A long structure for a large bionic beast in cultural tourism

Abstract

The utility model discloses a long -type structure for cultural travel large -scale bionics beast, including head steel structure, nose main part steel structure part and nose head steel structure part, nose main part steel structure part includes the N motion joint that connects in proper order, and each motion joint includes deflector, pitch, deflection driver and pitch driver, and deflector is connected with the rotation of pitch, and deflection driver drives deflector to deflect motion relative to pitch, the pitch of N motion joint is connected with the deflector of N 1 motion joint, and the pitch driver of N motion joint drives the pitch to deflect motion relative to the deflector of N 1 motion joint. The utility model discloses through setting N motion joint realizes the action simulation of multiple degrees of freedom, has realized the swing of up and down and left and right and the rolling in the space different direction, has reached the excellent bionic effect and the high authenticity, can use to bionics elephant trunk to carry out the high -quality performance to satisfy the demand of cultural travel market.

Description

Technical Field

[0001] This utility model relates to the field of mechanical structure technology for cultural tourism and entertainment, and in particular to an elongated structure for large-scale bionic animals used in cultural tourism. Background Technology

[0002] With the booming development of the cultural tourism industry, tourists' demands for tourism experiences are increasing. Traditional static bionic animals can no longer meet tourists' needs for novelty and interactive experiences. Traditional dynamic bionic animals are small in size, making it difficult to achieve gigantism, and their performance forms are monotonous, failing to provide tourists with the visually stunning and explosive interactive experience they crave. Among bionic animals, elephants are enormous, and a gigantic mecha elephant would far exceed the size and weight of a real elephant, making its structural design extremely challenging. The elephant's trunk has many joints and complex movements, requiring not only swaying up, down, left, and right, but also rolling in different directions within space, demanding a high degree of agility. Domestic research on performance-type giant bionic elephants is limited. Similar bionic structures mainly focus on the neck and tail structures of bionic animals, but these often use single-degree-of-freedom simulations. This type of structure is simple, with limited movement and very low degrees of freedom during motion, resulting in poor bionic effects and a lack of realism, making it unsuitable for use with a bionic elephant trunk. Therefore, it is necessary to design a bionic mechanical structure suitable for an elephant trunk. Utility Model Content

[0003] This invention provides an elongated structure for large-scale biomimetic animals used in cultural tourism, in order to solve the aforementioned technical problems.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows:

[0005] A long structure for a large bionic animal used in cultural tourism includes: a head steel structure, a nose body steel structure component, and a nose tip steel structure component;

[0006] The main steel structure of the nose includes N moving joints connected in sequence. Each moving joint includes: a deflector, a pitching member, a deflection actuator, and a pitching actuator. The deflector and the pitching member are rotatably connected. The deflection actuator drives the deflector to deflect relative to the pitching member.

[0007] The pitch component of the first section of the motion joint is rotatably connected to the head steel structure, and the pitch actuator drives the pitch component to pitch relative to the head steel structure.

[0008] The pitch component of the Nth joint is rotatably connected to the deflection component of the N-1th joint. The pitch actuator of the Nth joint drives the pitch component to pitch relative to the deflection component of the N-1th joint. The nose steel structure component is rotatably connected to the deflection component of the Nth joint and is driven to move relative to the deflection component of the Nth joint via the nose actuator assembly.

[0009] Preferably, the pitch component includes a pitch body, a first pitch hinge component, a first deflection hinge component, a first pitch drive hinge component, and a first deflection drive hinge component; the first pitch hinge component is fixedly disposed at the end of the pitch body away from the deflection component of this section, and the first deflection hinge component is fixedly disposed at the end of the pitch body facing the deflection component of this section; both the first pitch drive hinge component and the first deflection drive hinge component are fixedly disposed on the side of the pitch body.

[0010] The deflection component includes a deflection body, a second pitch hinge component, a second deflection hinge component, a second pitch drive hinge component, and a second deflection drive hinge component; the second deflection hinge component is fixedly disposed at one end of the deflection body facing the pitch component of this section, and the second pitch hinge component is fixedly disposed at one end of the deflection body away from the pitch component of this section; the second deflection drive hinge component and the second pitch drive hinge component are both fixedly disposed on the side of the deflection body.

[0011] The first pitch hinge member is hinged to the second pitch hinge member of other sections, the first deflection hinge member is hinged to the second deflection hinge member of this section, one end of the deflection actuator is hinged to the first deflection drive hinge member of this section and the other end is hinged to the second deflection drive hinge member of this section, and one end of the pitch actuator is hinged to the first pitch drive hinge member of this section and the other end is hinged to the second deflection drive hinge member of other sections.

[0012] Preferably, each pitch component includes two opposing first pitch hinge members and two opposing first deflection hinge members, wherein the line connecting the rotation axes of the two first pitch hinge members is perpendicular to the line connecting the rotation axes of the two first deflection hinge members.

[0013] Each deflection member includes two opposing second pitch hinge members and two opposing second deflection hinge members, with the line connecting the rotation axes of the two second pitch hinge members being perpendicular to the line connecting the rotation axes of the two second deflection hinge members.

[0014] Preferably, the pitch actuators of the N-segment kinematic joints are arranged alternately on the upper and lower sides of the N pitch members; the yaw actuators of the N-segment kinematic joints are arranged alternately on the left and right sides of the N yaw members.

[0015] Preferably, the first pitch drive hinge member is inclined toward the deflector member away from other sections, and the first deflection drive hinge member is inclined toward the deflector member away from this section.

[0016] The second pitch drive hinge member is inclined toward the pitch member of this section, and the second deflection drive hinge member is inclined toward the pitch member away from this section.

[0017] Preferably, both the pitch body and the yaw body have an opening at their center, and the pitch body and yaw body of the N-segment motion joint have the same shape and their dimensions decrease progressively; or, the pitch body and yaw body of the N-segment motion joint have the same shape and their dimensions are the same.

[0018] Preferably, an angle detection component for detecting the rotation angle value is provided at the rotation axis of the deflection and pitch components of each joint.

[0019] Preferably, the angle detection component includes: a rotating shaft, a limiting pin, an angle sensor, and a sensor mounting base. The deflection and pitch components of each joint rotate via the rotating shaft. A limiting pin is provided at the end of the rotating shaft, and an angle sensor is provided on the outside of the limiting pin via the sensor mounting base. The sensor mounting base is located on the deflection or pitch component that rotates relative to the rotating shaft.

[0020] Preferably, the nose tip steel structure component includes: a first nose tip steel structure, a second nose tip steel structure, and a nose tip actuator assembly. The nose tip actuator assembly includes a first nose tip pitch actuator and a nose tip deflection actuator. The first nose tip steel structure is rotatably connected to the deflection element of the Nth joint. The nose tip deflection actuator drives the first nose tip steel structure to deflect relative to the deflection element of the Nth joint. The second nose tip steel structure is rotatably connected to the first nose tip steel structure. The first nose tip pitch actuator drives the second nose tip steel structure to pitch relative to the first nose tip steel structure.

[0021] Preferably, the nose steel structure component also includes a special effects spray device for generating smoke, water mist, water splashes and lighting effects.

[0022] Beneficial effects:

[0023] This application discloses a long structure for large-scale biomimetic animals used in cultural tourism. By setting up N joints, it achieves multi-degree-of-freedom motion simulation. While ensuring structural safety and reliability, it enables swaying up, down, left, and right, as well as rolling in different directions in space, thus achieving excellent biomimetic effects and a high degree of realism. This enhances the aesthetic appeal and entertainment value of the biomimetic animal design, and can be applied to high-quality performances using a biomimetic elephant trunk to meet the demands of the cultural tourism market. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1This utility model discloses a structural schematic diagram of an elongated structure for a large-scale biomimetic animal used in cultural tourism. Figure 1 ;

[0026] Figure 2 This is a right view of an elongated structure for a large-scale biomimetic animal used in cultural tourism, as disclosed in this utility model.

[0027] Figure 3 This is a left view of an elongated structure for a large-scale biomimetic animal used in cultural tourism, as disclosed in this utility model.

[0028] Figure 4 for Figure 3 A magnified view of part A in the image;

[0029] Figure 5 for Figure 3 A magnified view of part B in the image;

[0030] Figure 6 This is a schematic diagram of the upper roll of a long structure for a large-scale biomimetic animal used in cultural tourism, as disclosed in this utility model.

[0031] Figure 7 This is a schematic diagram of the lower roll of an elongated structure for a large-scale biomimetic animal used in cultural tourism, as disclosed in this utility model.

[0032] Figure 8 This is a schematic diagram of the left-right swinging of a long structure for a large bionic animal used in cultural tourism, as disclosed in this utility model.

[0033] Figure 9 This is a schematic diagram of an obliquely rolled elongated structure for a large-scale biomimetic animal used in cultural tourism, as disclosed in this utility model.

[0034] Figure 10 This is a schematic diagram of a long, downwardly curled structure for a large-scale biomimetic animal used in cultural tourism, as disclosed in this utility model.

[0035] Figure 11 for Figure 10 A magnified view of part C.

[0036] 1. Head steel structure; 11. Pitch lugs; 12. Drive lugs; 2. Motion joint; 21. Deflector; 211. Deflector body; 212. Second pitch hinge; 213. Second deflector hinge; 214. Second pitch drive hinge; 215. Second deflector drive hinge; 22. Pitch component; 221. Pitch body; 222. First pitch hinge; 223. First deflector hinge; 224. First... 225. Pitch drive hinge component; 23. Deflection drive hinge component; 24. Deflection driver; 3. Pitch driver; 3. Nose tip steel structure component; 31. First nose tip steel structure; 32. Second nose tip steel structure; 33. First nose tip pitch driver; 34. Nose tip deflection driver; 35. Special effects jet device; 36. Third nose tip steel structure; 37. Second nose tip pitch driver; 53. Angle sensor; 54. Sensor mounting base. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0038] A long structure for large-scale biomimetic animals used in cultural tourism, combined with Figures 1-11 As shown, it includes: a head steel structure 1, a nose main body steel structure component and a nose tip steel structure component 3; the nose main body steel structure component includes N sequentially connected motion joints 2, each motion joint 2 including: a deflector 21, a pitch component 22, a deflection actuator 23 and a pitch actuator 24, the deflector 21 and the pitch component 22 are rotatably connected, and the deflection actuator 23 drives the deflector 21 to deflect relative to the pitch component 22.

[0039] The pitch component 22 of the first joint 2 is rotatably connected to the head steel structure 1, and the pitch actuator 24 drives the pitch component 22 to pitch relative to the head steel structure 1.

[0040] The pitch component 22 of the Nth joint 2 is rotatably connected to the deflection component 21 of the (N-1)th joint 2. The pitch actuator 24 of the Nth joint 2 drives the pitch component 22 to pitch relative to the deflection component 21 of the (N-1)th joint 2. The nose steel structure component 3 is rotatably connected to the deflection component 21 of the Nth joint 2, and is driven to move relative to the deflection component 21 of the Nth joint 2 by the nose actuator assembly.

[0041] This application utilizes N-segment motion joints 2, with each joint 2 employing independent yet coordinated deflection actuators 23 and pitch actuators 24 to achieve lateral deflection of the deflector 21 and longitudinal pitch of the pitch actuator 22. Through the coordinated movement of these N joints 2, various posture combinations are achieved, thus simulating multi-degree-of-freedom motion. While ensuring structural safety and reliability, it enables swaying in all directions, including up-down and left-right movements, as well as rolling in different spatial directions, achieving excellent biomimetic effects and a high degree of realism. This enhances the visual appeal and entertainment value of the biomimetic animal design, enabling high-quality performances using a biomimetic elephant trunk to meet the demands of the cultural tourism market.

[0042] Specifically, in this embodiment, the main nasal steel structure component includes six movable joints 2, which are sequentially connected from the head steel structure 1 towards the nasal tip steel structure component 3. The pitch component 22 of the first movable joint 2 is rotatably connected to the head steel structure 1. One end of the pitch actuator 24 of the first movable joint 2 is connected to the head steel structure 1, and the other end is connected to the pitch component 22 of the first movable joint 2. The deflection component 21 of the first movable joint 2 is rotatably connected to the pitch component 22 of this segment. One end of the deflection actuator 23 of the first movable joint 2 is connected to the pitch component 22 of this segment, and the other end is connected to the deflection component 21 of this segment.

[0043] The pitch component 22 of the second motion joint 2 is rotatably connected to the deflection component 21 of the first motion joint 2. One end of the pitch actuator 24 of the second motion joint 2 is connected to the deflection component 21 of the first motion joint 2, and the other end is connected to the pitch component 22 of the second motion joint 2. The deflection component 21 of the second motion joint 2 is rotatably connected to the pitch component 22 of this section. One end of the deflection actuator 23 of the second motion joint 2 is connected to the pitch component 22 of this section, and the other end is connected to the deflection component 21 of this section.

[0044] The pitch component 22 of the third motion joint 2 is rotatably connected to the deflection component 21 of the second motion joint 2. One end of the pitch actuator 24 of the third motion joint 2 is connected to the deflection component 21 of the second motion joint 2, and the other end is connected to the pitch component 22 of the third motion joint 2. The deflection component 21 of the third motion joint 2 is rotatably connected to the pitch component 22 of this section. One end of the deflection actuator 23 of the third motion joint 2 is connected to the pitch component 22 of this section, and the other end is connected to the deflection component 21 of this section.

[0045] The pitch component 22 of the fourth joint 2 is rotatably connected to the deflection component 21 of the third joint 2. One end of the pitch actuator 24 of the fourth joint 2 is connected to the deflection component 21 of the third joint 2, and the other end is connected to the pitch component 22 of the fourth joint 2. The deflection component 21 of the fourth joint 2 is rotatably connected to the pitch component 22 of this section. One end of the deflection actuator 23 of the fourth joint 2 is connected to the pitch component 22 of this section, and the other end is connected to the deflection component 21 of this section.

[0046] The pitch component 22 of the fifth joint 2 is rotatably connected to the deflection component 21 of the fourth joint 2. One end of the pitch actuator 24 of the fifth joint 2 is connected to the deflection component 21 of the fourth joint 2, and the other end is connected to the pitch component 22 of the fifth joint 2. The deflection component 21 of the fifth joint 2 is rotatably connected to the pitch component 22 of this section. One end of the deflection actuator 23 of the fifth joint 2 is connected to the pitch component 22 of this section, and the other end is connected to the deflection component 21 of this section.

[0047] The pitch component 22 of the sixth joint 2 is rotatably connected to the deflection component 21 of the fifth joint 2. One end of the pitch actuator 24 of the sixth joint 2 is connected to the deflection component 21 of the fifth joint 2, and the other end is connected to the pitch component 22 of the sixth joint 2. The deflection component 21 of the sixth joint 2 is rotatably connected to the pitch component 22 of this section. One end of the deflection actuator 23 of the sixth joint 2 is connected to the pitch component 22 of this section, and the other end is connected to the deflection component 21 of this section. The deflection component 21 of the sixth joint 2 is rotatably connected to the nose steel structure component 3. The nose actuator assembly connects the deflection component 21 of the sixth joint 2 and the nose steel structure component 3.

[0048] Each joint 2 achieves pitch motion by driving the pitch element 22 to swing up and down via the pitch actuator 24, and the yaw motion by driving the yaw element 21 to swing left and right via the yaw actuator 23. The next joint 2 and subsequent joints 2 can swing up, down, left and right based on the movement of the previous joint 2, thereby achieving a combination of various postures and completing multi-degree-of-freedom motion simulation.

[0049] Specifically, both the yaw actuator 23 and the pitch actuator 24 are driven by fluid cylinders to achieve efficient and stable motion control.

[0050] Preferably, the pitch component 22 of the motion joint 2 includes a pitch body 221, a first pitch hinge component 222, a first deflection hinge component 223, a first pitch drive hinge component 224, and a first deflection drive hinge component 225; the first pitch hinge component 222 is fixedly disposed at the end of the pitch body 221 away from the deflection component 21, and the first deflection hinge component 223 is fixedly disposed at the end of the pitch body 221 facing the deflection component 21; the first pitch drive hinge component 224 and the first deflection drive hinge component 225 are both fixedly disposed on the side of the pitch body 221;

[0051] The deflection component 21 of the motion joint 2 includes a deflection body 211, a second pitch hinge component 212, a second deflection hinge component 213, a second pitch drive hinge component 214, and a second deflection drive hinge component 215; the second deflection hinge component 213 is fixedly disposed at one end of the deflection body 211 facing the pitch component 22 of this section, and the second pitch hinge component 212 is fixedly disposed at one end of the deflection body 211 away from the pitch component 22 of this section; the second deflection drive hinge component 215 and the second pitch drive hinge component 214 are both fixedly disposed on the side of the deflection body 211;

[0052] The first pitch hinge component 222 of the first section of the motion joint 2 is hinged to the pitch ear plate 11 of the head steel structure 1. One end of the pitch actuator 24 of the first section of the motion joint 2 is hinged to the first pitch drive hinge component 224 of this section, and the other end is hinged to the drive ear plate 12 of the head steel structure 1, so as to realize the lifting and lowering of the nose main steel structure component relative to the head steel structure 1.

[0053] For the motion joints 2 in sections 2 to 6, the first pitch hinge member 222 is hinged to the second pitch hinge member 212 of the previous section, the first deflection hinge member 223 is hinged to the second deflection hinge member 213 of this section, one end of the deflection actuator 23 is hinged to the first deflection drive hinge member 225 of this section and the other end is hinged to the second deflection drive hinge member 215 of this section, and one end of the pitch actuator 24 is hinged to the first pitch drive hinge member 224 of this section and the other end is hinged to the second deflection drive hinge member 215 of the previous section.

[0054] The structure of the pitching component 22 and the deflection component 21 in this application can ensure the overall structural strength and also ensure a large range of rotation between the relatively moving parts, thereby making the whole structure more flexible and realizing complex actions such as swinging up and down, left and right, rolling up and down, and rolling diagonally upward and downward.

[0055] Preferably, each pitch member 22 includes two opposing first pitch hinge members 222 and two opposing first deflection hinge members 223, wherein the line connecting the rotation axes of the two first pitch hinge members 222 and the line connecting the rotation axes of the two first deflection hinge members 223 are perpendicular to each other.

[0056] Each deflector 21 includes two opposing second pitch hinge members 212 and two opposing second deflection hinge members 213, wherein the line connecting the rotation axes of the two second pitch hinge members 212 and the line connecting the rotation axes of the two second deflection hinge members 213 are perpendicular to each other.

[0057] By providing two of each of the first pitch hinge component 222, the first deflection hinge component 223, the second pitch hinge component 212, and the second deflection hinge component 213, the structural reliability and stability can be improved, and the impact on the lugs and pins at the hinge points can be reduced.

[0058] Specifically, the pitch lug 11, drive lug 12, first deflection hinge 223, first pitch drive hinge 224, first deflection drive hinge 225, second pitch hinge 212, second pitch drive hinge 214, and second deflection drive hinge 215 all adopt a double lug structure. The rotation axes of the two first pitch hinges 222 of the motion joint 2 are located on the plane of symmetry of the first deflection drive hinge 225, and the rotation axes of the two first deflection hinges 223 are located on the plane of symmetry of the first pitch drive hinge 224; the rotation axes of the two second pitch hinges 212 of the motion joint 2 are located on the plane of symmetry of the second deflection drive hinge 215, and the rotation axes of the two second deflection hinges 213 are located on the plane of symmetry of the second pitch drive hinge 214. This layout allows the yaw actuator 23 and pitch actuator 24 to extend and retract independently without interfering with each other. Furthermore, when the yaw actuator 23 and pitch actuator 24 work together, the joints 2 can be twisted without the yaw actuator 23 and pitch actuator 24 interfering with each other and affecting the range of motion, thus achieving more flexible upward and downward rolling motion.

[0059] Preferably, the pitch actuators 24 of the six-segment motion joint 2 are arranged alternately on the upper and lower sides of the six pitch members 22; the deflection actuators 23 of the six-segment motion joint 2 are arranged alternately on the left and right sides of the six deflection members 21. The elephant trunk structure is long and heavy, and its moment of inertia is also large when swinging. For some agile movements requiring rapid starts and stops, it generates large acceleration and angular acceleration, resulting in significant impact on the hinge points. However, this arrangement avoids interference between the two deflection actuators 23 and the two pitch actuators 24 of adjacent motion joints 2, reduces the cantilever length of the deflection member 21 relative to the rotation point of the pitch member 22 of the motion joint 2, and ensures the range of rotational motion, thereby reducing the structural weight.

[0060] Specifically, the pitch actuator 24 of the first motion joint 2 is located above the pitch member 22 of this section; the pitch actuator 24 of the second motion joint 2 is located above the pitch member 22 of this section and the deflector 21 of the first motion joint 2; the pitch actuator 24 of the third motion joint 2 is located below the pitch member 22 of this section and the deflector 21 of the second motion joint 2; the pitch actuator 24 of the fourth motion joint 2 is located above the pitch member 22 of this section and the deflector 21 of the third motion joint 2; the pitch actuator 24 of the fifth motion joint 2 is located below the pitch member 22 of this section and the deflector 21 of the fourth motion joint 2; and the pitch actuator 24 of the sixth motion joint 2 is located above the pitch member 22 of this section and the deflector 21 of the fifth motion joint 2.

[0061] The deflection actuator 23 of the first motion joint 2 is located to the right of the pitch member 22 and the deflection member 21 of this section; the deflection actuator 23 of the second motion joint 2 is located to the left of the pitch member 22 and the deflection member 21 of this section; the deflection actuator 23 of the third motion joint 2 is located to the right of the pitch member 22 and the deflection member 21 of this section; the deflection actuator 23 of the fourth motion joint 2 is located to the left of the pitch member 22 and the deflection member 21 of this section; the deflection actuator 23 of the fifth motion joint 2 is located to the right of the pitch member 22 and the deflection member 21 of this section; and the deflection actuator 23 of the sixth motion joint 2 is located to the left of the pitch member 22 and the deflection member 21 of this section.

[0062] Specifically, there are two pitch lugs 11, which are arranged horizontally. The two first pitch hinge members 222 of the first joint 2 are inserted into the two pitch lugs 11 and hinged together by a pivot. The cylinder end of the pitch actuator 24 of the first joint 2 is hinged to the drive lug 12, and the piston rod end is hinged to the first pitch drive hinge member 224. The two second deflection hinge members 213 of the first joint 2 are inserted into the two first deflection hinge members 223 and hinged together by a pivot. The cylinder end of the deflection actuator 23 of the first joint 2 is hinged to the first deflection drive hinge member 225, and the piston rod end is hinged to the second deflection drive hinge member 215.

[0063] The two first pitch hinge members 222 of the second motion joint 2 are inserted into the two second pitch hinge members 212 of the first motion joint 2 and hinged together by a pivot. The cylinder end of the pitch actuator 24 of the second motion joint 2 is hinged to the second pitch drive hinge member 214 of the first motion joint 2, and the end of the piston rod is hinged to the first pitch drive hinge member 224. The two second deflection hinge members 213 of the second motion joint 2 are inserted into the two first deflection hinge members 223 of the second motion joint 2 and hinged together by a pivot. The cylinder end of the deflection actuator 23 of the second motion joint 2 is hinged to the first deflection drive hinge member 225, and the end of the piston rod is hinged to the second deflection drive hinge member 215.

[0064] The two first pitch hinge members 222 of the third motion joint 2 are inserted into the two second pitch hinge members 212 of the second motion joint 2 and hinged together by a pivot. The cylinder end of the pitch actuator 24 of the third motion joint 2 is hinged to the second pitch drive hinge member 214 of the second motion joint 2, and the end of the piston rod is hinged to the first pitch drive hinge member 224. The two second deflection hinge members 213 of the third motion joint 2 are inserted into the two first deflection hinge members 223 of the third motion joint 2 and hinged together by a pivot. The cylinder end of the deflection actuator 23 of the third motion joint 2 is hinged to the first deflection drive hinge member 225, and the end of the piston rod is hinged to the second deflection drive hinge member 215.

[0065] The two first pitch hinge members 222 of the fourth motion joint 2 are inserted into the two second pitch hinge members 212 of the third motion joint 2 and hinged together by a pivot. The cylinder end of the pitch actuator 24 of the fourth motion joint 2 is hinged to the second pitch drive hinge member 214 of the third motion joint 2, and the end of the piston rod is hinged to the first pitch drive hinge member 224. The two second deflection hinge members 213 of the fourth motion joint 2 are inserted into the two first deflection hinge members 223 of the fourth motion joint 2 and hinged together by a pivot. The cylinder end of the deflection actuator 23 of the fourth motion joint 2 is hinged to the first deflection drive hinge member 225, and the end of the piston rod is hinged to the second deflection drive hinge member 215.

[0066] The two first pitch hinge members 222 of the fifth motion joint 2 are inserted into the two second pitch hinge members 212 of the fourth motion joint 2 and hinged together by a pivot. The cylinder end of the pitch actuator 24 of the fifth motion joint 2 is hinged to the second pitch drive hinge member 214 of the fourth motion joint 2, and the end of the piston rod is hinged to the first pitch drive hinge member 224. The two second deflection hinge members 213 of the fifth motion joint 2 are inserted into the two first deflection hinge members 223 of the fifth motion joint 2 and hinged together by a pivot. The cylinder end of the deflection actuator 23 of the fifth motion joint 2 is hinged to the first deflection drive hinge member 225, and the end of the piston rod is hinged to the second deflection drive hinge member 215.

[0067] The two first pitch hinge members 222 of the sixth section motion joint 2 are inserted into the two second pitch hinge members 212 of the fifth section motion joint 2 and hinged together by a pivot. The cylinder end of the pitch actuator 24 of the sixth section motion joint 2 is hinged to the second pitch drive hinge member 214 of the fifth section motion joint 2, and the end of the piston rod is hinged to the first pitch drive hinge member 224. The two second deflection hinge members 213 of the sixth section motion joint 2 are inserted into the two first deflection hinge members 223 of the sixth section motion joint 2 and hinged together by a pivot. The cylinder end of the deflection actuator 23 of the sixth section motion joint 2 is hinged to the first deflection drive hinge member 225, and the end of the piston rod is hinged to the second deflection drive hinge member 215.

[0068] Preferably, the first pitch drive hinge member 224 is inclined toward the deflector member 21 away from other sections, and the first deflection drive hinge member 225 is inclined toward the deflector member 21 away from this section.

[0069] The second pitch drive hinge member 214 is inclined toward the pitch member 22 of this section, and the second yaw drive hinge member 215 is inclined away from the pitch member 22 of this section; thereby ensuring the travel of the pitch driver 24 and the yaw driver 23 and avoiding interference between the pitch member 22 and the yaw member 21 after rotation.

[0070] Specifically, the first pitch drive hinge 224 of the first joint 2 is tilted toward the head steel structure 1, and the second pitch drive hinge 214 of the first joint 2 is also tilted toward the head steel structure 1; the first pitch drive hinge 224 of the second to sixth joints 2 is tilted away from the head steel structure 1, and the second pitch drive hinge 214 of the second to sixth joints 2 is also tilted toward the head steel structure 1.

[0071] Preferably, both the pitch body 221 and the yaw body 211 have an opening at their center. The pitch body 221 and the yaw body 211 of the N-section motion joint 2 have the same shape and their dimensions decrease progressively. It can be understood that the pitch body 221 and the yaw body 211 of the N-section motion joint 2 can also have the same shape and the same size.

[0072] Specifically, in this embodiment, the outer periphery of the pitch body 221 and the yaw body 211 is a regular octagon, and its opening is a regular octagon corresponding to the outer periphery. The pitch body 221 and the yaw body 211 are box-shaped structures made of plate and pipe fully penetrated welded together, and are all connected by full penetration welding. After strict strength and stiffness verification calculations, they meet the requirements of use and specifications. The first pitch hinge component 222, the first yaw hinge component 223, the first pitch drive hinge component 224, and the first yaw drive hinge component 225 are welded from plate and fixed to the pitch body 221; the second pitch hinge component 212, the second yaw hinge component 213, the second pitch drive hinge component 214, and the second yaw drive hinge component 215 are welded from plate and fixed to the yaw body 211.

[0073] Preferably, each joint 2 has an angle detection component at the rotation axis of the deflector 21 and pitch 22 to detect the rotation angle value, thereby detecting the relative movement position of the deflector 21 and pitch 22 and providing a signal to the hydraulic system to achieve the conversion of different postures.

[0074] Preferably, the angle detection component includes: a rotating shaft, a limiting pin, an angle sensor 53, and a sensor mounting base 54. The deflection member 21 and the pitch member 22 of each motion joint 2 rotate via the rotating shaft. A limiting pin is provided at the end of the rotating shaft, and an angle sensor 53 is provided on the outside of the limiting pin via the sensor mounting base 54. The sensor mounting base 54 is provided on the deflection member 21 or the pitch member 22 that rotates relative to the rotating shaft.

[0075] Specifically, the angle sensor 53 is a Parker RS-53 sensor. Taking the first joint 2 as an example, the oscillation of the pitch member 22 relative to the head steel structure 1 is detected by the angle sensor 53 installed on the outside of the first pitch hinge member 222. The pivot is the pivot that enables the hinge between the first pitch hinge member 222 and the pitch lug 11. The sensor mounting base 54 is fixedly connected to the side of the pitch member 22 by bolts. The angle sensor 53 is fixedly mounted on the sensor mounting base 54 by bolts. The sensing shaft of the angle sensor 53 passes through the sensor mounting base 54 and is threadedly connected to the limit pin. The sensor mounting base 54 rotates synchronously with the pitch member 22. The angle sensor 53 changes its resistance value with the rotation, giving an analog output signal to detect the change in angle value. Similarly, the oscillation of the deflection member 21 relative to the pitch member 22 is detected by the angle sensor 53 installed on the lower side of the second deflection hinge member 213. The sensor mounting base 54 is fixedly connected to the lower side of the deflection component 21 by bolts. The angle sensor 53 is fixedly mounted on the sensor mounting base 54 by bolts. The sensing shaft of the angle sensor 53 passes through the sensor mounting base 54 and is threadedly connected to the limit pin. One angle sensor of each motion joint 2 detects the pitch angle and the other angle sensor detects the deflection angle, so as to achieve accurate control of the motion angle and make the motion more flexible and natural.

[0076] Preferably, the nose tip steel structure component 3 includes: a first nose tip steel structure 31, a second nose tip steel structure 32, and a nose tip actuator assembly. The nose tip actuator assembly includes a first nose tip pitch actuator 33 and a nose tip deflection actuator 34. The first nose tip steel structure 31 is rotatably connected to the deflector 21 of the sixth joint 2. The nose tip deflection actuator 34 drives the first nose tip steel structure 31 to deflect relative to the deflector 21 of the sixth joint 2. The second nose tip steel structure 32 is rotatably connected to the first nose tip steel structure 31. The first nose tip pitch actuator 33 drives the second nose tip steel structure 32 to pitch relative to the first nose tip steel structure 31.

[0077] Specifically, the nose tip steel structure component 3 also includes a third nose tip steel structure 36, and the nose tip actuator assembly includes a second nose tip pitch actuator 37. The third nose tip steel structure 36 and the second nose tip steel structure 32 are rotatably connected by a hinge, and the second nose tip pitch actuator 37 drives the third nose tip steel structure 36 to pitch relative to the second nose tip steel structure 32.

[0078] Preferably, the nose steel structure component 3 further includes a special effects spray device 35 for generating smoke, water mist, water splashes, and lighting effects. The special effects spray device 35 is installed at the end of the second nose steel structure 32 to achieve performance effects such as water mist, water splashes, smoke, and lighting, presenting a stunning visual effect to meet the demand of the cultural tourism market for high-quality performance equipment.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A long structure for large-scale biomimetic animals used in cultural tourism, characterized in that, include: Head steel structure (1), main body steel structure component of nose and tip steel structure component of nose (3); The main steel structure component of the nose includes N sequentially connected motion joints (2). Each motion joint (2) includes: a deflector (21), a pitch member (22), a deflection actuator (23), and a pitch actuator (24). The deflector (21) is rotatably connected to the pitch member (22), and the deflection actuator (23) drives the deflector (21) to deflect relative to the pitch member (22). The pitch component (22) of the motion joint (2) described in the first section is rotatably connected to the head steel structure (1), and the pitch actuator (24) drives the pitch component (22) to pitch relative to the head steel structure (1); The pitch member (22) of the motion joint (2) described in Section N is rotatably connected to the deflection member (21) of the motion joint (2) described in Section N-1. The pitch actuator (24) of the motion joint (2) described in Section N drives the pitch member (22) to pitch relative to the deflection member (21) of the motion joint (2) described in Section N-1. The nose steel structure component (3) is rotatably connected to the deflection member (21) of the motion joint (2) described in Section N, and drives the nose steel structure component (3) to move relative to the deflection member (21) of the motion joint (2) described in Section N through the nose actuator assembly.

2. The elongated structure for a large-scale biomimetic animal used in cultural tourism as described in claim 1, characterized in that, The pitch component (22) includes a pitch body (221), a first pitch hinge component (222), a first deflection hinge component (223), a first pitch drive hinge component (224), and a first deflection drive hinge component (225); the first pitch hinge component (222) is fixedly disposed at the end of the pitch body (221) away from the deflection component (21), and the first deflection hinge component (223) is fixedly disposed at the end of the pitch body (221) facing the deflection component (21); the first pitch drive hinge component (224) and the first deflection drive hinge component (225) are both fixedly disposed on the side of the pitch body (221); The deflection component (21) includes a deflection body (211), a second pitch hinge component (212), a second deflection hinge component (213), a second pitch drive hinge component (214), and a second deflection drive hinge component (215); the second deflection hinge component (213) is fixedly disposed at one end of the deflection body (211) facing the pitch component (22) of this section, and the second pitch hinge component (212) is fixedly disposed at one end of the deflection body (211) away from the pitch component (22) of this section; the second deflection drive hinge component (215) and the second pitch drive hinge component (214) are both fixedly disposed on the side of the deflection body (211); The first pitch hinge member (222) is hinged to the second pitch hinge member (212) of other sections, the first deflection hinge member (223) is hinged to the second deflection hinge member (213) of this section, one end of the deflection driver (23) is hinged to the first deflection drive hinge member (225) of this section and the other end is hinged to the second deflection drive hinge member (215) of this section, and one end of the pitch driver (24) is hinged to the first pitch drive hinge member (224) of this section and the other end is hinged to the second deflection drive hinge member (215) of other sections.

3. The elongated structure for a large-scale biomimetic animal used in cultural tourism as described in claim 2, characterized in that, Each of the pitch components (22) includes two opposing first pitch hinge components (222) and two opposing first deflection hinge components (223), wherein the line connecting the rotation axes of the two first pitch hinge components (222) and the line connecting the rotation axes of the two first deflection hinge components (223) are perpendicular to each other. Each of the deflection members (21) includes two opposing second pitch hinge members (212) and two opposing second deflection hinge members (213), wherein the line connecting the rotation axes of the two second pitch hinge members (212) is perpendicular to the line connecting the rotation axes of the two second deflection hinge members (213).

4. The elongated structure for a large-scale biomimetic animal used in cultural tourism as described in claim 2, characterized in that, The pitch actuator (24) of the motion joint (2) described in section N is arranged alternately on the upper and lower sides of the N pitch members (22); the deflection actuator (23) of the motion joint (2) described in section N is arranged alternately on the left and right sides of the N deflection members (21).

5. The elongated structure for a large-scale biomimetic animal used in cultural tourism according to claim 2, characterized in that, The first pitch drive hinge member (224) is inclined toward the deflector (21) away from other sections, and the first deflection drive hinge member (225) is inclined toward the deflector (21) away from this section. The second pitch drive hinge member (214) is inclined toward the pitch member (22) of this section, and the second deflection drive hinge member (215) is inclined toward the pitch member (22) away from this section.

6. The elongated structure for a large-scale biomimetic animal used in cultural tourism according to claim 2, characterized in that, Both the pitch body (221) and the yaw body (211) have openings at their centers. The pitch body (221) and the yaw body (211) of the N-section motion joint (2) have the same shape and their dimensions decrease progressively. Alternatively, the pitch body (221) and the yaw body (211) of the N-section motion joint (2) have the same shape and their dimensions are the same.

7. The elongated structure for a large-scale biomimetic animal used in cultural tourism as described in claim 1, characterized in that, An angle detection component for detecting rotation angle values ​​is provided at the rotation axis of the deflection member (21) and pitch member (22) of each of the motion joints (2) described in this section.

8. The elongated structure for a large-scale biomimetic animal used in cultural tourism as described in claim 7, characterized in that, The angle detection component includes: a rotating shaft, a limiting pin, an angle sensor (53), and a sensor mounting base (54). The deflection member (21) and the pitch member (22) of each section of the motion joint (2) rotate through the rotating shaft. A limiting pin is provided at the end of the rotating shaft, and an angle sensor (53) is provided on the outside of the limiting pin through the sensor mounting base (54). The sensor mounting base (54) is provided on the deflection member (21) or the pitch member (22) that rotates relative to the rotating shaft.

9. The elongated structure for a large-scale biomimetic animal used in cultural tourism according to claim 1, characterized in that, The nose tip steel structure component (3) includes: a first nose tip steel structure (31), a second nose tip steel structure (32), and a nose tip actuator assembly. The nose tip actuator assembly includes a first nose tip pitch actuator (33) and a nose tip deflection actuator (34). The first nose tip steel structure (31) is rotatably connected to the deflector (21) of the motion joint (2) in the Nth section. The nose tip deflection actuator (34) drives the first nose tip steel structure (31) to deflect relative to the deflector (21) of the motion joint (2) in the Nth section. The second nose tip steel structure (32) is rotatably connected to the first nose tip steel structure (31). The first nose tip pitch actuator (33) drives the second nose tip steel structure (32) to pitch relative to the first nose tip steel structure (31).

10. The elongated structure for a large-scale biomimetic animal used in cultural tourism according to claim 1, characterized in that, The nose steel structure component (3) also includes a special effects spray device (35) for generating smoke, water mist, water splashes and lighting effects.

Images