A magic show robot

Abstract

The application discloses a magic performance robot, which comprises a control system, a robot body, a first driving part and magic appliances; the robot body comprises a head shell, and an experiment opening is formed in the surface of the head shell; one end of the first driving part is fixed in the head shell, and the other end is fixed with the magic appliances; the first driving part is completely same with the color and material of the inside of the head shell based on the background fusion principle; the control system is used to control the first driving part to extend or retract the magic appliances from the experiment opening. The magic appliances comprise a hidden position and a display position; when the hidden position, the magic appliances are located in the inside of the head shell, the included angle formed by the center line of the experiment opening, the center line of the magic appliances and the extension direction of the width of the head shell is a hidden angle, and the hidden angle is fifteen degrees; when the display position, the magic appliances are extended from the experiment opening. The application has the characteristics of good performance effect, simple structure and strong controllability.

Description

Technical Field

[0001] This invention relates to the field of magic prop design technology, specifically to a magic performance robot. Background Technology

[0002] In recent years, with the rapid development of the robotics field, various sectors have developed corresponding robots or robotic arms to replace manual labor in production. However, in some areas, robot development has stagnated, such as magic and performing arts. The application of robots in this field is essentially nonexistent. Props can only perform simple mechanical movements, and most are purely mechanical designs lacking energy conversion such as electricity. Regarding robot control and design, there is a lack of simple, easy-to-use, and powerful control systems, as well as lightweight and structurally sound mechanical designs. Furthermore, in the performing arts, especially in magic performances, the application of existing robots is relatively limited, lacking robots capable of independently performing complex magic tricks. Existing magic machines often only perform simple mechanical movements, lacking genuine magic effects, such as time-lapse illusions. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide a magic performance robot with good performance effects, simple structure, and strong controllability.

[0004] Technical solution: The magic performance robot of the present invention includes a control system, a robot body, a first drive unit, and magic props; wherein, the robot body includes a head shell, and the surface of the head shell has an experimental opening; one end of the first drive unit is fixed inside the head shell, and the other end is fixed to the magic props. Based on the background fusion principle, the first drive unit and the interior of the head shell are completely identical in color and material; the control system is used to control the first drive unit to extend or retract the magic props from the experimental opening.

[0005] Furthermore, the first drive unit includes a crank and a first servo motor, one end of the crank is connected to the output end of the first servo motor, and the other end is fixed to the magic tool.

[0006] Furthermore, the magic tool includes a hidden position and a display position; in the hidden position, the magic tool is located inside the head shell, and the angle formed by the line connecting the center of the experimental opening and the center of the magic tool with the width extension direction of the head shell is the hiding angle, which is fifteen degrees; in the display position, the magic tool extends out from the experimental opening.

[0007] Furthermore, the robot body also includes a body shell and multiple arm shells, with the arm shells and head shells extending from the body shell; each arm shell sequentially includes a large arm shell, a joint shell, and a hand shell.

[0008] Furthermore, the robot also includes multiple second servo motors, third servo motors, and fourth servo motors. The second servo motors are located inside the upper arm housing and their output ends are connected to the joint housing. The third servo motors are located inside the joint housing and their output ends are connected to the hand housing. The fourth servo motors are located inside the body housing and their output ends are connected to the upper arm housing.

[0009] Furthermore, the head housing and the body housing are connected by a keyway. The head housing is equipped with a fifth servo motor, and its output end is connected to the key. The fifth servo motor drives the head housing to rotate about the length extension direction of the key through the cooperation of the key and the slot.

[0010] Furthermore, the palm surface of the hand shell is concave, and the concave shape is adapted to the shape of the magic prop, and an electromagnet is fixed to the concave surface of the concave shape.

[0011] Furthermore, when the second servo is approximately a cuboid, the upper arm housing includes a servo mounting body and a stop post. The servo mounting body is an open cuboid. In each cuboid, the stop post spans one open side of the cuboid and connects to a set of opposite sides of the cuboid. The second servo is placed inside the cuboid and its movement is restricted by the stop post.

[0012] Furthermore, the boom housing includes at least two of the aforementioned servo motor mounting bodies.

[0013] Furthermore, the control system includes a Micro:bit microcomputer and a Super:bit expansion board. The first drive unit, the second servo motor, the third servo motor, the fourth servo motor, and the fifth servo motor are connected to the interfaces corresponding to the Super:bit expansion board. The Micro:bit microcomputer coordinates and controls the movement and rotation of various components of the robot body based on error guidance.

[0014] Beneficial Effects: This invention has the following significant effects: 1. Excellent Performance Effect: This invention combines mechanical and magical principles to design a robot capable of independently performing magic tricks. It integrates mechanical technology with magical art to create a robot structure that achieves superior magic effects. An experimental opening is provided on the surface of the head shell. Magic props are hidden inside the head shell based on background fusion principles. The first drive unit is identical in color and material to the inside of the head shell. During magic performances, the props extend or retract from the experimental opening without being easily detected, filling a gap in the field of robotic performance and enhancing the fun and innovation of magic shows; 2. Simple Structure: The structure adopted in this invention is relatively simple, and the fixed servo motor only uses a combination of a stop post and a cuboid. Combined with the rotation direction setting, it enhances the structural stability while reducing material costs; Furthermore, it can... By using 3D printing technology to print various parts of the robot, lightweight structure and flexibility are achieved. At the same time, through functional testing and optimization, the stability and reliability of mechanical performance are ensured, improving the robot's practicality and operability in performances. 3. The invention has strong controllability: The robot's control system is used to control the first drive unit to extend or retract the magic props from the experimental port based on magic principles (such as time error guidance). In conjunction with the movement and rotation of the upper arm shell and the rotation of the head shell, it is easy to hide the magic props and release them at the appropriate time, thereby optimizing the magic effect. Specifically, the control system uses a Micro:bit microcomputer and a Super:bit expansion board to achieve precise control of various parts of the robot, ensuring that the various parts of the robot can move in a coordinated manner, enabling it to execute complex magic performance processes, improving the performance effect and entertainment value. Attached Figure Description

[0015] Figure 1 A diagram showing the overall structure of the robot when it spits out magic props;

[0016] Figure 2 Overall structural diagram after the robot releases its magic tools;

[0017] Figure 3 This is a schematic diagram of the first drive unit structure;

[0018] Figure 4 This is a schematic diagram of the arm's casing;

[0019] Figure 5 This is a schematic diagram of the servo motor mounting structure;

[0020] Figure 6 This is a schematic diagram of the keyway connection method;

[0021] Figure 7 This is a schematic diagram showing the direction of rotation of the joint housing;

[0022] Figure 8 A schematic diagram showing the direction of rotation of the hand's shell;

[0023] Figure 9 This is a schematic diagram showing the rotation direction of the boom housing;

[0024] Figure 10 This is a schematic diagram of the force analysis on the arm shell.

[0025] In the diagram, 1 is the robot body, 2 is the first drive unit, 3 is the magic tool, 11 is the head shell, 111 is the experimental port, 12 is the body shell, 13 is the arm shell, 131 is the upper arm shell, 132 is the joint shell, 133 is the palm shell, 1331 is the recess, 14 is the pivot, 21 is the crank, 22 is the first servo motor, 41 is the stop post, 42 is the servo motor fixing body, 43 is the wire hole, 5 is the key, and 6 is the slot. Detailed Implementation

[0026] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0027] Please see Figures 1 to 2 As shown, the magic performance robot of the present invention includes a control system, a robot body 1, a first drive unit 2, and magic props 3. The robot body 1 includes a head shell 11 with an experimental opening 111 on its surface. One end of the first drive unit 2 is fixed inside the head shell 11, and the other end is fixed to the magic props 3. Based on the background blending principle, the first drive unit 2 and the interior of the head shell 11 are identical in color and material. The control system controls the first drive unit 2 to extend or retract the magic props 3 from the experimental opening 111. Therefore, in this embodiment, the magic props 3 includes a hidden position and a display position. In the hidden position, the magic props 3 are located inside the head shell 11, and the angle formed by the line connecting the center of the experimental opening 111 and the center of the magic props 3 with the width extension direction of the head shell 11 is the hiding angle, which is fifteen degrees. In the display position, the magic props 3 extend from the experimental opening 111. In this embodiment, the magic tool 3 is a small ball, and its color and material should be different from those of the first driving part 2 and the inside of the head shell 11.

[0028] In this embodiment, please refer to Figure 3As shown, the first drive unit 2 includes a crank 21 and a first servo motor 22. One end of the crank 21 is connected to the output end of the first servo motor 22, and the other end is fixed to the magic tool 3. The first drive unit 2 can also adopt a gear and rack rotation device, achieving the effect of cooperating with the magic tool 3 through the transmission of gears and racks. The magic tool 3 achieves the ejection effect through the cooperation of the high pair of the inclined plane. The rack rises, pulling the magic tool 3 up and hiding it inside the upper part of the head housing 11. The combination of the crank 21 and the first servo motor 22 was chosen for the first drive unit 2 because of its low manufacturing cost and ease of control.

[0029] Please see Figures 4 to 5As shown, the robot body 1 also includes a body shell 12 and multiple arm shells 13. The arm shells 13 and the head shell 11 both extend from the body shell 12. Each arm shell 13 includes a large arm shell 131, a joint shell 132, and a hand shell 133. A connecting rod extends from the joint shell 132 and connects to the large arm shell 131. To drive the robot body 1, the robot also includes multiple second, third, and fourth servo motors. The second servo motors are located inside the large arm shell 131, and their output ends are connected to the joint shell 132, used to drive the joint shell 132 to rotate. The third servo motor is located inside the joint shell 132, and its output end is connected to the hand shell 133, used to drive the hand shell 133 to rotate. The fourth servo motor is located inside the body shell 12, and its output end is connected to the large arm shell 131, used to drive the overall movement and rotation of the arm shells 13. To save materials and costs, the shapes of the large arm shell 131 and the joint shell 132 are adapted to the second servo motors. Taking the second servo as an example, when the second servo (or third servo) is approximately a cuboid, the arm housing 131 includes a servo fixing body 42 and a stop post 41. The servo fixing body 42 is an open cuboid, and the stop post 41 spans one open side of the cuboid and connects to a set of opposite sides of the cuboid. The second servo is placed inside the cuboid and its movement is restricted by the stop post 41. Each arm housing 131 includes at least two servo fixing bodies 42, meaning that each arm housing 131 includes at least two of the aforementioned cuboids (open cuboids among the servo fixing body components). Specifically, the open cuboid design is to fix the second servo to drive the movement of various robot components and to ensure the smoothness and aesthetics of the entire robot structure. Considerations include fixing the servo and the placement and connection of the wiring. The second servo's degree of freedom of movement is constrained by at least two stop posts 41. This allows the second servo to be smoothly placed inside the cuboid and also ensures the fixation of the second servo when the arm housing 131 and joint housing 132 move and rotate. This invention utilizes wire holes 43 in the boom housing 131 and joint housing 132 to achieve wire routing, resulting in orderly and aesthetically pleasing wiring. In this embodiment, the boom housing 131 and joint housing 132 are existing servo housings with their top and bottom surfaces removed to form the aforementioned open-top cuboids. The boom housing 131 employs two connected servo housings. By lengthening and hollowing out the servo housings, the mechanical properties of the boom housing 131 are improved, its operating space is expanded, and its structure is more aesthetically pleasing. The hollowed-out space in the upper section of the boom housing 131 can reduce torque, organize the wires, and provide space for future sensor installation. The joint housing 132 is connected to the boom housing 131 via a connecting rod, intersecting with another component, allowing the second servo motor inside the joint housing 132 to rotate relative to the boom housing 131.

[0030] Please refer to Figure 6 As shown, the head shell 11 and body shell 12 are connected by a keyway. Specifically, a rotating shaft 14 is provided on the upper surface of the body shell 12, and grooves 6 in the vertical direction are provided on the lower surface of the head shell 11 and the upper surface of the rotating shaft 14. A key 5 is inserted into both the groove 6 of the head shell 11 and the groove 6 of the rotating shaft 14 to connect the head shell 11 and the rotating shaft 14, thereby connecting the body shell 12 and the head shell 11. A fifth servo motor is provided inside the head shell 11, and its output end is connected to the key 5. The fifth servo motor drives the head shell 11 to rotate about the length extension direction of the rotating shaft 14 through the cooperation of the key 5 and the groove 6. The keyway connection method used in this invention has a simple structure and uses fewer parts. If a part is damaged, fewer parts need to be replaced, resulting in low repair costs. It is simple to manufacture and suitable for early design. It is easy to implement. The keyway design provides one rotational degree of freedom and one translational degree of freedom between the head shell 11 and the body shell 12. However, to ensure structural stability, the translational degree of freedom must be constrained. This invention provides a boss at the bottom of the head shell 11 and two bearings arranged side-by-side on the upper surface of the body shell 12. The size of the boss is slightly smaller than the distance between the two bearings on the body shell 12, using the parts themselves to constrain the translational degree of freedom. For the rotational degree of freedom, this invention provides a key 5 adjacent to the boss, passing through the groove 6 formed by the two bearings, allowing the head shell 11 to rotate forward and backward about the key 5 axis. The limiting angles for forward and backward rotation are constrained by the height and width of the bearings on the body shell 12.

[0031] Furthermore, the palm surface of the hand shell 133 has a recess 1331, which is adapted to the shape of the magic prop. An electromagnet is fixed to the concave surface of the recess 1331. When energized, it can attract metal or magnetic magic props 3. When the power is turned off, the magic prop 3 is released. In this embodiment, a wire is provided to facilitate powering, and a groove is provided in the palm shell 133 so that the wire passes through the groove and connects to the electromagnet in the recess 1331. Based on the background fusion principle, the colors and materials of the wire, the recess 1331, and the groove are visually blended, which is conducive to producing various magic effects.

[0032] In the control system, a combination of a Micro:bit microcomputer development board and an extended version of Super:bit is used to control the rotation and movement of the servo motors. The control system includes a Micro:bit microcomputer and a Super:bit expansion board. The first drive unit 2, the second servo motor, the third servo motor, the fourth servo motor, and the fifth servo motor are connected to the corresponding interfaces of the Super:bit expansion board to achieve precise control of the motors. The Micro:bit microcomputer coordinates and controls the movement and rotation of each component of the robot body 1 based on error guidance. Specifically, since the drive parts of this invention are all driven by servo motors, programming is performed on the computer development board, and graphical programming is used for program design and writing control code to achieve coordinated movement of each component of the robot. In this embodiment, graphical programming is used. The robot body 1 consists of a head shell 11, two arm shells 13 (left arm and right arm, respectively), and a body shell 12. The body shell 12 is equipped with two fourth servo motors, each large arm shell 131 is equipped with a second servo motor, and each joint shell 132 is also equipped with a third servo motor. Therefore, the Super:bit expansion board is equipped with eight servo motor interfaces S1-S8, as well as expansion interfaces. Interfaces S1 to S3 are connected sequentially to the second servo motor (corresponding to the robot's elbow), third servo motor (corresponding to the robot's wrist), and fourth servo motor (corresponding to the robot's shoulder) of the robot's left arm. Interfaces S4 to S6 are connected sequentially to the second servo motor (corresponding to the robot's elbow), third servo motor (corresponding to the robot's wrist), and fourth servo motor (corresponding to the robot's shoulder) of the robot's right arm. Interface S7 is connected to the fifth servo motor (corresponding to the robot's head) to control the head's up and down rotation. Interface S8 is connected to the motor (i.e., the first servo motor 22) of the first drive unit 2 located inside the head housing 11 to control the retraction and display of the magic tool 3. In addition, a relay is connected using the expansion interface on the Super:bit to control the electromagnet in the palm.

[0033] The misdirection mentioned in this invention is an intentional act of diverting the audience's attention for a concealed purpose. Misdirection has wide applications in various fields. When misdirection occurs in the military, it is called a feint or diversionary tactic. When used by politicians, it is called diverting public attention. Although misdirection is not used to create magic effects in these cases, the principle remains the same: to prevent the audience from realizing that their attention has been diverted. This invention uses this principle to control the various components of the robot. By coordinating the movement and rotation of these components, it makes it easy for the audience to mistakenly believe that the magic prop 3 extending from the experimental opening 111 comes from the hand shell 133, etc., thus creating an illusion for the audience.

[0034] The background blending principle mentioned in this invention is a popular magic principle in recent years. Background blending achieves visual effects such as invisibility by merging objects with the background. In this invention, the magic prop 3 needs to extend from the experimental opening 111. Due to the inconsistency in color and material between the first driving part 2 and the head shell 11, it is easy to produce poor visual appeal and weak effects. By applying the background blending principle, the magic prop can be freely extended and retracted without support, resulting in a complete structure, making the magic performance neat and immersive.

[0035] To ensure the stability of the magic effect and structure, the robot proposed in this invention can undergo functional testing and optimization. Functional testing primarily verifies the operation of each component and the magic effect. Based on the test results, optimization is performed, adjusting the mechanical structure and programming to improve the performance effect and stability. In manufacturing and assembly, 3D printing technology is used to fabricate the robot body 1, ensuring a lightweight and flexible structure. The components are then assembled into a complete robot, ensuring coordinated movement and stability between the components.

[0036] Since the motors used in this embodiment are all servo motors, the selection of performance and parameters can be performed according to the following process. Please refer to... Figures 7 to 9 The diagram shows the rotation of the upper arm housing 131, joint housing 132, and hand housing 133 after being driven. For the first servo motor 22 of the first drive unit 2, when the magic tool is relatively light, the torque requirement of the first servo motor 22 is relatively low. Since the process of spitting out the magic tool should be relatively fast, a motor with low torque but high speed is selected. Considering all aspects, the following motor is selected, and the servo model is SG90. Specific parameters are: servo motor weight 9 g; working torque 1.6 kg / cm; response speed 0.12-0.13 seconds / 60°; rotation angle 360 ​​degrees (90 degrees left, 90 degrees right); operating voltage 3-7.2V. The selection of the second, third, and fourth servos is obtained through the following process. Please refer to... Figure 10Taking the arm housing 13 as a reference point, with the arrow indicating the direction of rotation and the axis of rotation perpendicular to the plane of the paper, the torque required to rotate the entire arm housing 13 is at its maximum. In this embodiment, F1 is the weight of the electromagnet and the magic props that can be attracted by the electromagnet, roughly denoted as 50g. F2 is the weight of the third servo motor, roughly denoted as 55g. F3 is the weight of the second servo motor, roughly denoted as 55g. The entire arm housing 13 is 3D printed and is relatively lightweight, roughly denoted as 60g. The center of gravity of the arm housing 13 is roughly considered to coincide with the second servo motor, and it is attached to F2. Based on stress analysis and comprehensive consideration of various factors, the following fourth servo motor is adopted in the shoulder area. The servo motor model is MG995, and the specific parameters are as follows: servo motor weight 55 g; working torque 13 kg / cm; response speed 53-62 r / m; rotation angle 360 ​​degrees (90 degrees to the left and 90 degrees to the right); operating voltage 3-7.2V; operating current 100 mA.

Claims

1. A magic performance robot, characterized in that, The robot includes a control system, a robot body, a first drive unit, and magic tools; The robot body includes a head shell with an experimental opening on its surface; one end of the first drive unit is fixed inside the head shell, and the other end is fixed to the magic tool. Based on the background fusion principle, the first drive unit and the inside of the head shell are exactly the same in color and material; the control system is used to control the first drive unit to extend or retract the magic tool from the experimental opening. The robot body also includes a body shell and multiple arm shells, with the arm shells and head shells extending from the body shell; each arm shell includes a large arm shell, a joint shell, and a palm shell in sequence; the palm shell has a concave surface, and the concave surface is adapted to the shape of the magic tool, with an electromagnet fixed to the concave surface.

2. The magic performance robot according to claim 1, characterized in that, The first drive unit includes a crank and a first servo motor. One end of the crank is connected to the output end of the first servo motor, and the other end is fixed to the magic tool.

3. The magic performance robot according to claim 1, characterized in that, The magic tool includes a hidden position and a display position; in the hidden position, the magic tool is located inside the head shell, and the angle formed by the line connecting the center of the experimental opening and the center of the magic tool with the width extension direction of the head shell is the hiding angle, which is 15 degrees; in the display position, the magic tool extends out from the experimental opening.

4. The magic performance robot according to claim 1, characterized in that, The robot also includes multiple second servo motors, third servo motors, and fourth servo motors. The second servo motors are located inside the upper arm housing and their output ends are connected to the joint housing. The third servo motors are located inside the joint housing and their output ends are connected to the hand housing. The fourth servo motors are located inside the body housing and their output ends are connected to the upper arm housing.

5. The magic performance robot according to claim 4, characterized in that, The head shell and the body shell are connected by a keyway. The upper surface of the body shell is provided with a rotating shaft. The lower surface of the head shell and the upper surface of the rotating shaft are both provided with corresponding grooves in the vertical direction. A key is provided to be inserted into the groove of the head shell and the groove of the rotating shaft. A fifth servo motor is provided inside the head shell, and its output end is connected to the key. The fifth servo motor drives the head shell to rotate about the length extension direction of the rotating shaft through the cooperation of the key and the groove.

6. The magic performance robot according to claim 4, characterized in that, When the second servo is approximately a cuboid, the upper arm housing includes a servo mounting body and a stop post. The servo mounting body is an open cuboid. In each cuboid, the stop post spans one open side of the cuboid and connects to a set of opposite side surfaces of the cuboid. The second servo is placed inside the cuboid and its movement is restricted by the stop post.

7. The magic performance robot according to claim 6, characterized in that, The boom housing includes at least two of the aforementioned servo motor mounting bodies.

8. The magic performance robot according to claim 5, characterized in that, The control system includes a Micro:bit microcomputer and a Super:bit expansion board. The first drive unit, the second servo motor, the third servo motor, the fourth servo motor, and the fifth servo motor are connected to the interfaces corresponding to the Super:bit expansion board. The Micro:bit microcomputer coordinates and controls the movement and rotation of the robot body components based on error guidance.

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