pivot arm. The leg pivot arm is connected to one end of the seventh push rod, and the other end of the seventh push rod is fixed to the torso.

[0030] The fifth axis is located below the fourth axis and is parallel to the fourth axis. One end of the fifth axis is connected to one end of the lower thigh skeleton, and the other end is fitted onto the torso.

[0031] The other end of the upper thigh skeleton and lower thigh skeleton is connected to the lower leg skeleton.

[0032] Furthermore, the telescopic movement of the seventh push rod is converted into the rotation of the fourth axis via the leg pivot arm, which drives the upper thigh skeleton to rotate up and down, and causes the lower thigh skeleton and the calf skeleton to move together with the upper thigh skeleton.

[0033] The upper thigh skeleton located on one side of the torso is connected to the seventh push rod via the fourth axis and the leg pivot arm. The seventh push rod is fixedly connected to the bottom of the torso. The angle between the upper thigh skeleton located on one side of the torso and its linked leg pivot arm is α.

[0034] The upper thigh skeleton located on the other side of the torso is connected to the seventh push rod via the fourth axis and the leg pivot arm. The seventh push rod is fixedly connected to the top of the torso. The angle between the upper thigh skeleton located on the other side of the torso and its linked leg pivot arm is β.

[0035] Where α is 180° and β is 105°–115°

[0036] A performance system includes an action command module and a control module, characterized in that it also includes at least one of the aforementioned large-scale anthropomorphic mechanical performance devices.

[0037] The control module receives the action command signal from the action command module and controls the large anthropomorphic mechanical performance device to perform the corresponding actions.

[0038] Compared with the prior art, the present invention has the following advantages:

[0039] 1. All components utilize electric actuators, resulting in a simple structure that is easy to procure and maintain. Furthermore, based on precise design calculations of the actuators, the direction, angle, and stroke of the moving parts are defined from a biomimetic perspective. Then, the fixed positions and dimensions of the actuators required for the moving parts are selected in the design drawings. Next, computer simulation software is used to verify the movement trajectory of the actuators, adjusting the position and dimension parameters as necessary. Ultimately, the device achieves mouth opening and closing, head rotation and pitching, hand opening and swinging, and alternating leg walking, with the angles and strokes of the movements meeting design requirements.

[0040] 2. Unlike ordinary static art displays, the installations are large in scale and feature rich body movements, attracting more participants and encouraging deeper interaction. These installations change the conventional art display model, bringing in significant foot traffic to commercial spaces and other application scenarios, driving more consumption, and creating greater commercial value. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of a large-scale anthropomorphic mechanical performance device according to the present invention;

[0043] Figure 2 This is a schematic diagram of the head structure;

[0044] Figure 3 A schematic diagram of the hand's structure;

[0045] Figure 4 A schematic diagram of the leg structure;

[0046] Figure 5 for Figure 1 Another perspective view. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] The following combination Figures 1-5 The technical solutions of the present invention will be described in detail with reference to specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0049] like Figure 1 As shown, a large anthropomorphic mechanical performance device includes a head 100, hands 200, legs, and torso.

[0050] Figure 2 This is a schematic diagram of the head structure, such as... Figure 2As shown, the head includes: a head skeleton 101, with a mouth skeleton 102 at its front end. The mouth skeleton 102 is connected to the head skeleton 101 via a first push rod 104, and the mouth skeleton 102 rotates on the head skeleton 101 by extending or retracting the first push rod 104, thus completing the opening and closing action of the mouth; a turntable 108 for supporting the head skeleton 101, the turntable 108 being movably mounted on the top of the torso 400; and a second push rod 105, which is inclinedly mounted on the head skeleton 101. Between the turntable 101 and the second push rod 105, the head frame 101 rotates around an axis parallel to the turntable plane, completing the head's pitching motion. The third push rod 109, offset between the turntable 108 and the torso 400, causes the turntable 108 to simultaneously rotate the head frame 101, completing the head's rotation. The offset angle of the third push rod is calculated to ensure that the head can rotate 45° to the left and right within its effective stroke while avoiding dead spots. It should be noted that the above three actions are independent, simple to operate, and do not interfere with each other.

[0051] Furthermore, the head also includes: a first shaft 103, through which the mouth skeleton 102 is rotatably connected to the front end of the head skeleton, and the mouth skeleton can rotate around the first shaft 103; and a second shaft 106, through which the rear end of the head skeleton 101 is connected to the turntable 108, and the head skeleton 101 can rotate around the second shaft 106. Specifically, two pairs of head bearing seats 107 are provided on the turntable 108, and the second shaft 106 passes between the head bearing seats 107.

[0052] Figure 3 A schematic diagram of the hand's structure, such as Figure 3 As shown, the hand 200 includes: a third shaft 204, one end of which is fixed to the side of the torso 400 via a pair of hand bearing seats 203; a fourth push rod 201, which is disposed on the torso 400; a hand pivot arm 202, one end of which is sleeved on the third shaft 204 and located between a pair of hand bearing seats 203, and the other end is connected to the fourth push rod 201; and an arm component connected to the third shaft 204. The fourth push rod 201 performs a telescopic movement, which drives the third shaft 204 to rotate via the hand pivot arm 202, causing the arm component to swing back and forth around the third shaft 204.

[0053] It should be noted that the arm components include: an upper arm frame 208, which is mounted on the other end of the third shaft 204 via a hand pin 207; a forearm frame 211, which is movably connected to the upper arm frame 208 via a hinge 210; a sleeve 205, which is fixed on the third shaft 204 between the upper arm frame 208 and the hand bearing 203 near the upper arm frame 208; a fifth push rod 206, whose two ends are respectively connected to the sleeve 205 and the upper arm frame 208; and a sixth push rod 209, which is arranged between the upper arm frame 208 and the forearm frame 211.

[0054] In specific implementation, the telescopic movement of the fourth push rod 201 is converted into the rotation of the third axis 204 via the hand pivot arm 202, which allows the upper arm skeleton 208 and the forearm skeleton 211 on one side to swing back and forth around the third axis 204; and / or, the telescopic movement of the fifth push rod 206 causes the upper arm skeleton 208 to open and close up and down around the connection point (hand pivot) with the third axis 204; and / or, the telescopic movement of the sixth push rod 209 causes the forearm skeleton 211 to open and close around the connection point (hinge) with the upper arm skeleton 211.

[0055] Figure 4 A schematic diagram of the leg structure, such as Figure 4 As shown, the leg includes: a fourth axis 306, a fifth axis 304, an upper thigh skeleton 302, a lower thigh skeleton 303, and a lower leg skeleton 301; the fourth axis 306 is horizontally fixed to the torso 400 via a leg bearing seat 307, one end of which is provided with a flange 305 and connected to one end of the upper thigh skeleton 302 via the flange 305, and the other end of which is provided with a leg pivot support arm 308, which is connected to one end of a seventh push rod 309, and the other end of the seventh push rod 309 is fixed to the torso 400; the fifth axis 304 is located below the fourth axis 306 and is parallel to the fourth axis 306, one end of which is connected to one end of the lower thigh skeleton 303, and the other end is sleeved on the torso 400; the other ends of the upper thigh skeleton 302 and the lower thigh skeleton 303 are connected to the lower leg skeleton 301 via a leg pin 310.

[0056] The extension and retraction of the seventh push rod 309 is converted into the rotation of the fourth axis 306 via the leg pivot arm, causing the upper thigh skeleton 302 to rotate up and down, and causing the lower thigh skeleton 303 and the calf skeleton 301 to move in tandem with the upper thigh skeleton. The ingenious design of the angle between the leg pivot arm 308 and the fourth axis 306 allows the device to achieve alternating movements of the left and right legs when the two sets of seventh push rods 308 extend and retract synchronously.

[0057] See Figure 5The upper thigh skeleton 302, located on one side of the torso, is connected to the seventh push rod 309 via the fourth axis 306 and the leg pivot arm 308. The seventh push rod 309 is fixedly connected to the bottom of the torso 400. The angle between the upper thigh skeleton 302 on one side of the torso and its linked leg pivot arm 308 is α. The upper thigh skeleton 302, located on the other side of the torso, is connected to the seventh push rod 309 via the fourth axis 306 and the leg pivot arm 308. The seventh push rod 309 is fixedly connected to the top of the torso 400. The angle between the upper thigh skeleton 302 on the other side of the torso 400 and its linked leg pivot arm 308 is β. Wherein α is 180°, β is 105°~115°, and in this example, β is required to be 110°. The upper thigh skeleton 302 can be raised about 45° around the fourth axis 306. At the same time, because the legs walk alternately, the position of the right leg is linked to that of the left leg. This requires a specific initial position for the right leg. Based on the initial positions of the left and right legs (as well as the position of the push rod fixed point, etc.), angles of 110° and 180° were calculated. Using these angles, the alternating movement of the left and right legs can be achieved.

[0058] The above combined with the appendix Figures 1-5 A large-scale anthropomorphic mechanical performance device according to an embodiment of the present invention is described. Furthermore, the present invention can also be applied to a performance system comprising: an action command module and a control module, and further comprising the aforementioned large-scale anthropomorphic mechanical performance device. The control module receives action command signals from the action command module and controls the large-scale anthropomorphic mechanical performance device to perform corresponding actions.

[0059] The performance system provided in this embodiment of the invention has the same technical features as the large-scale anthropomorphic mechanical performance device provided in the above embodiments, so it can also solve the same technical problems and achieve the same technical effects.

[0060] It should be noted that, in this document, relational terms such as “first,” “second,” and “third,” if present, are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of the invention described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising,” “including,” “having,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase “comprising…” or “including…” does not exclude the presence of additional elements in the process, method, article, or terminal device that includes said element. Additionally, in this document, “greater than,” “less than,” “exceeding,” etc., are understood to exclude the number itself; “above,” “below,” “within,” etc., are understood to include the number itself.

Claims

1. A large-scale anthropomorphic mechanical performance device, comprising a head, hands, legs, and torso, characterized in that, The head includes: A head skeleton, the front end of which is provided with a mouth skeleton, the mouth skeleton is connected to the head skeleton through a first push rod, and the mouth skeleton rotates on the head skeleton by the extension and retraction of the first push rod, thereby completing the opening and closing action of the mouth. A turntable for supporting the head skeleton, the turntable being movably mounted on the top of the torso; The second push rod is inclined between the head frame and the turntable. By extending and retracting the second push rod, the head frame rotates around an axis parallel to the plane of the turntable, thus completing the head's pitching motion. The third push rod is offset between the turntable and the torso, and the extension and retraction of the third push rod causes the turntable to drive the head skeleton to rotate simultaneously, thus completing the head rotation action. The legs include a pair of leg arm components located on both sides of the torso, each of the leg arm components including: a fourth axis, a fifth axis, a thigh upper skeleton, a thigh lower skeleton, and a lower leg skeleton; The fourth shaft is horizontally fixed to the torso via a leg bearing seat. One end is provided with a flange and is connected to one end of the upper thigh skeleton via the flange. The other end is provided with a leg pivot arm. The leg pivot arm is connected to one end of the seventh push rod, and the other end of the seventh push rod is fixed to the torso. The fifth axis is located below the fourth axis and is parallel to the fourth axis. One end of the fifth axis is connected to one end of the lower thigh skeleton, and the other end is fitted onto the torso. The other end of the upper thigh skeleton and lower thigh skeleton is connected to the lower leg skeleton; The telescopic movement of the seventh push rod is converted into the rotation of the fourth axis through the leg pivot arm, which drives the upper thigh skeleton to rotate up and down, and causes the lower thigh skeleton and the calf skeleton to move together with the upper thigh skeleton. The upper thigh skeleton located on one side of the torso is connected to the seventh push rod via the fourth axis and the leg pivot arm. The seventh push rod is fixedly connected to the bottom of the torso. The angle between the upper thigh skeleton located on one side of the torso and its linked leg pivot arm is α. The upper thigh skeleton located on the other side of the torso is connected to the seventh push rod via the fourth axis and the leg pivot arm. The seventh push rod is fixedly connected to the top of the torso. The angle between the upper thigh skeleton located on the other side of the torso and its linked leg pivot arm is β. Where α is 180° and β is 105° to 115°.

2. The large-scale anthropomorphic mechanical performance device as described in claim 1, characterized in that, The head also includes: The first axis is used to rotatably connect the mouth skeleton to the front end of the head skeleton, and the mouth skeleton can rotate around the first axis. The second axis connects the rear end of the head skeleton to the turntable, and the head skeleton can rotate around the second axis.

3. The large-scale anthropomorphic mechanical performance device as described in claim 1, characterized in that, The hand includes: The third axis, one end of which is fixed to the side of the torso by a pair of hand bearing seats; The fourth push rod is mounted on the aforementioned torso; The hand pivot arm has one end fitted onto the third shaft and located between a pair of hand bearings, and the other end connected to the fourth push rod. The arm component is connected to the third axis; The fourth push rod extends and retracts, driving the third axis to rotate via the hand pivot arm, causing the arm component to swing back and forth around the third axis.

4. The large-scale anthropomorphic mechanical performance device as described in claim 3, characterized in that, The arm component includes: The upper arm skeleton is located at the other end of the third axis; The forearm frame is movably connected to the upper arm frame. The sleeve is fixed to a third shaft between the upper arm frame and the hand bearing near the upper arm frame; The fifth push rod has its two ends connected to the sleeve and the upper arm frame, respectively; The sixth push rod is located between the upper arm frame and the forearm frame.

5. The large-scale anthropomorphic mechanical performance device as described in claim 4, characterized in that, The telescopic motion of the fourth push rod is converted into the rotation of the third axis via the hand pivot arm, allowing the upper arm and forearm skeletons on one side to swing back and forth around the third axis; and / or, The extension and retraction of the fifth push rod causes the upper arm frame to open and close vertically around the connection point with the third axis; and / or, The extension and retraction of the sixth push rod causes the forearm skeleton to open and close around the upper arm skeleton.

6. A performance system, comprising an action command module and a control module, characterized in that, It also includes at least one large-scale anthropomorphic mechanical performance device as described in any one of claims 1-5; The control module receives the action command signal from the action command module and controls the large anthropomorphic mechanical performance device to perform the corresponding actions.

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