A mechanical bionic horse for stage performances

Abstract

This utility model provides a mechanical bionic horse for stage performances, including a chassis assembly. The front of the chassis assembly features a bionic horse, and the rear of the chassis assembly has a support frame. The support frame is a hollow structure, and the top of the support frame houses a carriage mechanism. The front of the carriage mechanism has a control console, and the electronic components of the control console are housed within the support frame. The chassis assembly includes a main chassis structure, and the bottom of the main chassis structure has three legs. This utility model offers the following advantages: it provides a highly realistic mechanical bionic carriage specifically designed for stage performances. This carriage can simulate the form and dynamics of a real carriage, vividly depicting the horse's gait and posture, as well as the carriage's smooth movement, providing a lifelike and immersive stage prop for both live and indoor performances.

Description

Technical Field

[0001] This utility model is a mechanical bionic horse for stage performances, belonging to the field of stage performances. Background Technology

[0002] In the vast field of stage performance, the design and use of props undoubtedly occupy a pivotal position. Like silent actors on stage, props play a decisive role in creating the atmosphere, enhancing the story's expressiveness, and improving the audience's viewing experience. When dealing with scenes involving horse-drawn carriages, traditional stage props are often limited to static model displays or extremely simple replicas. This simplistic approach results in carriages appearing merely as rigid forms on stage, completely failing to showcase the dynamic beauty and vivid image of carriages in real life. This not only greatly limits the depth and breadth of the performance's plot, leading to a lack of emotional impact and realism in the storytelling, but also fails to meet the increasingly sophisticated aesthetic demands of modern audiences and their strong expectations for authenticity and innovation in performances.

[0003] With continuous societal progress and rising aesthetic standards, audiences are demanding increasingly higher quality performances. Simultaneously, stage technology is advancing rapidly amidst the ever-changing tide of technological development. Against this backdrop, the need for stage props capable of dynamic displays and highly realistic effects has become increasingly urgent. However, examining the existing stage prop market reveals numerous unresolved issues in design and functionality. On one hand, many props lack precision in motion control, failing to achieve delicate and fluid movements. They are also extremely cumbersome in stage management, struggling to adapt to complex, ever-changing, and diverse stage scenes and performance demands. For example, in performances requiring rapid scene changes or special movements, traditional props often fail to respond promptly, disrupting the performance rhythm. On the other hand, the selection of materials and structural design of props are often subpar. This not only results in poor durability and stability, making it difficult to maintain good condition over frequent performances, but also hinders realistic appearance, severely impacting the overall quality and artistic appeal of the performance.

[0004] Therefore, developing a mechanical bionic carriage that can perfectly achieve dynamic display, highly realistic reproduction, and flexible stage arrangement in stage performances has become a key problem that needs to be solved in the current stage performance field. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a mechanical bionic horse for stage performances.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0007] A mechanical bionic horse for stage performances includes a chassis assembly. The front of the chassis assembly features a bionic horse, and the rear of the chassis assembly has a support frame. The support frame is a hollow structure, and the top of the support frame has a carriage mechanism. The front of the carriage mechanism has a control console, and the electronic components of the control console are placed inside the support frame. The chassis assembly includes a main chassis structure, and the bottom of the main chassis structure has three legs. Each of the three legs has an auxiliary drive wheel at its end. A drive assembly is located in the middle of the front and rear legs respectively.

[0008] Furthermore, the auxiliary drive wheel includes a connecting disc, and the bottom of the connecting disc is provided with an auxiliary wheel.

[0009] Furthermore, the drive assembly includes a connecting plate, which has an L-shaped structure. The top side of the connecting plate is fixedly connected to the bottom of the main chassis structure. A rotating shaft is rotatably connected to the middle of the connecting plate. The top end of the rotating shaft is fixedly connected to an angle gear. A steering gear meshes with one side of the angle gear. A steering servo motor that cooperates with the steering gear is installed on the side of the connecting plate. The bottom end of the rotating shaft is fixedly connected to a connecting seat. A walking servo motor is installed on one side of the connecting seat. The output end of the walking servo motor is fixedly connected to the walking wheel.

[0010] Furthermore, the carriage mechanism includes a carriage body, which is fixed to the top of the support frame. The carriage body is connected to two wheels via a drive shaft. A drive servo motor that cooperates with the drive shaft is provided inside the carriage body, and body decorations are installed on the carriage body.

[0011] Furthermore, the bionic horse includes a horse body, with a horse head structure and a foreleg mechanism respectively located on the upper and lower sides of the front part of the horse body, and a horse tail mechanism and a hind leg mechanism respectively located on the upper and lower sides of the rear part of the horse body. The horse body has a hollow structure, and a main drive motor is installed inside the horse body. The output end of the main drive motor is connected to a sprocket one and a sprocket two. Sprocket one is connected to the foreleg mechanism, the foreleg mechanism is connected to the horse head structure, sprocket two is chained to the hind leg mechanism, and the hind leg mechanism is connected to the horse tail mechanism.

[0012] Furthermore, the foreleg mechanism includes a foreleg drive shaft and a foreleg thigh rotatably connected to the horse's body. A sprocket three and a foreleg thigh crank are fixed to the foreleg drive shaft. The sprocket three and the sprocket one are connected by a chain. A sprocket four and a connecting rod one are rotatably connected to the end of the foreleg thigh crank. The other end of the connecting rod one is movably connected to a rotating shaft one. The rotating shaft one is movably connected to the foreleg thigh. A gear one and a sprocket five are fixed to one end of the rotating shaft one. A rotating shaft two is also rotatably connected to the foreleg thigh. A linkage rod is connected to one end of the rotating shaft two, and a gear two and a foreleg / middle leg crank are fixed to the other end of the rotating shaft two. The second gear meshes with the first gear. The end of the front middle leg crank is movably connected to the sixth sprocket and the second connecting rod. The other end of the second connecting rod is movably connected to the third rotating shaft. The third rotating shaft is movably connected to the front middle leg. One end of the third rotating shaft is provided with the seventh sprocket, which is driven by the sixth sprocket via a chain. The other end of the third rotating shaft is provided with the front lower leg crank. One end of the front middle leg is movably connected to the linkage rod. The other end of the front middle leg is movably connected to the front lower leg. The side of the front lower leg is movably connected to the front lower leg connecting rod. The other end of the front lower leg connecting rod is movably connected to the front lower leg crank.

[0013] Furthermore, the horse head structure includes a neck bar one and a neck bar two. The bottom ends of both neck bar one and neck bar two are movably connected to the top of the horse body. A head bar is movably connected between the tops of both neck bar one and neck bar two. A horse head crank is movably connected to the bottom end of neck bar one. The bottom end of the horse head crank is movably connected to the other end of the rotating shaft one.

[0014] Furthermore, the hind leg mechanism includes a hind leg drive shaft and a directional control rod rotatably connected to the horse. The end of the hind leg drive shaft is fixed with a hind leg crank and a sprocket twelve. The sprocket twelve is chain-connected to the sprocket two. The end of the hind leg crank is movably connected to the end of the hind leg via a connecting shaft one. The hind leg is movably connected to the end of the directional control rod via a connecting rod. The end of the connecting shaft one is movably connected to a sprocket eight. A connecting shaft two is movably connected to the hind leg. The end of the connecting shaft two is provided with a sprocket nine and a hind middle leg crank. The sprocket nine and the sprocket eight are connected by a chain drive. The rear middle leg crank is movably connected to a sprocket ten and a connecting rod four. The end of the connecting rod four is movably connected to a connecting shaft three. The connecting shaft three is movably connected to the rear middle leg. A sprocket eleven is provided on the connecting shaft three. The sprocket eleven and the sprocket ten are driven by a chain. The other end of the connecting shaft three passes through the rear middle leg and is connected to the rear lower leg crank. One end of the rear middle leg is movably connected to the rear thigh, and the other end of the rear middle leg is movably connected to the rear lower leg. A rear lower leg connecting rod is movably connected to the rear lower leg, and the end of the rear lower leg connecting rod is movably connected to the end of the rear lower leg crank.

[0015] Furthermore, the horse tail mechanism includes a horse tail rod one and a horse tail rod two movably connected to the top of the rear side of the horse. The horse tail rod one and the horse tail rod two are movably connected by a short rod, and the middle part of the horse tail rod two is movably connected to a connecting rod through a horse tail connecting rod.

[0016] The beneficial effects of this utility model are:

[0017] This invention provides a highly realistic mechanical bionic carriage tailored for the field of stage performance. This carriage can simulate the form and dynamics of a real carriage. Whether it is the horse's gait and posture or the carriage's smooth movement, it can be vividly displayed on the stage, providing vivid, realistic, and highly immersive scene props for live and indoor performances.

[0018] This invention relates to a mechanical bionic carriage that enables the carriage to be moved flexibly and in various ways on stage, including but not limited to complex movements such as turning around on the spot and moving horizontally. It easily meets the needs of using a small stage space, provides directors and stage designers with more creative possibilities, enhances the artistic expression of stage performances, strengthens the audience's viewing experience, and injects strong impetus into the innovative development of the stage performance industry.

[0019] This invention uses a biomimetic horse design to achieve the running motion of a horse through a mechanical mechanism, thereby improving the stage effect. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of a mechanical bionic horse for stage performances according to the present invention;

[0022] Figure 2 This is a schematic diagram of the auxiliary drive wheel structure of a mechanical bionic horse for stage performance according to the present invention;

[0023] Figure 3 This is a schematic diagram of the drive assembly structure of a mechanical bionic horse for stage performances according to this utility model. Figure 1 ;

[0024] Figure 4 This is a schematic diagram of the drive assembly structure of a mechanical bionic horse for stage performances according to this utility model. Figure 2 ;

[0025] Figure 5 This is a schematic diagram of the bionic horse structure of a mechanical bionic horse for stage performances according to this utility model. Figure 1 ;

[0026] Figure 6 This is a schematic diagram of the bionic horse structure of a mechanical bionic horse for stage performances according to this utility model. Figure 2 ;

[0027] Figure 7 This utility model provides a schematic diagram of the foreleg mechanism of a mechanical bionic horse for stage performances. Figure 1 ;

[0028] Figure 8 This utility model provides a schematic diagram of the foreleg mechanism of a mechanical bionic horse for stage performances. Figure 2 ;

[0029] Figure 9 This is a schematic diagram of the hind leg mechanism of a mechanical bionic horse for stage performances according to this utility model. Figure 1 ;

[0030] Figure 10 This is a schematic diagram of the hind leg mechanism of a mechanical bionic horse for stage performances according to this utility model. Figure 2 .

[0031] In the diagram, 1. Main chassis structure; 2. Connecting plate; 3. Auxiliary wheel; 4. Connecting plate; 5. Angle gear; 6. Steering gear; 7. Steering servo motor; 8. Connecting seat; 9. Walking servo motor; 10. Walking wheel; 11. Vehicle body; 12. Wheel; 13. Vehicle body decoration; 14. Body; 15. Sprocket 1; 16. Sprocket 2; 17. Front leg drive shaft; 18. Sprocket 3; 19. Front thigh crank; 20. Sprocket 4; 21. Connecting rod 1; 22. Shaft 1; 23. Front thigh; 24. Gear 1; 25. Sprocket 5; 26. Front middle leg crank; 27. Sprocket 6; 28. Connecting rod 2; 29. ​​Shaft 3; 30. Front middle leg; 31. Sprocket 7; 32. Front lower leg connecting rod; 33. Front lower leg crank 34. Handle; 35. Neck rod 1; 36. Neck rod 2; 37. Head rod; 38. Horse head crank; 39. Rear leg drive shaft; 40. Limiting rod; 41. Rear thigh crank; 42. Connecting shaft rod 1; 43. Sprocket 8; 44. Connecting shaft rod 2; 45. Sprocket 9; 46. Rear middle leg crank; 47. Sprocket 10; 48. Connecting rod 4; 49. Rear middle leg; 50. Sprocket 11; 51. Rear lower leg crank; 52. Rear lower leg; 53. Rear lower leg connecting rod; 54. Horse tail rod 1; 55. Horse tail rod 2; 56. Short rod; 57. Horse tail connecting rod; 58. Shaft 2; 59. Gear 2; 60. Front lower leg; 61. Main drive motor; 62. Rear thigh; 63. Linkage rod; 64. Sprocket 12. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] Please see Figures 1-10 This utility model provides a mechanical bionic horse technical solution for stage performances, including a chassis assembly. The front of the chassis assembly is provided with a bionic horse, and the rear of the chassis assembly is provided with a support frame. The support frame is a hollow mechanism, and the top of the support frame is provided with a carriage mechanism. The front of the carriage mechanism is provided with a control console, and the electronic components of the control console are placed inside the support frame. The chassis assembly includes a main chassis structure 1, and the bottom of the main chassis structure 1 is provided with three legs. The ends of the three legs are provided with auxiliary drive wheels, and the middle of the front legs and the rear legs are respectively provided with a drive assembly.

[0034] See Figure 2 The auxiliary drive wheel includes a connecting disc 2, and an auxiliary wheel 3 is provided at the bottom of the connecting disc 2.

[0035] See Figure 3 and Figure 4 The drive assembly includes a connecting plate 4, which is L-shaped. The top side of the connecting plate 4 is fixedly connected to the bottom of the main chassis structure 1. A rotating shaft is rotatably connected to the middle of the connecting plate 4. The top end of the rotating shaft is fixedly connected to an angle gear 5. A steering gear 6 meshes with one side of the angle gear 5. A steering servo motor 7 that cooperates with the steering gear 6 is installed on the side of the connecting plate 4. The bottom end of the rotating shaft is fixedly connected to a connecting seat 8. A walking servo motor 9 is installed on one side of the connecting seat 8. The output end of the walking servo motor 9 is fixedly connected to a walking wheel 10. In use, the walking servo motor 9 drives the walking wheel 10 to rotate, thereby driving the main chassis structure 1 to move. Several auxiliary wheels 3 provide auxiliary support. When turning is required, the steering servo motor 7 drives the steering gear 6 to rotate. The rotation of the steering gear 6 drives the connecting seat 8 to rotate through the angle gear 5, thereby adjusting the angle of the walking wheel 10 and realizing the device turning.

[0036] See Figure 1The carriage mechanism includes a carriage body 11, which is fixed to the top of the support frame. The carriage body 11 is connected to two wheels 12 via a drive shaft. The carriage body 11 is equipped with a drive servo motor that cooperates with the drive shaft. The carriage body 11 is decorated with body ornaments 13. When moving, the carriage structure can accommodate staff and dolls for stage performances, and the stage ornaments 13 are used for stage displays.

[0037] See Figures 5-10 The bionic horse includes a horse body 14. The front of the horse body 14 has a head structure and a foreleg mechanism on its upper and lower sides, respectively. The rear of the horse body 14 has a tail mechanism and a hind leg mechanism on its upper and lower sides, respectively. The horse body 14 has a hollow structure. A main drive motor 61 is located inside the horse body 14. The output end of the main drive motor 61 is connected to a first sprocket 15 and a second sprocket 16. The first sprocket 15 is connected to the foreleg mechanism, the foreleg mechanism is connected to the head structure, the second sprocket 16 is chained to the hind leg mechanism, and the hind leg mechanism is connected to the tail mechanism. The main drive motor 61 drives the first sprocket 15 and the second sprocket 16 to rotate, thereby driving the foreleg mechanism and the hind leg mechanism to perform transmission actions through the combination of the first sprocket 15 and the second sprocket 16 with the chain, thus realizing the running action of the bionic horse.

[0038] See Figures 5-8The foreleg mechanism includes a foreleg drive shaft 17 and a foreleg thigh 23 rotatably connected to the horse body 14. A sprocket 3 18 and a foreleg thigh crank 19 are fixed to the foreleg drive shaft 17. The sprocket 3 18 and the sprocket 15 are connected by a chain. A sprocket 4 20 and a connecting rod 1 21 are rotatably connected to the end of the foreleg thigh crank 19. The other end of the connecting rod 1 21 is movably connected to a rotating shaft 1 22. The rotating shaft 1 22 is movably connected to the foreleg thigh 23. A gear 1 24 and a sprocket 5 25 are fixed to one end of the rotating shaft 1 22. A rotating shaft 2 58 is also rotatably connected to the foreleg thigh 23. A linkage rod 63 is connected to one end of the rotating shaft 2 58. The other end is fixed with a gear 259 and a front middle leg crank 26. The gear 259 meshes with the gear 124. The end of the front middle leg crank 26 is movably connected to a sprocket 627 and a connecting rod 28. The other end of the connecting rod 28 is movably connected to a rotating shaft 329. The rotating shaft 329 is movably connected to the front middle leg 30. One end of the rotating shaft 329 is provided with a sprocket 731. The sprocket 731 and the sprocket 627 are driven by a chain. The other end of the rotating shaft 329 is provided with a front lower leg crank 33. One end of the front middle leg 30 is movably connected to the linkage rod 63. The other end of the front middle leg 30 is movably connected to a front lower leg 60. The side of the front lower leg 60... A front lower leg connecting rod 32 is movably connected, with the other end of the front lower leg connecting rod 32 movably connected to the front lower leg crank 33. The main drive motor 61 drives a sprocket 15 on the output shaft. Sprocket 15 and sprocket 18 on the front leg drive shaft 17 are connected by a chain. Sprocket 18 drives the front leg drive shaft 17 to rotate, which in turn drives the front thigh crank 19 to rotate. The front thigh crank 19 drives sprocket 20 to follow suit, and through connecting rod 21, pushes the thigh 23 to rotate. Simultaneously, due to the chain drive, sprocket 20 drives sprocket 25 to rotate. Sprocket 25 and gear 24 are coaxial, so gear 24 rotates in the same direction, driving the same gear on the thigh 23. Gear 2 59 moves, realizing the reverse movement of gear 2 59. Gear 2 59 drives shaft 2 58 to rotate. Shaft 2 58 has a front middle leg crank 26. At the end of the front middle leg crank 26, there is a sprocket 6 27 that follows. Sprocket 6 27 and sprocket 7 31 on the front middle leg 30 are connected by a chain, realizing the power transmission from the front thigh 23 to the front middle leg 30. The front middle leg 30 has a front calf crank 33. The front calf crank 33 and sprocket 7 31 are coaxial. The front calf crank 33 rotates with sprocket 7 31, driving the front calf connecting rod 32 to follow, thereby realizing the swing of the front calf 60. Thus, the power transmission from the main drive motor 61 to the front leg drive shaft 17 to the front thigh 23 to the front middle leg 30 to the front calf 60 is realized.

[0039] See Figures 5-7The horse head structure includes a first neck bar 34 and a second neck bar 35. The bottom ends of both the first neck bar 34 and the second neck bar 35 are movably connected to the top of the horse body 14. A head bar 36 is movably connected between the tops of the first neck bar 34 and the second neck bar 35. A horse head crank 37 is movably connected to the bottom end of the first neck bar 34. The bottom end of the horse head crank 37 is movably connected to the other end of the first rotating shaft 22. During the synchronous rotation of the first rotating shaft 22 driven by the foreleg 23, the end of the first rotating shaft 22 will synchronously push the horse head crank 37, which in turn pushes the second neck bar 35 to rotate. The second neck bar 35 will drive the head bar 36 and the second neck bar 35 to move accordingly, thereby realizing the bionic horse head swinging.

[0040] See Figures 5-6 , Figures 9-10The hind leg mechanism includes a hind leg drive shaft 38 and a limiting rod 39 rotatably connected to the horse body 14. The end of the hind leg drive shaft 38 is fixed with a hind leg crank 40 and a sprocket 12 64. The sprocket 12 64 is chained to the sprocket 16. The end of the hind leg crank 40 is movably connected to the end of the hind leg 62 via a connecting shaft 1 41. The hind leg 62 is movably connected to the end of the limiting rod 39 via a connecting rod. The end of the connecting shaft 1 41 is movably connected to a sprocket 8 42. A connecting shaft 2 43 is movably connected to the hind leg 62, and the end of the connecting shaft 2 43 is provided with a chain. The rear middle leg crank 45 and sprocket 9 44 are connected by a chain drive between sprocket 9 44 and sprocket 8 42. A sprocket 10 46 and a connecting rod 47 are movably connected to the end of the rear middle leg crank 45. A connecting shaft 3 48 is movably connected to the end of the connecting rod 47 and is movably connected to the rear middle leg 49. A sprocket 11 50 is mounted on the connecting shaft 3 48. A chain drive between sprocket 11 50 and sprocket 10 46 is connected between the sprocket 11 50 and sprocket 46. The other end of the connecting shaft 3 48 passes through the rear middle leg 49 and connects to the rear lower leg crank 51. One end of the rear middle leg 49 is connected to the rear upper leg 62. The rear middle leg 49 is movably connected to the rear lower leg 52. A rear lower leg connecting rod 53 is movably connected to the rear lower leg 52, and the end of the rear lower leg connecting rod 53 is movably connected to the end of the rear lower leg crank 51. The main drive motor 61 drives the sprocket 16 on the output shaft to rotate. The sprocket 16 and the sprocket 12 64 on the rear leg drive shaft 38 are connected by a chain. The sprocket 12 64 drives the rear leg drive shaft 38 to rotate, which in turn drives the rear thigh crank 40 to rotate. The rear thigh crank 40 drives the rear thigh 62 to rotate, and the sprocket 42 on the rear thigh 62 follows suit. The sprocket 42 is connected by a chain. The drive sprocket 944 rotates, and the rear middle leg crank 45 is coaxially mounted on the sprocket 944. The rotation of the rear middle leg crank 45 will drive the rear middle leg 49 to move through the connecting rod 47. Furthermore, the end of the rear middle leg crank 45 is provided with a sprocket 1046, which will drive the sprocket 1150 to rotate through the chain, realizing the power transmission from the rear thigh 62 to the rear middle leg 49. The sprocket 1150 is coaxially connected to the rear lower leg crank 51. The end of the rear lower leg crank 51 pushes the rear lower leg connecting rod 53, thereby realizing the swing of the lower leg. Thus, the power transmission from the main drive motor 61 to the rear leg drive shaft 38 to the rear thigh 62 to the rear middle leg 49 to the rear lower leg 52 is realized.

[0041] See Figures 5-6 , Figures 9-10The horse tail mechanism includes a horse tail rod 1 54 and a horse tail rod 2 55 movably connected to the top rear side of the horse body 14. The horse tail rod 1 54 and the horse tail rod 2 55 are movably connected by a short rod 56. The middle part of the horse tail rod 2 55 is movably connected to a connecting rod through a horse tail connecting rod 57. While the sprocket 12 62 rotates and swings, the sprocket 12 62 will push the horse tail rod 2 55 through the horse tail connecting rod 57, and the horse tail rod 2 55 will push the horse tail rod 1 54 to follow through the short rod 56, thereby realizing the swinging of the horse tail.

[0042] In use, the walking servo motor 9 drives the walking wheel 10 to rotate, which in turn drives the main chassis structure 1 to move. Several auxiliary wheels 3 provide auxiliary support. When turning is required, the steering servo motor 7 drives the steering gear 6 to rotate. The rotation of the steering gear 6 drives the connecting seat 8 to rotate through the angle gear 5, thereby adjusting the angle of the walking wheel 10 and realizing the device turning.

[0043] The biomimetic horse's foreleg drive principle: The main drive motor 61 drives sprocket 15 on the output shaft. Sprocket 15 and sprocket 3 18 on the foreleg drive shaft 17 are connected by a chain. Sprocket 3 18 drives the foreleg drive shaft 17 to rotate, which in turn drives the foreleg crank 19 to rotate. The foreleg crank 19 drives sprocket 4 20 to follow suit, and through connecting rod 1 21, it pushes the thigh 23 to rotate. At the same time, due to the chain drive, sprocket 4 20 drives sprocket 5 25 to rotate. Sprocket 5 25 and gear 1 24 are coaxial, so gear 1 24 will rotate in the same direction. Gear 1 24 will drive gear 2 59, which is also on the thigh 23, to move, thus realizing the movement of gear 2 59. The reverse motion of the gear 2 59 drives the rotating shaft 2 58 to rotate. The rotating shaft 2 58 has a front middle leg crank 26. The end of the front middle leg crank 26 has a sprocket 6 27 that follows. The sprocket 6 27 and the sprocket 7 31 on the front middle leg 30 are connected by a chain, realizing the power transmission from the front thigh 23 to the front middle leg 30. The front middle leg 30 has a front lower leg crank 33. The front lower leg crank 33 and the sprocket 7 31 are coaxial. The front lower leg crank 33 rotates with the sprocket 7 31, which drives the front lower leg connecting rod 32 to follow, thereby realizing the swing of the front lower leg 60. Thus, the power transmission from the main drive motor 61 to the front leg drive shaft 17 to the front thigh 23 to the front middle leg 30 to the front lower leg 60 is realized.

[0044] The head drive principle of the bionic horse: During the synchronous rotation of the rotating shaft 22 driven by the front thigh 23, the end of the rotating shaft 22 will synchronously push the horse head crank 37, which in turn will drive the neck bar 35 to rotate through the horse head crank 37. The neck bar 35 will drive the head bar 36 and the neck bar 35 to move accordingly, thereby realizing the swinging of the bionic horse's head.

[0045] The biomimetic horse's hind leg drive principle: The main drive motor 61 drives the sprocket 16 on the output shaft to rotate. Sprocket 16 and sprocket 64 on the hind leg drive shaft 38 are connected by a chain. Sprocket 64 drives the hind leg drive shaft 38 to rotate, which in turn drives the hind leg crank 40 to rotate. The hind leg crank 40 drives the hind leg 62 to rotate, and the sprocket 42 on the hind leg 62 follows suit. Sprocket 42 rotates through the chain-driven sprocket 44. The hind leg crank 45 is coaxial with sprocket 44. Rotation of 45 will drive the rear middle leg 49 to move through connecting rod 47. Furthermore, the end of the rear middle leg crank 45 is provided with sprocket 10 46, which will drive sprocket 11 50 to rotate through the chain, realizing the power transmission from the rear thigh 62 to the rear middle leg 49. Sprocket 11 50 is coaxially connected to the rear lower leg crank 51. The end of the rear lower leg crank 51 pushes the rear lower leg connecting rod 53 to realize the swing of the lower leg, thereby realizing the power transmission from the main drive motor 61 to the rear leg drive shaft 38 to the rear thigh 62 to the rear middle leg 49 to the rear lower leg 52.

[0046] The tail-driven principle of the bionic horse: While the sprocket 12 62 rotates and swings, the sprocket 12 62 will push the tail rod 2 55 through the tail connecting rod 57. The tail rod 2 55 will push the tail rod 1 54 through the short rod 56 to follow, thereby realizing the swing of the horse tail.

[0047] Although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A mechanical bionic horse for a theatrical performance, characterized by, The chassis assembly includes a bionic horse at the front and a support frame at the rear. The support frame is a hollow structure. A carriage mechanism is located at the top of the support frame. A control console is located at the front of the carriage mechanism. Electronic components of the control console are placed inside the support frame. The chassis assembly includes a main chassis structure (1). The bottom of the main chassis structure (1) has three legs. Each of the three legs has an auxiliary drive wheel at its end. A drive assembly is located in the middle of the front leg and the rear leg.

2. The mechanical bionic horse for a dance performance according to claim 1, characterized in that, The auxiliary drive wheel includes a connecting disc (2), and an auxiliary wheel (3) is provided at the bottom of the connecting disc (2).

3. The mechanical bionic horse for a dance performance according to claim 2, characterized in that, The drive assembly includes a connecting plate (4), which is an L-shaped structure. The top side of the connecting plate (4) is connected and fixed to the bottom of the chassis main structure (1). A rotating shaft is rotatably connected to the middle of the connecting plate (4). The top end of the rotating shaft is connected and fixed to an angle gear (5). A steering gear (6) meshes with one side of the angle gear (5). A steering servo motor (7) that cooperates with the steering gear (6) is installed on the side of the connecting plate (4). The bottom end of the rotating shaft is connected and fixed to a connecting seat (8). A walking servo motor (9) is installed on one side of the connecting seat (8). The output end of the walking servo motor (9) is connected and fixed to the walking wheel (10).

4. The mechanical bionic horse for stage performances according to claim 3, characterized in that, The carriage mechanism includes a carriage body (11), which is fixed to the top of the support frame. The carriage body (11) is connected to two wheels (12) via a drive shaft. The carriage body (11) is equipped with a drive servo motor that cooperates with the drive shaft. The carriage body (11) is also equipped with body decorations (13).

5. The mechanical bionic horse for a dance performance according to claim 4, wherein The bionic horse includes a horse body (14), with a horse head structure and a front leg mechanism on the upper and lower sides of the front part of the horse body (14), and a horse tail mechanism and a hind leg mechanism on the upper and lower sides of the rear part of the horse body (14). The horse body (14) has a hollow structure. A main drive motor (61) is provided inside the horse body (14). The output end of the main drive motor (61) is connected to a sprocket one (15) and a sprocket two (16). The sprocket one (15) is connected to the front leg mechanism, the front leg mechanism is connected to the horse head structure, the sprocket two (16) is chained to the hind leg mechanism, and the hind leg mechanism is connected to the horse tail mechanism.

6. The mechanical bionic horse for dance performance according to claim 5, characterized in that, The foreleg mechanism includes a foreleg drive shaft (17) and a foreleg thigh (23) rotatably connected to the horse body (14). A sprocket three (18) and a foreleg thigh crank (19) are fixed on the foreleg drive shaft (17). The sprocket three (18) and the sprocket one (15) are connected by a chain. A sprocket four (20) and a connecting rod one (21) are rotatably connected to the end of the foreleg thigh crank (19). The other end of the connecting rod one (21) is movably connected to a rotating shaft one (22). The rotating shaft one (22) is movably connected to the foreleg thigh (23). A gear one (24) and a sprocket five (25) are fixed to one end of the rotating shaft one (22). A rotating shaft two (58) is also rotatably connected to the foreleg thigh (23). A linkage rod (63) is connected to one end of the rotating shaft two (58). A gear two (59) and a foreleg middle leg crank (26) are fixed to the other end of the rotating shaft two (58). The second gear (59) meshes with the first gear (24). The end of the front middle leg crank (26) is movably connected to the sixth sprocket (27) and the second connecting rod (28). The other end of the second connecting rod (28) is movably connected to the third rotating shaft (29). The third rotating shaft (29) is movably connected to the front middle leg (30). One end of the third rotating shaft (29) is provided with a seventh sprocket (31). The seventh sprocket (31) and the sixth sprocket... (27) The other end of the rotating shaft (29) is provided with a front lower leg crank (33) via chain drive. One end of the front middle leg (30) is movably connected to the linkage rod (63). The other end of the front middle leg (30) is movably connected to the front lower leg (60). The side of the front lower leg (60) is movably connected to the front lower leg connecting rod (32). The other end of the front lower leg connecting rod (32) is movably connected to the front lower leg crank (33).

7. The mechanical bionic horse for dance performance according to claim 6, characterized in that, The horse head structure includes a neck bar one (34) and a neck bar two (35). The bottom ends of the neck bar one (34) and the neck bar two (35) are movably connected to the top of the horse body (14). A head bar (36) is movably connected between the tops of the neck bar one (34) and the neck bar two (35). A horse head crank (37) is movably connected to the bottom end of the neck bar one (34). The bottom end of the horse head crank (37) is movably connected to the other end of the shaft one (22).

8. A mechanical bionic horse for stage performances according to claim 7, characterized in that, The hind leg mechanism includes a hind leg drive shaft (38) and a limiting rod (39) rotatably connected to the horse body (14). The end of the hind leg drive shaft (38) is fixed with a hind thigh crank (40) and a sprocket twelve (64). The sprocket twelve (64) is chain-connected to the sprocket two (16). The end of the hind thigh crank (40) is movably connected to the end of the hind thigh (62) via a connecting shaft one (41). The hind thigh (62) is movably connected to the end of the limiting rod (39) via a connecting rod. The end of the connecting shaft one (41) is movably connected to a sprocket eight (42). A connecting shaft two (43) is movably connected to the hind thigh (62). The end of the connecting shaft two (43) is provided with a sprocket nine (44) and a hind middle leg crank (45). The sprocket nine (44) and the sprocket eight (42) are driven by a chain. The rear middle leg crank (45) is movably connected to a sprocket ten (46) and a connecting rod four (47). The end of the connecting rod four (47) is movably connected to a connecting shaft three (48). The connecting shaft three (48) is movably connected to the rear middle leg (49). A sprocket eleven (50) is provided on the connecting shaft three (48). The sprocket eleven (50) and the sprocket ten (46) are driven by a chain. The other end of the connecting shaft three (48) passes through the rear middle leg (49) and is connected to the rear lower leg crank (51). One end of the rear middle leg (49) is movably connected to the rear thigh (62). The other end of the rear middle leg (49) is movably connected to the rear lower leg (52). A rear lower leg connecting rod (53) is movably connected to the rear lower leg (52). The end of the rear lower leg connecting rod (53) is movably connected to the end of the rear lower leg crank (51).

9. The mechanical bionic horse for a dance performance according to claim 8, characterized by, The horse tail mechanism includes a horse tail rod one (54) and a horse tail rod two (55) movably connected to the top of the rear side of the horse body (14). The horse tail rod one (54) and the horse tail rod two (55) are movably connected by a short rod (56). The middle part of the horse tail rod two (55) is movably connected to a connecting rod through a horse tail connecting rod (57).

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