CN103990285B - Acting robot - Google Patents
Acting robot Download PDFInfo
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- CN103990285B CN103990285B CN201410199130.2A CN201410199130A CN103990285B CN 103990285 B CN103990285 B CN 103990285B CN 201410199130 A CN201410199130 A CN 201410199130A CN 103990285 B CN103990285 B CN 103990285B
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Abstract
The invention discloses an acting robot with the appearance like the human body. The acting robot is characterized by being composed of a plurality of movable joints which are internally provided with driving motors respectively, the driving motors are connected with a control unit, one hand of the acting robot is connected with an acting container for containing liquor or tea water, the acting container is connected with a liquor or tea water flowing pipeline which is hidden inside the acting robot, the other end of the flowing pipeline extends out of the sole of the acting robot and is lengthened to be connected with the outlet of an automatic tea making machine or the outlet of an automatic liquor machine, the flowing pipeline is provided with a solenoid valve connected with the control unit, and when the driving motors drive the movable joints to enable the acting robot to make a pouring posture, the control unit controls the solenoid valve to be opened, tea water or liquor is poured out of the acting container so that the tea pouring or liquor pouring act can be achieved. The acting robot can dance or do other actions and can automatically pour water when acting to a certain posture, and very strong enjoyment is achieved.
Description
【Technical field】
The present invention relates to robot, more particularly to one kind can humanoid move, both can carry out performance, can carry out again
Serve the tea water or performance robot that pouring water meter is drilled.
【Background technology】
Chinese's hobby is had tea, and tea-making performances origin is remote, with a long history.Traditional tea-making performances need tea ceremony Shi Hangwei
Behave in becoming manner, be familiar with and grasp tea culture knowledge and technical ability of making tea, thus just can accomplish moving with god, feelings, skill.Letter speech
It, tea-making performances, to the profile of tea ceremony teacher, manner or even makings, suffer from very high requirement.Therefore, cultivate one outstanding
Tea ceremony teacher, need to spend more experience.With scientific and technical progress, the mankind much all progressively entered by electro mechanical devices by activity
Row replaces.Mechanical automation, is the development trend of mankind's activity.Robot is a kind of humanoid machine, and it can be arranged by the mankind
And reach the activity purpose of people.Existing robot is typically only capable to perform simple action, for example, do gymnastics.In tea ceremony table
Drill aspect, Zan Wu robot can substitute.And in fact, the action of tea-making performances can medelling and performed by robot,
And robot is difficult to go on business by specific program execution, therefore, in various tea ceremony fairs, if carrying out tea ceremony table by robot
Drill, may be more suitable than the tea-making performances of tea ceremony Shi Jinhang, also noveler, more interesting.Additionally, in addition to tea ceremony, in drinks exhibition
The places such as pin meeting, also can be performed by related robot, with active scene atmosphere, improve interesting.
【Content of the invention】
Present invention seek to address that the problems referred to above, and one kind is provided, the invention provides one kind can carry out performance, and
Can be served the tea or pouring water performance performance robot.
For achieving the above object, the invention provides a kind of performance robot, there is humanoid profile it is characterised in that
This performance robot has multiple turning joints, is respectively equipped with this turning joint activity of driving and carries out table in each turning joint
The motor drilled, this motor is connected with control unit, and being connected with hand of this performance robot holds drinks or tea
Performance container, drinks or tea circulation duct are connected with this performance container, this circulation duct hide located at performance machine
Inside people, its other end is stretched out by the foot bottom performing robot, and extends to and the going out of automatic tea-making machine or automatic drinks machine
The mouth of a river connects, and is provided with magnetic valve and flow sensor on this circulation duct, this magnetic valve and flow sensor respectively with described
Control unit connects, and described performance robot carries out continuous action performance by the pattern setting, when motor drives respectively
Turning joint and when making the posture that performance robot is in serve the tea water or pouring water, described control unit controls magnetic valve automatically to beat
Open so that tea or drinks are flowed out by automatic tea-making machine or automatic drinks machine, and flow to performance container through circulation duct, by table
Drill container to pour out and formed serve the tea or pouring water performance, when the tea poured out or drinks reach setting capacity, its linkage electricity
Magnet valve close and automatically into next performance.
The height of described performance robot is less than the height of the delivery port of described automatic tea-making machine or automatic drinks machine.
The software controlled unit that described control unit includes hardware control unit and controls the performance action of performance robot, institute
State software controlled unit to be arranged in hardware control unit, described hardware control unit is PLC, any one in single-chip microcomputer, its
Located at performance robot interior.
Described software controlled unit supports the performance action of user's self-defined performance robot, supports that user is self-defined
The posture of serve the tea water or pouring water that performance robot linkage magnetic valve is opened.
Described circulation duct is made up of flexible elastomeric material.
Be arranged with protection pipe outside described circulation duct, this protection pipe is used for protecting circulation duct, make circulation duct not with
The activity of turning joint and stretch bad, this protection pipe be stretchable bourdon tube.
Described turning joint include neck turning joint, arm turning joint, elbow turning joint, wrist turning joint,
Waist turning joint, leg movements joint, knee motion joint, ankle turning joint, described motor include respectively with control
Neck motor that unit processed connects, arm motor, elbow motor, wrist motor, waist motor,
Leg motor, knee motor, ankle motor.
Described automatic tea-making machine or automatic drinks machine are provided with and control the user's delivery port opened and performance to use by user
Delivery port, described circulation duct is connected with the performance delivery port of described automatic tea-making machine or automatic drinks machine.
The favorable attributes of the present invention are, it provides a kind of new interesting performance robot.The present invention passes through table
Drill robot to be connected with existing automatic tea-making machine or automatic drinks machine, and perform the performance of robot by program editing
Action, set performance robot serve the tea or pouring action so that performance robot both can carry out performance, again can be
Perform to serving the tea or automatically served the tea or pouring water during pouring posture.The performance robot of the present invention has very strong entertaining
Property, can be widely used for each difference performance scene and scene promoted by drinks, activity atmosphere can be greatly enriched, improve performance enjoyment.
【Brief description】
Fig. 1 is the appearance assumption diagram of the performance robot 90 of the present invention.
Fig. 2 is the internal structure schematic diagram of the performance robot of the present invention.
Fig. 3 is the connection diagram with automatic tea-making machine or automatic drinks machine 60 for the performance robot 90 of the present invention.
Fig. 4 is the theory diagram of the present invention.
Wherein, turning joint 10, neck turning joint 11, arm turning joint 12, elbow turning joint 13, wrist activity
Joint 14, waist turning joint 15, leg movements joint 16, knee motion joint 17, ankle turning joint 18, motor
20th, neck motor 21, arm motor 22, elbow motor 23, wrist motor 24, waist motor
25th, leg motor 26, knee motor 27, ankle motor 28, control unit 30, performance container 40, runner pipe
Road 50, automatic tea-making machine or automatic drinks machine 60, user are with delivery port 61, performance delivery port 62 magnetic valve 70, flow sensing
Device 80, performance robot 90.
【Specific embodiment】
The following example is being explained further and supplementing to the present invention, and the present invention is not limited in any way.
As shown in Figure 1 to 4, the performance robot 90 of the present invention has humanoid profile, and its profile can be according to using field
Institute and personal settings.This performance robot 90 has many places turning joint 10 and corresponding motor 20, thus can pass through
Motor 20 is controlled to drive performance robot 90 to carry out performance.
In the present embodiment, as shown in Figure 1 and Figure 2, this performance robot 90 is provided with neck turning joint 11, arm activity is closed
Section 12, elbow turning joint 13, wrist turning joint 14, waist turning joint 15, leg movements joint 16, knee motion joint
17th, the many places turning joint such as ankle turning joint 18 10 is so that this performance robot 90 has multiple freedom of movement.With described
Turning joint 10 is corresponding, is respectively equipped with corresponding motor 20 in each turning joint 10.In the present embodiment, described drive
Dynamic motor 20 includes neck motor 21, arm motor 22, elbow motor 23, wrist motor 24, waist
Motor 25, leg motor 26, knee motor 27, ankle motor 28.Work according to each turning joint 10
The dynamic free degree, can arrange one or more motors 20 in each joint.For example, neck joint, head rotation to be realized
Shaken the head or come back and bowed and realized nodding action, two neck motors 21 just can be set, one of them is used for driving
Dynamic head rotation, another is come back for drive head and is bowed.Each motor 20 respectively with control unit 30 and each
The executing agency of turning joint 10 connects, thus under the control of the control unit 30, each turning joint 10 just can be driven to be lived
Dynamic, to carry out performance.
As shown in figure 3, for making performance robot 90 carry out to serve the tea water or pouring water meter to be drilled, in performance robot 90 on hand
It is fixed with a performance container 40.This performance container 40 personal settings according to performance place, it both can be in teapot shape, also may be used
In bottle shape, or other arbitrary shapes.The circulation duct 50 of insertion therewith, this circulation duct are connected with this performance container 40
50 other end is connected with the delivery port of automatic tea-making machine or automatic drinks machine 60, for being delivered to the tea soaking or drinks
In performance container 40.Described circulation duct 50 hide located at performance robot 90 inside, its via arm, body, leg and from
The foot bottom of performance robot 90 stretches out, and extends to and be connected with automatic tea-making machine or automatic drinks machine 60.Due to performing machine
During people's 90 performance action, the circulation duct 50 in its turning joint 10 can be affected by turning joint 10, for preventing circulation duct
50 bend or are stretched bad, and described circulation duct 50 can be made up of flexible elastomeric material, such as soft silica gel.Other embodiment
In, can in protection pipes such as the outer sheathed bourdon tubes of described circulation duct 50 so that protection pipe can with the activity of turning joint 10 quilt
Stretching, and the circulation duct 50 in protection pipe is not then affected by action.
Described automatic tea-making machine and automatic drinks machine 60 can be selected for known automatic tea-making machine and automatic drinks machine 60.This reality
Apply in example, as shown in figure 3, described automatic tea-making machine and automatic drinks machine 60 have two kinds of delivery ports, one kind is for supplying user
Automatically control and flow out the user of tea or drinks with delivery port 61, a kind of is performance water outlet for connecting circulation duct 50
Mouth 62.Described circulation duct 50 is provided with magnetic valve 70, it is used for controlling the unimpeded of circulation duct 50 and closes.Work as magnetic valve
70 when opening, and the tea flowing out from performance delivery port 62 or drinks can flow into performance container 40, when magnetic valve 70 cuts out, flow
Thread a pipe the tea in 50 or drinks just cannot flow in performance container 40.For controlling the appearance of the tea poured out during performance or drinks
Amount, is provided with flow sensor 80 in described circulation duct 50.Described magnetic valve 70 and described flow sensor 80 respectively with institute
State control unit 30 to connect.
As shown in figure 4, described control unit 30 includes hardware control unit and software controlled unit.Described hardware controls list
Unit is PLC, any one in single-chip microcomputer, and it is inside performance robot 90.In the present embodiment, described hardware control unit is
PLC.The performance action that described software controlled unit is used for writing control program and controls performance robot 90.In the present embodiment,
Described software controlled unit supports the performance action of user's self-defined performance robot 90, also supports that user is self-defined simultaneously
The posture of serve the tea water or pouring water that performance robot 90 linkage magnetic valve 70 is opened.Due to different actions, substantially just
It is the angular displacement of different driving motor 20, therefore, using the angular displacement of each motor 20 and run duration as motion control
Parameter processed, by each parameter of program setting, just can control the priority of the angular displacement of each motor 20 and its motion suitable respectively
Sequence, thus a set of performance action can be arranged, such as imitates humanoid dancing etc..For making performance robot 90 also may be used in performance action
Automatically carry out serve the tea water or pouring water, the posture in serve the tea water or pouring water of a fixation can be set, and determine in this attitude
Under each motor 20 parameter.When perform robot 90 perform to this action when, its just magnetic valve 70 described in linkage open,
Drinks or tea is made to be poured out by performing container 40, thus assuming the state that a width serves the tea water or pouring water meter is drilled.When performance machine
People 90 performance serve the tea water or pouring water when, the capacity that the detection of described flow sensor 80 is poured out, when capacity reaches setting value, its
The described magnetic valve 70 that links cuts out, to complete the performance action of water or pouring water of serving the tea.Thereafter, performance robot 90 is by compiling in advance
Good performance action proceeds next action.
The performance action of performance robot 90 is set for ease of User Defined, can arrange in appearance in performance robot 90
Corresponding control button, can complete the setting of each parameter, and edit out the performance action of personalization by control button.Certainly,
In other embodiment, also can inside performance robot 90 setting bluetooth, the radio transmitting device such as infrared, so that user can be passed through distant
Control device carries out motion editing.
For making tea or drinks smoothly flow out from performance container 40, the height of described performance robot 90 should less than described from
Dynamic making tea machine or automatic drinks and delivery port height.
Thereby, just define the performance robot 90 of the present invention.It not only can carry out performance, imitates humanoid jump
Dance, but also can be served the tea or pouring water meter is drilled.It can be widely used for tea-making performances scene or drinks popularization scene etc., tool
There is stronger interest, activity atmosphere can be greatly enriched, improve people's enjoyment.
Although being disclosed to the present invention by above example, the scope of the present invention is not limited thereto,
Under conditions of present inventive concept, above each component can with art personnel understand similar or equivalent element Lai
Replace.
Claims (8)
1. a kind of performance robot, has humanoid profile it is characterised in that this performance robot (90) has multiple activity passes
Section (10), is respectively equipped with the motor driving this turning joint (10) activity and being performed in each turning joint (10)
(20), this motor (20) is connected with control unit (30), being connected with hand of this performance robot (90) hold drinks or
The performance container (40) of tea, is connected with drinks or tea circulation duct (50), this circulation duct on this performance container (40)
(50) hide located at performance robot (90) inside, its other end is stretched out by the foot bottom performing robot (90), and extends to
It is connected with the delivery port of automatic tea-making machine or automatic drinks machine (60), magnetic valve (70) and stream are provided with this circulation duct (50)
Quantity sensor (80), this magnetic valve (70) and flow sensor (80) are connected with described control unit (30) respectively, described performance
Robot (90) carries out continuous action performance by the pattern setting, when motor (20) each turning joint of driving (10)
When making the posture that performance robot (90) is in serve the tea water or pouring water, described control unit (30) controls magnetic valve (70) automatically
Open so that tea or drinks are flowed out by automatic tea-making machine or automatic drinks machine (60), and the flow chart through circulation duct (50)
Drill container (40), by performance container (40) pour out and formed serve the tea or pouring water performance, when the tea poured out or drinks reach
Set capacity when, its linkage electromagnetic valve (70) close and automatically into next performance.
2. performance robot as claimed in claim 1 is it is characterised in that the height of described performance robot (90) is less than described
The height of the delivery port of automatic tea-making machine or automatic drinks machine (60).
3. performance robot as claimed in claim 2 is it is characterised in that described control unit (30) includes hardware control unit
Perform the software controlled unit of robot (90) performance action with control, described software controlled unit is arranged on hardware control unit
Interior, described hardware control unit is PLC, any one in single-chip microcomputer, and it is internal located at performance robot (90).
4. performance robot as claimed in claim 3 is it is characterised in that described software controlled unit supports that user is self-defined
The performance action of performance robot (90), supports what user's self-defined performance robot (90) linkage magnetic valve (70) opened
Serve the tea the posture of water or pouring water.
5. performance robot as claimed in claim 4 is it is characterised in that described circulation duct (50) is by flexible elasticity material
Material is made.
6. performance robot as claimed in claim 5 is it is characterised in that be arranged with protection outside described circulation duct (50)
Pipe, this protection pipe is used for protecting circulation duct (50), so that circulation duct (50) is not stretched bad with the activity of turning joint (10),
This protection pipe is stretchable bourdon tube.
7. the performance robot as described in claim 5 or 6 is it is characterised in that described turning joint (10) includes neck subactivity
Joint (11), arm turning joint (12), elbow turning joint (13), wrist turning joint (14), waist turning joint (15),
Leg movements joint (16), knee motion joint (17), ankle turning joint (18), described motor (20) include respectively with
Neck motor (21) that control unit (30) connects, arm motor (22), elbow motor (23), wrist drive
Motor (24), waist motor (25), leg motor (26), knee motor (27), ankle motor (28).
8. performance robot as claimed in claim 7 is it is characterised in that described automatic tea-making machine or automatic drinks machine (60) set
Have and the user that opens controlled with delivery port (61) and performance delivery port (62) by user, described circulation duct (50) with described
The performance of automatic tea-making machine or automatic drinks machine (60) is connected with delivery port (62).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410199130.2A CN103990285B (en) | 2014-05-12 | 2014-05-12 | Acting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410199130.2A CN103990285B (en) | 2014-05-12 | 2014-05-12 | Acting robot |
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| Publication Number | Publication Date |
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| CN103990285A CN103990285A (en) | 2014-08-20 |
| CN103990285B true CN103990285B (en) | 2017-02-22 |
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| CN201410199130.2A Active CN103990285B (en) | 2014-05-12 | 2014-05-12 | Acting robot |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589358A (en) * | 2014-12-03 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Industrial robot disassembling dumping method based on force sensor and database comparison |
| KR20170129716A (en) * | 2015-02-02 | 2017-11-27 | 지엔 아이피 피티와이 엘티디 | A structure, apparatus and method for providing bi-directional functional training content including provision of adaptive training programs based on performance sensor data |
| US10918924B2 (en) | 2015-02-02 | 2021-02-16 | RLT IP Ltd. | Frameworks, devices and methodologies configured to enable delivery of interactive skills training content, including content with multiple selectable expert knowledge variations |
| JP6836582B2 (en) | 2015-05-08 | 2021-03-03 | ジーエヌ アイピー ピーティーワイ リミテッド | Frameworks, devices and methodologies configured to enable automated classification and / or retrieval of media data based on user performance attributes obtained from the performance sensor unit. |
| CN109074752A (en) | 2015-12-10 | 2018-12-21 | Gn股份有限公司 | It is configured as realizing the frame and method of the real-time adaptive transmission of skill training data based on user's performance is monitored by performance monitoring hardware |
| CN105619392B (en) * | 2016-03-29 | 2017-06-23 | 刘子骞 | The robot and its control method of a kind of balance quality stabilization |
| CN106547250B (en) * | 2016-10-14 | 2018-09-25 | 广州励丰文化科技股份有限公司 | A kind of mechanical arm console and method based on multi-track and full-time pattern |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003210866A (en) * | 2002-01-25 | 2003-07-29 | Tomy Co Ltd | Toy-crowned cap |
| JP4026758B2 (en) * | 2002-10-04 | 2007-12-26 | 富士通株式会社 | robot |
| JP3927994B2 (en) * | 2004-10-19 | 2007-06-13 | 松下電器産業株式会社 | Robot device |
| CN101372096B (en) * | 2008-08-05 | 2010-12-08 | 东南大学 | Multiple-joint service robot arm capable of implementing translational decoupling at Z direction |
| CN101927490A (en) * | 2009-06-26 | 2010-12-29 | 王蕾睿 | Full-automatic beer robot |
| CN102848392A (en) * | 2011-06-27 | 2013-01-02 | 上海市静安区教育学院附属学校 | Automatic tea serving robot |
| CN202702245U (en) * | 2012-06-26 | 2013-01-30 | 李元科 | Automatic wine pouring mechanical arm for dining table |
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| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Qinqin Inventor before: Qi Guoxiang |
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Effective date of registration: 20161228 Address after: 510665 Guangdong city of Guangzhou province Tianhe District Software Park Building No. 59 Middle East block, Grand Building Room 501 Applicant after: Guangdong million cattle Intellectual Property Operation Co., Ltd. Address before: 518000 Guangdong Province, Shenzhen city Longhua District Guanlan car station opposite goose monument No. 2 Applicant before: Qi Guoxiang |
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| C41 | Transfer of patent application or patent right or utility model | ||
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Inventor after: Wu Hao Inventor after: Gan Zhongxue Inventor before: Li Qinqin |
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Effective date of registration: 20170120 Address after: Yuyao City, Zhejiang province 315400 Ningbo City Economic Development Zone Applicant after: Ningbo Institute of intelligent manufacturing industry Address before: 510665 Guangdong city of Guangzhou province Tianhe District Software Park Building No. 59 Middle East block, Grand Building Room 501 Applicant before: Guangdong million cattle Intellectual Property Operation Co., Ltd. |
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