Robot and robot control method

Abstract

The invention discloses a robot and a robot control method, and belongs to the technical field of robot equipment. An existing robot cannot perform complex dancing actions and is simple in function and poor in performance. The robot comprises a robot body and a rotary performance piece. The robot body is provided with arms used for assembling rotary performance pieces and a throwing motor used for throwing performance props. The rotating performance piece is assembled at the tail end of the arm, and the throwing motor can provide throwing power and provide kinetic energy for the performance prop to fly outwards, so that the robot at least can perform dancing actions such as rotation and throwing, the actions are rich, the operation demonstration effect is good, the performance performance is good, innovativeness is high, the posture is attractive, the anthropomorphic effect is good, the function is powerful, and the ornamental value is high. The robot can be popularized and applied conveniently, the blank of the robot performance technology is filled, and the robot can be used for large-scale humanoid robot dancing performance, especially for folk dance performance.

Description

Technical Field

[0001] The invention relates to a robot and a robot control method, belonging to the technical field of robot equipment. Background Art

[0002] Existing bipedal robots can only perform lower limb movements such as walking and running. There is basically no correlation between arm and leg movements, the movements are relatively simple, and they cannot be used in the field of dance performances.

[0003] Furthermore, the Chinese patent (Announcement No.: CN202191696U) discloses a dancing robot, which consists of a head assembly, a main body support, a lower main body support, two robot arms, a neck swivel device, a waist swivel mechanism, a bracket, an electric push rod, a walking wheel assembly, a bottom plate, a visual sensor, a steering control device, a voice system, and an electrical control system. The robot arm consists of an upper arm, a lower arm, and a wrist, which are connected together by joints. The power unit motor, the neck swivel device motor, the waist swivel mechanism motor, the steering control device, the visual sensor, the micro motor driving the robot joint, the electric push rod, and the voice system are connected to the electrical control system.

[0004] Although the above scheme can realize simple hand and leg movements through the rotation of the machine joints, which has a certain degree of ornamental value, it cannot perform complex dance movements, has relatively simple functions, has poor running demonstration effects, and has poor performance performance.

[0005] Furthermore, the above scheme and the existing robot technology lack a humanoid robot capable of performing folk dance, which results in the robot being not very attractive and not being convenient for the promotion and application of the robot.

[0006] The information disclosed in this Background Art is only for understanding the background of the inventive concept and therefore it may include information that does not constitute the prior art. Summary of the invention

[0007] In view of the above problem or one of the above problems, an object of the present invention is to provide a robot and a robot control method, which can at least perform dance movements such as rotation and throwing, have good operation demonstration effect, good performance performance and strong innovation.

[0008] In response to the above problem or one of the above problems, the second object of the present invention is to provide a robot and a robot control method, which can perform dance movements such as waving props, rotating props, and throwing props, with beautiful postures, good anthropomorphic effects, powerful functions, and strong ornamental value, which is convenient for the promotion and application of robots.

[0009] In response to the above problem or one of the above problems, the third object of the present invention is to provide a robot and a robot control method, which can perform at least two kinds of folk dances, namely scarf dance and handkerchief flower dance. During the performance, the scarf and handkerchief head at the end of the arm can be freely switched, and the operation demonstration effect is good, the performance performance is good, and the innovation is very strong; furthermore, the arm movements and leg movements of the robot can be combined together to perform complex leg and / or hand dance movements, thereby filling the gap in robot performance technology and can be used for large-scale humanoid robot dance performances.

[0010] To achieve one of the above purposes, the first technical solution of the present invention is: A robot comprises a robot body capable of performing actions and a rotating performance piece for driving a performance prop to rotate; The robot body is provided with an arm for assembling rotating performance pieces and a throwing motor for throwing performance props; The rotating performance piece is assembled at the end of the arm, and the throwing motor can provide throwing power to give the performance props kinetic energy to fly outward, so that the dance performance robot can provide the rotating power to rotate the performance props and throw the performance props.

[0011] After continuous exploration and experimentation, the present invention arranges a rotating performance piece and a throwing motor for throwing performance props on the arm of the robot body, so that the robot can at least perform dance movements such as rotation and throwing, with rich movements, good operation demonstration effect, good performance performance, and strong innovation, and can be applied in the field of dance performances.

[0012] Furthermore, the robot of the present invention can perform dance movements such as rotating props and throwing props, has beautiful postures, good anthropomorphic effects, powerful functions, and strong ornamental value, which facilitates the promotion and application of the robot.

[0013] Furthermore, by applying the present invention, the robot's arm movements and leg movements can be combined to perform complex leg and / or hand dance movements. Therefore, the emergence of the robot of the present invention fills the gap in robot performance technology and can be used for large-scale humanoid robot dance performances, especially for folk dance performances.

[0014] Furthermore, the robot body of the present application is a quadruped robot or a humanoid robot or a bipedal robot or a wheeled robot.

[0015] The arm is an anthropomorphic arm or a mechanical arm or a rod-shaped structure or a cylindrical structure or a multi-rod joint structure or other special-shaped structures.

[0016] As the preferred technical measures: The performance props are handkerchiefs or handkerchief flowers or flags or poles or sticks or rods; The performance props used for rotation and the performance props used for throwing may be the same or different.

[0017] The rotating performance part is a rotating motor.

[0018] As the preferred technical measures: Rotate the motor output shaft to fix the driving wheel; The driving wheel is matched with a driven wheel outside; the driven wheel is connected with the performance props; The driven wheel and the driving wheel are engaged with each other to transmit power.

[0019] Furthermore, the rotating motor may be a DC motor, an AC motor, a stepping motor or a servo motor.

[0020] As the preferred technical measures: One of the driven wheel and the driving wheel is provided with a protrusion, and the other is provided with a groove, so as to form a mutually engaged chuck to achieve a clutch effect; Or / and, the rotating motor is a hollow structure, wherein a hollow tube which is not in contact with the rotating motor is installed in the cavity; the hollow tube is a wiring steel tube, and the wire rope passes through the inside of the hollow tube; a protective head is installed at the front end of the hollow tube, and the protective head is made of a smooth material, and when the wire rope is tightened, the protective head and the rubber pad on the rotating wheel core are compressed; the outer ring of the rotating wheel core is connected to the driven wheel through a bearing; The end of the line rope is connected to a take-up wheel or a winding wheel, the bottom of which is fixed on a take-up motor, and a sawtooth disk is arranged above the take-up wheel or the winding wheel. When in use, a latch is installed on the electromagnet on the side of the sawtooth disk, and the latch is stuck in the tooth groove when no power is supplied, so that the driving wheel and the driven wheel on the performance prop always keep in engagement during dancing.

[0021] As the preferred technical measures: One end of the line is connected to the winding wheel, and the other end is connected to the rotating wheel core; The rotating wheel core is assembled on the performance prop; Or / and, the winding wheel is a butterfly-shaped spherical structure, which is equipped with a winding motor; The outer cover of the winding wheel is provided with a wire guide groove; The line is a fishing line, iron wire, nylon rope, hemp rope, cloth rope or metal wire; Or / and, the throwing motor is an elbow motor, a leg motor or a shoulder motor of the robot; When the performance props need to be launched, the throwing motor generates force to give the performance props kinetic energy to fly outward, and at the same time the reel-in motor cooperates to release the line outward. After the performance props are airborne and reach the highest point, the reel-in motor rotates to reel in the performance prop assembly and pull it back to the state where the driving wheel and the driven wheel are engaged.

[0022] As the preferred technical measures: The arm is equipped with a performance prop head structure that is thick at both ends and thin in the middle, one end of which is fixed with a silk scarf for performance, and the other end is connected to a sleeve.

[0023] As the preferred technical measures: The head structure of the performance prop is equipped with buttons or buckles for movable connection of the arms; A slot is assembled on the back, side or abdomen of the robot body. After the cylindrical body of the performance prop head structure moves into the slot, the end of the arm continues to move downward, and the buttons or buckles are disengaged by shear force, so that the performance prop head structure with the scarf and sleeves remains in the slot of the robot.

[0024] As the preferred technical measures: The arm is also provided with a waving performance piece, which includes a performance prop head structure, a sleeve, a male button head, a female button head, a handkerchief cover and a silk scarf; the present invention can also perform waving dance movements, further enhancing the performance performance and making the robot's performance movements richer.

[0025] A silk scarf is fixed at one end of the performance prop head structure, and a sleeve is connected to the other end. The sleeve wraps the robot forearm part, and the robot forearm part is movably connected to the performance prop head structure through a button male head and a button female head; Or / and, the rotating performance parts include a rotating motor, a driving wheel, a protective head, a rotating wheel core, a rubber pad, a motor flange, a wire routing steel pipe, a steel pipe pressure plate, a winding wheel mounting plate, an electromagnet, a clamping tooth, a lead groove, a sawtooth disk, a lead block, a winding wheel, a take-up motor, an outer protective cover, a drive block, a drive block housing, a motor main mounting plate, a normally closed magnet block, a direct connection head, an inner ring cover plate, an outer ring pressure plate, a handkerchief folded and wrapped backwards, and a driven wheel; The rotating motor is assembled at the end of the arm, and the rotating motor is a hollow structure, wherein a wiring steel pipe which is not in contact with the rotating motor is installed in the cavity; a protective head is installed at the front end of the wiring steel pipe, and the protective head is made of a smooth material; The output shaft of the rotating motor is fixed to the driving wheel; the driving wheel is matched with a driven wheel outside; the driven wheel and the driving wheel are engaged together to transmit power; The outer ring of the rotating wheel core is connected to the driven wheel through a ceramic bearing; The rubber pad is assembled on the rotating wheel core; The outer cover of the winding wheel is provided with a wire guide groove; The lower part of the take-up wheel is fixed on the take-up motor, a sawtooth disc is arranged on the upper part of the take-up wheel, and a clamping tooth is installed on the electromagnet on the side of the sawtooth disc. When no power is supplied, the clamping tooth is clamped into the tooth groove, so that the driving wheel and the driven wheel on the second performance prop always keep biting during dancing; Or / and, the robot body includes a slot, an inner side of a forearm shell and an outer side of a forearm shell.

[0026] Furthermore, the power source for the waving and throwing performances can be directly the driving motor of the robot arm. The swinging and waving of the robot arm can be used to realize the waving and throwing performances of the performance props, thereby effectively reducing the number of parts and reducing manufacturing costs. The design is ingenious.

[0027] Furthermore, the motor in the present application may be a DC motor, an AC motor, a stepper motor, or a servo motor.

[0028] To achieve one of the above purposes, the second technical solution of the present invention is: A robot control method uses the above-mentioned robot, which includes a waving performance part, a rotating performance part and / or a throwing performance part.

[0029] After continuous exploration and testing, the present invention can at least perform dance movements such as waving, rotating, throwing, etc., has rich movements, good operation and demonstration effects, good performance performance, and is very innovative, and can be applied in the field of dance performances.

[0030] Furthermore, the present invention can perform dance movements such as waving props, rotating props, and throwing props, with beautiful postures, good anthropomorphic effects, powerful functions, and strong ornamental value, which is convenient for the promotion and application of robots.

[0031] As the preferred technical measures: The waving performance part involves waving the first performance prop to perform, which includes the following contents: Use arms to dance the first performance props; After the first performance prop is performed, the end of the arm moves to the back of the robot. A slot is installed on the back of the robot. After the thin middle part of the performance prop head structure moves into the slot, the end of the arm continues to move downward and uses shear force to detach the button. In this way, the performance prop head structure with the first performance prop and sleeve remains in the slot of the robot, and the second performance prop is exposed. The rotating performance part involves rotating the second performance prop to perform, which includes the following contents: A rotating motor mounted on the end of the arm provides a rotational force for rotating the second performance prop; The rotating motor is a hollow structure, wherein a hollow tube having no contact with the rotating motor is installed in the cavity; A wire rope passes through the hollow steel tube, one end of the wire rope is connected to the rear winding wheel, and the other end is connected to a core wheel; The core wheel is mounted on the second performance prop; A protective head is installed at the front end of the hollow tube. The protective head is made of smooth material. When the wire rope is tightened, the protective head and the rubber pad on the core wheel are compressed. The outer ring of the core wheel is connected to the driven wheel through a ceramic bearing; The end of the line rope is connected to a take-up wheel, the lower part of which is fixed on the take-up motor, and the upper part of the take-up wheel is provided with a sawtooth disk. When in use, a clamping tooth is installed on the electromagnet on the side of the sawtooth disk. When no power is supplied, the clamping tooth is clamped into the tooth groove, so that the driving wheel and the driven wheel on the second performance prop always keep in engagement during the dance; The throwing performance part involves throwing the second performance prop to perform, which includes the following contents: The shoulder motor and / or the elbow motor exerts force to give the second performance prop kinetic energy to fly outward, and at the same time, the reel-in motor cooperates to release the line outward. After the second performance prop is airborne and reaches the highest point, the reel-in motor rotates to reel in the second performance prop and pulls it back to the state where the driving wheel and the driven wheel are engaged.

[0032] Compared with the prior art solutions, the present invention has the following beneficial effects: After continuous exploration and experimentation, the present invention arranges a rotating performance piece and a throwing motor for throwing performance props on the arm of the robot body, so that the robot can at least perform dance movements such as rotation and throwing, with rich movements, good operation demonstration effect, good performance performance, and strong innovation, and can be applied in the field of dance performances.

[0033] Furthermore, the present invention can also perform dance movements such as waving, further enhancing the performance performance and making the robot's performance movements richer.

[0034] Furthermore, the structure of the present invention can perform at least two kinds of folk dances, namely scarf dance and handkerchief flower dance. The scarf and handkerchief head at the end of the arm can be switched during the performance. The operation demonstration effect is good, the performance performance is good, and the innovation is very strong. The arm movements and leg movements of the robot can be combined to perform complex leg and / or hand dance movements. Therefore, the emergence of this robot of the present invention fills the gap in robot performance technology and can be used for large-scale humanoid robot dance performances.

[0035] Furthermore, when performing the handkerchief flower, the present invention can not only spin the handkerchief at the end of the arm, but also throw it out and then recover it. The driving wheel fixed on the motor and the driven wheel fixed on the handkerchief flower cleverly use a chuck structure, and the line will not be scratched at any position when the line is retracted and released, which not only ensures the reliability of recovery but also can keep the handkerchief flower in a rotating state in the air and after falling back, and has strong projection stability.

[0036] Furthermore, the internal winding wheel assembly of the present invention has good structural performance. The winding wheel can better wind the wire rope around the wheel with the help of the butterfly-shaped spherical structure when winding the wire rope to prevent the wire rope from blowing up. The wire guide groove space of the winding wheel cover is provided with closing openings at the top and bottom. When the wire rope expands outwards when winding and releasing the wire rope, it can also prevent the wire rope from sliding out of the track. These designs ensure that the wire rope can be smoothly wound and released, so that the handkerchief flower can be thrown and retrieved smoothly in a rotating state.

[0037] The arm structure of the present invention is as light as possible while completing the performance function, and has little effect on the robot's balance and dance steps, so that the robot can freely perform whole-body movements and dance smoothly without adversely affecting the robot's balance control. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A front view schematic diagram of the dance performance robot of the present invention; Figure 2 A schematic diagram of the back side of the dance performance robot of the present invention; Figure 3 A side schematic diagram of the dance performance robot of the present invention; Figure 4 for Figure 3 A schematic diagram of the structure shown being transformed at a certain angle; Figure 5 for Figure 4 A schematic diagram of the structure shown being transformed at a certain angle; Figure 6 A cross-sectional schematic diagram of the performance assembly of the present invention (assembly of a silk scarf); Figure 7 For Figure 6 A cross-sectional view of the structure CC shown; Figure 8 A cross-sectional schematic diagram of the performance assembly of the present invention (with handkerchief assembled); Fig. 9 An exploded schematic diagram of the performance assembly of the present invention; Fig.10 for Fig. 9 A schematic diagram of the structure shown being transformed at a certain angle; Fig.11 A schematic diagram of the performance assembly of the present invention (without props); Fig.12 A schematic diagram of a performance assembly of the present invention (assembly props); Fig.13 for Fig.12 A schematic diagram of the structure shown being transformed at a certain angle; Fig.14 for Fig.13 A schematic diagram of the structure shown being transformed at a certain angle; Fig.15 A cross-sectional view of the performance assembly of the present invention (assembly prop); Fig.16 Another cross-sectional view of the performance assembly of the present invention (assembly prop); Fig.17 It is a schematic diagram of the performance component of the present invention being transformed to a certain angle.

[0039] Description of reference numerals: 1. Robot body; 2. Performance components; 3. Silk scarf; 4. Handkerchief; 5. Slot; 211. Performance prop head structure; 212. Sleeve; 213. Button male head; 214. Button female head; 215. Handkerchief cover; 221. Rotating motor; 222. Driving wheel; 223. Protective head; 224. Rotating wheel core; 225. Rubber pad; 226. Motor flange; 227. Cable routing steel pipe; 228. Steel pipe pressure plate; 231. Winding wheel mounting plate; 232. Electromagnet; 233. Gear; 234. Lead groove; 235. Sawtooth disk; 236. Fish line space; 237. Lead block; 238. Reel; 239. Take-up motor; 241. Outer protective cover; 242. Drive block; 243. Drive block housing; 244. Motor main mounting plate; 245. Normally closed magnet block; 246. Direct connection head; 251. Inner ring cover plate; 252. Outer ring pressure plate; 41. Driven wheel; 61. Inside of forearm housing; 62. Outside of forearm housing; A. Rotating motor module; B. Take-up motor module. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] On the contrary, the present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the following detailed description of the present invention. Those skilled in the art can fully understand the present invention without the description of these details.

[0042] It should be noted that when two elements are "fixedly connected" or "swingingly connected" or "rotatably connected" or "throwingly connected", the two elements can be directly connected or there can be an intermediate element. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "upper", "lower" and similar expressions used herein are for illustrative purposes only.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention pertains. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0044] The first specific embodiment of the dance performance robot of the present invention: A robot comprises a robot body capable of performing actions and a rotating performance piece for driving a performance prop to rotate; the robot body is provided with an arm for assembling the rotating performance piece and a throwing motor for throwing the performance prop; the rotating performance piece is assembled at the end of the arm, and the throwing motor can provide throwing power to give kinetic energy to the performance prop to fly outward, so that the dance performance robot can provide the rotating power for rotating the performance prop and throw the performance prop.

[0045] like Figure 1-Figure 10 As shown, the second specific embodiment of the dance performance robot of the present invention: A robot comprises a robot body 1 capable of performing actions and a performance component 2 for driving a performance prop to move; the performance component 2 comprises a swinging performance piece for swinging a first performance prop, and / or a rotating performance piece for rotating a second performance prop, and / or a throwing performance piece for throwing a third performance prop; the performance component is assembled on the robot body 1 to form a dance performance robot.

[0046] In this embodiment: the first performance prop is a silk scarf 3 or a handkerchief or a handkerchief flower or a flag or a pole or a stick or a rod; The second performance prop is a silk scarf 3 or a handkerchief or a handkerchief flower or a flag or a pole or a stick or a rod; The third performance prop is a silk scarf 3 or a handkerchief or a handkerchief flower or a flag or a pole or a stick or a rod; In a performance, the first performance prop, the second performance prop, and the third performance prop are the same performance object; Or, the first performance prop and the third performance prop are the same performance object; Or, the second performance prop and the third performance prop are the same performance object.

[0047] In this embodiment: the robot body 1 includes an arm or / and a manipulator or / and a manipulator leg or / and a foot end or / and a head; The arm, manipulator, manipulator leg, foot end, head can be assembled with performance component 2 by one, two, three or all of them.

[0048] Or / and, the waving performance piece is a performance prop head structure 211 or a manipulator or a clamp or a suction cup that is thick at both ends and thin in the middle, one end of which fixes the first performance prop for performance and the other end is connected to a sleeve 212.

[0049] In this embodiment: the performance prop head structure 211 is an I-shaped structure, which includes a first extension part and a second extension part located at both ends and a cylinder located in the middle. The surface area of ​​the first extension part and the second extension part is larger than the end surface area of ​​the cylinder, forming a structure with thick ends and a thin middle.

[0050] In this embodiment: the sleeve 212 is provided with a receiving cavity capable of wrapping a large part or a part of the robot forearm, and the receiving cavity is provided with a hidden area for hiding the second performance prop; the hidden area is equipped with a fastener or a baffle for movably connecting the second performance prop; Or / and, the performance prop head structure 211 is equipped with buttons or buckles for movably connecting to the robot arm; A slot 5 is assembled on the back, side or abdomen of the robot body 1. After the cylinder of the performance prop head structure 211 moves into the slot 5, the end of the robot arm continues to move downward, using shear force to disengage the buttons or buckles, so that the performance prop head structure 211 with the first performance prop and the sleeve 212 remains in the slot 5 of the robot.

[0051] In this embodiment: the rotating performance piece is a rotating motor 221, which is installed at the end of the manipulator or arm and is used to provide a rotating power to rotate the second performance prop; The output shaft of the rotating motor 221 fixes the driving wheel 222; The driving wheel 222 is matched with the driven wheel 41 outside; The driven wheel 41 and the driving wheel 222 are engaged with each other to transmit power.

[0052] In this embodiment: one of the driven wheel 41 and the driving wheel 222 is provided with a protrusion, and the other is provided with a groove, so as to form mutually interlocking chucks to achieve a clutch effect, which is convenient for the rotational force transmission between the rotating performance piece and the second performance prop, and is convenient for the rapid separation and assembly of the two.

[0053] In this embodiment: the rotating motor 221 is a hollow structure, wherein a hollow tube having no contact with the rotating motor is installed in the cavity; The hollow tube is a wire-laying steel tube 227, and the wire rope passes through the inside thereof; A protective head 223 is installed at the front end of the hollow tube. The protective head 223 is made of smooth material to reduce friction with the wire rope and increase service life. When the wire rope is tightened, the protective head 223 and the rubber pad 225 on the core wheel are compressed. The outer ring of the core wheel is connected to the driven wheel 41 through a ceramic bearing, so that the rotation of the outer ring will not cause the rope to twist, thereby ensuring the long-term use of the rope.

[0054] The end of the line rope is connected to a take-up wheel or winding wheel 238, the bottom of which is fixed on a take-up motor 239, and a sawtooth disk 235 is arranged above the take-up wheel or winding wheel 238. When in use, a latch 233 is installed on the electromagnet 232 on the side of the sawtooth disk 235, and the latch 233 is stuck in the tooth groove when no power is supplied, so that during the intense dance process, the rotating performance piece will not be thrown out, so that the driving wheel 222 and the driven wheel 41 on the second performance prop will always keep in engagement during the dance.

[0055] In this embodiment: the throwing performance piece includes a throwing motor capable of providing throwing power, and a line capable of pulling back the third performance prop; One end of the line body is connected to the rear winding wheel 238, and the other end is connected to a core wheel; The core wheel is a rotating wheel core 224, which is assembled on the second performance prop.

[0056] In this embodiment: the winding wheel 238 is a butterfly-shaped spherical structure, which is equipped with a wire-reeling motor 239, so that the wire can be automatically and accurately wound on the wheel; The outer cover of the winding wheel 238 is provided with a wire guide groove 234 for limiting the moving track of the wire body; Or / and, the line body and the line rope are the same rope or two independent ropes; The line body and the line rope are respectively fishing line, iron wire, nylon rope, hemp rope, cloth rope or metal wire.

[0057] In this embodiment: the throwing motor is an elbow motor, a leg motor or a shoulder motor of the robot; When the performance prop is thrown, the throwing motor generates force to give the performance prop kinetic energy to fly outward, and at the same time, the take-up motor 239 cooperates to release the line outward. After the performance prop reaches the highest point in the air, the take-up motor 239 rotates to take up the line and retract the performance prop, pulling it back to the state where the driving wheel 222 and the driven wheel 41 are engaged.

[0058] like Fig.11 As shown, the third specific embodiment of the dance performance robot of the present invention: A robot comprises a robot body 1 capable of performing actions and a performance component 2 for driving performance props to move; the performance component 2 comprises a swinging performance piece for swinging a first performance prop, a rotating performance piece for rotating a second performance prop, and a throwing performance piece for throwing a third performance prop; the performance component is assembled on the robot body 1 to form a dance performance robot.

[0059] In this embodiment: the waving performance piece includes a performance prop head structure 211, a sleeve 212, a male button head 213, a female button head 214, a handkerchief cover plate 215, and a silk scarf 3; the rotating performance piece includes a rotating motor 221, a driving wheel 222, a protective head 223, a rotating wheel core 224, a rubber pad 225, a motor flange 226, a wiring steel pipe 227, a steel pipe pressure plate 228, a winding wheel mounting plate 231, an electromagnet 232, a clamping tooth 233, a lead groove 234, a serrated disk 235, a fishing line space 236, a lead block 237, a winding wheel 238, a take-up motor 239, an outer protective cover 241, a drive block 242, a drive block shell 243, a motor main mounting plate 244, a normally closed magnet block 245, a direct connection head 246, an inner circle cover plate 251, an outer circle pressure plate 252, a handkerchief 4 folded and wrapped backwards, and a driven wheel 41.

[0060] The throwing performance piece includes a rotating performance piece and a shoulder motor and / or an elbow motor; The robot body 1 includes a slot 5 , an inner side 61 of a forearm housing, and an outer side 62 of a forearm housing.

[0061] The first specific embodiment of the robot control method of the present invention: A robot control method uses the above-mentioned robot, which includes a waving performance part, a rotating performance part and / or a throwing performance part.

[0062] like Figure 12-17 As shown, the second specific embodiment of the robot control method of the present invention: A robot control method is used to control the robot to perform a dance performance, which includes a waving performance part and / or a rotating performance part and / or a throwing performance part.

[0063] In this embodiment, the waving performance part, waving the first performance prop to perform, includes the following contents: Use the robotic arm to dance the first performance prop performance; After the performance of the first performance prop is completed, the robot moves its hands to the back, where a slot 5 is installed. After the thin middle part of the performance prop head structure 211 moves into the slot 5, the robot continues to move downward to remove the button by shear force, so that the performance prop head structure 211 with the first performance prop and the sleeve 212 remains in the slot 5 of the robot, and the second performance prop is exposed. The rotating performance part involves rotating the second performance prop to perform, which includes the following contents: A rotating motor 221 mounted at the end of the manipulator or arm provides a rotating power for rotating the second performance prop; The rotating motor 221 is a hollow structure, wherein a hollow tube which is not in contact with the rotating motor is installed in the cavity; A wire rope passes through the hollow steel tube, one end of the wire rope is connected to the rear winding wheel 238, and the other end is connected to a core wheel; The core wheel is assembled on the second performance prop.

[0064] A protective head 223 is installed at the front end of the hollow tube. The protective head 223 is made of smooth material to reduce friction with the wire rope and increase service life. When the wire rope is tightened, the protective head 223 and the rubber pad 225 on the core wheel are compressed. The outer ring of the core wheel is connected to the driven wheel 41 through a ceramic bearing, so that the rotation of the outer ring will not cause the rope to twist, thereby ensuring the long-term use of the rope.

[0065] The end of the line rope is connected to a take-up wheel, the lower part of which is fixed on a take-up motor 239, and the upper part of which is provided with a sawtooth disk 235. When in use, a latching tooth 233 is installed on the electromagnet 232 on the side of the sawtooth disk 235. When no power is supplied, the latching tooth 233 is latched into the tooth groove, so that the rotating performance piece will not be thrown out during the intense dance, and the driving wheel 222 and the driven wheel 41 on the second performance prop will always keep in engagement during the dance; The throwing performance part involves throwing the second performance prop to perform, which includes the following contents: The shoulder motor and / or the elbow motor exerts force to give the second performance prop kinetic energy to fly outward, and at the same time, the take-up motor 239 cooperates to release the line outward. After the second performance prop is airborne and reaches the highest point, the take-up motor 239 rotates to take up the line and retract the second performance prop, pulling it back to the state where the driving wheel 222 and the driven wheel 41 are engaged.

[0066] A third specific embodiment of the robot control method of the present invention: A robot control method can realize a robot dance performance, which includes a silk scarf 3 dance part and a handkerchief 4 dance part, and specifically includes the following contents: 1. The first half of the dance robot performance is the silk scarf 3 dance part. There is a handkerchief head structure (i.e., performance prop head structure) at the front end of the machine, which is thick at both ends and thin in the middle. One end of the handkerchief head structure is fixed with the silk scarf 3 for performance, and the other end is connected to a black sleeve 212. The sleeve 212 wraps most of the robot's forearm. The handkerchief 4 is hidden under the sleeve 212 and connected to the handkerchief wheel at the rear by buttons. At the beginning of the performance, the dance silk scarf 3 performance is performed first. After the silk scarf 3 performance is completed, the robot's hands move to the back. There is a slot 5 installed behind the robot. After the thin part of the handkerchief head structure moves into the slot 5, the end of the robot arm continues to move downward, and the button is disengaged by shear force, so that the handkerchief head structure with the silk scarf 3 and the sleeve 212 remains in the slot 5 of the robot. Since the sleeve 212 is removed, the handkerchief 4 hidden inside is revealed.

[0067] 2. The second half of the dance performance is the performance of the handkerchief flower. The rotating motor 221 at the end of the arm provides the rotating power to rotate the handkerchief 4. The motor is hollow. In the hollow space, a hollow steel pipe that is not in contact with the motor is installed. The fishing line passes through the steel pipe. One end of the fishing line is connected to the rear winding wheel 238, and the other end is connected to the core wheel on the handkerchief 4 part. The front end of the rotating motor 221 is equipped with a driving wheel 222. The driven wheel 41 on the handkerchief 4 part and the driving wheel 222 obtain power to rotate through the bite of the chuck. The front end of the steel pipe is equipped with a protective head 223. The protective head 223 is made of soft material to reduce the friction of the fishing line and increase the service life. At the same time, when the fishing line is tightened, the protective head 223 and the rubber pad 225 on the handkerchief wheel core are compressed. The outer ring of the handkerchief wheel core is connected to the driven wheel 41 through a ceramic bearing. In this way, the outer ring will not cause the torsion of the fishing line when it rotates, so as to ensure the long-term use of the handkerchief flower. The bottom of the take-up wheel at the end of the fishing line is fixed on the take-up motor 239, and there is a sawtooth disk 235 above the take-up wheel. When in use, the electromagnet 232 on the side of the sawtooth disk 235 is equipped with a clamping tooth 233, and the clamping tooth 233 is clamped into the tooth groove when the power is not on, so that the handkerchief flower assembly will not be thrown out during the intense dance, so that the driving wheel 222 and the driven wheel 41 on the handkerchief 4 part always keep in engagement during the dance. When the handkerchief 4 is thrown, the shoulder motor or / and the elbow motor exerts force to give the handkerchief 4 assembly kinetic energy to fly outward, and the take-up motor 239 cooperates to release the line outward. After the handkerchief 4 is in the air and reaches the highest point, the take-up motor 239 rotates to retract the handkerchief 4 assembly and pulls it back to the state where the driving wheel 222 and the driven wheel 41 are engaged.

[0068] The present invention can perform at least two kinds of folk dances, such as scarf 3 dance and handkerchief flower dance. The scarf 3 and handkerchief head at the end of the arm can be switched during the performance, and the performance performance and innovation are very strong. When performing handkerchief flower, not only can the handkerchief 4 be turned at the end of the arm, but it can also be thrown out and recovered. The driving wheel 222 fixed on the motor and the driven wheel 41 fixed on the handkerchief flower cleverly use the chuck structure, and the fishing line will not be scratched at any position when the line is retracted and released, which not only ensures the reliability of recovery, but also can keep the rotating state of the handkerchief flower in the air and after falling back, and the projection stability is strong. The internal take-up wheel assembly has good structural performance, and the winding wheel 238 can better wrap the fishing line on the wheel when the line is retracted by means of the butterfly-shaped spherical structure to prevent the line from exploding. The space of the lead-in groove 234 of the outer cover of the take-up wheel has closings on the upper and lower sides, and the fishing line can be prevented from slipping out of the track when the fishing line expands outward when the line is retracted and released. These designs ensure that the fishing line is retracted and released smoothly, so that the handkerchief flower can be thrown out and recovered smoothly in a rotating state. The arm structure is as light as possible while still completing its function, with minimal impact on the robot's balance and dance steps, allowing the robot to perform full-body movements and dance smoothly.

[0069] A system embodiment using the method of the present invention: A robot control system includes several algorithm models and a rotating motor module A and a wire-receiving motor module B to implement the above-mentioned robot control method.

[0070] An embodiment of a device applying the method of the present invention: An electronic device comprising: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned robot control method.

[0071] A computer medium embodiment of the method of the present invention is applied: A computer-readable storage medium stores a computer program, which implements the above-mentioned robot control method when executed by a processor.

[0072] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, and computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0073] The present application is described by flowcharts or / and block diagrams of the methods, devices (systems), and computer program products of the embodiments of the present application. It should be understood that each process or / and block in the flowchart or / and block diagram and the combination of the processes or / and blocks in the flowchart or / and block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart or / and block diagram. Figure 1 Process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0074] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 Process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 Process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0076] In the present application, the fixed connection method can be screw connection, welding, riveting, plug connection, or connection through a third component, and technical personnel in this field can choose according to actual conditions.

[0077] The model in this application is an object that objectively describes the morphological structure with the help of physical or virtual representation. The object is not equal to the object and is not limited to physical and virtual. It can be a data processing function, software program, processing mode, usage method, operation method, workflow, application process, electronic hardware, circuit module, processing system, system imitation or simulation object.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field can still modify or replace the specific implementation methods of the present invention with equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A robot, characterized in that: It comprises a robot body (1) capable of performing actions and a rotating performance piece for driving a performance prop to rotate; The robot body (1) is provided with an arm for assembling a rotating performance piece and a throwing motor for throwing the performance prop; The rotating performance piece is assembled at the end of the arm, and the throwing motor can provide throwing power to give the performance props kinetic energy to fly outward, so that the dance performance robot can provide the rotating power to rotate the performance props and throw the performance props.

2. A robot according to claim 1, characterized in that: The performance props are handkerchiefs or handkerchief flowers or flags or poles or sticks or rods; The rotating performance element is a rotating motor (221).

3. A robot as claimed in claim 2, characterized in that: The output shaft of the rotating motor (221) fixes the driving wheel (222); The driving wheel (222) is matched with a driven wheel (41) outside; the driven wheel (41) is connected to the performance prop; The driven wheel (41) and the driving wheel (222) are engaged with each other to transmit power.

4. A robot as claimed in claim 3, characterized in that: One of the driven wheel (41) and the driving wheel (222) is provided with a protrusion, and the other is provided with a groove, so as to form a chuck that fits in with each other, thereby achieving a clutch effect; Or / and, the rotating motor (221) is a hollow structure, wherein a hollow tube which is not in contact with the rotating motor is installed in the cavity; the hollow tube is a wiring steel tube (227), and a wire rope is passed through the inside of the hollow tube; a protective head (223) is installed at the front end of the hollow tube, and the protective head (223) is made of a smooth material, and when the wire rope is tightened, the protective head (223) and the rubber pad (225) on the rotating wheel core (224) are compressed; the outer ring of the rotating wheel core (224) is connected to the driven wheel (41) through a bearing; The end of the line rope is connected to a take-up wheel or winding wheel (238), the lower part of which is fixed on a take-up motor (239), and a sawtooth disk (235) is arranged above the take-up wheel or winding wheel (238). When in use, a clamping tooth (233) is installed on the electromagnet (232) on the side of the sawtooth disk (235). When no power is supplied, the clamping tooth (233) is clamped into the tooth groove, so that the driving wheel (222) and the driven wheel (41) on the performance prop are always kept in engagement during dancing.

5. A robot as claimed in claim 4, characterized in that: One end of the line is connected to the winding wheel (238), and the other end is connected to the rotating wheel core (224); The rotating wheel core (224) is assembled on the performance prop; Or / and, the winding wheel (238) is a butterfly-shaped spherical structure, which is equipped with a winding motor (239); The outer cover of the winding wheel (238) is provided with a wire guide groove (234); The line is a fishing line, iron wire, nylon rope, hemp rope, cloth rope or metal wire; Or / and, the throwing motor is an elbow motor, a leg motor or a shoulder motor of the robot; When the performance prop needs to be thrown, the throwing motor generates force to give the performance prop kinetic energy to fly outward, and at the same time, the line-reeling motor (239) cooperates to release the line outward. After the performance prop reaches the highest point in the air, the line-reeling motor (239) rotates to reel in the performance prop assembly and pulls it back to the state where the driving wheel (222) and the driven wheel (41) are engaged.

6. A robot as claimed in claim 1, characterized in that: The arm is equipped with a performance prop head structure (211) which is thick at both ends and thin in the middle, one end of which is fixed with a silk scarf for performance, and the other end is connected with a sleeve (212).

7. A robot as claimed in claim 6, characterized in that: The performance prop head structure (211) is equipped with buttons or buckles for movably connecting the arms; A slot (5) is installed at the back, side or abdomen of the robot body (1). After the cylindrical body of the performance prop head structure (211) moves into the slot (5), the end of the arm continues to move downward, and the button or buckle is disengaged by shear force, so that the performance prop head structure (211) with the scarf and sleeve (212) remains in the slot (5) of the robot.

8. A robot as claimed in claim 1, characterized in that: The arm is also provided with a swinging performance piece, which includes a performance prop head structure (211), a sleeve (212), a male button head (213), a female button head (214), a handkerchief cover (215) and a silk scarf (3); A silk scarf (3) is fixed to one end of the performance prop head structure, and a sleeve (212) is connected to the other end; the sleeve (212) wraps around the robot forearm portion, and the robot forearm portion is movably connected to the performance prop head structure (211) via a male button head (213) and a female button head (214); or / and, the rotating performance part comprises a rotating motor (221), a driving wheel (222), a protective head (223), a rotating wheel core (224), a rubber pad (225), a motor flange (226), a wire routing steel pipe (227), a steel pipe pressure plate (228), a winding wheel mounting plate (231), an electromagnet (232), a clamping tooth (233), a wire guide groove (234), a sawtooth disk (235), a wire guide block (237), a winding wheel (238), a wire take-up motor (239), an outer protective cover (241), a driving block (242), a driving block housing (243), a motor main mounting plate (244), a normally closed magnet block (245), a direct connection head (246), an inner ring cover plate (251), an outer ring pressure plate (252), a backward folded wrapped handkerchief (4) and a driven wheel (41); The rotating motor (221) is assembled at the end of the arm, and the rotating motor (221) is a hollow structure, wherein a wiring steel pipe (227) which is not in contact with the rotating motor (221) is installed in the cavity; a protective head (223) is installed at the front end of the wiring steel pipe (227), and the protective head (223) is made of a smooth material; The output shaft of the rotating motor (221) fixes the driving wheel (222); the driving wheel (222) is matched with a driven wheel (41) outside; the driven wheel (41) and the driving wheel (222) are engaged together to transmit power; The outer ring of the rotating wheel core (224) is connected to the driven wheel (41) via a ceramic bearing; The rubber pad (225) is assembled on the rotating wheel core (224); The outer cover of the winding wheel (238) is provided with a wire guide groove (234); The lower part of the take-up wheel is fixed on the take-up motor (239), a sawtooth disk (235) is arranged on the upper part of the take-up wheel, and a latching tooth (233) is installed on the electromagnet (232) on the side of the sawtooth disk (235). When no power is supplied, the latching tooth (233) is latched into the tooth groove, so that the driving wheel (222) and the driven wheel (41) on the second performance prop are always engaged during the dance; Or / and, the robot body (1) comprises a slot (5), an inner side of a forearm shell (61) and an outer side of a forearm shell (62).

9. A robot control method, characterized in that: A robot as described in any one of claims 1-8 is used, which includes a waving performance part, a rotating performance part and / or a throwing performance part.

10. A robot control method according to claim 9, characterized in that: The waving performance part involves waving the first performance prop to perform, which includes the following contents: Use arms to dance the first performance props; After the performance of the first performance prop is completed, the end of the arm moves to the back of the robot. A slot (5) is installed on the back of the robot. After the thin middle part of the performance prop head structure (211) moves into the slot (5), the end of the arm continues to move downward and the button is detached by shear force, so that the performance prop head structure (211) with the first performance prop and the sleeve (212) remains in the slot (5) of the robot, and the second performance prop is exposed. The rotating performance part involves rotating the second performance prop to perform, which includes the following contents: A rotating motor (221) mounted at the end of the arm provides a rotating power for rotating the second performance prop; The rotating motor (221) is a hollow structure, wherein a hollow tube having no contact with the rotating motor is installed in the cavity; A wire rope passes through the hollow steel tube, one end of the wire rope is connected to the rear winding wheel (238), and the other end is connected to a core wheel; The core wheel is mounted on the second performance prop; A protective head (223) is installed at the front end of the hollow tube. The protective head (223) is made of a smooth material. When the wire rope is tightened, the protective head (223) and the rubber pad (225) on the core wheel are compressed. The outer ring of the core wheel is connected to the driven wheel (41) via a ceramic bearing; The end of the line rope is connected to a take-up wheel, the lower part of which is fixed on a take-up motor (239), and the upper part of the take-up wheel is provided with a sawtooth disk (235). When in use, a clamping tooth (233) is installed on the electromagnet (232) on the side of the sawtooth disk (235). When no power is supplied, the clamping tooth (233) is clamped into the tooth groove, so that the driving wheel (222) and the driven wheel (41) on the second performance prop are always engaged during dancing; The throwing performance part involves throwing the second performance prop to perform, which includes the following contents: The shoulder motor and / or the elbow motor generate force to give the second performance prop kinetic energy to fly outwards, and at the same time, the wire-reeling motor (239) cooperates to release the wire outwards. After the second performance prop is airborne and reaches the highest point, the wire-reeling motor (239) rotates to reel in the second performance prop and pulls it back to a state where the driving wheel (222) and the driven wheel (41) are engaged.

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