A robot and a robot control method

Abstract

The present invention discloses a robot and a robot control method, belonging to the technical field of robot devices. Existing robots are unable to perform complex dance movements, have relatively simple functions, and poor performance. A robot of the present invention includes a robot body and a rotating performance member; an arm for assembling the rotating performance member and a throwing motor for throwing a performance prop are provided on the robot body; the rotating performance member is assembled at the end of the arm, and the throwing motor can provide throwing power to give the performance prop the kinetic energy to fly outwards, so that the robot of the present invention can at least perform dance movements such as rotation and throwing. The movements are rich, the operation demonstration effect is good, the performance is good, the innovation is very strong, the posture is beautiful, the anthropomorphic effect is good, the function is powerful, the ornamental value is high, it is convenient for the popularization and application of the robot, fills the gap in robot performance technology, and can be used for large-scale humanoid robot dance performances, especially ethnic dance performances.

Description

Technical Field

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

[0002] Existing biped robots can only perform lower limb movements such as walking and running. The arm movements and leg movements are basically not related, and the movements are relatively single, so they cannot be applied in the field of dance performances.

[0003] Furthermore, a Chinese patent (Publication No.: CN202191696U) discloses a dance robot, which is composed of a head component, a main body support, a lower main body support, 2 robot arms, a neck rotation device, a waist rotation mechanism, a bracket, an electric push rod, a walking wheel assembly, a bottom plate, a vision sensor, a steering control device, a voice system, and an electrical control system. The robot arm consists of a large arm, a small arm, and a wrist, which are connected together by joints. The power device motors, the neck rotation device motor, the waist rotation mechanism motor, the steering control device, the vision sensor, the micro motors driving the robot joints, the electric push rod, the voice system are connected to the electrical control system.

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

[0005] Furthermore, the above solution and existing robot technologies lack a humanoid robot capable of performing ethnic dance performances, resulting in poor ornamental value of the robot and inconvenience for the popularization and application of the robot.

[0006] The information disclosed in this background art is only used to understand the background of the inventive concept of the present invention, so it may include information that does not constitute prior art. Summary of the Invention

[0007] Aiming at the above problems or one of the above problems, the first 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 running demonstration effects, good performance, and strong innovation.

[0008] Aiming at the above problems 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, have beautiful postures, good anthropomorphic effects, powerful functions, strong ornamental value, and are convenient for the popularization and application of the robot.

[0009] In view of the above problems 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 ethnic dances such as silk scarf dance and handkerchief flower dance, and can freely switch the silk scarf and the handkerchief head at the end of the arm during the performance, with good running demonstration effect, good performance, and strong innovation; furthermore, the arm movements and leg movements of the robot can be combined to perform complex leg or / and hand dance movements, thus 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 objects, the first technical solution of the present invention is:

[0011] A robot, comprising a robot body capable of making movements and a rotating performance member for driving a performance prop to rotate;

[0012] The robot body is provided with an arm for assembling the rotating performance member and a throwing motor for throwing the performance prop;

[0013] The rotating performance member is assembled at the end of the arm, and the throwing motor can provide throwing power and kinetic energy for the performance prop to fly outwards, so that the dance performance robot can provide rotating power for the performance prop to rotate and throw the performance prop.

[0014] Through continuous exploration and experiments, the present invention sets a rotating performance member and a throwing motor for throwing the performance prop on the arm of the robot body, so that the robot can perform at least dance movements such as rotation and throwing, with rich movements, good running demonstration effect, good performance, and strong innovation, and can be applied in the field of dance performance.

[0015] Furthermore, the robot of the present invention can perform dance movements such as rotating props and throwing props, with beautiful postures, good anthropomorphic effects, powerful functions, strong ornamental value, and is convenient for the popularization and application of the robot.

[0016] Furthermore, by applying the present invention, the arm movements and leg movements of the robot can be combined to perform complex leg or / and hand dance movements. Therefore, the appearance 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, especially ethnic dance performances.

[0017] Still further, the robot body of the present application is a quadruped robot or a humanoid robot or a biped robot or a wheeled robot.

[0018] The arm is an anthropomorphic arm or a robotic arm or a rod-shaped structure or a cylindrical structure or a multi-rod combined structure or other special-shaped structures.

[0019] As a preferred technical measure:

[0020] The performance props are handkerchiefs or silk flowers or flags or poles or rods or sticks;

[0021] The performance props for rotation and those for throwing can be the same or different.

[0022] The rotating performance part is a rotating motor.

[0023] As a preferred technical measure:

[0024] The output shaft of the rotating motor is fixed with a driving wheel;

[0025] A driven wheel is fitted outside the driving wheel; the driven wheel is connected to the performance prop;

[0026] The driven wheel meshes with the driving wheel to conduct power transmission.

[0027] Furthermore, the rotating motor can be a DC motor or an AC motor or a stepping motor or a servo motor.

[0028] As a preferred technical measure:

[0029] Either the driven wheel or the driving wheel is provided with a protrusion, and the other is provided with a groove to form an interlocking chuck, achieving a clutch effect;

[0030] Or / and, the rotating motor has a hollow structure, and a hollow tube that is not in contact with the rotating motor is installed in the cavity; the hollow tube is a wire conduit steel pipe, and a cord passes through its interior; a protective head is installed at the front end of the hollow tube, and the protective head is made of a smooth material. When the cord is tightened, the protective head compresses the rubber pad on the rotating wheel core; the outer ring of the rotating wheel core is connected to the driven wheel through a bearing;

[0031] The end of the cord is connected to a cord take-up wheel or a spool. The cord take-up wheel or the spool is fixed to a cord take-up motor at the lower part, and a toothed disc is arranged above the cord take-up wheel or the spool. In use, a latch is installed on the electromagnet on the edge of the toothed disc. When not powered on, the latch engages into the tooth groove, so that the driving wheel and the driven wheel on the performance prop always remain meshed during the dance.

[0032] As a preferred technical measure:

[0033] One end of the cord is connected to the spool, and the other end is connected to the rotating wheel core;

[0034] The rotating wheel core is assembled on the performance prop;

[0035] Or / and, the spool has a butterfly spherical structure and is assembled with a cord take-up motor;

[0036] The outer cover of the spool is provided with a lead wire groove;

[0037] The cord is a fishing line or a wire or a nylon cord or a hemp cord or a cloth cord or a metal wire;

[0038] Or / and, the throwing motor is an elbow motor, a leg motor or a shoulder motor of the robot;

[0039] 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.

[0040] As the preferred technical measures:

[0041] 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.

[0042] As the preferred technical measures:

[0043] The head structure of the performance prop is equipped with buttons or buckles for movable connection of the arms;

[0044] 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.

[0045] As the preferred technical measures:

[0046] 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.

[0047] 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;

[0048] 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;

[0049] 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;

[0050] The output shaft of the rotating motor fixes the driving wheel; a driven wheel is fitted outside the driving wheel; the driven wheel meshes with the driving wheel to perform power transmission;

[0051] The outer ring of the rotating wheel core is connected to the driven wheel through a ceramic bearing;

[0052] The rubber pad is assembled on the rotating wheel core;

[0053] The outer cover of the wire winding wheel is provided with a wire lead groove;

[0054] The lower part of the wire take-up wheel is fixed on the wire take-up motor, a sawtooth disc is arranged above the wire take-up wheel, a clamping tooth is installed on the electromagnet on the edge of the sawtooth disc, and when not powered on, the clamping tooth engages into the tooth groove, so that the driving wheel and the driven wheel on the second performance prop always remain meshed during the dance;

[0055] Or / and, the robot body includes a slot, the inner side of the small arm housing and the outer side of the small arm housing.

[0056] Furthermore, the power source for the waving performance and the throwing performance can directly be the driving motor of the robot arm, and the waving performance and the throwing performance of the performance prop are realized by using the swing and wave of the robot arm, thereby effectively reducing the number of parts, lowering the manufacturing cost, and having a clever concept.

[0057] Furthermore, the motor in the present application can be a DC motor, an AC motor, a stepper motor or a servo motor.

[0058] To achieve one of the above purposes, the second technical solution of the present invention is:

[0059] A robot control method, which is applied to the above-mentioned robot and includes a waving performance part, a rotating performance part and / or a throwing performance part.

[0060] Through continuous exploration and tests, the present invention can at least perform dance movements such as waving, rotating, throwing, etc., with rich movements, good running demonstration effects, good performance, strong innovation, and can be applied in the field of dance performance.

[0061] Furthermore, the present invention can perform dance movements such as waving props, rotating props, throwing props, etc., with beautiful postures, good anthropomorphic effects, powerful functions, strong ornamental value, and is convenient for the popularization and application of the robot.

[0062] As a preferred technical measure:

[0063] The waving performance part performs a performance by waving the first performance prop, and includes the following content:

[0064] Performing by using the arm to wave the first performance prop;

[0065] 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.

[0066] The rotating performance part involves rotating the second performance prop to perform, which includes the following contents:

[0067] A rotating motor mounted on the end of the arm provides a rotational force for rotating the second performance prop;

[0068] The rotating motor is a hollow structure, wherein a hollow tube having no contact with the rotating motor is installed in the cavity;

[0069] 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;

[0070] The core wheel is mounted on the second performance prop;

[0071] 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.

[0072] The outer ring of the core wheel is connected to the driven wheel through a ceramic bearing;

[0073] 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;

[0074] The throwing performance part involves throwing the second performance prop to perform, which includes the following contents:

[0075] 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.

[0076] Compared with the prior art solutions, the present invention has the following beneficial effects:

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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

[0083] Figure 1 A front view schematic diagram of the dance performance robot of the present invention;

[0084] Figure 2 A schematic diagram of the back side of the dance performance robot of the present invention;

[0085] Figure 3 A side schematic diagram of the dance performance robot of the present invention;

[0086] Figure 4 for Figure 3 A schematic diagram of the structure shown being transformed at a certain angle;

[0087] Figure 5 for Figure 4 A schematic diagram of the structure shown being transformed at a certain angle;

[0088] Figure 6 A sectional view (assembled silk scarf) of the performance component of the present invention;

[0089] Figure 7 is Figure 6 A sectional view taken along the section C-C of the structure shown;

[0090] Figure 8 A sectional view (assembled handkerchief) of the performance component of the present invention;

[0091] Figure 9 An exploded view of the performance component of the present invention;

[0092] Figure 10 is Figure 9 A schematic diagram of the structure shown rotated by a certain angle;

[0093] Figure 11 A schematic diagram (without props) of the performance component of the present invention;

[0094] Figure 12 A schematic diagram (assembled with props) of the performance component of the present invention;

[0095] Figure 13 is Figure 12 A schematic diagram of the structure shown rotated by a certain angle;

[0096] Figure 14 is Figure 13 A schematic diagram of the structure shown rotated by a certain angle;

[0097] Figure 15 A sectional view (assembled with props) of the performance component of the present invention;

[0098] Figure 16 Another sectional view (assembled with props) of the performance component of the present invention;

[0099] Figure 17 A schematic diagram of the performance component of the present invention rotated by a certain angle.

[0100] Explanation of reference numerals:

[0101] 1. Robot body; 2. Performance component; 3. Silk scarf; 4. Handkerchief; 5. Slot; 211. Performance prop head structure; 212. Sleeve; 213. Male button; 214. Female button; 215. Handkerchief cover plate; 221. Rotating motor; 222. Driving wheel; 223. Protective head; 224. Rotating wheel core; 225. Rubber pad; 226. Motor flange; 227. Wiring steel pipe; 228. Steel pipe pressing plate; 231. Reel mounting plate; 232. Electromagnet; 233. Clutch teeth; 234. Lead wire groove; 235. Serrated disc; 236. Fishing line space; 237. Lead block; 238. Reel; 239. Wire winding motor; 241. Outer protective cover; 242. Driving block; 243. Driving block housing; 244. Main motor mounting plate; 245. Normally closed magnet block; 246. Direct connection head; 251. Inner ring cover plate; 252. Outer ring pressing plate; 41. Driven wheel; 61. Inner side of small arm housing; 62. Outer side of small arm housing; A. Rotary motor module; B. Wire winding motor module. Detailed implementation manners

[0102] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to 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 used to limit the present invention.

[0103] On the contrary, the present invention covers any alternatives, modifications, equivalent methods and solutions made within the essence and scope of the present invention defined by the claims. Further, in order to enable the public to 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.

[0104] It should be noted that when two components are "fixedly connected" or "swing-connected" or "rotationally connected" or "thrown-connected", the two components can be directly connected or there can also be intermediate components. On the contrary, when a component is referred to as being "directly on" another component, there is no intermediate component. The terms "upper", "lower" and similar expressions used herein are only for the purpose of illustration.

[0105] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art belonging to the technical field of the present invention. 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" used herein includes any and all combinations of one or more of the related listed items.

[0106] The first specific embodiment of the dance performance robot of the present invention:

[0107] A robot, comprising a robot body capable of making movements and a rotating performance member for driving a performance prop to rotate; an arm for assembling the rotating performance member and a throwing motor for throwing the performance prop are provided on the robot body; the rotating performance member is assembled at the end of the arm, and the throwing motor can provide throwing power and kinetic energy for the performance prop to fly outwards, so that the dance performance robot can provide rotating power for the performance prop to rotate and throw the performance prop.

[0108] As Figures 1 - 10 shown, the second specific embodiment of the dance performance robot of the present invention:

[0109] A robot, comprising a robot body 1 capable of making movements and a performance component 2 for driving a performance prop to move; the performance component 2 includes a waving performance member for waving a first performance prop, or / and a rotating performance member for rotating a second performance prop, or / and a throwing performance member for throwing a third performance prop; the performance component is assembled on the robot body 1 to form a dance performance robot.

[0110] 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;

[0111] 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;

[0112] 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;

[0113] In a performance, the first performance prop, the second performance prop, and the third performance prop are the same performance object;

[0114] Or, the first performance prop and the third performance prop are the same performance object;

[0115] Or, the second performance prop and the third performance prop are the same performance object.

[0116] In this embodiment: the robot body 1 includes an arm or / and a manipulator or / and mechanical legs or / and foot ends or / and a head;

[0117] One or two or three or all of the arm, the manipulator, the mechanical legs, the foot ends, and the head are assembled with the performance component 2.

[0118] Or / and, the waving performance member is a performance prop head structure 211 with thick ends and a thin middle or a manipulator or a fixture or a suction cup, one end of which is fixed to the first performance prop for performance and the other end is connected to a sleeve 212.

[0119] In this embodiment: The performance prop head structure 211 has an I-shaped configuration, which includes a first extension part and a second extension part at both ends and a cylinder in the middle. The surface areas of the first extension part and the second extension part are larger than the end face area of the cylinder, forming a structure that is thick at both ends and thin in the middle.

[0120] In this embodiment: The sleeve 212 is provided with a receiving cavity that can wrap most or part of the robot's forearm. At the same time, the receiving cavity is provided with a hidden area for hiding the second performance prop; the hidden area is equipped with a snap-fastening part or a baffle for movably connecting the second performance prop;

[0121] Or / and, the performance prop head structure 211 is equipped with buttons or buckles for movably connecting to the robot arm;

[0122] A slot 5 is assembled on the back or 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, and the button or buckle is disengaged by using 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.

[0123] In this embodiment: The rotating performance part is a rotating motor 221, which is assembled at the end of the manipulator or the arm and is used to provide the rotating power to make the second performance prop rotate;

[0124] The output shaft of the rotating motor 221 is fixed with a driving wheel 222;

[0125] A driven wheel 41 is fitted outside the driving wheel 222;

[0126] The driven wheel 41 is engaged with the driving wheel 222 to perform power transmission.

[0127] In this embodiment: The driven wheel 41 and the driving wheel 222 are alternately provided with protrusions, and the other is provided with grooves to form an interlocking chuck, achieving a clutch effect, facilitating the transmission of the rotating force between the rotating performance part and the second performance prop, and at the same time facilitating the quick separation and assembly of the two.

[0128] In this embodiment: The rotating motor 221 has a hollow structure, and a hollow tube that is not in contact with the rotating motor is installed in the cavity;

[0129] The hollow tube is a wire-walking steel tube 227, and a cord passes through its interior;

[0130] The front end of the hollow tube is installed with a protective head 223, which is made of a smooth material to reduce the friction on the cord and improve the service life. At the same time, when the cord is tightened, the protective head 223 is compressed with the rubber pad 225 on the core wheel;

[0131] The outer ring of the core wheel is connected to the driven wheel 41 through a ceramic bearing, so that the outer ring will not cause the twisting of the wire rope when rotating, ensuring the long-term use of the wire rope.

[0132] One end of the wire rope is connected to a wire take-up wheel or a winding wheel 238. The lower part of the wire take-up wheel or the winding wheel 238 is fixed on a wire take-up motor 239. A serrated disc 235 is arranged above the wire take-up wheel or the winding wheel 238. During use, a retaining tooth 233 is installed on an electromagnet 232 on the edge of the serrated disc 235. When not energized, the retaining tooth 233 engages into the tooth groove, so that during the intense dance process, the rotating performance part will not be thrown out, and the driving wheel 222 and the driven wheel 41 on the second performance prop always remain engaged during the dance.

[0133] In this embodiment: The throwing performance part includes a throwing motor capable of providing throwing power and a wire body capable of pulling back the third performance prop;

[0134] One end of the wire body is connected to the rear wire take-up wheel 238, and the other end is connected to a core wheel;

[0135] The core wheel is a rotating wheel core 224, which is assembled on the second performance prop.

[0136] In this embodiment: The wire take-up wheel 238 is of a butterfly-shaped spherical structure, and it is assembled with a wire take-up motor 239, so that the wire body can be automatically and accurately wound on the wheel;

[0137] The outer cover of the wire take-up wheel 238 is provided with a wire guiding groove 234 for limiting the movement track of the wire body;

[0138] Or / and, the wire body and the wire rope are the same rope or two independent ropes;

[0139] The wire body and the wire rope are respectively fishing line, iron wire, nylon rope, hemp rope, cloth rope or metal wire.

[0140] In this embodiment: The throwing motor is the elbow motor, leg motor or shoulder motor of the robot;

[0141] When the performance prop is thrown, the throwing motor exerts force to give the performance prop the kinetic energy to fly outwards. At the same time, the wire take-up motor 239 cooperates to pay out the wire. After the performance prop reaches the highest point in the air, the wire take-up motor 239 rotates to take in the wire and pull back the performance prop, pulling it back to the state where the driving wheel 222 and the driven wheel 41 are engaged.

[0142] As Figure 11 shown, the third specific embodiment of the dance performance robot of the present invention:

[0143] A robot, comprising a robot body 1 capable of performing actions and a performance component 2 for driving the movement of performance props; the performance component 2 includes a waving performance member for waving a first performance prop, a rotating performance member for rotating a second performance prop, and a throwing performance member for throwing a third performance prop; the performance component is assembled on the robot body 1 to form a dance performance robot.

[0144] In this embodiment: the waving performance member includes a performance prop head structure 211, a sleeve 212, a male snap 213, a female snap 214, a handkerchief cover plate 215, and a silk scarf 3; the rotating performance member 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 wire routing steel pipe 227, a steel pipe pressing plate 228, a reel mounting plate 231, an electromagnet 232, a gear tooth 233, a lead wire groove 234, a serrated disk 235, a fishing line space 236, a lead block 237, a reel 238, a wire retracting motor 239, an outer protective cover 241, a driving block 242, a driving block housing 243, a main motor mounting plate 244, a normally closed magnet stop 245, a direct connection head 246, an inner ring cover plate 251, an outer ring pressing plate 252, a handkerchief 4 folded backward and wrapped, and a driven wheel 41.

[0145] The throwing performance member includes a rotating performance member and a shoulder motor and / or an elbow motor;

[0146] The robot body 1 includes a slot 5, an inner side of the small arm housing 61, and an outer side of the small arm housing 62.

[0147] The first specific embodiment of the robot control method of the present invention:

[0148] A robot control method, applied to the above-mentioned robot, which includes a waving performance part, a rotating performance part, and / or a throwing performance part.

[0149] As Figures 12 - 17 shown, the second specific embodiment of the robot control method of the present invention:

[0150] A robot control method for controlling a robot to perform a dance performance, which includes a waving performance part or / and a rotating performance part or / and a throwing performance part.

[0151] In this embodiment: for the waving performance part, waving the first performance prop for performance, which includes the following:

[0152] Using a robotic arm to wave the first performance prop for performance;

[0153] After the first performance prop is performed, the ends of the robot's two hands move to the back. There is a slot 5 installed on the back of the robot. After the middle thin part of the performance prop head structure 211 moves into the slot 5, the ends of the robot's arms continue to move downward, and the button is disengaged using shear force. In this way, the performance prop head structure 211 with the first performance prop and the sleeve 212 remains in the robot's slot 5, and the second performance prop is exposed;

[0154] Rotate the performance part and rotate the second performance prop for performance, which includes the following:

[0155] A rotating motor 221 assembled at the end of the manipulator or arm provides the rotational power to make the second performance prop rotate;

[0156] The rotating motor 221 is of a hollow structure, and a hollow tube that does not contact the rotating motor is installed in the cavity;

[0157] A wire rope passes through the inside of the hollow steel pipe. One end of the wire rope is connected to the rear wire reel 238, and the other end is connected to a core wheel;

[0158] The core wheel is assembled on the second performance prop.

[0159] A protective head 223 is installed at the front end of the hollow tube. The protective head 223 is made of a smooth material, which reduces the friction on the wire rope and improves the service life. At the same time, when the wire rope is tightened, the protective head 223 and the rubber pad 225 on the core wheel are compressed;

[0160] The outer ring of the core wheel is connected to the driven wheel 41 through a ceramic bearing. In this way, when the outer ring rotates, the wire rope will not be twisted, ensuring the long-term use of the wire rope.

[0161] The end of the wire rope is connected to a wire take-up wheel. The lower part of the wire take-up wheel is fixed on the wire take-up motor 239. There is a serrated disc 235 above the wire take-up wheel. During use, a catch 233 is installed on the electromagnet 232 on the side of the serrated disc 235. When not energized, the catch 233 engages in the tooth groove. In this way, during the intense dance process, the rotating performance part will not be thrown out, and the driving wheel 222 and the driven wheel 41 on the second performance prop always remain engaged during the dance;

[0162] The throwing performance part throws the second performance prop for performance, which includes the following:

[0163] The shoulder motor or / and the elbow motor exert force to give the second performance prop the kinetic energy to fly outward. At the same time, the wire take-up motor 239 cooperates to pay out the wire. After the second performance prop reaches the highest point in the air, the wire take-up motor 239 rotates to take up the wire and retracts the second performance prop, pulling it back to the state where the driving wheel 222 and the driven wheel 41 are engaged.

[0164] The third specific embodiment of the robot control method of the present invention:

[0165] A robot control method can achieve robot dance performances, which includes a silk scarf 3 dance part and a handkerchief 4 dance part, and specifically includes the following content:

[0166] 1. The first half of the dance performance of the robot is the silk scarf 3 dance part. There is a handkerchief head structure that is thick at both ends and thin in the middle (i.e., the performance prop head structure) at the front end of the robot. One end of it is fixed to 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. A handkerchief 4 is hidden under the sleeve 212 and is connected to the rear handkerchief wheel by a button. At the beginning of the performance, the silk scarf 3 is danced first. After completing the performance of the silk scarf 3, the ends of the robot's hands move to the back. There is a slot 5 installed on the back of the robot. After the thin part in the middle of the handkerchief head structure moves into the slot 5, the end of the robot's arm continues to move downwards, and the button is detached by shear force. In this way, 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 hidden handkerchief 4 is revealed.

[0167] 2. The second half of the dance performance is the performance of the handkerchief flower. The rotation motor 221 at the end of the arm provides the rotational power to make the handkerchief 4 rotate. The motor is hollow, and in the hollow space, a hollow steel pipe that does not contact the motor is installed. A fishing line passes through the inside of the steel pipe. One end of the fishing line is connected to the rear reel 238, and the other end is connected to the core wheel on the handkerchief 4 part. A driving wheel 222 is installed at the front end of the rotation motor 221. The driven wheel 41 on the handkerchief 4 part obtains power to rotate through the engagement of the chuck with the driving wheel 222. A protective head 223 is installed at the front end of the steel pipe. The protective head 223 is made of a soft material to reduce the friction on the fishing line and improve 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 rotates without causing the fishing line to twist, so as to ensure the long-term use of the handkerchief flower. The lower part of the take-up reel at the end of the fishing line is fixed to the take-up motor 239. There is a serrated disk 235 above the take-up reel. During use, a latch 233 is installed on the electromagnet 232 on the side of the serrated disk 235. When not powered on, the latch 233 engages into the tooth groove. In this way, during the intense dance process, the handkerchief flower component will not be thrown out, so that the driving wheel 222 and the driven wheel 41 on the handkerchief 4 part always maintain 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 component the kinetic energy to fly outwards. At the same time, the take-up motor 239 cooperates to release the line outwards. After the handkerchief 4 reaches the highest point in the air, the take-up motor 239 rotates to take up the line and retracts the handkerchief 4 component, pulling it back to the state where the driving wheel 222 and the driven wheel 41 are engaged.

[0168] The present invention can perform at least two ethnic dances such as silk scarf dance and handkerchief flower dance. During the performance, the silk scarf at the end of the arm and the handkerchief head are switched. The performance performance and innovation are very strong. When performing the handkerchief flower dance, not only can the handkerchief be rotated at the end of the arm, but also it can be thrown and retrieved. The driving wheel 222 fixed on the motor and the driven wheel 41 fixed on the handkerchief flower cleverly use a chuck structure, and the fishing line will not be scratched at any position during the winding and unwinding of the line, which not only ensures the reliability of the recovery but also can maintain the rotating state of the handkerchief flower in the air and after falling back. The throwing stability is strong. The internal take-up reel assembly has good structural performance. The winding reel 238 uses a butterfly-shaped spherical structure, and the fishing line can be wound on the reel well during winding to prevent line tangling. The lead groove 234 of the take-up reel cover has openings at both the upper and lower parts of the space. When the fishing line expands outwards during winding and unwinding, the fishing line can also be prevented from slipping out of the track. These designs ensure the smooth winding and unwinding of the fishing line, enabling the handkerchief flower to be smoothly thrown and retrieved in the rotating state. The arm structure is as light as possible while fulfilling its functions, having little impact on the robot's balance and dance steps, enabling the robot to perform full-body movements and dance smoothly.

[0169] A system embodiment applying the method of the present invention:

[0170] A robot control system, which includes a number of algorithm models and a rotation motor module A and a take-up motor module B to implement the above-mentioned robot control method.

[0171] An equipment embodiment applying the method of the present invention:

[0172] An electronic device, which includes:

[0173] One or more processors;

[0174] A storage device for storing one or more programs;

[0175] 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.

[0176] A computer medium embodiment applying the method of the present invention:

[0177] A computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned robot control method is implemented.

[0178] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can 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.) that contain computer-usable program code.

[0179] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce a means for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0180] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction means that implements the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0181] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0182] In the present application, the fixed connection method can be screwed connection, welded connection, riveted connection, plugged connection, or connection through a third component, and those skilled in the art can make a choice according to the actual situation.

[0183] The model in this application is an object that constitutes an objective descriptive morphological structure with the help of physical or virtual representations. The object is not equal to an object, 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.

[0184] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still modify or equivalently replace the specific implementation manners of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope 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, giving 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; The rotating performance element is a rotating motor (221); 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; 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 engaged chucks, thereby achieving a clutch effect.

2. A robot according to claim 1, characterized in that: The performance props are handkerchiefs, handkerchief flowers, flags or poles.

3. A robot as claimed in claim 2, characterized in that: 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. 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 winding wheel (238), the lower part of the winding wheel (238) is fixed on the winding motor (239), and a sawtooth disk (235) is arranged above the winding wheel (238). When in use, the electromagnet (232) on the side of the sawtooth disk (235) is equipped with a clamping tooth (233). 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.

4. A robot as claimed in claim 3, 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 wire rope is iron wire or nylon rope; 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.

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

6. A robot according to claim 5, wherein: The performance prop head structure (211) is equipped with buttons or buckles for movably connecting the arm; A slot (5) is assembled on the back or 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 arm continues to move downward, and the buttons or buckles are disengaged by using shear force, so that the performance prop head structure (211) with the silk scarf and the sleeve (212) remains in the slot (5) of the robot.

7. A robot according to claim 1, wherein: The arm is also provided with a waving performance part, which includes a performance prop head structure (211), a sleeve (212), a male button (213), a female button (214), a handkerchief cover plate (215) and a silk scarf (3); One end of the performance prop head structure is fixed with a silk scarf (3), and the other end is connected to a sleeve (212). The sleeve (212) wraps the forearm part of the robot. The forearm part of the robot is movably connected to the performance prop head structure (211) through a male button (213) and a female button (214); Or / and, the rotating performance part 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 wire routing steel pipe (227), a steel pipe pressing plate (228), a reel mounting plate (231), an electromagnet (232), a locking tooth (233), a lead wire groove (234), a serrated disc (235), a lead wire block (237), a reel (238), a wire winding 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 pressing plate (252), a handkerchief (4) folded backward and wrapped, and a driven wheel (41); The rotating motor (221) is assembled at the end of the arm. The rotating motor (221) is of a hollow structure, and a wire routing steel pipe (227) that has no contact with the rotating motor (221) is installed in the cavity thereof; the front end of the wire routing steel pipe (227) is installed with a protective head (223), and the protective head (223) is made of a smooth material; The output shaft of the rotating motor (221) is fixed with a driving wheel (222); a driven wheel (41) is fitted outside the driving wheel (222); the driven wheel (41) is engaged with the driving wheel (222) to perform power transmission; The outer ring of the rotating wheel core (224) is connected to the driven wheel (41) through a ceramic bearing; The rubber pad (225) is assembled on the rotating wheel core (224); The outer cover of the reel (238) is provided with a lead wire groove (234); The lower part of the winding wheel (238) is fixed on the wire-receiving motor (239), a sawtooth disk (235) is arranged above the winding wheel (238), 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 dancing; 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).

8. A robot control method, characterized in that: A robot as described in any one of claims 1 to 7 is used, comprising a waving performance part, a rotating performance part and a throwing performance part.

9. A robot control method according to claim 8, 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 winding wheel (238), the lower part of the winding wheel (238) is fixed on the winding motor (239), and a sawtooth disk (235) is arranged above the 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 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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