Four-footed mobile lion dancing robot

Abstract

The invention relates to the technical field of robots, in particular to a four-footed mobile lion dancing robot which comprises a four-footed robot body and further comprises a swing assembly, the swing assembly comprises a bent plate fixedly installed at the end of the robot body, a rotating shaft is rotationally installed on the bent plate, and a swing plate used for driving a lion head to swing up and down is installed above the rotating shaft in a swing mode. A camera is detachably mounted below the rotating shaft; a swing shaft is rotationally mounted on the rotating shaft, the middle of the swing shaft penetrates through the rotating shaft, and the swing plate is fixedly connected with the swing shaft through a connecting plate; wherein a rotating disc is fixedly installed on the rotating shaft, a driving assembly used for driving the gear to rotate is fixedly installed on the rotating disc, the robot can drive the lion head to swing up and down or left and right in the moving process, and the lion dancing is more romantic.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a quadrupedal mobile lion dance robot. Background Technology

[0003] With the integration of robotics technology and the need for cultural heritage preservation, lion dance robots have emerged as a new medium for showcasing the fusion of technology and culture. Existing lion dance robot technologies mainly focus on achieving basic robot mobility, but they have significant shortcomings in the completeness of movements and artistic expression. In lion dance art, the "lion head" plays a crucial role as the core carrier of emotional expression. However, in existing lion dance robots, the lion head is either completely static decoration or its movement is merely a passive consequence of the body's movement, unable to sway independently to showcase the spirit of the lion dance. Summary of the Invention

[0004] Technical problems to be solved

[0005] In view of the above-mentioned shortcomings of the existing technology, this application provides a quadrupedal mobile lion dance robot, which can effectively solve the problem that in the existing technology, the lion head of the lion dance robot is either completely static decoration or its movement is only a passive result of the movement of the body, and cannot swing independently to show the charm of the lion dance.

[0006] Technical solution

[0007] To achieve the above objectives, this application provides the following technical solution:

[0008] This application provides a four-legged mobile lion dance robot, including a four-legged robot and a swinging component, which includes a bent plate fixedly installed at the end of the robot, a rotating shaft rotatably installed on the bent plate, a swinging plate for driving the lion's head to swing up and down is swayingly installed above the rotating shaft, and a camera is detachably installed below the rotating shaft.

[0009] A swing shaft is rotatably mounted on the rotating shaft, with the middle part of the swing shaft passing through the rotating shaft, and the swing plate is fixedly connected to the swing shaft through a connecting plate;

[0010] A rotating disk is fixedly mounted on the rotating shaft, and a drive assembly for driving the gears to rotate is fixedly mounted on the rotating disk.

[0011] Furthermore, the drive assembly includes a gear fixedly mounted on the swing shaft and a gear rack slidably mounted on the rotating disk. The gear meshes with the gear rack for transmission. A telescopic component is provided on the outer side of the gear rack to drive the gear rack to slide. When the telescopic component extends, the gear rack drives the gear to rotate, causing the lion head on the swing plate to lift up.

[0012] Furthermore, two fixed plates are spaced apart on the side of the rotating disk away from the robot. Bearings for rotating and connecting with the lower jaw of the lion are rotatably mounted on the fixed plates. A support plate for pushing the lower jaw of the lion is fixedly mounted on the side of the gear rack away from the robot.

[0013] Furthermore, each fixing plate has a mounting groove on its top, and the bearing is rotatably installed inside the mounting groove. A fixing block is slidably installed inside the mounting groove, and the fixing block is used to lock onto the outside of the bearing. The fixing block is fixed to the top of the fixing plate by bolts.

[0014] Furthermore, a battery compartment is located in the middle of the robot, and a battery cover is rotatably mounted on top of the battery compartment to press the battery into the battery compartment. A fixing box is located on the side of the robot above the swinging component, which is locked onto one side of the battery cover.

[0015] Furthermore, a sliding rod is slidably installed inside the fixed box. One end of the sliding rod extends out of the fixed box and presses against the battery cover. A lifting block is provided inside the fixed box to control the sliding position of the sliding rod.

[0016] Furthermore, the lifting block is installed inside the fixed box on the side near the swing assembly. The fixed box is equipped with an elastic element for supporting the lifting block. A groove is provided in the middle of the lower end face of the lifting block. A guide groove is provided on the inner wall of the groove. A sliding shaft that slides inside the guide groove is fixedly installed at the end of the sliding rod facing the lifting block. When the lifting block moves down, it drives the sliding rod to slide away from the battery cover.

[0017] Furthermore, when the swing plate rotates towards the center of the robot, it can be used to press the lifting block. A guard plate is fixedly installed above the lifting block, and a sliding plate is provided on the swing plate for passing through the guard plate to press the lifting block.

[0018] Furthermore, the swing plate is a hollow structure with multiple fixing slots spaced apart. The fixing slots are used to fix the main frame of the lion dance. The upper end of the sliding plate passes through the multiple fixing slots, and one end of the sliding plate extends out from one side of the swing plate. The sliding plate is provided with a limiting slot for locking the main frame of the lion dance. An electric push rod that drives the sliding plate to move is fixedly installed inside the swing plate.

[0019] Furthermore, a drive box is fixedly installed below the bending plate, and the drive box is used to drive the rotating shaft to rotate left and right on the bending plate.

[0020] Beneficial effects

[0021] The technical solution provided in this application has the following advantages compared with the known public technology:

[0022] When the lion's head needs to be raised, the telescopic rod of the telescopic component extends, directly pushing the toothed rack to slide along its installation trajectory. Since the toothed rack meshes with the gear, the linear motion of the toothed rack is converted into the rotational motion of the gear. The gear drives the fixed swing shaft to rotate, which in turn drives the swing plate to swing upward through the connecting plate, realizing the lion's head raising action. When the telescopic component retracts, the process is reversed, realizing the lion's head lowering action. This allows the robot to also drive the lion's head to swing up and down or left and right during its activities, making the lion dance more graceful.

[0023] When battery replacement and maintenance are required, this application drives the swing plate to rotate counterclockwise downwards so that the entire swing plate is in a horizontal state. At this time, the swing plate will press down on the lifting block, causing the lifting block to move down. Through the guiding action of the guide groove in its groove, the sliding rod is forced to retract inwards, releasing the clamping force on the battery cover. At this time, by pulling the handle above the battery cover, the battery cover can be easily flipped open to replace the battery in the battery compartment. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of this application;

[0026] Figure 2 This is an overall side view of this application;

[0027] Figure 3 This is a schematic diagram of another working state structure of this application;

[0028] Figure 4 This is a schematic diagram of the installation on the bent plate of this application;

[0029] Figure 5 This is a schematic diagram of the bottom structure of the bent plate in this application;

[0030] Figure 6 This is a schematic diagram of the overall internal structure of the rotating disk in this application;

[0031] Figure 7 This is a cross-sectional view of the rotating disk of this application;

[0032] Figure 8 For the purposes of this application Figure 7 A magnified schematic diagram of the structure at point A;

[0033] Figure 9 This is a schematic diagram of the overall structure of the fixed box in this application;

[0034] Figure 10 This is a schematic diagram of the internal structure of the fixed box in this application;

[0035] Figure 11 This is a side sectional view of the lifting block of this application;

[0036] Figure 12 This is a cross-sectional view of the swing plate of this application;

[0037] Figure 13 This is a schematic diagram of the overall structure of the sliding plate in this application;

[0038] Figure 14 This is a schematic diagram of another installation configuration of the camera according to this application.

[0039] The labels in the diagram represent:

[0040] 1. Robot; 11. Battery cover; 2. Fixing box; 21. Lifting block; 2101. Groove; 2102. Guide groove; 22. Sliding rod; 23. Elastic element; 24. Protective plate;

[0041] 3. Swing assembly; 31. Bending plate; 32. Camera; 33. Swing plate; 331. Connecting plate; 332. Sliding plate; 333. Electric actuator; 334. Mounting bracket; 3301. Fixing groove; 3302. Limiting groove; 34. Rotating shaft; 341. Rotating disk; 342. Swing shaft; 343. Gear; 344. Fixing plate; 345. Bearing; 346. Fixing block; 35. Drive box; 36. Gear rack; 37. Telescopic component; 38. Support plate. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0043] The present application will be further described below with reference to embodiments.

[0044] Example 1: A quadrupedal mobile lion dance robot, such as Figure 1 - Figure 13As shown, the robot includes a quadruped robot 1 and a swing assembly 3. The swing assembly 3 includes a bent plate 31 fixedly installed at the end of the robot 1. A rotating shaft 34 is rotatably installed on the bent plate 31. A drive box 35 is fixedly installed below the bent plate 31. The drive box 35 is used to drive the rotating shaft 34 to rotate left and right on the bent plate 31. In an optional embodiment, a drive motor is provided inside the drive box 35. The drive motor drives the rotating shaft 34 to rotate through gear engagement. All of these are achieved using common technical means in the prior art and are not the core of this technical solution. Their principles will not be described in detail here.

[0045] A swing plate 33 is mounted above the rotating shaft 34 to drive the lion head to swing up and down. The swing plate 33 is a hollow structure. Multiple fixing slots 3301 are provided on the swing plate 33 at intervals. The fixing slots 3301 are used to fix the main frame of the lion dance. A camera 32 is detachably mounted below the rotating shaft 34.

[0046] A swing shaft 342 is rotatably mounted on the rotating shaft 34. The middle part of the swing shaft 342 passes through the rotating shaft 34. The swing plate 33 is fixedly connected to the swing shaft 342 through the connecting plate 331.

[0047] A rotating disk 341 is fixedly mounted on the rotating shaft 34. A drive assembly for driving the gear 343 to rotate is fixedly mounted on the rotating disk 341. The drive assembly includes a gear 343 fixedly mounted on the swing shaft 342 and a toothed rack 36 slidably mounted on the rotating disk 341. The gear 343 meshes with the toothed rack 36 for transmission. A telescopic member 37 for driving the toothed rack 36 to slide is provided on the outer side of the toothed rack 36. When the telescopic member 37 extends, the toothed rack 36 drives the gear 343 to rotate. A guide rail is provided on the rotating disk 341 to guide the toothed rack 36 to slide, so that the lion head on the swing plate 33 is raised.

[0048] In this embodiment, during use, the crossbars on the main frame of the lion head are first placed into each fixed slot 3301, and the main frame is fixed with cable ties or other structures. At the same time, the other parts of the lion are fixed to the robot 1. During the performance, when the lion head needs to be raised, the telescopic rod of the telescopic component 37 is extended, directly pushing the toothed rack 36 to slide along its installation trajectory. Since the toothed rack 36 meshes with the gear 343, the linear motion of the toothed rack 36 is converted into the rotational motion of the gear 343. The gear 343 drives the swing shaft 342 fixed to it to rotate, and then drives the swing plate 33 to swing upward through the connecting plate 331, realizing the raising of the lion head. When the telescopic component 37 retracts, the process is reversed, realizing the lowering of the lion head. During the operation of the robot 1, the lion head can also be driven to swing up and down or left and right, making the lion dance more graceful.

[0049] Below the typical lion head, a lower jaw is rotatably mounted. In traditional lion dance performances, the lion dancer controls its opening and closing by pulling a rope, which is crucial for expressing the lion's emotions. To achieve control over the lion's lower jaw, this embodiment has two fixed plates 344 spaced apart on the side of the rotating disk 341 away from the robot 1. Bearings 345 are rotatably mounted on the fixed plates 344 for rotating with the side of the lion's lower jaw. During use, the two ends of the rotating shaft of the lion's lower jaw pass through the two bearings 345 respectively. A support plate 38 for pushing the lion's lower jaw to rotate is fixedly mounted on the side of the gear rack 36 away from the robot 1. The telescopic member 37 drives the gear rack 36 to move away from the center of the robot 1. When sliding (during which the lion head fixed on the swing plate 33 swings upward), the toothed plate 36 will drive the support plate 38 to move towards the lower side of the lion head's jaw, thereby causing the lion head's jaw to flip upward, making the lion dance more graceful; each fixed plate 344 has a mounting groove on its top, and the bearing 345 is rotatably installed inside the mounting groove. The fixing block 346 is slidably installed inside the mounting groove. The fixing block 346 is used to lock onto the outside of the bearing 345. The fixing block 346 is fixed to the top of the fixed plate 344 by bolts. When rotating and installing the lion head's jaw between the two fixed plates 344, the fixing blocks 346 on the two fixed plates 344 should be removed first.

[0050] Since the lion dance robot will be used for performances, in order to replace the battery more quickly after the performance, this embodiment has a battery compartment in the middle of the robot 1. A battery cover 11 is rotatably mounted above the battery compartment to press the battery into the compartment. A fixing box 2 is located on the side of the robot 1 near the swing assembly 3, and it is secured to one side of the battery cover 11. A sliding rod 22 is slidably mounted inside the fixing box 2. One end of the sliding rod 22 extends out of the fixing box 2 towards the battery cover 11 and presses against the battery cover 11. The 2-inch housing has an internal lifting block 21 for controlling the sliding position of the sliding rod 22. The lifting block 21 is installed inside the fixed box 2 near the swing assembly 3. The fixed box 2 has an elastic element 23 for supporting the lifting block 21. A groove 2101 is provided in the middle of the lower end face of the lifting block 21. A guide groove 2102 is provided on the inner wall of the groove 2101. A sliding shaft that slides inside the guide groove 2102 is fixedly installed at one end of the sliding rod 22 facing the lifting block 21. When the lifting block 21 moves down, it drives the sliding rod 22 to slide away from the battery cover 11. When the movable plate 33 rotates towards the center of the robot 1, it can be used to press the lifting block 21. A guard plate 24 is fixedly installed above the lifting block 21 to prevent accidental pressing of the lifting block 21 and to prevent the battery cover 11 from being opened abnormally during use. The swing plate 33 is provided with a sliding plate 332 for passing through the guard plate 24 to press the lifting block 21. The upper end of the sliding plate 332 passes through multiple fixing slots 3301, and one end of the sliding plate 332 extends out from one side of the swing plate 33. The sliding plate 332 is provided with a limiting slot 3302 for locking the main frame of the lion dance. An electric actuator 333, which drives the sliding plate 332 to move, is fixedly installed inside the movable plate 33. The sliding plate 332 is slidably mounted on the movable plate 33, and a limiting groove 3302 is provided on the sliding plate 332. When it is necessary to fix the main frame of the lion dance, multiple members of the main frame are first slid into multiple fixing grooves 3301. Then, the electric actuator 333 drives the sliding plate 332 to slide away from the robot 1, so that the limiting groove 3302 cooperates with the fixing groove 3301 to lock the members of the main frame of the lion dance inside the fixing groove 3301 (e.g., ...). Figure 12As shown), the main frame of the lion dance is fixed. When the battery cover 11 needs to be opened, the electric push rod 333 drives the sliding plate 332 to slide towards the robot 1, so that one end of the sliding plate 332 extends out of the swing plate 33. Then, by adjusting the swing angle of the swing plate 33, one side of the sliding plate 332 can press against the lifting block 21 (a notch is left on the guard plate 24 for the sliding plate 33 to pass through), thereby quickly unlocking the battery cover 11. It should be noted that under normal conditions, the elastic element 23 tops... Lifting block 21 is raised. At this time, the pin at the inner end of sliding rod 22 is located at the leftmost position of guide groove 2102, so that sliding rod 22 is in the extended state and is locked on battery cover 11. When lifting block 21 is pressed by sliding plate 332, lifting block 21 moves down against the elastic force. During the downward movement, the inclined surface of guide groove 2102 forces pin of sliding rod 22 to move, thereby driving the entire sliding rod 22 to retract away from battery cover 11, so that sliding rod 22 no longer obstructs the rotation of battery cover 11.

[0051] Specific working principle: The quadruped robot 1 acts as the mobile base, responsible for performing full-body movements such as walking, running, and jumping, simulating the basic gait of a lion. The core performance module at its front—the swing assembly 3—when a head-shaking performance is required, the drive structure within the drive box 35 drives the rotating shaft 34 to rotate, causing the drive shaft 34 to rotate left and right on the bent plate 31. This drives the entire upper mechanism (rotating shaft 34 and rotating disk 341) to rotate left and right, enabling the lion's head on the swing plate 33 to perform a horizontal "head-shaking" movement. Additionally, when a head-raising or head-lowering performance is required, the telescopic component 37 extends and retracts according to instructions, pushing the toothed row 36 to slide. The gear rack 36, through meshing with the gear 343, converts linear motion into rotational motion of the swing shaft 342. The swing shaft 342 drives the swing plate 33 to tilt up and down through the connecting plate 331, and the lion head skeleton fixed on the fixing groove 3301 of the swing plate 33 moves accordingly. More ingeniously, when the gear rack 36 slides, the support plate 38 at its end moves synchronously, pushing the lower jaw of the lion head prop connected to the bearing 345, so that it produces an "open mouth" or "close mouth" effect linked to the tilting motion (the lion closes its mouth when it raises its head and opens its mouth when it lowers its head), making the expression vivid. The camera 32 collects images in front in real time for visual navigation or interactive perception.

[0052] When battery replacement or maintenance is required, the swing plate 33 is rotated counterclockwise downwards to bring the entire swing plate 33 into a horizontal state (e.g., Figure 3 As shown), at this time, the sliding plate 332 on the side of the swing plate 33 will press down the lifting block 21, causing the lifting block 21 to move down. Through the guiding action of the guide groove 2102 in its groove 2101, the sliding rod 22 is forced to retract inward, releasing the pressure on the battery cover 11. At this time, by pulling the handle above the battery cover 11, the battery cover 11 can be flipped open smoothly to replace the battery in the battery compartment.

[0053] Example 2: Based on Example 1, the position of camera 32 is adjusted, such as... Figure 14 As shown, a mounting bracket 334 is fixedly installed on the top of the swing plate 33. Two cameras 32 are fixedly installed on the mounting bracket 334. The cameras 32 are used to collect images of the performance. In actual use, the two cameras 32 are located at the two eyes of the lion's head. The eyes of the lion's head are made of transparent material. During the lion dance performance, when the swing plate 33 moves the lion's head to tilt and sway, the eye cameras can synchronously change the acquisition angle. In addition, the cameras 32 can integrate radar or laser ranging modules to perform high-precision spatial modeling. The laser can emit low-power laser beams or high-brightness LED beams from the eyes of the lion's head. During the climax of the performance (such as "the lion roars"), the laser beam can follow the head's movement and sweep across the audience or specific targets, creating a highly impactful visual effect that deeply integrates traditional culture with hardcore technology.

[0054] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this application.

Claims

1. A quadrupedal mobile lion dance robot, comprising a quadrupedal robot (1), characterized in that, Also includes: The swing assembly (3) includes a bent plate (31) fixedly mounted on the end of the robot (1), a rotating shaft (34) rotatably mounted on the bent plate (31), a swing plate (33) for driving the lion head to swing up and down is oscillatingly mounted above the rotating shaft (34), and a camera (32) is detachably mounted below the rotating shaft (34). A swing shaft (342) is rotatably mounted on the rotating shaft (34), and the middle part of the swing shaft (342) passes through the rotating shaft (34). The swing plate (33) is fixedly connected to the swing shaft (342) through the connecting plate (331). Among them, a rotating disk (341) is fixedly installed on the rotating shaft (34), and a drive component for driving the gear (343) to rotate is fixedly installed on the rotating disk (341).

2. The quadrupedal mobile lion dance robot according to claim 1, characterized in that, The drive assembly includes a gear (343) fixedly mounted on the swing shaft (342) and a toothed rack (36) slidably mounted on the rotating disk (341). The gear (343) meshes with the toothed rack (36) for transmission. A telescopic member (37) for driving the toothed rack (36) to slide is provided on the outer side of the toothed rack (36). When the telescopic member (37) extends, the toothed rack (36) drives the gear (343) to rotate, causing the lion head on the swing plate (33) to lift up.

3. A quadrupedal mobile lion dance robot according to claim 2, characterized in that, Two fixed plates (344) are spaced apart on the side of the rotating disk (341) away from the robot (1). A bearing (345) for rotating connection with the lower jaw of the lion is rotatably mounted on the fixed plate (344). A support plate (38) for pushing the lower jaw of the lion is fixedly mounted on the side of the toothed rack (36) away from the robot (1).

4. A quadrupedal mobile lion dance robot according to claim 3, characterized in that, Each of the fixed plates (344) has a mounting groove on its top. The bearing (345) is rotatably mounted inside the mounting groove. A fixing block (346) is slidably mounted inside the mounting groove. The fixing block (346) is used to lock onto the outside of the bearing (345). The fixing block (346) is fixed above the fixed plate (344) by bolts.

5. A quadrupedal mobile lion dance robot according to claim 4, characterized in that, The robot (1) has a battery compartment in the middle, and a battery cover plate (11) for pressing the battery inside the battery compartment is rotatably installed on the top of the battery compartment. A fixing box (2) is provided on the side of the robot (1) near the swing assembly (3) and is locked to one side of the battery cover plate (11).

6. A quadrupedal mobile lion dance robot according to claim 5, characterized in that, The fixed box (2) is slidably installed with a sliding rod (22). The end of the sliding rod (22) extends out of the fixed box (2) towards the battery cover (11) and is pressed against the battery cover (11). The fixed box (2) is provided with a lifting block (21) for controlling the sliding position of the sliding rod (22).

7. A quadrupedal mobile lion dance robot according to claim 6, characterized in that, The lifting block (21) is installed inside the fixed box (2) on the side close to the swing assembly (3). The fixed box (2) is provided with an elastic element (23) for supporting the lifting block (21). The lower end face of the lifting block (21) is provided with a groove (2101). The inner wall of the groove (2101) is provided with a guide groove (2102). The sliding rod (22) is fixedly installed with a sliding shaft that slides inside the guide groove (2102) at one end facing the lifting block (21). When the lifting block (21) moves down, it drives the sliding rod (22) to slide away from the battery cover (11).

8. A quadrupedal mobile lion dance robot according to claim 7, characterized in that, When the swing plate (33) rotates toward the center of the robot (1), it can be used to press the lifting block (21). A guard plate (24) is fixedly installed above the lifting block (21). A sliding plate (332) is provided on the swing plate (33) for passing through the guard plate (24) to press the lifting block (21).

9. A quadrupedal mobile lion dance robot according to claim 8, characterized in that, The swing plate (33) is a hollow structure. Multiple fixing slots (3301) are provided on the swing plate (33) at intervals. The fixing slots (3301) are used to fix the main frame of the lion dance. The upper end of the sliding plate (332) passes through the multiple fixing slots (3301). One end of the sliding plate (332) extends out from one side of the swing plate (33). The sliding plate (332) is provided with a limiting slot (3302) for locking the main frame of the lion dance. An electric push rod (333) that drives the sliding plate (332) to move is fixedly installed inside the swing plate (33).

10. A quadrupedal mobile lion dance robot according to claim 1, characterized in that, A drive box (35) is fixedly installed below the bending plate (31), and the drive box (35) is used to drive the rotating shaft (34) to rotate left and right on the bending plate (31).

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