Performance robot and robot dance performance method

Abstract

The invention discloses a performance robot and a robot dance performance method, and belongs to the technical field of robot equipment. The performance robot comprises a robot body capable of acting and a performance assembly used for driving performance props to move. The performance assembly comprises a waving performance piece used for waving the first performance prop, or / and a rotating performance piece used for rotating the second performance prop, or / and a throwing performance piece used for throwing the third performance prop. The performance assembly is assembled on the robot body to form the performance robot. Through continuous exploration and tests, at least dance actions such as waving, rotating and throwing can be performed by means of the performance props, the performance performance is good, and the innovativeness is very high. According to the robot, dance actions such as prop waving, prop rotating and prop throwing can be performed, the posture is attractive, the anthropomorphic effect is good, the function is powerful, the ornamental value is high, and popularization and application of the robot are facilitated.

Description

Technical Field

[0001] The present invention relates to a performing robot and a robot dance performance 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 performance.

[0003] Furthermore, there is currently no humanoid robot on the market that can perform ethnic dances. The existing humanoid robot performances can only do some simple hand movements and leg movements, and cannot perform complex dance movements, with relatively simple functions.

[0004] 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 the prior art. Summary of the Invention

[0005] Aiming at the above problems or one of the above problems, the first object of the present invention is to provide a performing robot and a robot dance performance method, which can at least perform dance movements such as waving, rotating, and throwing, with good performance and strong innovation.

[0006] Aiming at the above problems or one of the above problems, the second object of the present invention is to provide a performing robot and a robot dance performance method, which can perform dance movements such as waving props, rotating props, and throwing props, with beautiful postures, good anthropomorphic effects, powerful functions, strong ornamental value, and facilitating the popularization and application of robots.

[0007] Aiming at the above problems or one of the above problems, the third object of the present invention is to provide a performing robot and a robot dance performance method, which can at least perform two ethnic dances such as silk ribbon dance and handkerchief flower dance, and can freely switch the silk ribbon at the end of the arm and the handkerchief head during the performance, with 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 being applicable to large-scale humanoid robot dance performances.

[0008] To achieve one of the above objects, the first technical solution of the present invention is as follows:

[0009] A performing robot, comprising a robot body capable of making movements and a performance component for driving the movement of performance props;

[0010] The performance component includes a waving performance part for waving the first performance prop, and / or a rotating performance part for rotating the second performance prop, and / or a throwing performance part for throwing the third performance prop; the performance component is assembled on the robot body to form a performance robot.

[0011] Through continuous exploration and experiments, the present invention can at least perform dance movements such as waving, rotating, and / or throwing. It has good performance and strong innovation, with rich movements, and can be applied in the field of dance performances.

[0012] Furthermore, the present invention can perform dance movements such as waving props, rotating props, and throwing props. The postures are beautiful, the anthropomorphic effect is good, the function is powerful, the ornamental value is high, and it is convenient for the popularization and application of robots.

[0013] Furthermore, by applying the present invention, the arm movements and leg movements of the robot can be combined to perform complex leg and / or 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.

[0014] As a preferred technical measure:

[0015] The first performance prop is a silk scarf, or a handkerchief, or a handkerchief flower, or a flag, or a pole, or a stick, or a rod;

[0016] The second performance prop is a silk scarf, or a handkerchief, or a handkerchief flower, or a flag, or a pole, or a stick, or a rod;

[0017] The third performance prop is a silk scarf, or a handkerchief, or a handkerchief flower, or a flag, or a pole, or a stick, or a rod;

[0018] In a performance, the first performance prop, the second performance prop, and the third performance prop are the same performance object;

[0019] Or, the first performance prop and the third performance prop are the same performance object;

[0020] Or, the second performance prop and the third performance prop are the same performance object.

[0021] As a preferred technical measure:

[0022] The rotating performance part is a rotating motor, which is assembled at the end of the mechanical hand or the arm and is used to provide the rotating power for the second performance prop to rotate;

[0023] The output shaft of the rotating motor is fixed with a driving wheel;

[0024] A driven wheel is fitted outside or at one end of the driving wheel; the driven wheel is connected to the second performance prop;

[0025] The driven wheel engages with the driving wheel to transmit power.

[0026] Furthermore, the rotating motor can be a DC motor, an AC motor, a stepper motor, or a servo motor.

[0027] As a preferred technical measure:

[0028] Either the driven wheel or the driving wheel is provided with a protrusion, and the other is provided with a groove to form a chuck that fits into each other, achieving a clutch effect, facilitating the transmission of rotational force between the rotating performance piece and the second performance prop, and at the same time facilitating their quick separation and assembly together.

[0029] As a preferred technical measure:

[0030] The rotating motor has a hollow structure, and a hollow tube that does not contact the rotating motor is installed in the cavity;

[0031] The hollow tube is a wire conduit steel pipe, and a wire rope passes through its interior;

[0032] A protective head is installed at the front end of the hollow tube. The protective head is made of a smooth material to reduce friction on the wire rope and improve its service life. At the same time, when the wire rope is tightened, the protective head is compressed against the rubber pad on the core wheel;

[0033] The outer ring of the core wheel is connected to the driven wheel through a bearing, so that the wire rope will not be twisted when the outer ring rotates, ensuring the long-term use of the wire rope.

[0034] The end of the wire rope is connected to a wire take-up wheel or a reel. The wire take-up wheel or the reel is fixed to a wire take-up motor at the bottom, and a toothed disc is provided above the wire take-up wheel or the reel. In use, a latch is installed on the electromagnet on the side of the toothed disc. When not energized, the latch engages into the tooth groove, so that during a violent dance process, the rotating performance piece will not be thrown out, and the driving wheel and the driven wheel on the second performance prop will always remain engaged during the dance.

[0035] As a preferred technical measure:

[0036] The throwing performance piece is a rotating performance piece, or the throwing performance piece includes a rotating performance piece and a throwing motor;

[0037] Or, the throwing performance piece includes a throwing motor that can provide throwing power and a wire body that can pull back the third performance prop;

[0038] One end of the wire body is connected to a rear reel, and the other end is connected to a core wheel;

[0039] The core wheel is a rotating wheel core, and it is assembled on the second performance prop.

[0040] As a preferred technical measure:

[0041] The spool has a butterfly-shaped spherical structure and is equipped with a wire-winding motor, enabling the wire to be automatically and accurately wound around the spool.

[0042] The outer cover of the spool is provided with a wire-leading groove for limiting the movement track of the wire.

[0043] Or / and, the wire and the cord are the same rope or two independent ropes.

[0044] The wire and the cord are respectively fishing line, iron wire, nylon rope, hemp rope, cloth rope or wire.

[0045] Or / and, the throwing motor is the elbow motor, leg motor or shoulder motor of the robot.

[0046] When the performance prop needs to be projected, the throwing motor exerts force to give the performance prop the kinetic energy to fly outwards. At the same time, the wire-winding motor cooperates to release the wire outwards. After the performance prop takes off and reaches the highest point, the wire-winding motor rotates to wind the wire and retrieve the performance prop, pulling it back to the state where the driving wheel and the driven wheel are engaged.

[0047] As a preferred technical measure:

[0048] The robot body includes an arm or / and a manipulator or / and a mechanical leg or / and a foot end or / and a head.

[0049] One, two, three or all of the arm, manipulator, mechanical leg, foot end and head are assembled with performance components.

[0050] Furthermore, the robot body of the present application is a quadruped robot, a humanoid robot, a biped robot or a wheeled robot.

[0051] The arm is an anthropomorphic arm, a robotic arm, a rod-shaped structure, a cylindrical structure, a multi-rod combined structure or other special-shaped structures.

[0052] Or / and, the waving performance part is a performance prop head structure that is thick at both ends and thin in the middle, a manipulator, a clamp or a suction cup. One end thereof is fixed with a first performance prop for performance, and the other end is connected with a sleeve or a movable part.

[0053] As a preferred technical measure:

[0054] The performance prop head structure is assembled with buttons or buckles for movably connecting the robot arm.

[0055] A slot is assembled on the back, side or abdomen of the robot body. After the cylinder of the performance prop head structure moves into the slot, the end of the robot arm continues to move downwards, and the buttons or buckles are disengaged by using shear force, so that the performance prop head structure with the first performance prop and the sleeve remains in the slot of the robot.

[0056] As a preferred technical measure:

[0057] The waving performance part includes a performance prop head structure, sleeve covers, male buttons, female buttons, a handkerchief cover plate and silk scarves;

[0058] One end of the performance prop head structure is fixed with a silk scarf, and the other end is connected to the sleeve cover. The sleeve cover wraps around the forearm part of the robot. The forearm part of the robot is movably connected to the performance prop head structure through male buttons and female buttons;

[0059] Or / and, the rotating performance part includes 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 pressing plate, a reel mounting plate, an electromagnet, a locking tooth, a lead wire groove, a sawtooth disk, a fishing line space, a lead wire block, a reel, a wire retracting motor, an outer protective cover, a driving block, a driving block housing, a main motor mounting plate, a normally closed magnet stop block, a direct connection head, an inner ring cover plate, an outer ring pressing plate, a handkerchief folded backward and wrapped, and a driven wheel;

[0060] The rotating motor is assembled at the end of the manipulator or the arm. The rotating motor is of a hollow structure, and a wire routing steel pipe that has no contact with the rotating motor is installed in the cavity. The front end of the wire routing steel pipe is installed with a protective head, and the protective head is made of a smooth material;

[0061] The output shaft of the rotating motor is fixed with the driving wheel; a driven wheel is fitted outside the driving wheel; the driven wheel is engaged with the driving wheel to perform power transmission;

[0062] The outer ring of the rotating wheel core is connected to the driven wheel through a ceramic bearing;

[0063] The rubber pad is assembled on the rotating wheel core;

[0064] The outer cover of the reel is provided with a lead wire groove;

[0065] The lower part of the wire retracting wheel is fixed on the wire retracting motor. A sawtooth disk is arranged above the wire retracting wheel. A locking tooth is installed on the electromagnet on the edge of the sawtooth disk. When not powered on, the locking tooth engages into the tooth groove, so that the driving wheel and the driven wheel on the second performance prop always remain engaged during the dance;

[0066] Or / and, the throwing performance part includes the rotating performance part and a shoulder motor or / and an elbow motor;

[0067] Or / and, the robot body includes a slot, the inner side of the forearm housing and the outer side of the forearm housing.

[0068] Furthermore, the power source for the waving performance and the throwing performance can directly be the driving motor of the robot arm. By using the swinging and waving of the robot arm, the waving performance and the throwing performance of the performance prop can be realized, thereby effectively reducing the number of parts, lowering the manufacturing cost, and having a clever concept.

[0069] Furthermore, the motor in the present application can be a DC motor, an AC motor, a stepper motor, or a servo motor.

[0070] To achieve one of the above objects, the second technical solution of the present invention is:

[0071] A robot dance performance method includes a waving performance part or / and a rotating performance part or / and a throwing performance part.

[0072] As a preferred technical measure:

[0073] For the waving performance part, a first performance prop is waved for performance, which includes the following:

[0074] Using a robotic arm to wave the first performance prop for performance;

[0075] After the performance of the first performance prop is completed, the end of the robot arm moves to the back. There is a slot installed on the back of the robot. After the middle thin part of the performance prop head structure moves into the slot, the end of the robot arm continues to move downward, and the button is detached using shear force. In this way, the performance prop head structure with the first performance prop and the sleeve remains in the slot of the robot, and the second performance prop is exposed;

[0076] For the rotating performance part, a second performance prop is rotated for performance, which includes the following:

[0077] A rotating motor assembled at the end of a manipulator or an arm provides the rotational power to make the second performance prop rotate;

[0078] The rotating motor is of a hollow structure, and a hollow tube that does not contact the rotating motor is installed in the cavity;

[0079] A wire rope passes through the inside of the hollow steel pipe. One end of the wire rope is connected to a rear wire reel, and the other end is connected to a core wheel;

[0080] The core wheel is assembled on the second performance prop.

[0081] A protective head is installed at the front end of the hollow tube. The protective head is made of a smooth material to reduce the friction on the wire rope and improve its service life. At the same time, when the wire rope is tightened, the protective head and the rubber pad on the core wheel are compressed;

[0082] The outer ring of the core wheel is connected to a driven wheel through a ceramic bearing, so that the outer ring can rotate without causing the wire rope to twist, ensuring the long-term use of the wire rope.

[0083] The end of the wire 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, and a clamping tooth is installed on the electromagnet on the side of the sawtooth disk during use, and the clamping tooth is clamped into the tooth groove when no power is supplied, so that the rotating performance piece will not be thrown out during the intense dance, and the driving wheel and the driven wheel on the second performance prop will always keep in engagement during the dance;

[0084] The throwing performance part involves throwing the second performance prop to perform, which includes the following contents:

[0085] 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.

[0086] Compared with the prior art solutions, the present invention has the following beneficial effects:

[0087] Through continuous exploration and experiments, the present invention can at least perform dancing movements such as waving, rotating, throwing and the like, and has good performance and strong innovation.

[0088] 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 performance performance is good and innovative. 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.

[0089] 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.

[0090] 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 when winding the wire rope with the help of the butterfly-shaped spherical structure 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, and the wire rope can be prevented from slipping out of the track when the wire rope expands outwards when winding and releasing the wire rope. 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.

[0091] The arm structure of the present invention is as light as possible while fulfilling the performance function, with little impact on the balance and dance steps of the robot, enabling the robot to freely perform full-body movements and dance smoothly without adverse effects on the balance control of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] Figure 1 A front schematic view of the dance performance robot of the present invention;

[0093] Figure 2 A rear schematic view of the dance performance robot of the present invention;

[0094] Figure 3 A side schematic view of the dance performance robot of the present invention;

[0095] Figure 4 is Figure 3 A schematic view of the structure shown rotated by a certain angle;

[0096] Figure 5 is Figure 4 A schematic view of the structure shown rotated by a certain angle;

[0097] Figure 6 A sectional schematic view of the performance component of the present invention (with silk scarf assembled);

[0098] Figure 7 is Figure 6 A sectional view taken along line C-C of the structure shown;

[0099] Figure 8 A sectional schematic view of the performance component of the present invention (with handkerchief assembled);

[0100] Figure 9 An exploded schematic view of the performance component of the present invention;

[0101] Figure 10 is Figure 9 A schematic view of the structure shown rotated by a certain angle;

[0102] Figure 11 A schematic view of the performance component of the present invention (without prop);

[0103] Figure 12 A schematic view of the performance component of the present invention (with prop assembled);

[0104] Figure 13 is Figure 12 A schematic view of the structure shown rotated by a certain angle;

[0105] Figure 14 is Figure 13 A schematic view of the structure shown rotated by a certain angle;

[0106] Figure 15 A sectional view of the performance component of the present invention (assembly prop);

[0107] Figure 16 Another sectional view of the performance component of the present invention (assembly prop);

[0108] Figure 17 A schematic diagram of the performance component of the present invention rotated by a certain angle.

[0109] Explanation of reference numerals:

[0110] 1. Robot body; 2. Performance component; 3. Silk scarf; 4. Handkerchief; 5. Slot; 211. Performance prop head structure; 212. Sleeve; 213. Male button head; 214. Female button head; 215. Handkerchief cover plate; 221. Rotating motor; 222. Driving wheel; 223. Protective head; 224. Rotating wheel core; 225. Rubber pad; 226. Motor flange; 227. Wire routing steel pipe; 228. Steel pipe pressing plate; 231. Reel mounting plate; 232. Electromagnet; 233. Tooth; 234. Lead wire groove; 235. Serrated disc; 236. Fishing line space; 237. Lead block; 238. Reel; 239. Take-up 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 the small arm housing; 62. Outer side of the small arm housing; A. Rotating motor module; B. Take-up motor module. Detailed implementation manners

[0111] In order to make the objectives, technical solutions and advantages of the present invention clearer, 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.

[0112] On the contrary, the present invention covers any substitutions, modifications, equivalent methods and solutions made within the spirit and scope of the present invention defined by the claims. Further, in order to enable the public to better understand 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.

[0113] It should be noted that when two elements are "fixedly connected" or "swing-connected" or "rotationally connected" or "thrown-connected", the two elements can be directly connected or there can also be intermediate elements. On the contrary, 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 only for the purpose of illustration.

[0114] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs. The terms used herein are for the purpose of describing specific embodiments only 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.

[0115] As Figures 1 - 10 shown, the first specific embodiment of the performance robot of the present invention:

[0116] A performance robot includes a robot body 1 capable of making movements and a performance component 2 for driving the movement of performance props;

[0117] The performance component 2 includes a waving performance piece for waving the first performance prop, or / and a rotating performance piece for rotating the second performance prop, or / and a throwing performance piece for throwing the third performance prop; The performance component is assembled on the robot body 1 to form a performance robot.

[0118] 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;

[0119] 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;

[0120] 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;

[0121] In a performance, the first performance prop, the second performance prop, and the third performance prop are the same performance object;

[0122] Or, the first performance prop and the third performance prop are the same performance object;

[0123] Or, the second performance prop and the third performance prop are the same performance object.

[0124] In this embodiment: The robot body 1 includes an arm or / and a manipulator or / and a mechanical leg or / and a foot end or / and a head;

[0125] One, two, three, or all of the arm, the manipulator, the mechanical leg, the foot end, and the head are assembled with the performance component 2.

[0126] Or / and, the waving performance piece is a performance prop head structure 211 with a thick middle and thin ends or a manipulator or a clamp 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.

[0127] In this embodiment, the performance prop head structure 211 is of 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.

[0128] 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.

[0129] Or / and, the performance prop head structure 211 is equipped with buttons or buckles for movably connecting to the robot arm.

[0130] 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 buttons or buckles are disengaged 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.

[0131] 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 for making the second performance prop rotate.

[0132] The output shaft of the rotating motor 221 is fixed with a driving wheel 222.

[0133] A driven wheel 41 is fitted outside the driving wheel 222.

[0134] The driven wheel 41 meshes with the driving wheel 222 to transmit power.

[0135] In this embodiment, either the driven wheel 41 or the driving wheel 222 is provided with a protrusion, and the other is provided with a groove, forming an interlocking chuck to achieve a clutch effect, which is convenient for the rotating performance part to transmit the rotating force to the second performance prop, and at the same time is convenient for the two to be quickly separated and assembled together.

[0136] In this embodiment, 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.

[0137] The hollow tube is a wire-walking steel tube 227, and a cord passes through its interior.

[0138] A protective head 223 is installed at the front end of the hollow tube. The protective head 223 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.

[0139] The outer ring of the core wheel is connected to the driven wheel 41 through ceramic bearings, so that the outer ring will not cause the twisting of the wire rope during rotation, ensuring the long-term use of the wire rope.

[0140] 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 the 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 clamping tooth 233 is installed on the electromagnet 232 on the edge of the serrated disc 235. When the power is off, the clamping tooth 233 is clamped 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 will always remain engaged during the dance.

[0141] 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;

[0142] 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;

[0143] The core wheel is a rotating wheel core 224, which is assembled on the second performance prop.

[0144] In this embodiment: The wire take-up wheel 238 is of a butterfly-shaped spherical structure, and a wire take-up motor 239 is assembled thereon, so that the wire body can be automatically and accurately wound on the wheel;

[0145] The outer cover of the wire take-up wheel 238 is provided with a wire guiding groove 234 for limiting the moving track of the wire body;

[0146] Or / and, the wire body and the wire rope are the same rope or two independent ropes;

[0147] The wire body and the wire rope are respectively fishing line, iron wire, nylon rope, hemp rope, cloth rope or metal wire.

[0148] In this embodiment: The throwing motor is the elbow motor, leg motor or shoulder motor of the robot;

[0149] When the performance prop needs to be 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 release the wire outwards. After the performance prop reaches the highest point in the air, the wire take-up motor 239 rotates to take in the wire and retracts the performance prop, pulling it back to the state where the driving wheel 222 and the driven wheel 41 are engaged.

[0150] As Figure 11 shown, the second specific embodiment of the performance robot of the present invention:

[0151] A performance robot includes a robot body 1 capable of making movements and a performance component 2 for driving the performance prop to move;

[0152] The performance component 2 includes a waving performance member for waving the first performance prop, a rotating performance member for rotating the second performance prop, and a throwing performance member for throwing the third performance prop; the performance component is assembled on the robot body 1 to form a performance robot.

[0153] In this embodiment:

[0154] 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;

[0155] 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 camming 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 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.

[0156] The throwing performance member includes a rotating performance member and a shoulder motor and / or an elbow motor;

[0157] The robot body 1 includes a slot 5, an inner side of the forearm housing 61, and an outer side of the forearm housing 62.

[0158] As Figures 12 - 17 shown, the first specific embodiment of the robot dance performance method of the present invention:

[0159] A robot dance performance method includes a waving performance part and / or a rotating performance part and / or a throwing performance part.

[0160] In this embodiment: for the waving performance part, the first performance prop is waved for performance, which includes the following:

[0161] Using a robotic arm to wave the first performance prop for performance;

[0162] After the performance of the first performance prop is completed, 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 thin part in the middle 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 snap is disengaged 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, and the second performance prop is exposed;

[0163] For the rotating performance part, the second performance prop is rotated for performance, which includes the following:

[0164] A rotating motor 221 assembled at the end of a mechanical arm or a robotic arm provides the rotational power to rotate the second performance prop.

[0165] The rotating motor 221 has a hollow structure, and a hollow tube that does not contact the rotating motor is installed in the cavity.

[0166] A cord passes through the inside of the hollow steel tube. One end of the cord is connected to a rear wire reel 238, and the other end is connected to a core wheel.

[0167] The core wheel is assembled on the second performance prop.

[0168] A protective head 223 is installed at the front end of the hollow tube. The protective head 223 is made of a smooth material to reduce the friction on the cord and improve its service life. At the same time, when the cord is tightened, the protective head 223 compresses the rubber pad 225 on the core wheel.

[0169] The outer ring of the core wheel is connected to a driven wheel 41 through a ceramic bearing, so that the rotation of the outer ring will not cause the cord to twist, ensuring the long-term use of the cord.

[0170] The end of the cord is connected to a wire take-up wheel. The lower part of the wire take-up wheel is fixed on a 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 an electromagnet 232 on the side of the serrated disc 235. When not energized, the catch 233 engages in the tooth groove, so that during a strenuous 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.

[0171] The throwing performance part throws the second performance prop for performance, which includes the following:

[0172] The shoulder motor and / or the elbow motor exert force to give the second 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 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.

[0173] The second specific embodiment of the robot dance performance method of the present invention:

[0174] A robot dance performance method includes a silk scarf 3 dance part and a handkerchief 4 dance part, which specifically includes the following:

[0175] 1. The first half of the dance robot performance is the silk scarf 3 dance part. The front end of the machine has a handkerchief head structure (i.e., a performance prop head structure) with thick ends and thin middle. One end of the head 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.

[0176] 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.

[0177] 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, and 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 keep the handkerchief flower rotating 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 around 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 be prevented from derailing. These designs ensure the smooth winding and unwinding of the fishing line, so that the handkerchief flower can be smoothly thrown and retrieved in the rotating state. The arm structure is as light as possible under the condition of completing the function, which has little impact on the robot's balance and dance steps, enabling the robot to perform full-body movements and dance smoothly.

[0178] A system embodiment applying the method of the present invention:

[0179] A robot dance performance 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 dance performance method.

[0180] An equipment embodiment applying the method of the present invention:

[0181] An electronic device, which includes:

[0182] One or more processors;

[0183] A storage device for storing one or more programs;

[0184] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned robot dance performance method.

[0185] A computer medium embodiment applying the method of the present invention:

[0186] 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 dance performance method is implemented.

[0187] 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.

[0188] 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, as well as 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 one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0189] 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 work 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 one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0190] 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 executed 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 one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0191] In the present application, the fixed connection method can be screw connection, welding, riveting, plugging, or connection through a third component, and those skilled in the art can make a selection according to the actual situation.

[0192] The model in this application is an object that constitutes an objective description of morphological structure with the help of physical or virtual representations. The object is not equal to an object, is not limited to physical and virtual, and can be a data processing function, software program, processing mode, usage method, operation mode, workflow, application process, electronic hardware, circuit module, processing system, system imitation or simulation object.

[0193] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not 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 performance robot, characterized in that: It 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 the first performance prop, and / or a rotating performance piece for rotating the second performance prop, and / or a throwing performance piece for throwing the third performance prop; The performance component is assembled on the robot body (1) to form a performance robot.

2. A performing robot as claimed in claim 1, characterized in that: 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.

3. A performing robot as claimed in claim 1, characterized in that: The rotating performance piece is a rotating motor (221), which is mounted 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 a driven wheel (41) outside; the driven wheel (41) is connected to the second performance prop; The driven wheel (41) and the driving wheel (222) are engaged with each other to transmit power.

4. A performing 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 mutually engaged chucks, thereby achieving a clutch effect.

5. A performing robot as claimed in claim 4, characterized in that: 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 a wire rope passes through the inside of the hollow tube; 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) 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), a sawtooth disk (235) is arranged above the take-up wheel or winding wheel (238), and a latching tooth (233) is installed on the electromagnet (232) on the side of the sawtooth disk (235) during use, and the latching tooth (233) is stuck in the tooth groove when no power is supplied, so that the driving wheel (222) and the driven wheel (41) on the second performance prop are always kept in engagement during dancing.

6. A performing robot as claimed in claim 1, characterized in that: The throwing performance piece is a rotating performance piece, or the throwing performance piece includes a rotating performance piece and a throwing motor; Or, 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.

7. A performing robot as claimed in claim 6, characterized in that: 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); 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; 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 wire-reeling motor (239) cooperates to release the wire outward, and after the performance prop reaches the highest point in the air, the wire-reeling motor (239) rotates to reel in the performance prop and pulls it back to the state where the driving wheel (222) and the driven wheel (41) are engaged.

8. A performing robot as claimed in claim 1, characterized in that: The robot body (1) comprises an arm or / and a manipulator or / and a manipulator leg or / and a foot end or / and a head; One, two, three or all of the arms, manipulators, manipulator legs, foot ends and heads are assembled with performance components (2); Or / and, the swinging 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) or a movable piece.

9. A performing robot as claimed in claim 8, characterized in that: The performance prop head structure (211) is equipped with buttons or buckles for movably connecting to the robot arm; A slot (5) is installed on 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 robot 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 first performance prop and the sleeve (212) remains in the slot (5) of the robot.

10. A performing robot as claimed in claim 1, characterized in that: The waving performance piece comprises a performance prop head structure (211), a sleeve (212), a button male head (213), a button female 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 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 pressure plate (228), a winding wheel mounting plate (231), an electromagnet (232), a clamping tooth (233), a lead groove (234), a sawtooth disk (235), 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 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 handkerchief (4) folded and wrapped backwards, and a driven wheel (41); The rotating motor (221) is mounted at the end of the manipulator or arm, wherein 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 kept in engagement during dancing; Or / and, the throwing performance piece includes a rotating performance piece and a shoulder motor or / and an elbow motor; Or / and, the robot body (1) includes a slot (5), an inner side of a forearm shell (61) and an outer side of a forearm shell (62).

11. A robot dance performance method, characterized in that: It includes a waving performance part and / or a rotating performance part and / or a throwing performance part.

12. A robot dance performance method as claimed in claim 11, characterized in that: The waving performance part involves waving the first performance prop to perform, which 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 end of the robot arm moves 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 end of the robot 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 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 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 power 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, and 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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