Performance robot and robot dance performance method

Abstract

A performance robot, comprising a robot body (1) capable of making actions and a performance assembly (2) used for driving performance props to move. The performance assembly (2) comprises a swinging performance member used for swinging a first performance prop, or / and a rotating performance member used for rotating a second performance prop, or / and a tossing performance member used for tossing a third performance prop. The performance assembly is assembled on the robot body (1) to form the performance robot. Also provided are another performance robot and a robot dance performance method.

Description

A performance robot and a method for robot dance performance Technical Field

[0001] This invention relates to a performance robot and a method for robot dance performance, belonging to the field of robot equipment technology. Background Technology

[0002] Existing bipedal robots can only perform lower limb movements such as walking and running. Arm and leg movements are basically unrelated, and the movements are relatively simple, making them unsuitable for dance performances.

[0003] Furthermore, there are currently no humanoid robots on the market capable of performing ethnic dances. Existing humanoid robots can only perform simple hand and leg movements and cannot perform complex dance moves, making their functions relatively simple.

[0004] The information disclosed in this background section is only for understanding the background of the inventive concept, and therefore may include information that does not constitute prior art. Summary of the Invention

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

[0006] In view of the above problems or one of the above problems, the second objective of the present invention is to provide a performance 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 effect, powerful functions, strong viewing value, and facilitates the promotion and application of robots.

[0007] To address the aforementioned problems or one of the aforementioned problems, the third objective of this invention is to provide a performance robot and a robot dance performance method, capable of performing at least two types of ethnic dances, such as silk scarf dance and handkerchief flower dance. During the performance, the robot can freely switch between silk scarves and handkerchief heads at the ends of its arms, exhibiting excellent performance performance and strong innovation. Furthermore, the robot's arm and leg movements can be combined to perform complex leg and / or hand dance movements, thus filling a gap in robot performance technology and applicable to large-scale humanoid robot dance performances.

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

[0009] A performance robot includes a robot body capable of making movements and performance components for driving the movement of performance props;

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

[0011] Through continuous exploration and experimentation, this invention can perform dance movements such as waving, spinning, and / or throwing. It has good performance performance and strong innovation, with rich movements, and can be applied in the field of dance performance.

[0012] Furthermore, this invention can perform dance movements such as waving props, spinning props, and throwing props, with beautiful postures, good anthropomorphic effect, powerful functions, and high entertainment value, which facilitates the promotion and application of robots.

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

[0014] As a preferred technical measure:

[0015] The first performance props are silk scarves, handkerchiefs, handkerchiefs, flowers, flags, poles, sticks, or sticks;

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

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

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

[0019] Alternatively, the first and third performance props may be the same performance object;

[0020] Alternatively, the second and third performance props may be the same performance object.

[0021] As a preferred technical measure:

[0022] The rotating performance component is a rotating motor, which is mounted at the end of a robotic arm or glove to provide the rotational power to make the second performance prop rotate.

[0023] The output shaft of the rotating motor is fixed to the drive wheel;

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

[0025] The driven wheel and the driving wheel mesh together 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] One of the driven wheel and the driving wheel is equipped with a protrusion, and the other with a groove, forming a chuck that fits together to achieve a clutch effect. This facilitates the transmission of rotational force between the rotating performance piece and the second performance prop, while also allowing for quick separation and assembly of the two.

[0029] As a preferred technical measure:

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

[0031] The hollow tube is a cable conduit with a cable rope running 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 rope and improve service life. At the same time, when the rope is tightened, the protective head and the rubber pad on the core wheel are compressed.

[0033] The outer ring of the core wheel is connected to the driven wheel via a bearing, so that the outer ring will not cause the rope to twist when it rotates, thus ensuring the long-term use of the rope.

[0034] The end of the rope is connected to a take-up reel or winding reel, which is fixed to a take-up motor. A toothed disc is set above the take-up reel or winding reel. During use, a locking tooth is installed on the electromagnet next to the toothed disc. When not powered, the locking tooth engages with the tooth groove. This prevents the rotating performance piece from being thrown off during vigorous dancing, and keeps the driving wheel and the driven wheel on the second performance prop 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] Alternatively, the throwing performance component may include a throwing motor that provides the throwing power and a line that can pull back the third performance prop;

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

[0039] The core wheel is a rotating core that is mounted on the second performance prop.

[0040] As a preferred technical measure:

[0041] The reel has a butterfly-shaped spherical structure and is equipped with a take-up motor, which allows the line to be wound automatically and accurately onto the reel.

[0042] The outer cover of the winding reel is equipped with a guide groove to limit the movement trajectory of the wire;

[0043] Or / and, the line and the rope are the same rope or two separate ropes;

[0044] The line and rope are respectively fishing line, iron wire, nylon rope, hemp rope, cloth rope or metal wire;

[0045] Or / and, the ejector motor is the robot's elbow motor, leg motor, or shoulder motor;

[0046] When the performance prop needs to be launched, the launching motor generates power, giving the prop the kinetic energy to fly outwards. At the same time, the reel motor releases the line outwards. After the performance prop reaches its highest point in the air, the reel motor rotates to retrieve the line and pull the performance prop back into the state where the driving wheel and driven wheel are engaged.

[0047] As a preferred technical measure:

[0048] The robot body includes an arm and / or a robotic hand and / or a robotic leg and / or a foot and / or a head;

[0049] The arm, robotic hand, robotic leg, foot, and head may be selected as one, two, three, or all of the performance components.

[0050] Furthermore, the robot body in this application is a quadruped robot, a humanoid robot, a bipedal robot, or a wheeled robot.

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

[0052] Or / and, the waving performance piece is a performance prop head structure, mechanical hand, clamp, or suction cup that is thick at both ends and thin in the middle, with one end fixed to the first performance prop and the other end connected to a sleeve or movable piece.

[0053] As a preferred technical measure:

[0054] The head structure of the performance prop is equipped with buttons or clips for connecting the robotic arm.

[0055] The robot body is fitted with a slot on its back, side, or abdomen. After the cylindrical part of the performance prop head structure moves into the slot, the end of the robot arm continues to move downward, using shearing force to disengage the button or buckle, so that the performance prop head structure with the first performance prop and sleeve remains in the robot's slot.

[0056] As a preferred technical measure:

[0057] The waving performance components include the performance prop head structure, sleeves, male button heads, female button heads, handkerchief cover, and silk scarf;

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

[0059] Or / and, the rotating performance components include a rotating motor, a drive wheel, a protective head, a rotating wheel core, a rubber pad, a motor flange, a cable routing steel pipe, a steel pipe pressure plate, a reel mounting plate, an electromagnet, a locking tooth, a lead-line groove, a serrated disc, a fishing line space, a lead-line block, a reel, a take-up motor, an outer protective cover, a drive block, a drive block housing, a main motor mounting plate, a normally closed magnet stop, a direct connector, an inner ring cover plate, an outer ring pressure plate, a handkerchief folded back and wrapped, and a driven wheel;

[0060] A rotary motor is mounted on the end of a robotic hand or arm. The rotary motor has a hollow structure, in which a cable routing tube that does not contact the rotary motor is installed in the cavity. A protective head is installed at the front end of the cable routing tube, and the protective head is made of a smooth material.

[0061] The output shaft of the rotating motor is fixed to the driving wheel; a driven wheel is fitted on the outside of the driving wheel; the driven wheel and the driving wheel mesh together to transmit power.

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

[0063] The rubber pad is fitted onto the rotating wheel core;

[0064] The outer casing of the winding reel is equipped with lead wire grooves;

[0065] The lower part of the take-up reel is fixed to the take-up motor, and a toothed disc is set above the take-up reel. A locking tooth is installed on the electromagnet on the side of the toothed disc. When the power is off, the locking tooth engages in the tooth groove, so that the driving wheel and the driven wheel on the second performance prop always maintain engagement during the dance.

[0066] Or / and, the throwing performance pieces include rotating performance pieces and shoulder motors and / or elbow motors;

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

[0068] Furthermore, the power source for waving and tossing performances can be directly the drive motor of the robot arm. The waving and tossing of the robot arm can be used to realize the waving and tossing performance props, thereby effectively reducing the number of parts and lowering manufacturing costs. This is a clever design.

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

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

[0071] A performance robot includes a robot body capable of making movements and a rotating performance component for driving the rotation of performance props;

[0072] The robot body is equipped with an arm for assembling rotating performance props and a throwing motor for throwing performance props;

[0073] The rotating performance component is mounted at the end of the arm, and the throwing motor provides the throwing power, giving the performance prop the kinetic energy to fly outward, so that the dance performance robot can provide the rotational power to make the performance prop spin and throw the performance prop.

[0074] Through continuous exploration and experimentation, this invention incorporates rotating performance components and throwing motors for tossing performance props onto the robot's arm. This enables the robot to perform at least some dance movements such as spinning and tossing, resulting in a rich variety of movements, excellent demonstration effects, and superior performance performance. It is highly innovative and can be applied in the field of dance performance.

[0075] Furthermore, the robot of this invention can perform dance movements such as spinning and tossing props, with beautiful postures, good anthropomorphic effect, powerful functions, and high entertainment value, which facilitates the promotion and application of the robot.

[0076] Furthermore, by applying this invention, the robot's arm and leg movements can be combined to perform complex leg and / or hand dance movements. Therefore, the emergence of this robot fills the gap in robot performance technology and can be used for large-scale humanoid robot dance performances, especially for ethnic dance performances.

[0077] Furthermore, the robot body in this application is a quadruped robot, a humanoid robot, a bipedal robot, or a wheeled robot.

[0078] The arm can be an anthropomorphic arm, a robotic arm, a rod-shaped structure, a cylindrical structure, a multi-rod combined structure, or other irregular structures.

[0079] To achieve one of the above objectives, the third technical solution of the present invention is as follows:

[0080] A method for robot dance performance, using the aforementioned performance robot, which includes waving performance parts and / or rotating performance parts and / or throwing performance parts.

[0081] As a preferred technical measure:

[0082] The waving performance section involves waving the first performance prop, which includes the following:

[0083] The performance uses a robotic arm to move the first prop.

[0084] After 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 thin middle part of the performance prop head structure moves into the slot, the end of the robot arm continues to move downward, using shearing force to remove the button. In this way, the performance prop head structure with the first performance prop and sleeve is left in the robot's slot, and the second performance prop is exposed.

[0085] The rotating performance section involves rotating a second performance prop, which includes the following:

[0086] A rotary motor mounted at the end of a robotic arm or glove provides the rotational power to make the second performance prop spin.

[0087] The rotating motor has a hollow structure, in which a hollow tube that is not in contact with the rotating motor is installed in the cavity;

[0088] A rope is threaded through the inside of the hollow steel pipe. One end of the rope is connected to a winding reel at the rear, and the other end is connected to a core reel.

[0089] The core wheel is mounted on the second performance prop.

[0090] 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 rope and improve its service life. At the same time, when the rope is tightened, the protective head and the rubber pad on the core wheel are compressed.

[0091] The outer ring of the core wheel is connected to the driven wheel through a ceramic bearing, so that the rope will not twist when the outer ring rotates, thus ensuring the long-term use of the rope.

[0092] The end of the rope is connected to a take-up reel, which is fixed to the take-up motor. There is a toothed disc above the take-up reel. During use, a locking tooth is installed on the electromagnet next to the toothed disc. When not powered, the locking tooth engages in the tooth groove. This prevents the rotating performance piece from being thrown off during vigorous dancing, and keeps the driving wheel and the driven wheel on the second performance prop engaged during the dance.

[0093] The tossing performance section involves tossing a second performance prop, which includes the following:

[0094] The shoulder motor and / or elbow motor generate kinetic energy to propel the second performance prop outward. At the same time, the line reel motor releases the line outward. After the second performance prop reaches its highest point in the air, the line reel motor rotates to reel in the line and pull the second performance prop back into the engagement state of the drive wheel and driven wheel.

[0095] Compared with existing technical solutions, the present invention has the following beneficial effects:

[0096] Through continuous exploration and experimentation, this invention can perform dance movements such as waving, spinning, and throwing, demonstrating excellent performance and strong innovation.

[0097] Furthermore, the structure of this invention can perform at least two kinds of ethnic dances, such as the silk scarf dance and the handkerchief flower dance. During the performance, the silk scarf and handkerchief heads at the ends of the arms can be switched. The performance performance is good and highly innovative. It can combine the robot's arm and leg movements to perform complex leg and / or hand dance movements. Therefore, the emergence of this robot fills the gap in robot performance technology and can be used for large-scale humanoid robot dance performances.

[0098] Furthermore, when performing the handkerchief flower performance, the present invention can not only rotate the handkerchief at the end of the arm, but also throw it out and retrieve it. The driving wheel fixed on the motor and the driven wheel fixed on the handkerchief flower cleverly use a chuck structure, so that the thread will not be scratched at any position when the thread is being released or retrieved. This not only ensures the reliability of retrieval, but also maintains the rotation of the handkerchief flower in the air and after it falls back down, resulting in strong throwing stability.

[0099] Furthermore, the internal take-up reel assembly of this invention has excellent structural performance. The reel, with its butterfly-shaped spherical structure, can effectively wind the thread around itself during take-up, preventing tangling. The take-up reel's outer casing has openings at both the top and bottom of the lead-in groove space, preventing the thread from slipping off the track when it expands slightly during take-up or undoing. These designs ensure smooth take-up and undoing, allowing the handkerchief flower to be smoothly thrown and retrieved while rotating.

[0100] The arm structure of this invention is as lightweight as possible while performing its function, minimizing its impact on the robot's balance and dance steps. This allows the robot to perform full-body movements freely and dance smoothly without adversely affecting its balance control. Attached Figure Description

[0101] Figure 1 is a frontal schematic diagram of a dance performance robot of the present invention;

[0102] Figure 2 is a rear view of a dance performance robot of the present invention;

[0103] Figure 3 is a side view of a dance performance robot of the present invention;

[0104] Figure 4 is a schematic diagram of the structure shown in Figure 3 being transformed at a certain angle;

[0105] Figure 5 is a schematic diagram of the structure shown in Figure 4 being transformed at a certain angle;

[0106] Figure 6 is a cross-sectional schematic diagram of a performance component of the present invention (with a silk scarf assembled).

[0107] Figure 7 is a cross-sectional view of the structure shown in Figure 6 at point CC;

[0108] Figure 8 is a cross-sectional schematic diagram of a performance component of the present invention (with a handkerchief attached).

[0109] Figure 9 is an exploded view of a performance component of the present invention;

[0110] Figure 10 is a schematic diagram of the structure shown in Figure 9 being transformed at a certain angle;

[0111] Figure 11 is a schematic diagram of a performance component of the present invention (without props);

[0112] Figure 12 is a schematic diagram of a performance component (assembly prop) of the present invention;

[0113] Figure 13 is a schematic diagram of the structure shown in Figure 12 being transformed at a certain angle;

[0114] Figure 14 is a schematic diagram of the structure shown in Figure 13 being transformed at a certain angle;

[0115] Figure 15 is a cross-sectional view of a performance component of the present invention (assembly prop);

[0116] Figure 16 is another cross-sectional view (assembly prop) of the performance component of the present invention.

[0117] Figure 17 is a schematic diagram of the performance component of the present invention changing a certain angle.

[0118] Explanation of reference numerals in the attached figures:

[0119] 1. Robot body; 2. Performance components; 3. Scarf; 4. Handkerchief; 5. Slot; 211. Performance prop head structure; 212. Sleeve; 213. Button male head; 214. Button female head; 215. Handkerchief cover; 221. Rotating motor; 222. Drive wheel; 223. Protective head; 224. Rotating wheel core; 225. Rubber pad; 226. Motor flange; 227. Cable routing steel pipe; 228. Steel pipe pressure plate; 231. Cable reel mounting plate; 232. Electromagnet; 233. Gear; 234. Line guide groove; 235. Serrated disc; 236. Fishing line space; 237. Line guide block; 238. Reel; 239. Take-up motor; 241. Outer protective cover; 242. Drive block; 243. Drive block housing; 244. Motor main mounting plate; 245. Normally closed magnet stop block; 246. Direct connector; 251. Inner ring cover plate; 252. Outer ring pressure plate; 41. Driven wheel; 61. Inner side of forearm housing; 62. Outer side of forearm housing; A. Rotary motor module; B. Take-up motor module. Embodiments of the present invention

[0120] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative and not intended to limit the invention.

[0121] Conversely, this invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of the invention as defined in the claims. Furthermore, to provide a better understanding of the invention, certain specific details are described in detail below. However, those skilled in the art will fully understand the invention even without these detailed descriptions.

[0122] It should be noted that when two elements are "fixedly connected," "waved," "rotated," or "launched," the two elements can be directly connected or there may be an intermediate element. Conversely, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "on," "below," and similar expressions used in this document are for illustrative purposes only.

[0123] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0124] As shown in Figures 1-10, the first specific embodiment of the performance robot of the present invention is as follows:

[0125] A performance robot includes a robot body 1 capable of making movements and a performance component 2 for driving the movement of performance props;

[0126] The performance component 2 includes a waving performance component for waving a first performance prop, and / or a rotating performance component for rotating a second performance prop, and / or a throwing performance component for throwing a third performance prop; the performance component is assembled on the robot body 1 to form a performance robot.

[0127] In this embodiment: the first performance prop is a silk scarf 3 or a handkerchief or handkerchief flower or flag or pole or stick;

[0128] The second performance prop is a silk scarf, handkerchief, handkerchief, flower, flag, pole, stick, or stick.

[0129] The third performance prop is a silk scarf, handkerchief, handkerchief, flower, flag, pole, stick, or stick.

[0130] In a performance, the first performance prop, the second performance prop, and the third performance prop are the same performance object;

[0131] Alternatively, the first and third performance props may be the same performance object;

[0132] Alternatively, the second and third performance props may be the same performance object.

[0133] In this embodiment: the robot body 1 includes an arm and / or a robotic hand and / or a robotic leg and / or a foot and / or a head;

[0134] The arm, robotic hand, robotic leg, foot, and head may be selected as one, two, three, or all of them, and then assembled into performance component 2.

[0135] Or / and, the waving performance piece is a performance prop head structure 211 that is thick at both ends and thin in the middle, or a mechanical hand, clamp, or suction cup, one end of which is fixed to the first performance prop, and the other end is connected to a sleeve 212.

[0136] In this embodiment, the performance prop head structure 211 is an I-shaped structure, which includes a first extension and a second extension at both ends and a cylinder in the middle. The surface area of ​​the first extension and the second extension is larger than the end face area of ​​the cylinder, forming a structure that is thick at both ends and thin in the middle.

[0137] In this embodiment: the sleeve 212 is provided with a receiving cavity that can cover most or part of the robot's forearm, and the receiving cavity is provided with a hiding area for hiding the second performance prop; the hiding area is equipped with a fastener or baffle for movably connecting the second performance prop;

[0138] Or / and, the performance prop head structure 211 is fitted with buttons or clips for movable connection to the robot arm;

[0139] The robot body 1 is fitted with a slot 5 on its back, side or abdomen. After the cylinder of the performance prop head structure 211 moves into the slot 5, the end of the robot arm continues to move downward, using shear force to disengage the button or buckle, so that the performance prop head structure 211 with the first performance prop and sleeve 212 remains in the robot's slot 5.

[0140] In this embodiment: the rotating performance component is a rotating motor 221, which is mounted on the end of a robotic hand or arm to provide rotational power to make the second performance prop rotate.

[0141] The output shaft of the rotating motor 221 is fixed to the drive wheel 222;

[0142] Driven wheel 41 is fitted to the outside of drive wheel 222;

[0143] The driven wheel 41 engages with the driving wheel 222 to transmit power.

[0144] In this embodiment, one of the driven wheel 41 and the driving wheel 222 is provided with a protrusion, and the other is provided with a groove, forming a chuck that fits into each other to achieve a clutch effect, which facilitates the transmission of rotational force between the rotating performance piece and the second performance prop, and at the same time facilitates the quick separation and assembly of the two together.

[0145] In this embodiment: the rotating motor 221 has a hollow structure, in which a hollow tube that is not in contact with the rotating motor is installed in the cavity;

[0146] The hollow tube is a 227 cable-laying steel pipe, with a cable threaded through its interior;

[0147] A protective head 223 is installed at the front end of the hollow tube. The protective head 223 is made of a smooth material, which reduces friction on the rope and improves its service life. At the same time, when the rope is tightened, the protective head 223 is compressed against the rubber pad 225 on the core wheel.

[0148] The outer ring of the core wheel is connected to the driven wheel 41 via a ceramic bearing, so that the outer ring will not cause the rope to twist when it rotates, thus ensuring the long-term use of the rope.

[0149] The end of the rope is connected to a take-up reel or winding reel 238. The lower part of the take-up reel or winding reel 238 is fixed to the take-up motor 239. A toothed disc 235 is set above the take-up reel or winding reel 238. During use, a locking tooth 233 is installed on the electromagnet 232 next to the toothed disc 235. When not powered, the locking tooth 233 is engaged in the tooth groove. In this way, during vigorous dancing, the rotating performance piece will not be thrown off, and the driving wheel 222 and the driven wheel 41 on the second performance prop will always be engaged during the dance.

[0150] In this embodiment: the throwing performance component includes a throwing motor that can provide throwing power and a line that can pull back the third performance prop;

[0151] One end of the line is connected to the rear winding reel 238, and the other end is connected to a core wheel;

[0152] The core wheel is a rotating core 224, which is mounted on the second performance prop.

[0153] In this embodiment: the winding reel 238 has a butterfly-shaped spherical structure, which is equipped with a take-up motor 239, so that the line can be automatically and accurately wound on the reel;

[0154] The outer cover of the reel 238 is provided with a wire guide groove 234, which is used to limit the movement trajectory of the wire.

[0155] Or / and, the line and the rope are the same rope or two separate ropes;

[0156] The line and rope are fishing line, iron wire, nylon rope, hemp rope, cloth rope, or metal wire, respectively.

[0157] In this embodiment: the ejector motor is the robot's elbow motor, leg motor, or shoulder motor;

[0158] When the performance prop needs to be launched, the launching motor generates power to give the performance prop the kinetic energy to fly outward. At the same time, the reel motor 239 cooperates to release the line outward. After the performance prop is airborne and reaches its highest point, the reel motor 239 rotates to reel in the line and pull the performance prop back into the state where the driving wheel 222 and the driven wheel 41 are engaged.

[0159] As shown in Figure 11, a second specific embodiment of the performance robot of the present invention is as follows:

[0160] A performance robot includes a robot body 1 capable of making movements and a performance component 2 for driving the movement of performance props;

[0161] The performance component 2 includes a waving performance component for waving the first performance prop, a rotating performance component for rotating the second performance prop, and a throwing performance component for throwing the third performance prop; the performance component is assembled on the robot body 1 to form a performance robot.

[0162] In this embodiment:

[0163] The waving performance components include a performance prop head structure 211, sleeves 212, male button head 213, female button head 214, handkerchief cover 215, and silk scarf 3;

[0164] The rotating performance components include a rotating motor 221, a drive wheel 222, a protective head 223, a rotating wheel core 224, a rubber pad 225, a motor flange 226, a cable routing steel pipe 227, a steel pipe pressure plate 228, a reel mounting plate 231, an electromagnet 232, a locking tooth 233, a lead-line groove 234, a serrated disc 235, a fishing line space 236, a lead-line block 237, a reel 238, a take-up motor 239, an outer protective cover 241, a drive block 242, a drive block housing 243, a main motor mounting plate 244, a normally closed magnet stop 245, a direct connector 246, an inner ring cover plate 251, an outer ring pressure plate 252, a handkerchief 4 folded back, and a driven wheel 41.

[0165] Throwing performance pieces include rotating performance pieces and shoulder motors and / or elbow motors;

[0166] The robot body 1 includes a slot 5, an inner side 61 of the forearm shell, and an outer side 62 of the forearm shell.

[0167] As shown in Figures 12-17, the first specific embodiment of the robot dance performance method of the present invention is as follows:

[0168] A method for robot dance performance includes waving and / or rotating and / or tossing performance parts.

[0169] In this embodiment: the waving performance section involves waving a first performance prop to perform, which includes the following:

[0170] The performance uses a robotic arm to move the first prop.

[0171] After the first performance prop is completed, the robot's hands move to its back. The robot has a slot 5 installed on its back. After the thin middle part of the performance prop head structure 211 moves into the slot 5, the robot's arms continue to move downwards, using shearing force to remove the button. In this way, the performance prop head structure 211 with the first performance prop and sleeve 212 remains in the robot's slot 5, exposing the second performance prop.

[0172] The rotating performance section involves rotating a second performance prop, which includes the following:

[0173] A rotary motor 221, mounted at the end of a robotic hand or arm, provides rotational power to make the second performance prop rotate.

[0174] The rotating motor 221 has a hollow structure, in which a hollow tube that is not in contact with the rotating motor is installed in the cavity;

[0175] A rope passes through the inside of the hollow steel pipe. One end of the rope is connected to the rear winding reel 238, and the other end is connected to a core reel.

[0176] The core wheel is mounted on the second performance prop.

[0177] 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 friction on the rope and improve service life. At the same time, when the rope is tightened, the protective head 223 is compressed against the rubber pad 225 on the core wheel.

[0178] The outer ring of the core wheel is connected to the driven wheel 41 through a ceramic bearing, so that the rope will not twist when the outer ring rotates, thus ensuring the long-term use of the rope.

[0179] The end of the line is connected to a take-up reel, and the lower part of the take-up reel is fixed to the take-up motor 239. There is a toothed disc 235 above the take-up reel. During use, a locking tooth 233 is installed on the electromagnet 232 next to the toothed disc 235. When the power is off, the locking tooth 233 is engaged in the tooth groove. In this way, during the intense dance, the rotating performance piece will not be thrown off, and the driving wheel 222 and the driven wheel 41 on the second performance prop will always be engaged during the dance.

[0180] The tossing performance section involves tossing a second performance prop, which includes the following:

[0181] The shoulder motor and / or elbow motor generate power to propel the second performance prop outward. At the same time, the line reel motor 239 releases the line outward. After the second performance prop reaches its highest point in the air, the line reel motor 239 rotates to reel in the line and pull the second performance prop back into the engagement state of the drive wheel 222 and the driven wheel 41.

[0182] A second specific embodiment of the robot dance performance method of the present invention:

[0183] A robot dance performance method includes a silk scarf (3) dance component and a handkerchief (4) dance component, specifically comprising the following:

[0184] 1. The first half of the robot's dance performance is the "Silk Scarf 3" dance. The front of the robot has a handkerchief-shaped structure (the performance prop head structure), thick at both ends and thin in the middle. One end of this structure is attached to the silk scarf 3, and the other end is connected to a black sleeve 212. The sleeve 212 covers most of the robot's forearm, and a handkerchief 4 is hidden underneath, connected to a handkerchief wheel at the rear by buttons. The performance begins with the silk scarf 3 dance. After the silk scarf 3 dance is completed, the robot's hands move to its back. A slot 5 is installed on the robot's back. The thinner part of the handkerchief-shaped structure moves into the slot 5, and the robot's arms continue to move downwards, using shearing force to release the buttons. This leaves the handkerchief-shaped structure with the silk scarf 3 and sleeve 212 inside the robot's slot 5. With the sleeve 212 removed, the hidden handkerchief 4 is revealed.

[0185] 2. The latter half of the dance performance involves a handkerchief flower display. A rotating motor 221 at the end of the arm provides the rotational power to spin the handkerchief 4. The motor is hollow, and a hollow steel tube, not in contact with the motor, is installed within this hollow space. Fishing line passes through the inside of the steel tube, with one end connected to a reel 238 at the rear and the other end connected to a core wheel on the handkerchief 4. A drive wheel 222 is installed at the front end of the rotating motor 221. The driven wheel 41 on the handkerchief 4 rotates in conjunction with the drive wheel 222 through a chuck engagement. A protective head 223, made of soft material, is installed at the front end of the steel tube to reduce friction on the fishing line and extend its lifespan. When the fishing line is taut, the protective head 223 compresses against the rubber pad 225 on the handkerchief wheel core. The outer ring of the handkerchief wheel core is connected to the driven wheel 41 via a ceramic bearing, preventing the fishing line from twisting during rotation and ensuring the longevity of the handkerchief flower. The reel at the end of the fishing line is fixed to the reel motor 239. Above the reel is a serrated disc 235. During use, a locking tooth 233 is installed on the electromagnet 232 next to the serrated disc 235. When not energized, the locking tooth 233 engages in the groove, preventing the handkerchief flower assembly from being flung out during vigorous dancing, ensuring that the drive wheel 222 and the driven wheel 41 on the handkerchief 4 section remain engaged during the dance. When the handkerchief 4 is launched, the shoulder motor and / or elbow motor exert force, providing kinetic energy for the handkerchief 4 assembly to fly outwards. Simultaneously, the reel motor 239 releases line outwards. After the handkerchief 4 reaches its highest point in the air, the reel motor 239 rotates to retrieve the handkerchief 4 assembly, pulling it back to the engaged state of the drive wheel 222 and driven wheel 41.

[0186] This invention can perform at least two ethnic dances, namely the silk scarf dance and the handkerchief flower dance. During the performance, the silk scarf 3 and handkerchief head at the arm end can be switched, demonstrating strong performance capabilities and innovation. When performing the handkerchief flower dance, the handkerchief 4 can not only be twirled at the arm end but also thrown and retrieved. The driving wheel 222 fixed to the motor and the driven wheel 41 fixed to the handkerchief flower cleverly utilize a chuck structure, preventing the fishing line from being snagged at any point during line reeling. This not only ensures reliable retrieval but also maintains the rotation of the handkerchief flower in the air and after landing, resulting in strong throwing stability. The internal line reel assembly has excellent structural performance. The reel 238, with its butterfly-shaped spherical structure, can effectively wind the fishing line around the reel during reeling, preventing line breakage. The line guide groove 234 of the reel cover has openings at both the top and bottom, preventing the fishing line from derailing when it expands slightly during reeling. These designs ensure smooth line reeling and reeling, allowing the handkerchief flower to be smoothly thrown and retrieved while rotating. The arm structure is designed to be as lightweight as possible while fulfilling its function, minimizing its impact on the robot's balance and dance movements, allowing the robot to perform full-body movements and dance smoothly.

[0187] A system embodiment applying the method of the present invention:

[0188] A robot dance performance control system includes several algorithm models, a rotary motor module A, and a take-up motor module B, to realize the aforementioned robot dance performance method.

[0189] An embodiment of a device applying the method of the present invention:

[0190] An electronic device comprising:

[0191] One or more processors;

[0192] Storage device for storing one or more programs;

[0193] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-described robot dance performance method.

[0194] An embodiment of a computer medium applying the method of the present invention:

[0195] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for robot dance performance.

[0196] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0197] This application is described in terms of flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowcharts and / or block diagrams, as well as combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowcharts and / or block diagrams.

[0198] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0199] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0200] In this application, the fixed connection method can be screwing, welding, riveting, plugging, or connection through a third component. Those skilled in the art can choose according to the actual situation.

[0201] The model in this application is an object that uses physical or virtual representation to objectively describe the form and structure. The object is not the same as a physical object, and is not limited to physical or virtual. It 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.

[0202] 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 it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify or make equivalent substitutions to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A performance robot, characterized in that: It includes a robot body (1) capable of making movements and a performance component (2) used to drive the movement of performance props. The performance component (2) includes a waving performance piece for waving a first performance prop, and / or a rotating performance piece for rotating a second performance prop, and / or a throwing performance piece for throwing a third performance prop; The performance components are assembled on the robot body (1) to form a performance robot.

2. A performance robot as described in claim 1, characterized in that: The first performance prop is a silk scarf (3) or a handkerchief or handkerchief flower or flag or pole or stick; The second performance prop is a silk scarf (3) or a handkerchief or handkerchief flower or flag or pole or stick; The third performance prop is a silk scarf (3) or a handkerchief or handkerchief flower or flag or pole or stick; In a performance, the first performance prop, the second performance prop, and the third performance prop are the same performance object; Alternatively, the first and third performance props may be the same performance object; Alternatively, the second and third performance props may be the same performance object.

3. A performance robot as described in claim 1, characterized in that: The rotating performance component is a rotating motor (221), which is mounted on the end of a robotic hand or arm to provide rotational power to make the second performance prop rotate. The output shaft of the rotating motor (221) is fixed to the drive wheel (222); A driven wheel (41) is fitted to the outside of the driving wheel (222); the driven wheel (41) is connected to the second performance prop; The driven wheel (41) meshes with the driving wheel (222) to transmit power.

4. A performance robot as described 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, forming a chuck that fits into each other to achieve the clutch effect.

5. A performance robot as described in claim 4, characterized in that: The rotating motor (221) has a hollow structure, in which a hollow tube that does not contact the rotating motor is installed in the cavity; The hollow tube is a cable-laying steel pipe (227), with a cable passing through its interior; 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 rope is tightened, the protective head (223) is compressed against the rubber pad (225) on the core wheel. The outer ring of the core wheel is connected to the driven wheel (41) via a bearing; The end of the rope is connected to a take-up reel or winding reel (238). The lower part of the take-up reel or winding reel (238) is fixed on the take-up motor (239). A toothed disc (235) is set above the take-up reel or winding reel (238). During use, a locking tooth (233) is installed on the electromagnet (232) next to the toothed disc (235). When not powered, the locking tooth (233) is engaged in the tooth groove, so that the driving wheel (222) and the driven wheel (41) on the second performance prop always maintain engagement during the dance.

6. A performance robot as described 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; Alternatively, the throwing performance component may include a throwing motor that provides the throwing power and a line that can pull back the third performance prop; One end of the line is connected to the rear winding reel (238), and the other end is connected to a core wheel; The core wheel is a rotating core (224), which is mounted on the second performance prop.

7. A performance robot as described in claim 6, characterized in that: The reel (238) has a butterfly-shaped spherical structure and is equipped with a take-up motor (239). The outer cover of the reel (238) is provided with a lead wire groove (234); Or / and, the line and the rope are the same rope or two separate ropes; The line and rope are respectively fishing line, iron wire, nylon rope, hemp rope, cloth rope or metal wire; Or / and, the ejector motor is the robot's elbow motor, leg motor, or shoulder motor; When the performance prop needs to be launched, the launching motor exerts force to give the performance prop the kinetic energy to fly outward. At the same time, the reel motor (239) cooperates to release the line outward. After the performance prop is airborne and reaches the highest point, the reel motor (239) rotates to reel in the line and pull the performance prop back to the state of engagement between the driving wheel (222) and the driven wheel (41).

8. A performance robot as described in claim 1, characterized in that: The robot body (1) includes an arm and / or a robotic hand and / or a robotic leg and / or a foot and / or a head; The arm, robotic hand, robotic leg, foot, and head may be selected as one, two, three, or all of the performance components (2). Or / and, the waving performance piece is a performance prop head structure (211) that is thick at both ends and thin in the middle, or a mechanical hand, clamp or suction cup, one end of which is fixed to the first performance prop for the performance, and the other end is connected to a sleeve (212) or a movable piece.

9. A performance robot as described in claim 8, characterized in that: The performance prop head structure (211) is equipped with buttons or clips for the movable connection of the robot arm; The robot body (1) is fitted with a slot (5) on its back, side or abdomen. 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 uses shear force to disengage the button or buckle, so that the performance prop head structure (211) with the first performance prop and sleeve (212) remains in the robot's slot (5).

10. A performance robot as described in claim 1, characterized in that: The waving performance components include a performance prop head structure (211), sleeves (212), male button head (213), female button head (214), handkerchief cover (215), and silk scarf (3); One end of the performance prop head structure is fixed with a silk scarf (3), and the other end is connected to a sleeve (212). The sleeve (212) covers the robot's forearm part, and the robot's forearm part is movably connected to the performance prop head structure (211) through a male button head (213) and a female button head (214). Or / and, the rotating performance components include a rotating motor (221), a drive wheel (222), a protective head (223), a rotating wheel core (224), a rubber pad (225), a motor flange (226), a cable conduit (227), a steel pipe pressure plate (228), a winding wheel mounting plate (231), an electromagnet (232), a locking tooth (233), a lead wire groove (234), a sawtooth disc (235), a lead wire 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 main motor mounting plate (244), a normally closed magnet stop (245), a direct connector (246), an inner ring cover plate (251), an outer ring pressure plate (252), a handkerchief folded back (4), and a driven wheel (41); A rotary motor (221) is mounted on the end of a robotic hand or arm. The rotary motor (221) has a hollow structure, in which a cable routing tube (227) is installed in the cavity without contacting the rotary motor (221). A protective head (223) is installed at the front end of the cable routing tube (227), and the protective head (223) is made of a smooth material. The output shaft of the rotating motor (221) is fixed to the driving wheel (222); a driven wheel (41) is fitted on the outside of the driving wheel (222); 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 mounted on the rotating wheel core (224); The outer casing of the reel (238) is provided with a lead wire groove (234); The lower part of the take-up reel is fixed on the take-up motor (239), and a toothed disc (235) is set on the upper part of the take-up reel. A locking tooth (233) is installed on the electromagnet (232) on the side of the toothed disc (235). When the power is off, the locking tooth (233) is engaged in the tooth groove, so that the driving wheel (222) and the driven wheel (41) on the second performance prop always remain engaged during the dance. Or / and, the throwing performance pieces include rotating performance pieces and shoulder motors and / or elbow motors; Or / and, 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).

11. A performance robot, characterized in that: It includes a robot body (1) capable of making movements and a rotating performance component for driving the performance props to rotate; The robot body (1) is equipped with an arm for assembling rotating performance pieces and a throwing motor for throwing performance props; The rotating performance component is mounted at the end of the arm, and the throwing motor provides the throwing power, giving the performance prop the kinetic energy to fly outward, so that the dance performance robot can provide the rotational power to make the performance prop spin and throw the performance prop.

12. A method for robot dance performance, characterized in that: The application of a performance robot as described in any one of claims 1-11 includes waving performance parts and / or rotating performance parts and / or throwing performance parts.

13. The robot dance performance method as described in claim 12, characterized in that: The waving performance section involves waving the first performance prop. Includes the following: The performance uses a robotic arm to move the first prop. After the first performance prop is completed, the end of the robot arm moves to the back. A slot (5) is installed on the back of the robot. After the thin middle part of the performance prop head structure (211) moves into the slot (5), the end of the robot arm continues to move down and uses shear force to remove the button. In this way, the performance prop head structure (211) with the first performance prop and sleeve (212) remains in the slot (5) of the robot, and the second performance prop is exposed. The rotating performance section involves rotating a second performance prop, which includes the following: A rotary motor (221) mounted on the end of a robotic hand or arm provides rotational power to make the second performance prop rotate. The rotating motor (221) has a hollow structure, in which a hollow tube that does not contact the rotating motor is installed in the cavity; A rope passes through the inside of the hollow steel pipe. One end of the 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 rope is tightened, the protective head (223) is compressed against the rubber pad (225) on the core wheel. The outer ring of the core wheel is connected to the driven wheel (41) via a ceramic bearing; The end of the rope is connected to a take-up reel, and the bottom of the take-up reel is fixed to the take-up motor (239). There is a toothed disc (235) above the take-up reel. During use, a locking tooth (233) is installed on the electromagnet (232) next to the toothed disc (235). When the power is off, the locking tooth (233) is engaged in the tooth groove, so that the driving wheel (222) and the driven wheel (41) on the second performance prop always maintain engagement during the dance. The tossing performance section involves tossing a second performance prop, which includes the following: The shoulder motor and / or elbow motor exert force to give the second performance prop the kinetic energy to fly outward. At the same time, the line reel motor (239) cooperates to release the line outward. After the second performance prop is airborne and reaches its highest point, the line reel motor (239) rotates to reel in the line and pull the second performance prop back to the state where the drive wheel (222) and the driven wheel (41) are engaged.

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