Dragon dance robot

Abstract

The invention relates to the field of robots, and particularly discloses a dragon dance robot which comprises a moving vehicle, a dragon body connecting ring, a single-rod lifting device, a first rotary steering engine, a first lifting rod group, a single lifting seat, a double-rod lifting device, a second lifting rod group, a second rotary steering engine, a third lifting rod group, a third rotary steering engine and a double lifting seat. The dragon body connecting ring is driven to move and rotate through the moving trolley and the lifting device, the dragon body connecting ring is connected with the flexible body to form the dragon body, so that the actions of swimming, standing, flying, turning and the like in the dragon dance process can be simulated, and the lifting device comprises a single-rod lifting device and a double-rod lifting device. Through alternate connection between the second lifting rod group and the third lifting rod group in the double-rod lifting device and the double lifting seats, the double-rod lifting device and the dragon body can move in a crossed manner, so that the crossed rotation action of the dragon body can be automatically realized, and the dynamic meter display of the dragon dance simulated by the machine is more vivid.

Description

Technical Field

[0001] The invention belongs to the field of robots, and in particular relates to a dragon dancing robot. Background Art

[0002] In some parts of China, there is a custom of celebrating festivals with dragon dances. The dragon used in dragon dances usually consists of three parts: the head, the body and the tail. The dragon is divided into several sections, and each section is mounted on a wooden pole. The dragon dance is performed by several people, each responsible for a section, holding the dragon pole, and working together to change the position of each section of the dragon's body through walking, running, jumping, changing formations, raising and lowering the dragon pole, etc., matching the dragon's swimming, stillness, flying, and tumbling movements, showing the static and dynamic beauty of the dragon.

[0003] At present, dragon dance performances are performed by manpower, and performers hold heavier parts while walking, running, or jumping, which is labor-intensive. High-level dragon dance performances require performers to have proficient skills, so the cost of dragon dancers is also relatively high. Due to limited manpower, the dragon used for performances cannot be made too heavy, and only very light materials can be used. The connection between the dragon bodies is only a cloth tube, and it is difficult to add fillers, so the shape of the dragon is not realistic enough. Dragon dance relies on the cooperation of the human body and the group. The coordination of multiple people is limited, and it is difficult to coordinate as a whole, so the dragon's movements are not natural and smooth enough, flexible and coordinated, and the visual effect is not good enough. And there is no corresponding robot on the market that can replace manual labor and automatically realize various movements such as swimming, stillness, flying, tumbling, cross-turning, etc. in the process of dragon dance.

[0004] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0005] The purpose of the present invention is to provide a dragon dancing robot, so as to overcome the defect that the existing robots cannot replace manual labor and automatically realize various movements such as swimming, standing still, flying, tumbling, cross-turning and so on in the process of dragon dancing.

[0006] To achieve the above-mentioned purpose, the present invention provides a dragon dancing robot, comprising a moving vehicle, a lifting device and a dragon body connecting ring, wherein the dragon body connecting ring is connected to the moving vehicle through the lifting device, and a flexible body is connected between each of the dragon body connecting rings, and the lifting device comprises a single-rod lifting device and a double-rod lifting device; the single-rod lifting device comprises a first lifting rod group and a single lifting seat, one end of the first lifting rod group is fixedly connected to the moving vehicle, and the other end of the first lifting rod group can be lifted and lowered above the moving vehicle and connected to the single lifting seat, and the dragon body connecting ring is rotatably connected to the single lifting seat; the double-rod lifting device The lowering device includes a second lifting rod group, a third lifting rod group and a double lifting seat, one end of the second lifting rod group and one end of the third lifting rod group are fixedly connected to the same moving vehicle, the other end of the second lifting rod group and the other end of the third lifting rod group are respectively connected to the two ends of the double lifting seat in a detachable manner, and when either the other end of the second lifting rod group or the other end of the third lifting rod group is connected to the end of the double lifting seat alone, the double lifting seat can still maintain a stable posture, the dragon body connecting ring is rotatably connected to the double lifting seat, and a spray device is provided in the moving vehicle.

[0007] Preferably, in the above technical solution, the single lifting seat includes a first strut and a first seat body, the first seat body is connected to one end of the first lifting rod group, one end of the first strut is fixedly connected to the first seat body, the other end of the first strut is provided with a first rotating servo, and the middle part of the dragon body connecting ring is connected to the output end of the first rotating servo; a first clearance groove is provided on the side of the dragon body connecting ring, the first strut can pass through the first clearance groove, and the end of the first clearance groove can abut against the side of the first strut to limit the rotation of the dragon body connecting ring.

[0008] Preferably, in the above technical solution, the first lifting rod group includes a first chain box, a first main chain, a first secondary chain and a first lifting servo; the first chain box is fixedly installed in the mobile vehicle, the first main chain and the first secondary chain are housed in the first chain box, and a first chain opening is provided on the top of the first chain box, one end of the first main chain and one end of the first secondary chain are meshed with each other outside the first chain opening and are connected to the first seat body at the same time; the first lifting servo is fixedly installed on the first chain box and a first chain driving gear is provided at the output end, the first chain driving gear is meshed with one side of the first main chain, and when the first chain driving gear rotates, it can drive the first main chain and the first secondary chain to synchronously extend outward from the first chain opening and mesh with each other.

[0009] Preferably, in the above technical solution, a first chain slot and a second chain slot are provided in the first chain box, the first main chain is slidably received in the first chain slot, the first sub-chain is slidably received in the second chain slot, the first chain slot and the second chain slot are symmetrically arranged with the first chain mouth as the center, one end of the first chain slot and one end of the second chain slot converge at the first chain mouth and are provided with a first separation guide portion, first guide surfaces are respectively provided on both sides of the first separation guide portion, and the first guide surfaces are consistent with the contours of the first chain slot and the second chain slot.

[0010] Preferably, in the above technical solution, the double lifting seat includes a transverse seat body and a second strut, one end of the second strut is fixedly connected to the transverse seat body, the other end of the second strut is provided with a second rotating servo, and the middle part of the dragon body connecting ring is connected to the output end of the second rotating servo; a second make way groove is provided on the side of the dragon body connecting ring, the second strut can pass through the second make way groove, the end of the second make way groove can abut against the side of the second strut to limit the rotation of the dragon body connecting ring, and slots are respectively provided at both ends of the transverse seat body, and the notches of the slots are provided at the bottom of the transverse seat body.

[0011] Preferably, in the above technical solution, a second seat body is provided at the other end of the second lifting rod group, and a second plug rod is provided on the second seat body; a third seat body is provided at the other end of the third lifting rod group, and a third plug rod is provided on the third seat body, and the end portions of the second plug rod and the end portions of the third plug rod can be inserted into the slot through the notch, and an insertion guide portion is provided at the notch.

[0012] Preferably, in the above technical solution, the second lifting rod group includes a second chain box, a second main chain, a second secondary chain and a second lifting servo; the second chain box is fixedly installed in the mobile vehicle, the second main chain and the second secondary chain are housed in the second chain box, and a second chain opening is provided on the top of the second chain box, one end of the second main chain and one end of the second secondary chain are meshed with each other outside the second chain opening and are connected to the second seat body at the same time; the second lifting servo is fixedly installed on the second chain box and a second chain driving gear is provided at the output end, the second chain driving gear is meshed with one side of the second main chain, and when the second chain driving gear rotates, it can drive the second main chain and the second secondary chain to synchronously extend outward from the second chain opening and mesh with each other.

[0013] Preferably, in the above technical scheme, the third lifting rod group includes a third chain box, a third main chain, a third sub-chain and a third lifting servo; the third chain box is fixedly installed in the mobile vehicle, the third main chain and the third sub-chain are housed in the third chain box, and a third chain opening is provided on the top of the third chain box, one end of the third main chain and one end of the third sub-chain are meshed with each other outside the third chain opening and are connected to the third seat body at the same time; the third lifting servo is fixedly installed on the third chain box and a third chain driving gear is provided at the output end, the third chain driving gear is meshed with one side of the third main chain, and when the third chain driving gear rotates, it can drive the third main chain and the third sub-chain to synchronously extend outward from the third chain opening and mesh with each other.

[0014] Preferably, in the above technical solution, the second chain opening and the third chain opening are far away from each other.

[0015] Preferably, in the above technical solution, a third chain slot and a fourth chain slot are provided in the second chain box, the second main chain is slidably received in the third chain slot, the second sub-chain is slidably received in the fourth chain slot, one end of the third chain slot and one end of the fourth chain slot meet at the second chain mouth and are provided with a second separation guide portion, second guide surfaces are respectively provided on both sides of the second separation guide portion, and the second guide surfaces are consistent with the contours of the third chain slot and the fourth chain slot; a fifth chain slot and a sixth chain slot are provided in the third chain box, the third main chain is slidably received in the fifth chain slot, the third sub-chain is slidably received in the sixth chain slot, one end of the fifth chain slot and one end of the sixth chain slot meet at the third chain mouth and are provided with a third separation guide portion, third guide surfaces are respectively provided on both sides of the third separation guide portion, and the third guide surfaces are consistent with the contours of the fifth chain slot and the sixth chain slot.

[0016] Compared with the existing technology, the present invention has the following beneficial effects:

[0017] 1. The dragon dance robot of the present invention drives the dragon body connecting ring to move and rotate through the mobile vehicle and the lifting device. The dragon body connecting ring is connected with the flexible body to form the dragon body, so that the movements such as swimming, stillness, flying and tumbling in the process of dragon dance can be simulated. The lifting device includes a single-rod lifting device and a double-rod lifting device. Through the alternating connection between the second lifting rod group and the third lifting rod group in the double-rod lifting device and the double lifting seat, the double-rod lifting device and the dragon body can be crossed, so that the cross-circling movement of the dragon body can be automatically realized, making the dynamic display of the machine simulating the dragon dance more realistic.

[0018] 2. The first lifting rod group, the second lifting rod group and the third lifting rod group in the present invention are each a pair of meshing chains that can mesh with each other. When the main and auxiliary chains are meshed, not only can the seat body parts be lifted, but also they have good structural rigidity and play a supporting role. When the main and auxiliary chains are stored in the chain box, they are separated from each other, so that the rigidity disappears. After separation, the chains can be flexibly bent and thus be stored in the chain box, which can save the storage space of the lifting parts and has structural advantages that cannot be matched by general push rods.

[0019] 3. The mobile vehicle of the present invention is also equipped with a spray device, which can create a cloud-filled effect during the dragon dance, making the dragon dance more realistic.

[0020] 4. The dragon body connecting ring in the present invention is connected to the first support rod and the second support rod through the first rotating servo and the second rotating servo, and can rotate while the dragon body moves with the moving vehicle, thereby imitating a tumbling action, and a first make way groove or a second make way groove is opened on the side of the dragon body connecting ring, which can not only play a make way role when the dragon body connecting ring rotates but also can be limited by the end. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of a double-rod lifting device and a mobile vehicle.

[0022] Figure 2 It is a structural diagram of a single-pole lifting device and a mobile vehicle.

[0023] Figure 3 It is a structural diagram of the first lifting rod group.

[0024] Figure 4 It is a structural diagram of the second lifting rod group.

[0025] Figure 5 It is a structural diagram of the third lifting rod group.

[0026] Figure 6 It is a structural diagram of the double lifting seat and the dragon body connecting ring.

[0027] Description of main reference numerals:

[0028] 100-mobile vehicle, 110-dragon body connecting ring;

[0029] 200-single-rod lifting device, 210-first lifting rod group, 211-first chain box, 212-first main chain, 213-first auxiliary chain, 214-first lifting servo, 215-first chain mouth, 216-first chain driving gear, 217-first chain groove, 218-second chain groove, 220-single lifting seat, 221-first support rod, 222-first seat body, 223-first rotating servo, 224-first yielding groove, 230-first separation guide part, 231-first guide surface;

[0030] 300-double rod lifting device, 310-second lifting rod group, 311-second chain box, 312-second main chain, 313-second secondary chain, 314-second lifting servo, 315-second chain mouth, 316-second chain driving gear, 317-third chain slot, 318-fourth chain slot, 320-third lifting rod group, 321-third chain box, 322-third main chain, 323-third secondary chain, 324-third lifting servo, 325-third chain mouth, 326-third Three-chain driving gear, 327-fifth chain slot, 328-sixth chain slot, 330-double lifting seat, 331-lateral seat body, 332-second support rod, 333-second rotating servo, 334-second give way slot, 335-slot, 336-insertion guide part, 340-second seat body, 341-second insertion rod, 350-third seat body, 351-third insertion rod, 360-second separation guide part, 361-second guide surface, 370-third separation guide part, 371-third guide surface. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "top", "bottom", "top surface", "bottom surface", "inside", "outside", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0033] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If the terms "first", "second", "third" are described, they are only used for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is an explanation of the embodiments of the present invention based on its overall structure.

[0035] like Figures 1 to 6 As shown, the dragon dance robot in this embodiment includes: a moving vehicle 100, a dragon body connecting ring 110, a single-rod lifting device 200, a first lifting rod group 210, a first chain box 211, a first main chain 212, a first secondary chain 213, a first lifting servo 214, a first chain mouth 215, a first chain driving gear 216, a first chain groove 217, a second chain groove 218, a single lifting seat 220, a first support rod 221, a first seat body 222, a first rotating servo 223, a first yielding groove 224, a first separation guide portion 230, a first guide surface 231, a double-rod lifting device 300, a second lifting rod group 310, a second chain box 311, a second main chain 312, a second secondary chain 313, a second lifting servo 314, a second Chain mouth 315, second chain driving gear 316, third chain slot 317, fourth chain slot 318, third lifting rod group 320, third chain box 321, third main chain 322, third sub-chain 323, third lifting servo 324, third chain mouth 325, third chain driving gear 326, fifth chain slot 327, sixth chain slot 328, double lifting seat 330, transverse seat body 331, second support rod 332, second rotating servo 333, second give way slot 334, slot 335, insertion guide portion 336, second seat body 340, second insertion rod 341, third seat body 350, third insertion rod 351, second separation guide portion 360, second guide surface 361, third separation guide portion 370, third guide surface 371.

[0036] A pair of driving wheels are installed on both sides of the mobile vehicle 100. The driving wheels are Mecanum wheel structures and each driving wheel is driven by a wheel-side motor. A spray device and a lifting device are installed in the mobile vehicle 100. A dragon body connecting ring 110 is installed at the lifting end of the lifting device. Flexible bodies are connected between the dragon body connecting rings 110 to form the body parts of the dragon.

[0037] The lifting device includes a single-rod lifting device 200 and a double-rod lifting device 300; the single-rod lifting device 200 includes a first lifting rod group 210 and a single lifting seat 220, one end of the first lifting rod group 210 is fixedly connected to the mobile vehicle 100, the other end of the first lifting rod group 210 can be lifted above the mobile vehicle 100 and connected to the single lifting seat 220, the single lifting seat 220 includes a first support rod 221 and a first seat body 222, the first seat body 222 is connected to one end of the first lifting rod group 210, one end of the first support rod 221 is fixedly connected to the first seat body 222, and the first support rod 221 is fixedly connected to the first seat body 222. 1 is installed with a first rotary steering gear 223 on the side of the other end, a spoke is arranged at the middle of the dragon body connecting ring 110 and is connected to the output end of the first rotary steering gear 223, and the rotation axis of the dragon body connecting ring 110 is perpendicular to the moving direction of the moving vehicle 100; a first clearance groove 224 is opened on the side of the dragon body connecting ring 110, and the first support rod 221 can pass through the first clearance groove 224. When the first rotary steering gear 223 drives the dragon body connecting ring 110 to rotate, the end of the first clearance groove 224 can abut against the side of the first support rod 221 to limit the rotation of the dragon body connecting ring 110.

[0038] More specifically, the first lifting rod assembly 210 includes a first chain box 211, a first main chain 212, a first secondary chain 213 and a first lifting servo 214; the first chain box 211 is fixedly installed in the mobile vehicle 100, a first chain opening 215 is provided at the top of the first chain box 211, a first chain slot 217 and a second chain slot 218 are provided in the first chain box 211, the first main chain 212 is slidably received in the first chain slot 217, and the first secondary chain 213 is slidably received in the second chain slot 218 The first chain groove 217 and the second chain groove 218 are symmetrically arranged with the first chain opening 215 as the center. One end of the first chain groove 217 and one end of the second chain groove 218 merge at the first chain opening 215 and a first separation guide portion 230 is arranged at the merged position. A first arc-shaped guide surface 231 is respectively arranged on both sides of the first separation guide portion 230. The first guide surface 231 is consistent with the contours of the first chain groove 217 and the second chain groove 218. The first main chain 212 and the first sub-chain 213 are received in the first chain box 211. One end of the main chain 212 and one end of the first sub-chain 213 are connected to the first seat body 222 at the same time; the first elevator servo 214 is fixedly installed on the first chain box 211 and a first chain driving gear 216 is installed at its output end. The teeth of the first chain driving gear 216 can engage with one side of the first main chain 212. When the first chain driving gear 216 rotates, it can drive the first main chain 212 and the first sub-chain 213 to extend outward from the first chain opening 215 synchronously. As the first main chain 212 and the first sub-chain 213 move toward The chain plates of the two chains can be clamped and meshed with each other while extending outward. When the chain plates of the first main chain 212 and the first sub-chain 213 are meshed with each other, the meshing structure can limit the bending of the chains. When the first main chain 212 and the first sub-chain 213 are retracted into the first chain box 211, the first separation guide part 230 can separate the chain plates of the first main chain 212 and the first sub-chain 213, so that the first main chain 212 and the first sub-chain 213 are respectively bent and respectively received in the first chain groove 217 and the second chain groove 218.

[0039] The double-rod lifting device 300 includes a second lifting rod group 310, a third lifting rod group 320 and a double lifting seat 330. One end of the second lifting rod group 310 and one end of the third lifting rod group 320 are fixedly connected to the same mobile vehicle 100. The double lifting seat 330 includes a transverse seat body 331 and a second support rod 332. One end of the second support rod 332 is fixedly connected to the transverse seat body 331. The other end of the second support rod 332 extends to the top of the transverse seat body 331 and is equipped with a second rotating shaft. The middle part of the dragon body connecting ring 110 is connected to the output end of the second rotating servo 333, and its structure and installation position are the same as those of the dragon body connecting ring 110 on the first rotating servo 223, which will not be described in detail here; a second clearance groove 334 is opened on the side of the dragon body connecting ring 110, and the second support rod 332 can pass through the second clearance groove 334. When the second rotating servo 333 drives the dragon body connecting ring 110 to rotate, the end of the second clearance groove 334 can be aligned with the second The side of the support rod 332 is abutted to limit the rotation of the dragon body connecting ring 110. Slots 335 are respectively opened at both ends of the horizontal seat body 331. The cross section of the slot 335 is rectangular. The slot 335 is opened at the bottom of the horizontal seat body 331. An inclined insertion guide part 336 is arranged around the slot. The other end of the second lifting rod group 310 is installed with a second seat body 340, and a second plug rod 341 is fixedly installed on the second seat body 340; the third lifting rod group 310 A third base body 350 is installed at the other end of 20, and a third plug rod 351 is fixedly installed on the third base body 350. The ends of the second plug rod 341 and the third plug rod 351 extend upward and can be inserted into the slot 335 through the notch, and can be guided by the insertion guide portion 336 when inserted; when either the end of the second plug rod 341 or the end of the third plug rod 351 is inserted into the slot 335 alone, the double lifting base 330 can still maintain a horizontal posture and stability.

[0040] More specifically, the second lifting rod group 310 includes a second chain box 311, a second main chain 312, a second sub-chain 313, and a second lifting servo 314; the second chain box 311 is fixedly installed in the mobile vehicle 100, the second main chain 312 and the second sub-chain 313 are housed in the second chain box 311, a second chain opening 315 is opened on the top of the second chain box 311, one end of the second main chain 312 and one end of the second sub-chain 313 are meshed with each other outside the second chain opening 315 and are connected to the second seat body 340 at the same time; the second lifting servo 314 is fixedly installed on the second chain box 311 and a second chain is installed on the output end. The toothed portion of the second chain driving gear 316 meshes with one side of the second main chain 312. When the second chain driving gear 316 rotates, it can drive the second main chain 312 and the second sub-chain 313 to extend outward from the second chain opening 315 synchronously, and the chain plates of the second main chain 312 and the second sub-chain 313 can be clamped with each other to mesh with each other. When the chain plates of the second main chain 312 and the second sub-chain 313 mesh with each other, the meshing structure can limit the bending of the chain. The third lifting rod group 320 includes a third chain box 321, a third main chain 322, a third sub-chain 323 and a third lifting servo 324. The third chain box 321 is fixedly installed in the mobile vehicle 100 and fits with the box body of the second chain box 311. The third main chain 322 and the third sub-chain 323 are housed in the third chain box 321. A third chain opening 325 is provided on the top of the third chain box 321. One end of the third main chain 322 and one end of the third sub-chain 323 are meshed with each other outside the third chain opening 325 and are connected to the third seat body 350 at the same time. The third elevator servo 324 is fixedly installed on the third chain box 321 and a third chain driving gear 326 is provided at the output end. The tooth portion of the third chain driving gear 326 bites with one side of the third main chain 322. When the third chain driving gear 326 rotates, it can drive the third main chain 322 and the third sub-chain 323 to extend outward from the third chain opening 325 synchronously, and the chain plates of the third main chain 322 and the third sub-chain 323 can be clamped with each other and thus mesh with each other. When the chain plates of the third main chain 322 and the third sub-chain 323 are meshed with each other, the meshing structure can limit the bending of the chain, and the second chain opening 315 and the third chain opening 325 are away from each other. The second plug rod 341 and the third plug rod 351 are in an "S" shape, and the end of the second plug rod 341 and the end of the third plug rod 351 are both close to the center line of the double lifting seat 330.

[0041] In addition, a third chain slot 317 and a fourth chain slot 318 are provided in the second chain box 311, the second main chain 312 is slidably received in the third chain slot 317, and the second sub-chain 313 is slidably received in the fourth chain slot 318, one end of the third chain slot 317 and one end of the fourth chain slot 318 converge at the second chain mouth 315 and are provided with a second separation guide portion 360, and second guide surfaces 361 are respectively provided on both sides of the second separation guide portion 360, and the second guide surfaces 361 are consistent with the contours of the third chain slot 317 and the fourth chain slot 318. When the second main chain 312 and the second sub-chain 313 are retracted into the second chain box 311, the second separation guide portion 360 can separate the chain plates of the second main chain 312 and the second sub-chain 313, so that the second main chain 312 and the second sub-chain 313 are respectively bent and received in the third chain slot 317 and the fourth chain slot 318. The third chain box 321 is provided with a fifth chain slot 327 and a sixth chain slot 328, the third main chain 322 is slidably received in the fifth chain slot 327, the third sub-chain 323 is slidably received in the sixth chain slot 328, one end of the fifth chain slot 327 and one end of the sixth chain slot 328 meet at the third chain opening 325 and are provided with a third separation guide portion 370, and the third separation guide portion 370 is provided with a third guide on both sides thereof. Toward surface 371, the third guide surface 371 is consistent with the contour of the fifth chain groove 327 and the sixth chain groove 328. When the third main chain 322 and the third sub-chain 323 are retracted into the third chain box 321, the third separation guide portion 370 can separate the chain plates of the third main chain 322 and the third sub-chain 323, so that the third main chain 322 and the third sub-chain 323 are respectively bent and respectively received in the fifth chain groove 327 and the sixth chain groove 328.

[0042] Next, the working principle of a dragon dance robot in this embodiment is described in detail so that those skilled in the art can better understand the present invention:

[0043] During use, the single-pole lifting device 200 is installed at the dragon body connecting ring 110 at the dragon's tail, and the double-pole lifting device 300 is installed at the dragon head and the dragon body connecting ring 110 of the dragon body. The dragon body connecting rings 110 are connected by a flexible body to form the dragon body.

[0044] When performing a dragon dance, the independently rotating Mecanum wheels on the mobile vehicle 100 can enable the mobile vehicle 100 to move in multiple directions in the horizontal direction, so that the connecting rings 110 of each section of the dragon body can move flexibly and drive the dragon body to swim; at the same time, due to the drive of the single-rod lifting device 200 and the double-rod lifting device 300, the dragon body can rise and fall to imitate the posture of flying in the air, and a smoky environment in the process of dragon flying can be created through the spray device in the mobile vehicle 100; when somersaults are required, the first rotating servo 223 and the second rotating servo 333 can drive the dragon body connecting ring 110 to rotate, so that the dragon body can roll while swimming, and When the dragon body needs to perform a swirling and cross-movement, the dragon body connecting ring 110 at the dragon head can cross and pass from above the dragon body. At this time, the second lifting rod group 310 and the third lifting rod group 320 can be connected to the double lifting seat 330 in sequence, that is, the lifting rod located in the front first descends and separates from the double lifting seat 330, and then the staggered dragon bodies enter under the double lifting seat 330, the lifting rod located in the front rises again and connects with the double lifting seat 330, the lifting rod located in the rear descends and separates from the double lifting seat 330, so that the staggered dragon bodies withdraw from the rear of the double lifting seat 330, and the lifting rod located in the rear rises again and reconnects with the double lifting seat 330, thereby realizing the cross-swirling action of the dragon body during the dragon dance.

[0045] To sum up, the dragon dance robot in this embodiment drives the dragon body connecting ring 110 to move and rotate through the mobile vehicle 100 and the lifting device. The dragon body connecting ring 110 is connected to the flexible body to form a dragon body so as to simulate the swimming, stillness, flying and tumbling movements in the dragon dance process. The lifting device includes a single-pole lifting device 200 and a double-pole lifting device 300. Through the alternating connection between the second lifting rod group 310 and the third lifting rod group 320 in the double-pole lifting device 300 and the double lifting seat 330, the double-pole lifting device 300 and the dragon body can be crossed and moved, thereby automatically realizing the cross-circling movement of the dragon body, making the dynamic performance of the machine simulating the dragon dance more realistic.

[0046] The foregoing descriptions of specific exemplary embodiments of the present invention are for the purpose of explanation and illustration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is obvious that many changes and variations can be made based on the above teachings. Although an embodiment of the present invention has been shown and described, this specific embodiment is only an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can make modifications, substitutions, variations and various selections and changes to the embodiments without creative contribution as needed without departing from the principles and purpose of the present invention after reading this specification, but they are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A dragon dance robot, comprising a moving vehicle, a lifting device and a dragon body connecting ring, wherein the dragon body connecting ring is connected to the moving vehicle through the lifting device, and a flexible body is connected between each of the dragon body connecting rings, characterized in that: The lifting device includes a single-rod lifting device and a double-rod lifting device; the single-rod lifting device includes a first lifting rod group and a single lifting seat, one end of the first lifting rod group is fixedly connected to the mobile vehicle, the other end of the first lifting rod group can be lifted and lowered above the mobile vehicle and connected to the single lifting seat, and the dragon body connecting ring is connected to the single lifting seat in a rotatable manner; the double-rod lifting device includes a second lifting rod group, a third lifting rod group and a double lifting seat, one end of the second lifting rod group and one end of the third lifting rod group are fixedly connected to the same mobile vehicle, the other end of the second lifting rod group and the other end of the third lifting rod group are respectively connected to the two ends of the double lifting seat in a detachable manner, and when either the other end of the second lifting rod group or the other end of the third lifting rod group is connected to the end of the double lifting seat alone, the double lifting seat can still maintain a stable posture, and the dragon body connecting ring is connected to the double lifting seat in a rotatable manner; a spray device is provided in the mobile vehicle.

2. The dragon dancing robot according to claim 1, characterized in that: The single lifting seat includes a first strut and a first seat body, wherein the first seat body is connected to one end of the first lifting rod group, one end of the first strut is fixedly connected to the first seat body, the other end of the first strut is provided with a first rotating servo, and the middle part of the dragon body connecting ring is connected to the output end of the first rotating servo; a first clearance groove is provided on the side of the dragon body connecting ring, the first strut can pass through the first clearance groove, and the end of the first clearance groove can abut against the side of the first strut to limit the rotation of the dragon body connecting ring.

3. The dragon dancing robot according to claim 2, characterized in that: The first lifting rod group includes a first chain box, a first main chain, a first secondary chain and a first lifting servo; the first chain box is fixedly installed in the mobile vehicle, the first main chain and the first secondary chain are accommodated in the first chain box, a first chain opening is provided on the top of the first chain box, one end of the first main chain and one end of the first secondary chain are meshed with each other outside the first chain opening and are connected to the first seat body at the same time; the first lifting servo is fixedly installed on the first chain box and a first chain driving gear is provided at the output end, the first chain driving gear is meshed with one side of the first main chain, and when the first chain driving gear rotates, it can drive the first main chain and the first secondary chain to synchronously extend outward from the first chain opening and mesh with each other.

4. The dragon dancing robot according to claim 3, characterized in that: A first chain slot and a second chain slot are provided in the first chain box, the first main chain is slidably received in the first chain slot, the first sub-chain is slidably received in the second chain slot, the first chain slot and the second chain slot are symmetrically arranged with the first chain opening as the center, one end of the first chain slot and one end of the second chain slot converge at the first chain opening and are provided with a first separation guide portion, first guide surfaces are respectively provided on both sides of the first separation guide portion, and the first guide surfaces are consistent with the contours of the first chain slot and the second chain slot.

5. The dragon dancing robot according to claim 1, characterized in that: The double lifting seat includes a transverse seat body and a second strut, one end of the second strut is fixedly connected to the transverse seat body, the other end of the second strut is provided with a second rotating servo, and the middle part of the dragon body connecting ring is connected to the output end of the second rotating servo; a second clearance groove is provided on the side of the dragon body connecting ring, the second strut can pass through the second clearance groove, and the end of the second clearance groove can abut against the side of the second strut to limit the rotation of the dragon body connecting ring, and slots are respectively provided at both ends of the transverse seat body, and the notches of the slots are provided at the bottom of the transverse seat body.

6. The dragon dancing robot according to claim 5, characterized in that: A second seat body is provided at the other end of the second lifting rod group, and a second plug rod is provided on the second seat body; a third seat body is provided at the other end of the third lifting rod group, and a third plug rod is provided on the third seat body. The ends of the second plug rod and the third plug rod can be inserted into the slot through the notch, and an insertion guide portion is provided at the notch.

7. The dragon dancing robot according to claim 6, characterized in that: The second lifting rod group includes a second chain box, a second main chain, a second secondary chain and a second lifting servo; the second chain box is fixedly installed in the mobile vehicle, the second main chain and the second secondary chain are housed in the second chain box, a second chain opening is provided on the top of the second chain box, one end of the second main chain and one end of the second secondary chain are meshed with each other outside the second chain opening and are connected to the second seat body at the same time; the second lifting servo is fixedly installed on the second chain box and a second chain driving gear is provided at the output end, the second chain driving gear is meshed with one side of the second main chain, and when the second chain driving gear rotates, it can drive the second main chain and the second secondary chain to synchronously extend outward from the second chain opening and mesh with each other.

8. The dragon dancing robot according to claim 7, characterized in that: The third lifting rod group includes a third chain box, a third main chain, a third sub-chain and a third lifting servo; the third chain box is fixedly installed in the mobile vehicle, the third main chain and the third sub-chain are housed in the third chain box, and a third chain opening is provided on the top of the third chain box, one end of the third main chain and one end of the third sub-chain are meshed with each other outside the third chain opening and are connected to the third seat body at the same time; the third lifting servo is fixedly installed on the third chain box and a third chain driving gear is provided at the output end, the third chain driving gear is meshed with one side of the third main chain, and when the third chain driving gear rotates, it can drive the third main chain and the third sub-chain to synchronously extend outward from the third chain opening and mesh with each other.

9. The dragon dancing robot according to claim 8, characterized in that: The second chain opening and the third chain opening are far away from each other.

10. The dragon dancing robot according to claim 9, characterized in that: The second chain box is provided with a third chain slot and a fourth chain slot, the second main chain is slidably received in the third chain slot, the second sub-chain is slidably received in the fourth chain slot, one end of the third chain slot and one end of the fourth chain slot merge at the second chain mouth and are provided with a second separation guide portion, and second guide surfaces are respectively provided on both sides of the second separation guide portion, and the second guide surfaces are consistent with the contours of the third chain slot and the fourth chain slot; the third chain box is provided with a fifth chain slot and a sixth chain slot, the third main chain is slidably received in the fifth chain slot, the third sub-chain is slidably received in the sixth chain slot, one end of the fifth chain slot and one end of the sixth chain slot merge at the third chain mouth and are provided with a third separation guide portion, and third guide surfaces are respectively provided on both sides of the third separation guide portion, and the third guide surfaces are consistent with the contours of the fifth chain slot and the sixth chain slot.

Images