Performing arts institutions for bionic limb movement

Abstract

A performance mechanism for biomimetic limb movement includes a torso, forelimbs, and hindlimbs. The forelimbs include a fore thigh, fore calf, and forefoot. One end of a first follower link is hinged to the fore thigh, and the other end is hinged to a first drive rocker. The first drive rocker is hinged to a first hinge seat fixed to the torso. The hindlimbs include a hind thigh, hind calf, and hindfoot. One end of a fourth follower link is hinged to the hind thigh, and the other end is hinged to a second drive rocker. The second drive rocker is hinged to a third hinge seat fixed to the torso. Drive assemblies connected to the first and second drive rockers are located at the front and rear of the torso, respectively. This performance mechanism features limbs that can be automatically and independently controlled. The limbs are compact, agile, and easy to adjust. They can perform biomimetic limb movements in a coordinated manner, achieving multiple biomimetic coordinated postures as needed, such as leisurely walking or vigorous running.

Description

Technical Field

[0001] This invention relates to the field of stage equipment technology, and in particular to performing arts organizations that use bionic limb movement. Background Technology

[0002] As living standards continue to improve, audiences have increasingly higher demands for the quality of artistic performances. Stage props, as an indispensable part of performance equipment, play an important role in the performance effect, and animal props with limbs are a common type of stage prop in performances.

[0003] Existing animal props with limbs are generally flat products or projections of animal images, lacking three-dimensionality and realism. Audiences cannot perceive the performance effects produced by changes in specific scenes, hindering the presentation of scene effects. While some use real animal props, these are fixed and monotonous, unable to perform a variety of movements. Summary of the Invention

[0004] To address the above needs, this invention provides a performance mechanism for bionic swinging of limbs, which has limbs that can be automatically and independently controlled. The structure of each part of the limbs is compact and flexible, and the debugging is simple and easy to implement. The linkage realizes the bionic movements of the limbs and can realize multiple states of bionic linkage postures as needed, such as leisurely walking or vigorous running.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A performance apparatus for bionic limb movement, comprising a trunk, forelimbs on the front of the trunk, and hindlimbs on the back.

[0007] The forelimb, from top to bottom, includes a fore thigh, a foreleg, and a forefoot. The fore thigh and foreleg are hinged together by a first hinge assembly, and the foreleg and forefoot are hinged together by a second hinge assembly. It also includes a first follower link, a second follower link, and a third follower link. One end of the first follower link is hinged to the fore thigh, and the other end is hinged to a first drive rocker. The first drive rocker is hinged to a first hinge seat fixed to the torso. The lower end of the second follower link is hinged to the foreleg, and the other end is hinged to a first cantilever. The first cantilever is fixed to a first fixed shaft, and the first fixed shaft is cantilevered and fixedly connected to a second hinge seat on the torso. The fore thigh is rotatably mounted on the cantilever of the first fixed shaft. The upper end of the third follower link is hinged to the fore thigh, and the lower end is hinged to the forefoot. The first and second hinge assemblies are hinged together by two hinge seats.

[0008] The hind limb, from top to bottom, includes a hind thigh, a hind calf, and a hind foot. The hind thigh and hind calf are hinged together by a third hinge assembly, and the hind calf and hind foot are hinged together by a fourth hinge assembly. It also includes a fourth, fifth, and sixth follower link. One end of the fourth follower link is hinged to the hind thigh, and the other end is hinged to a second drive rocker. The second drive rocker is hinged to a third hinge seat fixed to the torso. The lower end of the fifth follower link is hinged to the hind calf, and the other end is hinged to a second cantilever. The second cantilever is fixed to a second fixed shaft, which is cantilevered and fixedly connected to the fourth hinge seat on the torso. The hind thigh is rotatably mounted on the cantilever of the second fixed shaft. The upper end of the sixth follower link is hinged to the hind thigh, and the lower end is hinged to the hind foot. The third and fourth hinge assemblies are hinged together by two hinge seats.

[0009] In addition, the torso is provided with drive assemblies at the front and rear, respectively, which are pulsatorically connected to the first drive rocker and the second drive rocker. The drive assemblies include servo motors and reducers.

[0010] Preferably, support columns are fixedly installed at the front and rear of the torso, with the bottom surface of the support columns lower than the lowest surface of the forelimbs and hindlimbs. The support columns support the torso and prevent the forelimbs and hindlimbs from interfering with the bottom surface when performing various movements.

[0011] Preferably, the second hinge seat and the fourth hinge seat are fixed to the top of the support column.

[0012] Preferably, there are two forelimbs and two hindlimbs, which are located on the front and rear sides of the trunk, respectively.

[0013] Preferably, the torso, the forelegs and lower legs of the forelimbs, and the hind legs and lower legs of the hind limbs are each enclosed by steel sections to form a hollow truss structure, and the forefeet and hind feet of the forelimbs are enclosed by steel sections to form a hollow frame structure. By covering the torso, forelimbs, and hind limbs with an animal costume, corresponding animal props such as tigers, elephants, and unicorns are created.

[0014] Preferably, the mechanism also includes a load-bearing component, which includes a chassis and wheels at the front and rear bottom of the chassis. The support column is fixed to the chassis, thus enabling the movement of the mechanism.

[0015] Preferably, the chassis is equipped with a steering component on the front side, which enables the mechanism to steer.

[0016] Preferably, a shock-absorbing disc spring is provided between the walking wheel and the walking chassis.

[0017] The advantages of this invention are: 1. It has four limbs that can be automatically and independently controlled. The structure of each part of the limbs is compact and dexterous, and it is easy to debug and implement. It can realize bionic movements of the limbs in a coordinated manner and realize bionic coordinated postures of multiple states as needed, such as leisurely walking or vigorous running.

[0018] 2. The structure is covered with an animal-shaped cover, combined with a load-bearing part that can move and turn, making the structure three-dimensional and realistic, which is conducive to the display of scene effects and allows the audience to have a better performance experience. Attached Figure Description

[0019] Figure 1 Side view of the structure of the present invention Figure 1 ;

[0020] Figure 2 Side view of the structure of the present invention Figure 2 ;

[0021] Figure 3 This is a front view of the structure of the present invention;

[0022] Figure 4 Side view of the forelimb structure of the present invention Figure 1 ;

[0023] Figure 5 Side view of the forelimb structure of the present invention Figure 2 ;

[0024] Figure 6 Side view of the forelimb structure of the present invention Figure 3 ;

[0025] Figure 7 Side view of the forelimb structure of the present invention Figure 4 ;

[0026] Figure 8 Side view of the hind limb structure of the present invention Figure 1 ;

[0027] Figure 9 Side view of the hind limb structure of the present invention Figure 2 ;

[0028] Figure 10 Side view of the hind limb structure of the present invention Figure 3 ;

[0029] Figure 11 Side view of the hind limb structure of the present invention Figure 4 .

[0030] Explanation of key component symbols in the diagram:

[0031] 10. Torso; 11. Drive assembly; 12. Support column;

[0032] 20. Forelimb; 21. Fore thigh; 22. Fore lower leg; 23. Forefoot; 24. First hinge assembly; 25. Second hinge assembly; 26. First follower link; 27. Second follower link; 28. Third follower link; 29. ​​First drive rocker arm; 210. First hinge seat; 211. First cantilever; 212. Second hinge seat; 213. First fixed shaft;

[0033] 30. Hind limb; 31. Hind thigh; 32. Hind lower leg; 33. Hind foot; 34. Third hinge assembly; 35. Fourth hinge assembly; 36. Fourth follower link; 37. Fifth follower link; 38. Sixth follower link; 39. Second drive rocker arm; 310. Third hinge seat; 311. Second cantilever; 312. Fourth hinge seat; 313. Second fixed shaft;

[0034] 40. Load-bearing components; 41. Chassis; 42. Wheels; 43. Steering assembly; 44. Shock-absorbing disc springs. Detailed Implementation

[0035] To more clearly illustrate the present invention, the invention will be further described below with reference to the accompanying drawings.

[0036] Example 1: As Figure 1-3 As shown, the performance mechanism for the bionic swinging of limbs includes a torso 10, a forelimb portion 20 on the front side of the torso 10 and a hindlimb portion 30 on the rear side.

[0037] Combination Figure 4-7 As shown, the forelimb 20 includes, from top to bottom, a fore thigh 21, a fore calf 22, and a forefoot 23. The fore thigh 21 and the fore calf 22 are hinged together by a first hinge assembly 24, and the fore calf 22 and the forefoot 23 are hinged together by a second hinge assembly 25. It also includes a first follower link 26, a second follower link 27, and a third follower link 28. One end of the first follower link 26 is hinged to the fore thigh 21, and the other end is hinged to a first drive rocker arm 29. 9 is hinged to the first hinge seat 210 fixed on the torso 10. The lower end of the second follower link 27 is hinged to the front lower leg 22, and the other end is hinged to the first cantilever 211. The first cantilever 211 is fixed to the first fixed shaft 213. The first fixed shaft 213 is cantilevered and fixedly connected to the second hinge seat 212 provided on the torso 10, and the front thigh 21 is rotatably mounted on the cantilever part of the first fixed shaft 213. The upper end of the third follower link 28 is hinged to the front thigh 21, and the lower end is hinged to the forefoot 23.

[0038] Combination Figure 8-11As shown, the hind limb 30 includes, from top to bottom, a hind thigh 31, a hind lower leg 32, and a hind foot 33. The hind thigh 31 and the hind lower leg 32 are hinged together by a third hinge assembly 34, and the hind lower leg 32 and the hind foot 33 are hinged together by a fourth hinge assembly 35. It also includes a fourth follower link 36, a fifth follower link 37, and a sixth follower link 38. One end of the fourth follower link 36 is hinged to the hind thigh 31, and the other end is hinged to a second drive rocker arm 39. The second drive rocker arm 38... 9 is hinged to the third hinge seat 310 fixed on the torso 10. The lower end of the fifth follower link 37 is hinged to the hind leg 32, and the other end is hinged to the second cantilever 311. The second cantilever 311 is fixed to the second fixed shaft 313. The second fixed shaft 313 is cantilevered and fixedly connected to the fourth hinge seat 312 provided on the torso 10, and the hind thigh 31 is rotatably mounted on the cantilever part of the second fixed shaft 313. The upper end of the sixth follower link 38 is hinged to the hind thigh 31, and the lower end is hinged to the hind foot 33.

[0039] Combination Figure 3 As shown, the torso 10 is provided with drive components 11 at the front and rear, respectively, which are connected to the first drive rocker 29 and the second drive rocker 39.

[0040] Example 2: Figure 1-3 As shown, based on the implementation of column one, the torso 10 is fixedly provided with support columns 12 at the front and rear respectively. The bottom surface of the support column 12 is lower than the lowest surface of the forelimb 20 and the hindlimb 30, and the second hinge seat 212 and the fourth hinge seat 312 are fixed to the top of the support column 12.

[0041] The forelimb portion 20 and the hindlimb portion 30 are each two in number and are located on the front and rear sides of the trunk 10, respectively.

[0042] Example 3: Figure 1-3 As shown, based on implementation column 2, the performing arts organization also includes a load-bearing part 40, which includes a walking chassis 41 and walking wheels 42 at the front and rear bottom of the walking chassis 41, and the support column 12 is fixed on the walking chassis 41.

[0043] The chassis 41 is equipped with a steering assembly 43 at the front, and a shock-absorbing disc spring 44 is provided between the wheels 42 and the chassis 41.

[0044] It should be noted that in the above embodiments, the torso 10, the foreleg 20 (front thigh 21, front lower leg 22), and the hind leg 30 (hind thigh 31, hind lower leg 32) are respectively enclosed by steel sections to form a hollow truss structure. Similarly, the forefoot 23 of the foreleg 20 and the hindfoot 33 of the hind leg 30 are enclosed by steel sections to form a hollow frame structure. By covering the torso 10, foreleg 20, and hind leg 30 with an animal costume, they become corresponding animal props, such as tigers, elephants, or unicorns.

[0045] The working process is as follows: The drive assembly 11 on the torso 10 operates, driving the first drive rocker arm 29 and the second drive rocker arm 39 to rotate. These rotations, via the first follower link 26 and the fourth follower link 36, respectively, drive the front thigh 21 and the rear thigh 31 to swing, thus achieving biomimetic movement of the torso 10 and the front thigh 21 and the rear thigh 31. Figure 1 and Figure 2 As shown. When the foreleg 21 swings, under the action of the first hinge assembly 24, the second hinge assembly 25, the second follower link 27, and the third follower link 28, the foreleg 22 and the forefoot 23 swing accordingly, realizing the biomimetic movement of the forelimb 20, as shown. Figure 4-7 As shown. Correspondingly, when the hind thigh 31 swings, under the action of the third hinge assembly 34, the fourth hinge assembly 35, the fifth follower link 37, and the sixth follower link 38, the hind lower leg 32 and the hind foot 33 swing accordingly, realizing the biomimetic movement of the hind limb 30, such as... Figure 8-11 As shown. Additionally, in conjunction with... Figure 1-3 As shown, the movement and turning of the performing arts organization can be achieved through the load-bearing part 40.

[0046] The above description is only a specific embodiment of the present invention, but the structural features of the present invention are not limited thereto. The present invention can be used in similar products. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. A performing arts organization for bionic limb movement, characterized in that: It includes the trunk (10), the forelimb (20) on the front side of the trunk (10) and the hindlimb (30) on the back side. The forelimb (20) comprises, from top to bottom, a fore thigh (21), a fore calf (22), and a forefoot (23). The fore thigh (21) and the fore calf (22) are hinged together by a first hinge assembly (24), and the fore calf (22) and the forefoot (23) are hinged together by a second hinge assembly (25). It also includes a first follower link (26), a second follower link (27), and a third follower link (28). One end of the first follower link (26) is hinged to the fore thigh (21), and the other end is hinged to a first drive rocker arm (29). 9) The second follower link (27) is hinged to the first hinge seat (210) fixed on the torso (10), the lower end of the second follower link (27) is hinged to the front lower leg (22), and the other end is hinged to the first cantilever (211). The first cantilever (211) is fixed to the first fixed shaft (213). The first fixed shaft (213) is cantilevered and fixedly connected to the second hinge seat (212) provided on the torso (10), and the front thigh (21) is rotatably mounted on the cantilever of the first fixed shaft (213); the upper end of the third follower link (28) is hinged to the front thigh (21), and the lower end is hinged to the forefoot (23); The hind limb (30) includes, from top to bottom, a hind thigh (31), a hind lower leg (32), and a hind foot (33). The hind thigh (31) and the hind lower leg (32) are hinged together by a third hinge assembly (34), and the hind lower leg (32) and the hind foot (33) are hinged together by a fourth hinge assembly (35). It also includes a fourth follower link (36), a fifth follower link (37), and a sixth follower link (38). One end of the fourth follower link (36) is hinged to the hind thigh (31), and the other end is hinged to the second drive rocker (39). The second drive rocker (38)... 9) The fifth follower link (37) is hinged to the third hinge seat (310) fixed on the torso (10), the lower end of the fifth follower link (37) is hinged to the hind leg (32), and the other end is hinged to the second cantilever (311). The second cantilever (311) is fixed to the second fixed shaft (313). The second fixed shaft (313) is cantilevered and fixedly connected to the fourth hinge seat (312) provided on the torso (10), and the hind thigh (31) is rotatably mounted on the cantilever of the second fixed shaft (313). The upper end of the sixth follower link (38) is hinged to the hind thigh (31), and the lower end is hinged to the hind foot (33). The torso (10) is provided with drive components (11) that are connected to the first drive rocker (29) and the second drive rocker (39) respectively. When the drive components (11) on the torso (10) work, they drive the first drive rocker (29) and the second drive rocker (39) to rotate. They drive the front thigh (21) and the rear thigh (31) to swing through the first follower link (26) and the fourth follower link (36) respectively, so as to realize the bionic movement of the torso (10) and the front thigh (21) and the rear thigh (31). The torso (10), the foreleg (21), the foreleg (22) and the hindleg (31) and hindleg (32) of the hind limb (30) are respectively enclosed by steel sections to form a hollow truss structure, and the forefoot (23) of the foreleg (20) and the hindfoot (33) of the hind limb (30) are enclosed by steel sections to form a hollow frame structure.

2. The performing arts mechanism for bionic limb movement according to claim 1, characterized in that: The torso (10) is fixedly provided with support columns (12) at the front and rear respectively, and the bottom surface of the support column (12) is lower than the lowest surface of the forelimb (20) and hindlimb (30).

3. The performing arts mechanism for bionic limb movement according to claim 2, characterized in that: The second hinge seat (212) and the fourth hinge seat (312) are fixed to the top of the support column (12).

4. The performing arts mechanism for bionic limb movement according to claim 3, characterized in that: The number of forelimbs (20) and hindlimbs (30) are two each, and they are located on the front and back sides of the trunk (10), respectively.

5. The performing arts mechanism for bionic limb movement according to claim 2, characterized in that: It also includes a load-bearing part (40), which includes a walking chassis (41) and walking wheels (42) at the front and rear bottom of the walking chassis (41), and the support column (12) is fixed on the walking chassis (41).

6. The performing arts mechanism for bionic limb movement according to claim 5, characterized in that: The chassis (41) is equipped with a steering assembly (43) on the front side.

7. The performing arts mechanism for bionic limb movement according to claim 5, characterized in that: A shock-absorbing disc spring (44) is provided between the walking wheel (42) and the walking chassis (41).

Images