CN105128014A - Light large-sized sea turtle robot for stage performance - Google Patents
Light large-sized sea turtle robot for stage performance Download PDFInfo
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- CN105128014A CN105128014A CN201510628742.3A CN201510628742A CN105128014A CN 105128014 A CN105128014 A CN 105128014A CN 201510628742 A CN201510628742 A CN 201510628742A CN 105128014 A CN105128014 A CN 105128014A
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Abstract
The invention discloses a light large-sized sea turtle robot for stage performance. The light large-sized sea turtle robot comprises a main body trunk, a control system, a leg mechanism, a neck mechanism and a turtle shell opening and closing device, wherein the movement of the leg mechanism, the neck mechanism and the turtle shell opening and closing device are controlled by the control system; the turtle shell opening and closing device comprises a turtle shell positioned above the main body trunk; the turtle shell comprises a plurality of shell pieces; the ends, positioned on the edge of the turtle shell, of the shell pieces are hinged through a supporting mechanism; each shell piece is equipped with a link mechanism for achieving opening and closing of each shell piece; a turtle shell steering engine is mounted on the main body trunk; a screw rod is directly or indirectly mounted at the output end of the turtle shell steering engine; a screw rod nut sleeves the outer surface of the screw rod; one ends of the link mechanisms are hinged to the screw rod nut, and the other ends of the link mechanisms are hinged to the shell pieces. According to the light large-sized sea turtle robot, through the arrangement of the turtle shell opening and closing device, the turtle shell can freely spread into a three-petal shape, after the turtle shell is spread, pearls placed inside can be seen, and then a smoke sprayer can spray to enhance the stage effect.
Description
Technical field
The present invention relates to a kind of green turtle robot in robot research field, particularly the large-scale green turtle robot of a kind of lightweight for stage performance.
Background technology
18 of party points out greatly, promotes culture and S&T integration, Development of Novel culture industry situation, high cultural industry scale, intensive, professional level.Scientific and technical innovation is the important motivity of cultural development, and it is the important channel strengthening cultural industry core competitiveness that culture is melted with science and technology.Culture and the fusion of science and technology, promote civilization and the progress of the mankind, science and technology is the important content of culture, and scientific and technical innovation and cultural spreading carry the great achievement of Development of Human Civilization.
Technology and art is carried out perfection and merges by robot modern drama, and robot drama is the model that culture highly merges with science and technology, is new artistic expression.Robotics relates to numerous ambits such as computer, automatically control, sensing and wireless telecommunications, precision optical machinery and biomimetic material, and its research level can reflect the comprehensive strength of a national information and automatic technology.
Robotics is maked rapid progress, various novel anthropomorphic robot, bio-robot is constantly developed out, and wherein legged type robot is different from the movement characteristic of Conventional drum and caterpillar type robot, and the kinetic characteristic because of its uniqueness is still the focus in robot research field.Consider from stability and the control aspect such as complexity and manufacturing cost, four-footed machine is best legged type robot form, the dark tool social effect of research of quadruped robot and practical value.
The representational quadruped robot of most is BigDog and LittleDog of the Bostondynamics laboratory development of Ka Naijimeilong university of the U.S..Most representational performance robot is up-to-date women's emulated robot GeminoidF in the humanoid robot series of Osaka, Japan university professor Shi Heihao development.
At present in existing document, not yet find the green turtle robot for stage performance.
Patent application aspect, application number be 201510273138.3 patent propose a kind of electric drive small-sized bionic quadruped robot, this is the bionical quadruped robot of Xiaoxinganling mountains, less to the application of the bionical quadruped robot of reptiles in patent.Application number be 201010569579.5 patent propose a kind of lizard formula quadruped robot, this patent is the quadruped robot to imitative lizard.Application number be 201520150663.1 patent propose a kind of for play the musical instrument performance robot.
Currently available technology does not have the Four-feet creeping robot for stage performance, more not used for the bionical green turtle robot of stage performance.
Summary of the invention
The object of the present invention is to provide the large-scale green turtle robot of a kind of lightweight for stage performance.
The solution that the present invention solves its technical problem is: the large-scale green turtle robot of a kind of lightweight for stage performance, it comprises main body trunk, described main body trunk is provided with control system, the leg mechanism of four realization walkings and turning and a neck clamp mechanism realizing neck and bob and weave, the upper surface of main body trunk is provided with turtle shell closing device, described leg mechanism, the action of neck clamp mechanism and turtle shell closing device controls by control system, described turtle shell closing device comprises the turtle shell be positioned at above main body trunk, described turtle shell comprises multi-disc shell pieces, the one end being positioned at turtle shell edge in described shell pieces is hinged by supporting mechanism, shell pieces described in every sheet all configures the linkage that realizes shell pieces folding, described main body trunk is provided with turtle shell steering wheel, the output of described turtle shell steering wheel directly or is indirectly provided with screw mandrel, the appearance surface cover of described screw mandrel has feed screw nut, one end and the feed screw nut of described linkage are hinged, the other end of linkage is hinged in shell pieces.
As the further improvement of technique scheme, described feed screw nut is provided with ram seat, described linkage comprises push rod, the first push rod hinged seat and the second push rod hinged seat, described first push rod hinged seat is evenly distributed in ram seat, and described second push rod hinged seat directly or is indirectly fixed in shell pieces; Described supporting mechanism comprises two support bars, the end of described support bar is provided with support bar hinged seat, between two described support bars, crossbearer has triatic stay, the two ends of described triatic stay are hinged on two support bar hinged seats respectively, be arranged in horizontal support bar and the position of support bar hinged seat is provided with shell pieces Connection Block, after described second push rod hinged seat is connected with the middle part of triatic stay by connecting rod, form offset slider-crank mechanism.
As the further improvement of technique scheme, the one end near turtle shell in described screw mandrel is provided with tub, is provided with multiple pearl in described tub, and when described shell pieces closes up formation turtle shell, described pearl is positioned at turtle shell inside; The quantity of described shell pieces is 3, forms a le cuckoo of bursting forth, be provided with aerosol sprayer below described turtle shell when shell pieces is opened.
As the further improvement of technique scheme, described leg mechanism comprises and is arranged on upper installing rack on main body trunk and lower installing rack, described upper installing rack is provided with leg first steering wheel stepped before realizing leg mechanism, the output of described leg first steering wheel is provided with middle installing rack, described middle installing rack is provided with the second leg, described second leg is hinged with the 3rd leg, the both sides of the second leg are separately installed with leg second steering wheel and leg the 3rd steering wheel, described leg second steering wheel orders about the 3rd leg elevating movement after being connected with the 3rd leg with conveyer belt by belt wheel, order about the second leg after the output of described leg the 3rd steering wheel is connected with the second leg the 3rd leg is lifted.
As the further improvement of technique scheme, described second leg and the 3rd leg are the aluminium sheet of hollow, and the second leg is connected by aluminium post with the 3rd leg.
As the further improvement of technique scheme, described neck clamp mechanism comprises spring fixed seat between supporting seat of two supporting seats be arranged on main body trunk, crossbearer and mounting base for camera head, the deceleration device each described supporting seat installed two N2O direct current generators and mates with N2O direct current generator, described deceleration device is connected with spring fixed seat by gear, be provided with multiple tracks spring between described spring fixed seat and mounting base for camera head, described mounting base for camera head is provided with camera.
As the further improvement of technique scheme, multiple spring accessory plate is provided with between described spring fixed seat and mounting base for camera head, one end of spring is fixed on spring fixed seat, the other end of spring is fixed on mounting base for camera head through after spring accessory plate successively, described in every root, spring inner is provided with steel wire, described steel wire one end is fixed on spring fixed seat, and the other end of steel wire is fixed on mounting base for camera head through after spring accessory plate successively.
As the further improvement of technique scheme, described motor mount and supporting seat, spring fixed seat, mounting base for camera head are 3D and print working of plastics.
As the further improvement of technique scheme, described control system comprises master chip, power module, wifi module, voice module, servos control port, DC MOTOR CONTROL mouth, USART, power supply output module, sensor assembly, DC motor driver, download program module.
As the further improvement of technique scheme, described control system also comprises speech exchange function, barrier avoiding function and visual monitoring function.
The invention has the beneficial effects as follows: the present invention is by combining performance robot and quadruped robot, vivid, motion flexibly.Performed machine National People's Congress part is anthropomorphic robot in the past, it can not walk as people, and green turtle robot of the present invention can realize Crawl gait and turning gait, neck clamp mechanism can be bobbed and woven neatly, and add turtle shell closing device, turtle shell freely can be launched into 3 hemp nettle shapes, and turtle shell can see the inner pearl held after launching, and then aerosol sprayer can be sprayed increase stage effect.Also have green turtle robot also to possess speech exchange function, barrier avoiding function and visual monitoring function, energy and spectators carry out exchange and interdynamic, simultaneously by the camera monitoring stage environment on neck.The mode that control system adopts host computer to combine with embedded Control, makes the operation of people be intended to meet with a response in robot quickly and efficiently; The present invention adopts wifi to control, and makes operator can carry out controlling in real time, effectively to robot.Size 820mm of the present invention × 590mm × 380mm, quality is less than 4kg, and this is the large-scale green turtle robot of lightweight.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described.Obviously, described accompanying drawing is a part of embodiment of the present invention, instead of whole embodiment, and those skilled in the art, under the prerequisite not paying creative work, can also obtain other designs and accompanying drawing according to these accompanying drawings.
Fig. 1 is the main body schematic diagram of green turtle robot of the present invention;
Fig. 2 is the schematic diagram of the main body trunk of green turtle robot of the present invention;
Fig. 3 is the schematic diagram of the leg mechanism of green turtle robot of the present invention;
Fig. 4 is the schematic diagram of the neck clamp mechanism of green turtle robot of the present invention;
Fig. 5 is the schematic diagram of the turtle shell closing device of green turtle robot of the present invention;
Fig. 6 is the schematic diagram of linkage in the turtle shell closing device of green turtle robot of the present invention.
Detailed description of the invention
Be clearly and completely described below with reference to embodiment and the accompanying drawing technique effect to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.Obviously; described embodiment is a part of embodiment of the present invention, instead of whole embodiment, based on embodiments of the invention; other embodiments that those skilled in the art obtains under the prerequisite not paying creative work, all belong to the scope of protection of the invention.In addition, all connection/annexations mentioned in literary composition, not singly refer to that component directly connects, and refer to and according to concrete performance, can connect auxiliary by adding or reducing, and form more excellent draw bail.
With reference to shown in Fig. 1, the present invention includes mechanical system and control system, mechanical system comprises main body trunk 50, leg mechanism 10, neck clamp mechanism 20, turtle shell closing device 40, and control system 60 comprises host computer, slave computer and communication system.
With reference to shown in Fig. 2, described main body trunk 50 mainly comprises upper bracket 51, lower carriage 52, neck bracing frame 57, first rib grillage 53, second rib grillage 54, trislab frame 56, aluminium post 55.Main body trunk 50 adopts carbon fibre material, can reduce weight, and between upper bracket 51 and lower carriage 52, crossbearer floor frame and aluminium post 55 can improve the intensity of trunk, improve its load capacity.
With reference to Fig. 3, known leg mechanism of the present invention 10 mainly comprises and is arranged on upper installing rack 16 on main body trunk 50 and lower installing rack 13, described upper installing rack 16 is provided with leg first steering wheel 1 stepped before realizing leg mechanism 10, leg first steering wheel 1 is connected with middle installing rack 15 by leg steering wheel, realize the motion that leg steps forward, the output of described leg first steering wheel 1 is provided with middle installing rack 15, described middle installing rack 15 is provided with the second leg 5, described second leg 5 is hinged with the 3rd leg 12, the both sides of the second leg 5 are separately installed with leg second steering wheel 2 and leg the 3rd steering wheel 14, leg second steering wheel 2 and leg the 3rd steering wheel 14 are fixed on lower installing rack 13, middle installing rack 15 and lower installing rack 13 are screwed, lower installing rack 13 is fixed by back shaft 7 and lower carriage 52, described leg second steering wheel 2 orders about the 3rd leg 12 elevating movement after being connected with the 3rd leg 12 with conveyer belt by belt wheel.Concrete work is as follows: leg second steering wheel 2 is with movable belt pulley 6 by leg second steering wheel 3, even steering wheel axle 4, and belt wheel 6 drives another belt wheel the 6, three leg 12 to be fixed on belt wheel 6 by Timing Belt 8, thus realizes the elevating movement of the 3rd leg 12.Order about the second leg 5 after the output of described leg the 3rd steering wheel 14 is directly connected with the second leg 5 by leg the 3rd steering wheel the 3rd leg 12 is lifted.Described second leg 5 and the 3rd leg 12 are the aluminium sheet of hollow, and the second leg 5 is connected by aluminium post with the 3rd leg 12.Connect foot pad base 9 and be fixed on the 3rd leg 12 lower end, increase silica-gel antiskid foot pad 11, increase frictional force and contact area, be conducive to the walking of robot.
With reference to Fig. 4, described neck clamp mechanism 20 comprises spring fixed seat 26 between supporting seat 25 of two supporting seats 25 be arranged on main body trunk 50, crossbearer and mounting base for camera head 30, the deceleration device 22 each described supporting seat 25 installed two N2O direct current generators 23 and mates with N2O direct current generator 23, in order to weight reduction, have employed small-sized N20 DC speed-reducing, it carries deceleration device 22, is undertaken slowing down during deceleration device 22 by many gears.Described deceleration device 22 is connected with spring fixed seat 26 by gear, is provided with multiple tracks spring 28 between described spring fixed seat 26 and mounting base for camera head 30, and described mounting base for camera head 30 is provided with camera 29.Multiple spring accessory plate is provided with between described spring fixed seat 26 and mounting base for camera head 30, one end of spring 28 is fixed on spring fixed seat 26, the other end of spring 28 is fixed on mounting base for camera head 30 through after spring accessory plate successively, described in every root, spring 28 inside is provided with steel wire 27, described steel wire 27 one end is fixed on spring fixed seat 26, and the other end of steel wire 27 is fixed on mounting base for camera head 30 through after spring accessory plate successively.Four N2O direct current generators 23 are evenly distributed in both sides.N2O direct current generator 23 is fixed on neck holder by motor mount, hollows out with weight reduction in the middle of neck holder; Spring 28 is fixed on spring fixed seat 26, and steel wire 27 is through spring fixed seat 26, and be finally fixed on mounting base for camera head 30, camera 29 adopts wireless camera, is fixed on mounting base for camera head 30; Wherein motor mount 24, neck holder 25, spring fixed seat 26, the mounting base for camera head plastics that all adopt 3D printing technique to print, alleviate weight.Driven by motor steel wire 27, steel wire 27 pulls spring 28, and 4 N2O direct current generators 23 cooperatively interact and can realize neck all directions flexible rotating.
With reference to Fig. 5 ~ Fig. 6, described turtle shell closing device 40 comprises the turtle shell be positioned at above main body trunk 50, described turtle shell comprises multi-disc shell pieces 44, the one end being positioned at turtle shell edge in described shell pieces 44 is hinged by supporting mechanism, shell pieces 44 described in every sheet all configures the linkage 42 that realizes shell pieces 44 folding, described main body trunk 50 is provided with turtle shell steering wheel 41, the output of described turtle shell steering wheel 41 directly or is indirectly provided with screw mandrel 47, the appearance surface cover of described screw mandrel 47 has feed screw nut 48, one end and the feed screw nut 48 of described linkage 42 are hinged, the other end of linkage 42 is hinged in shell pieces 44.Described feed screw nut 48 is provided with ram seat 422, described linkage 42 comprises push rod 425, first push rod hinged seat 424 and the second push rod hinged seat 43, described first push rod hinged seat 424 is evenly distributed on push rod 425 422, and described second push rod hinged seat 43 directly or is indirectly fixed in shell pieces 44; Described supporting mechanism comprises two support bars 421, the end of described support bar 421 is provided with support bar hinged seat 423, between two described support bars 421, crossbearer has triatic stay 426, the two ends of described triatic stay 426 are hinged on two support bar hinged seats 423 respectively, be arranged in horizontal support bar 421 and the position of support bar hinged seat 423 is provided with shell pieces Connection Block 427, after described second push rod hinged seat 43 is connected with the middle part of triatic stay 426 by connecting rod 44, form offset slider-crank mechanism.One end near turtle shell in described screw mandrel 47 is provided with tub 46, is provided with multiple pearl 45 in described tub 46, and when described shell pieces 44 closes up formation turtle shell, described pearl 45 is positioned at turtle shell inside; The quantity of described shell pieces 44 is 3, forms a le cuckoo of bursting forth, be provided with aerosol sprayer 70 below described turtle shell when shell pieces 44 is opened.
Specific embodiment is as follows: push rod 425 422 is connected by the first push rod hinged seat 424 with 3 push rods 425, push rod 425 is connected with triatic stay 426 by the second push rod hinged seat 43, shell pieces 44 is fixed on shell pieces Connection Block 427, triatic stay 426 is connected with support bar 421 by support bar hinged seat 423, support bar 421 is fixed on upper bracket 51 and lower carriage 52, and the second push rod hinged seat 43 forms offset slider-crank mechanism after being connected with the middle part of triatic stay 426 by connecting rod 44.The one end being positioned at turtle shell edge in shell pieces 44 realizes hinged by shell pieces Connection Block 427 and support bar hinged seat 423, the round end rotating band movable wire bar 47 of turtle shell steering wheel 41 rotates, after feed screw nut 48 drives push rod 425 422 up to move, push rod 425 422 orders about push rod 425 outward movment and then after 3 shell pieces 44 being opened simultaneously, show and be arranged in the pearl 45 of tub 46, then aerosol sprayer 70 can be sprayed increase stage effect; Feed screw nut 48 drives push rod 425 422 down after motion, and it is a complete shell that push rod 425 422 orders about that push rod 425 draws in toward the direction of tub 46 and then 3 shell pieces 44 are closed up rear turtle shell simultaneously.
Slave computer of the present invention comprises master chip STM32F103ZET6, rudder control interface, DC MOTOR CONTROL interface, sensor assembly, voice module, wireless communication module, power module, power supply input/output interface, download program interface, serial ports, startup item selection.Control system 60 is nerve centers of robot, selects to adopt WIFI to control in real time robot, controls steering wheel, direct current generator, speech exchange, sensing data transmission and visual monitoring transmission.
The idiographic flow of communication system of the present invention: host computer carries out wireless connections by router and slave computer controller, host computer is had to send instruction, controlling joint steering wheel makes robot carry out gait of creeping and turn, controlling direct current generator makes neck bob and weave, controlling turtle shell steering wheel 41 makes turtle shell carry out open and close movement, controls voice module and realizes the function with spectators' exchange and interdynamic.Sensor assembly collects data and is sent to host computer interface, and the scene of camera monitoring stage, real-time video information is sent in computer, and such operating personnel can carry out real-time control by the information fed back to robot.
More than that better embodiment of the present invention is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent modifications or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent modification or replacement are all included in the application's claim limited range.
Claims (10)
1. the large-scale green turtle of the lightweight for a stage performance robot, it is characterized in that: it comprises main body trunk, described main body trunk is provided with control system, the leg mechanism of four realization walkings and turning and a neck clamp mechanism realizing neck and bob and weave, the upper surface of main body trunk is provided with turtle shell closing device, described leg mechanism, the action of neck clamp mechanism and turtle shell closing device controls by control system, described turtle shell closing device comprises the turtle shell be positioned at above main body trunk, described turtle shell comprises multi-disc shell pieces, the one end being positioned at turtle shell edge in described shell pieces is hinged by supporting mechanism, shell pieces described in every sheet all configures the linkage that realizes shell pieces folding, described main body trunk is provided with turtle shell steering wheel, the output of described turtle shell steering wheel directly or is indirectly provided with screw mandrel, the appearance surface cover of described screw mandrel has feed screw nut, one end and the feed screw nut of described linkage are hinged, the other end of linkage is hinged in shell pieces.
2. the large-scale green turtle robot of the lightweight for stage performance according to claim 1, it is characterized in that: described feed screw nut is provided with ram seat, described linkage comprises push rod, the first push rod hinged seat and the second push rod hinged seat, described first push rod hinged seat is evenly distributed in ram seat, and described second push rod hinged seat directly or is indirectly fixed in shell pieces; Described supporting mechanism comprises two support bars, the end of described support bar is provided with support bar hinged seat, between two described support bars, crossbearer has triatic stay, the two ends of described triatic stay are hinged on two support bar hinged seats respectively, be arranged in horizontal support bar and the position of support bar hinged seat is provided with shell pieces Connection Block, after described second push rod hinged seat is connected with the middle part of triatic stay by connecting rod, form offset slider-crank mechanism.
3. the large-scale green turtle robot of the lightweight for stage performance according to claim 1 and 2, it is characterized in that: the one end near turtle shell in described screw mandrel is provided with tub, be provided with multiple pearl in described tub, when described shell pieces closes up formation turtle shell, described pearl is positioned at turtle shell inside; The quantity of described shell pieces is 3, forms a le cuckoo of bursting forth, be provided with aerosol sprayer below described turtle shell when shell pieces is opened.
4. the large-scale green turtle robot of the lightweight for stage performance according to claim 1, it is characterized in that: described leg mechanism comprises and is arranged on upper installing rack on main body trunk and lower installing rack, described upper installing rack is provided with leg first steering wheel stepped before realizing leg mechanism, the output of described leg first steering wheel is provided with middle installing rack, described middle installing rack is provided with the second leg, described second leg is hinged with the 3rd leg, the both sides of the second leg are separately installed with leg second steering wheel and leg the 3rd steering wheel, described leg second steering wheel orders about the 3rd leg elevating movement after being connected with the 3rd leg with conveyer belt by belt wheel, order about the second leg after the output of described leg the 3rd steering wheel is connected with the second leg the 3rd leg is lifted.
5. the large-scale green turtle robot of the lightweight for stage performance according to claim 4, is characterized in that: described second leg and the 3rd leg are the aluminium sheet of hollow, and the second leg is connected by aluminium post with the 3rd leg.
6. the large-scale green turtle robot of the lightweight for stage performance according to claim 1, it is characterized in that: described neck clamp mechanism comprises spring fixed seat between supporting seat of two supporting seats be arranged on main body trunk, crossbearer and mounting base for camera head, the deceleration device each described supporting seat installed two N2O direct current generators and mates with N2O direct current generator, described deceleration device is connected with spring fixed seat by gear, be provided with multiple tracks spring between described spring fixed seat and mounting base for camera head, described mounting base for camera head is provided with camera.
7. the large-scale green turtle robot of the lightweight for stage performance according to claim 6, it is characterized in that: between described spring fixed seat and mounting base for camera head, be provided with multiple spring accessory plate, one end of spring is fixed on spring fixed seat, the other end of spring is fixed on mounting base for camera head through after spring accessory plate successively, described in every root, spring inner is provided with steel wire, described steel wire one end is fixed on spring fixed seat, and the other end of steel wire is fixed on mounting base for camera head through after spring accessory plate successively.
8. the large-scale green turtle of the lightweight for the stage performance robot according to claim 6 or 7, is characterized in that: described motor mount and supporting seat, spring fixed seat, mounting base for camera head are 3D and print working of plastics.
9. the large-scale green turtle robot of the lightweight for stage performance according to claim 1, it is characterized in that: described control system comprises master chip, power module, wifi module, voice module, servos control port, DC MOTOR CONTROL mouth, USART, power supply output module, sensor assembly, DC motor driver, download program module.
10. the large-scale green turtle of the lightweight for the stage performance robot according to claim 1 or 9, is characterized in that: described control system also comprises speech exchange function, barrier avoiding function and visual monitoring function.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510628742.3A CN105128014B (en) | 2015-09-28 | 2015-09-28 | Light large-sized sea turtle robot for stage performance |
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| CN201510628742.3A CN105128014B (en) | 2015-09-28 | 2015-09-28 | Light large-sized sea turtle robot for stage performance |
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| CN105128014A true CN105128014A (en) | 2015-12-09 |
| CN105128014B CN105128014B (en) | 2017-01-11 |
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| CN201510628742.3A Expired - Fee Related CN105128014B (en) | 2015-09-28 | 2015-09-28 | Light large-sized sea turtle robot for stage performance |
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