Action demonstration robot for learning of non-perpetual culture

Abstract

The utility model relates to the technical field of demonstration robots, in particular to an action demonstration robot for non-genetic culture learning, which comprises an upper limb mechanism and a head mechanism mounted at the upper end of the upper limb mechanism, a lower limb mechanism is mounted at the lower end of the upper limb mechanism and used for action switching, and the lower limb mechanism comprises thigh components mounted on two sides of the lower end of the upper limb mechanism; the crus assembly comprises a crus connecting piece arranged below the thigh assembly, a crus upper steering engine is installed at the upper end in the crus connecting piece and rotationally connected with the lower end of the thigh assembly, the output end of the crus upper steering engine is fixedly connected with the lower end of the thigh assembly, and a crus lower steering engine is installed at the lower end in the crus connecting piece; the foot assembly comprises a foot connecting piece rotationally mounted at the lower end of the lower shank steering engine, and a foot steering engine is rotationally mounted at the lower end of the foot connecting piece; through the thigh assembly, the shank assembly, the foot assembly and the moving assembly, the performance posture and the moving state can be quickly switched, and both the artistic performance and the stage scheduling efficiency are considered.

Description

Technical Field

[0001] This utility model relates to the field of demonstration robot technology, specifically a motion demonstration robot for learning intangible cultural heritage. Background Technology

[0002] Intangible cultural heritage (ICH) is the crystallization of the long history and wisdom of the Chinese nation. Its transmission is primarily through oral instruction and physical demonstration between masters and apprentices. However, with the accelerated pace of modern life, traditional crafts face challenges such as an aging workforce, insufficient interest among the younger generation, and difficulties in standardizing the recording of detailed techniques. Motion demonstration robots have emerged in this context. Combining biomimetic mechanical design, motion control algorithms, and artificial intelligence technology, they can accurately reproduce typical movements from traditional dances, operas, martial arts, and other ICH projects, providing learners with intuitive and repeatable standardized demonstrations.

[0003] A search revealed that the patent for a teaching robot for opera performance, CN214897094U, discloses a technology that includes "a teaching robot for opera performance, comprising a robot body and a control system. The robot body is dressed in opera costumes. The robot body is humanoid, including a head, torso, and limbs. The limbs include upper and lower limbs, and the joints of the upper and lower limbs are composed of servo mechanisms. The head, upper limbs, and lower limbs are all connected to the torso via servo motors. The control system is located inside the torso and includes a power supply, a controller, and an audio player. The audio player is connected to the controller, and the controller is connected to the servo motors via a servo motor drive circuit." This technology is said to "lower the barrier to learning opera skills, help solve the current problem of learning opera skills among young people, give more young people the opportunity to achieve all-round development, and improve the overall quality of young people in my country. At the same time, it can also serve as an entertainment tool, enriching the cultural life of the general public and filling a market gap."

[0004] The aforementioned intangible cultural heritage demonstration robot adopts a bionic leg structure, which can highly reproduce the complex steps and postures in traditional performances. Although its humanoid leg mechanical structure ensures the realism of the movements, the limited joint drive torque and the long time required for gait stability adjustment result in a limited walking speed. This mobility deficiency makes the robot sluggish in large-scale stage scheduling that requires rapid movement. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a motion demonstration robot for learning intangible cultural heritage. Through thigh components, calf components, foot components, and movement components, it can quickly switch between performance postures and movement states, taking into account both artistic expression and stage management efficiency.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a motion demonstration robot for learning intangible cultural heritage, comprising an upper limb mechanism and a head mechanism mounted on the upper end of the upper limb mechanism, wherein a lower limb mechanism is mounted on the lower end of the upper limb mechanism for switching actions, and the lower limb mechanism includes:

[0007] Thigh assembly, installed on both sides of the lower end of the upper limb mechanism;

[0008] The lower leg assembly includes a lower leg connector located below the thigh assembly. The upper end of the lower leg connector is equipped with an upper lower leg servo motor, which is rotatably connected to the lower end of the thigh assembly. The output end of the upper lower leg servo motor is fixedly connected to the lower end of the thigh assembly. The lower end of the lower leg connector is equipped with a lower lower leg servo motor.

[0009] The foot assembly includes a foot connector rotatably mounted on the lower end of a servo motor under the lower leg, a foot servo motor rotatably mounted on the lower end of the foot connector, and the output end of the foot servo motor is fixed to the lower end of the foot connector, and the foot is fixed to the lower end of the foot servo motor.

[0010] The moving component includes a housing fixed to the front end of the lower leg connector.

[0011] Preferably, the moving component further includes a base plate fixed inside the lower end of the housing, with drive wheels rotatably mounted on both sides of the rear end of the base plate, and a driving component provided on the base plate for controlling the drive wheels.

[0012] Preferably, the driving component includes a mounting bracket fixed to both sides of the rear end inside the substrate. A shaft is rotatably mounted on the lower end of the mounting bracket, and a drive wheel is fixed on the shaft. A driven gear is fixed on the shaft. A first transmission gear is rotatably mounted on the upper end of the mounting bracket. A second transmission gear is fixed on the first transmission gear and meshes with the driven gear for transmission. Motors are mounted on both sides of the outer wall of the mounting bracket. A drive gear is fixed at the output end of the motor and meshes with the first transmission gear for transmission.

[0013] Preferably, the moving assembly further includes sprockets fixed to both the shaft and the driven wheel, and a chain is installed between adjacent sprockets.

[0014] Preferably, the output end of the lower leg servo motor is fixed to the upper end of the foot connector.

[0015] Preferably, the inside of the foot is equipped with a plurality of electromagnets arranged in an array.

[0016] Beneficial effects

[0017] This utility model provides a robot for demonstrating movements in learning intangible cultural heritage. Compared with the prior art, it has the following advantages:

[0018] 1. Through the coordinated movement of the upper limb, head, and lower limb mechanisms, anthropomorphic gait is achieved, accurately reproducing the complex movements in intangible cultural heritage performances; furthermore, through the thigh, calf, foot, and movement components, performance postures and movement states can be quickly switched, taking into account both artistic expression and stage management efficiency.

[0019] 2. The motor output drives the active gear to rotate the first transmission gear, which in turn drives the driven gear to rotate through the second transmission gear. The driven gear then drives the active wheel to rotate through the shaft, thus achieving high torque transmission and improving the robot's long-distance mobility. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention in a moving state;

[0021] Figure 2 This is a structural diagram of the present invention in the action switching state;

[0022] Figure 3 This is a schematic diagram of the structure of the present invention in its performance state;

[0023] Figure 4 This is a partial structural diagram of the lower limb mechanism in this utility model;

[0024] Figure 5 This is a schematic diagram of the structure of the mobile component in this utility model;

[0025] Figure 6 This is a schematic diagram of the drive component in this utility model.

[0026] In the diagram: 1. Upper limb mechanism; 2. Head mechanism; 3. Lower limb mechanism; 31. Thigh assembly; 32. Lower leg assembly; 321. Lower leg connector; 322. Upper lower leg servo; 323. Lower lower leg servo; 33. Foot assembly; 331. Foot connector; 332. Foot servo; 333. Foot; 34. Moving assembly; 341. Housing; 342. Base plate; 343. Drive wheel; 344. Driven wheel; 345. Sprocket; 346. Drive component; 3461. Mounting bracket; 3462. Shaft; 3463. Drive gear; 3464. Driven gear; 3465. First transmission gear; 3466. Second transmission gear; 3467. Motor; 347. Chain. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Please see Figure 1 - Figure 6 This utility model provides a technical solution: a movement demonstration robot for learning intangible cultural heritage, including an upper limb mechanism 1 and a head mechanism 2 installed on the upper end of the upper limb mechanism 1. A lower limb mechanism 3 is installed on the lower end of the upper limb mechanism 1 and is used for movement switching. The lower limb mechanism 3 includes:

[0029] Thigh assembly 31 is installed on both sides of the lower end of upper limb mechanism 1;

[0030] The lower leg assembly 32 includes a lower leg connector 321 disposed below the thigh assembly 31. The upper end of the lower leg connector 321 is equipped with an upper lower leg servo motor 322 and is rotatably connected to the lower end of the thigh assembly 31. The output end of the upper lower leg servo motor 322 is fixedly connected to the lower end of the thigh assembly 31. The lower end of the lower leg connector 321 is equipped with a lower lower leg servo motor 323.

[0031] The foot assembly 33 includes a foot connector 331 rotatably mounted on the lower end of the lower leg servo 323, a foot servo 332 rotatably mounted on the lower end of the foot connector 331, and the output end of the foot servo 332 is fixed to the lower end of the foot connector 331. The foot ball 333 is fixed to the lower end of the foot servo 332.

[0032] The movable component 34 includes a housing 341 fixed to the front end of the lower leg connector 321.

[0033] In this implementation scheme, the coordinated movement of the upper limb mechanism 1, the head mechanism 2 and the lower limb mechanism 3 achieves an anthropomorphic gait, accurately reproducing the complex movements in intangible cultural heritage performances; and, through the thigh component 31, the lower leg component 32, the foot component 33 and the movement component 34, the performance posture and movement state can be quickly switched, taking into account both artistic expression and stage scheduling efficiency.

[0034] Specifically, the moving component 34 also includes a base plate 342 fixed inside the lower end of the housing 341. Both sides of the rear end of the base plate 342 are rotatably mounted with drive wheels 343. A drive component 346 is provided on the base plate 342 and is used to control the drive wheels 343.

[0035] In this embodiment, when the robot needs to perform on stage or move a long distance, it needs to switch from the performance state to the movement state. The output end of the foot servo motor 332 drives the foot connector 331 to rotate forward 90°. At the same time, the output end of the servo motor 322 on the lower leg drives the thigh assembly 31 to rotate backward 90° until the movement assembly 34 contacts the ground and the foot 333 is separated from the ground. Then, the output end of the foot servo motor 332 drives the foot servo motor 332 to drive the foot 333 to rotate backward 180°, so that the foot 333 is away from the ground, avoiding the collision between the foot 333 and the ground during the movement.

[0036] Specifically, the drive component 346 includes a mounting bracket 3461 fixed on both sides of the rear end inside the substrate 342. A shaft 3462 is rotatably mounted on the lower end of the mounting bracket 3461, and a drive wheel 343 is fixed on the shaft 3462. A driven gear 3464 is fixed on the shaft 3462. A first transmission gear 3465 is rotatably mounted on the upper end of the mounting bracket 3461. A second transmission gear 3466 is fixed on the first transmission gear 3465 and meshes with the driven gear 3464 for transmission. Motors 3467 are mounted on both sides of the outer wall of the mounting bracket 3461. A drive gear 3463 is fixed on the output end of the motor 3467 and meshes with the first transmission gear 3465 for transmission.

[0037] In this embodiment, the output end of the motor 3467 drives the active gear 3463 to rotate the first transmission gear 3465. The first transmission gear 3465 drives the driven gear 3464 to rotate through the second transmission gear 3466. The driven gear 3464 drives the active wheel 343 to rotate through the shaft 3462, thereby achieving high torque transmission and improving the robot's long-distance mobility.

[0038] Specifically, the moving component 34 also includes sprockets 345 fixed on both the shaft 3462 and the driven wheel 344, and a chain 347 is installed between adjacent sprockets 345.

[0039] In this embodiment, when the driving wheel 343 rotates, it drives the driven wheel 344 to rotate through the sprocket 345 and the chain 347.

[0040] Specifically, the output end of the lower leg servo motor 323 is fixed to the upper end of the foot connector 331.

[0041] In this embodiment, the foot assembly 33 can be rotated 360° by controlling the lower leg servo motor 323.

[0042] Specifically, the inside of the foot 333 contains several arrayed electromagnets.

[0043] In this embodiment, the electromagnet generates a magnetic attraction with the metal stage when energized, and releases when the power is turned off, so that the robot must be absolutely still for a moment during the performance.

[0044] The working principle and usage process of this utility model are as follows: First, when the robot needs to be staged or moved over long distances, it needs to switch from the performance state to the movement state. The output end of the foot servo motor 332 drives the foot connector 331 to rotate forward 90°. At the same time, the output end of the servo motor 322 on the lower leg drives the thigh component 31 to rotate backward 90° until the movement component 34 contacts the ground and the foot 333 is separated from the ground. Then, the output end of the foot servo motor 332 drives the foot servo motor 332 to drive the foot 333 to rotate backward 180°, so that the foot 333 is away from the ground, avoiding the collision between the foot 333 and the ground during the movement.

[0045] Then, the output of the motor 3467 drives the drive gear 3463 to rotate the first transmission gear 3465. The first transmission gear 3465 drives the driven gear 3464 to rotate through the second transmission gear 3466. The driven gear 3464 drives the drive wheel 343 to rotate through the shaft 3462. When the drive wheel 343 rotates, it drives the driven wheel 344 to rotate through the sprocket 345 and the chain 347, thereby improving the robot's long-distance mobility.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0047] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A motion demonstration robot for learning intangible cultural heritage, comprising an upper limb mechanism (1) and a head mechanism (2) mounted on the upper end of the upper limb mechanism (1), characterized in that: The lower end of the upper limb mechanism (1) is equipped with a lower limb mechanism (3) for movement switching. The lower limb mechanism (3) includes: Thigh assembly (31) is installed on both sides of the lower end of upper limb mechanism (1); The lower leg assembly (32) includes a lower leg connector (321) disposed below the thigh assembly (31). The upper end of the lower leg connector (321) is equipped with an upper lower leg servo motor (322) and is rotatably connected to the lower end of the thigh assembly (31). The output end of the upper lower leg servo motor (322) is fixedly connected to the lower end of the thigh assembly (31). The lower end of the lower leg connector (321) is equipped with a lower lower leg servo motor (323). The foot assembly (33) includes a foot connector (331) rotatably mounted on the lower end of the lower leg servo (323), a foot servo (332) rotatably mounted on the lower end of the foot connector (331), and the output end of the foot servo (332) is fixed to the lower end of the foot connector (331), and the foot (333) is fixed to the lower end of the foot servo (332). The moving component (34) includes a housing (341) fixed to the front end of the lower leg connector (321).

2. The action demonstration robot for learning intangible cultural heritage according to claim 1, characterized in that: The moving component (34) also includes a base plate (342) fixed inside the lower end of the housing (341). Both sides of the rear end of the base plate (342) are rotatably mounted with drive wheels (343). A drive component (346) is provided on the base plate (342) and used to control the drive wheels (343).

3. The action demonstration robot for learning intangible cultural heritage according to claim 2, characterized in that: The drive component (346) includes a mounting bracket (3461) fixed on both sides of the rear end inside the substrate (342). A shaft (3462) is rotatably mounted on the lower end of the mounting bracket (3461), and a drive wheel (343) is fixed on the shaft (3462). A driven gear (3464) is fixed on the shaft (3462). A first transmission gear (3465) is rotatably mounted on the upper end of the mounting bracket (3461). A second transmission gear (3466) is fixed on the first transmission gear (3465) and meshes with the driven gear (3464) for transmission. Motors (3467) are mounted on both sides of the outer wall of the mounting bracket (3461). A drive gear (3463) is fixed on the output end of the motor (3467) and meshes with the first transmission gear (3465) for transmission.

4. The action demonstration robot for learning intangible cultural heritage according to claim 1, characterized in that: The moving assembly (34) also includes sprockets (345) fixed on both the shaft (3462) and the driven wheel (344), and a chain (347) is installed between adjacent sprockets (345).

5. The action demonstration robot for learning intangible cultural heritage according to claim 1, characterized in that: The output end of the lower leg servo motor (323) is fixed to the upper end of the foot connector (331).

6. The action demonstration robot for learning intangible cultural heritage according to claim 1, characterized in that: The foot (333) is equipped with several arrayed electromagnets.

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