CN105538319A - Lion dance robot - Google Patents
Lion dance robot Download PDFInfo
- Publication number
- CN105538319A CN105538319A CN201610053477.5A CN201610053477A CN105538319A CN 105538319 A CN105538319 A CN 105538319A CN 201610053477 A CN201610053477 A CN 201610053477A CN 105538319 A CN105538319 A CN 105538319A
- Authority
- CN
- China
- Prior art keywords
- lever arm
- rope sheave
- stay cord
- drive motors
- lion dance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/0035—Dancing, executing a choreography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a lion dance robot. The lion dance robot comprises a base, a moving frame and a driving component; the moving frame includes multiple moving arms hinged in sequence; the driving component includes multiple driving motors; the moving frame and the driving component are respectively mounted on the base; the driving component further includes multiple pull ropes; one moving arm, one driving motor and at least one pull rope form a set of linkage mechanisms; the driving motor of each set of linkage mechanisms pulls the moving arm of the set of linkage mechanisms to rotate by the pull ropes of the set of linkage mechanisms; and both electricity and energy are saved.
Description
Technical field
The present invention relates to a kind of lion dance robot.
Background technology
Existing lion dance robot comprises multiple lever arm hinged successively, and the joint formed in each hinged place is provided with drive motors, drives lever arm movable by drive motors.When a certain drive motors drives a certain lever arm movable, it will inevitably drive the motor activity on other lever arms and other joints, and because motor itself exists deadweight, this will increase the driving load of drive motors, power consumption, power consumption.The particularly drive motors at the most end, when it drives the lever arm at the most end, it is by all lever arms of driving above it and drive motors, and power consumption, power consumption phenomenon are very serious, do not meet existing energy-conservation social theory.
Summary of the invention
The object of the present invention is to provide a kind of lion dance robot of electricity saving and energy saving.
Above-mentioned purpose is achieved by the following technical solution:
A kind of lion dance robot, comprise pedestal, adjustable shelf and driven unit, this adjustable shelf comprises multiple lever arm hinged successively, this driven unit comprises multiple drive motors, this adjustable shelf and driven unit are installed on pedestal respectively, this driven unit also comprises many stay cords, and lever arm, a drive motors and at least one stay cord form one group of link gear, and the lever arm that the drive motors often organizing link gear draws this group link gear through the stay cord of this group link gear rotates.
Lion dance robot disclosed in this technical scheme, when the drive motors of certain group link gear draws the lever arm rotation of this group link gear through the stay cord of this group link gear, the drive motors driving other link gears is not needed to rotate, thus reduce the driving load of drive motors, thus reach the object of electricity saving and energy saving.
Technique scheme is improved further by following technical measures:
In described often group link gear, lever arm is provided with the first rope sheave, the rotating shaft output of drive motors is provided with the second rope sheave, stay cord one end is fixed on the first rope sheave, the other end is fixed on after walking around the second rope sheave on the first rope sheave, or stay cord one end is fixed on the second rope sheave, and the other end is fixed on the second rope sheave after walking around the first rope sheave.
Described pedestal comprises casing and is arranged on the cover plate at casing top, described multiple drive motors intervals layout is inside casing, described multiple lever arm comprises the first lever arm, first lever arm comprises disk, is arranged on the installing plate of disk both sides and is arranged on the first rope sheave on disk bottom surface, two installing plates up extend for hinged installation lever arm, and disk is installed on the cover board and disk can circumferentially rotate.
Described every bar stay cord comprises heart yearn and sleeve pipe, sleeve pipe is placed on outside heart yearn, entablature and sill is provided with inside pedestal, by installed part, the sleeve pipe of the second rope sheave two ends stay cord is separately fixed on entablature and sill, and by installed part, the sleeve pipe of the first rope sheave two ends stay cord of the first lever arm is separately fixed on the bottom surface of cover plate, heart yearn is arranged in described installed part.
Described multiple lever arm also comprises the second lever arm, the 3rd lever arm, the 4th lever arm, the 5th lever arm and the 6th lever arm, second lever arm, the 3rd lever arm, the 4th lever arm, the 5th lever arm and the 6th lever arm are hinged successively, second lever arm is hingedly mounted on two installing plates of the first lever arm, in the middle of disk, offer through hole, part stay cord passes from through hole.
The connecting plate that described second lever arm, the 3rd lever arm, the 4th lever arm and the 5th lever arm include two blocks of side plates and be connected between two blocks of side plates, at every block side plate with the lateral surface of one end being provided with described first rope sheave, by installed part, the sleeve pipe of the first rope sheave two ends stay cord is separately fixed on side plate, heart yearn is arranged in described installed part.
Described part second rope sheave offers 1 grooving, part second rope sheave offers 2 groovings, grooving is used for being installed with described stay cord.
Described first lever arm and the second lever arm, the second lever arm and the 3rd lever arm, between the 3rd lever arm and the 4th lever arm, be provided with spring.
Described pedestal is provided with strainer, the tensioning of stay cord is regulated by strainer, described strainer comprises the mount pad be arranged on pedestal, mount pad is provided with slide rail, drive motors is provided with chute, drive motors is arranged on mount pad, the chute tensioning that make drive motors can move forward and backward regulate stay cord chimeric with slide rail.
Described adjustable shelf and pedestal overcoat have Decorative Cover, and Decorative Cover is simpasana, and its chimera is provided with mobilizable face and eyes, and the 6th lever arm is provided with 2 motors, and wherein 1 motor pulls face by stay cord, and another 1 motor pulls eyes by stay cord.
The present invention compared with prior art tool has the following advantages: lion dance robot disclosed by the invention, when the drive motors of certain group link gear draws the lever arm rotation of this group link gear through the stay cord of this group link gear, the drive motors driving other link gears is not needed to rotate, thus reduce the driving load of drive motors, economize on electricity, energy-conservation.
Accompanying drawing explanation
Fig. 1 and Fig. 2 shows the perspective view of the present invention's two different angles;
Fig. 3 shows the perspective view that the present invention hides bottom half;
Fig. 4 shows the part A partial enlarged drawing of Fig. 3;
Fig. 5 shows top view of the present invention;
Fig. 6 shows the B-B line sectional view of Fig. 5;
Fig. 7 shows the C-C line sectional view of Fig. 5;
Fig. 8 shows the perspective view of the second lever arm of the present invention;
Fig. 9 shows the perspective view of the 6th lever arm of the present invention;
Figure 10 shows the perspective view after hidden parts part of the present invention;
Figure 11 shows the assembly structure schematic diagram of drive motors of the present invention and mount pad;
Figure 12 shows the syndeton schematic diagram of the first rope sheave of the present invention and the second rope sheave;
Figure 13 shows the D portion partial enlarged drawing of Figure 12;
Figure 14 shows the E portion partial enlarged drawing of Figure 12.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
As shown in Fig. 1 to Figure 14, the present invention is a kind of lion dance robot, comprise pedestal, adjustable shelf and driven unit, this adjustable shelf comprises multiple lever arm hinged successively, this driven unit comprises multiple drive motors 1, this adjustable shelf and driven unit are installed on pedestal respectively, this driven unit also comprises many stay cords 2, lever arm, a drive motors 1 and at least one stay cord 2 form one group of link gear, and the lever arm that the drive motors 1 often organizing link gear draws this group link gear through the stay cord 2 of this group link gear rotates.When the drive motors 1 of certain group link gear rotates through the lever arm that the stay cord 2 of this group link gear draws this group link gear, do not need the drive motors 1 driving other link gears to rotate, thus reduce the driving load of drive motors 1, economize on electricity, energy-conservation.All drive motors 1 control by master controller, control all drive motors 1 actions by master controller.
Often organize in link gear, lever arm is provided with the first rope sheave 31, the rotating shaft output of drive motors 1 is provided with the second rope sheave 32, stay cord 2 one end is fixed on the first rope sheave 31, the other end is fixed on after walking around the second rope sheave 32 on first rope sheave 31, preferably, stay cord 2 is all fixed on the far-end of the first rope sheave 31 from the second rope sheave 32, or stay cord 2 one end is fixed on the second rope sheave 32, the other end is fixed on after walking around the first rope sheave 31 on second rope sheave 32, preferably, stay cord 2 is all fixed on the far-end of the second rope sheave 32 from the first rope sheave 31.The mid portion material of the first rope sheave 31 and the second rope sheave 32 adopts Teflon to make, and Teflon plays the effect of bearing, to reduce the first friction of rope sheave 31, second rope sheave 32 in rotation process.Preferably, the rotating shaft output of drive motors 1 is by connecting the second rope sheave 32 again after reduction box.
Pedestal comprises casing 41 and is arranged on the cover plate 42 at casing 41 top, layout one end inside casing 41, described multiple drive motors 1 interval, described multiple lever arm comprises the first lever arm 51, first lever arm 51 comprises disk 511, is arranged on the installing plate 512 of disk 511 both sides and is arranged on the first rope sheave 31 on disk 511 bottom surface, two installing plates 512 up extend and are used for hinged installation second lever arm 52, and disk 511 is arranged on cover plate 42 and disk 411 can circumferentially rotate.Preferably, bottom casing 41, surrounding is provided with wheel, can facilitate movement or the carrying of lion dance robot thus, or surrounding is provided with rubber blanket bottom casing 41, can fix lion dance robot thus and avoid lion dance robot to rotate easily.
Also include some installed parts 6, every bar stay cord 2 comprises heart yearn 21 and sleeve pipe 22, sleeve pipe 22 is placed on outside heart yearn 21, be close to the drive motors 1 of local, interval, inside casing 41, be provided with entablature 43 and sill 44, by installed part 6, the sleeve pipe 22 of the second rope sheave 32 two ends stay cord 2 is separately fixed on entablature 43 and sill 44, and by installed part 6, the sleeve pipe 22 of the first rope sheave 31 two ends stay cord 2 of the first lever arm 51 is separately fixed on the bottom surface of cover plate 42, heart yearn 21 is arranged in described installed part 6.Described installed part 6 can adopt the existing fixture being commonly used to fixed sleeving 22, and installed part, as existing known prior art, does not repeat the structure of installed part 6 at this, the rubber parts that such as installed part can comprise middle rope sling and be wrapped in outside rope sling.By the stay cord 2 inside the static housing 41 that installed part 6 is orderly, stay cord 2 can be avoided thus disorderly and unsystematic, affect the work of other link gears, thus improve the reliability of lion dance robot work.In addition, being in control location by arranging installed part to make cover, making heart yearn can sleeve pipe relatively corresponding to this heart yearn and moving.
Described multiple lever arm also comprises the second lever arm 52, the 3rd lever arm 53, the 4th lever arm 54, the 5th lever arm 55 and the 6th lever arm 56, second lever arm 52, the 3rd lever arm 53, the 4th lever arm 54, the 5th lever arm 55 and the 6th lever arm 56 are hinged successively, second lever arm 52 is hingedly mounted on two installing plates 512 of the first lever arm 51, in the middle of disk 511, offer through hole 5110, part passes from through hole 5110 for the stay cord 2 connecting other lever arms.Preferably, the first lever arm 51 is substantially vertical, the second lever arm 52 basic horizontal, and the 3rd lever arm 53 is substantially vertical, the 4th lever arm 54 basic horizontal, and the 5th lever arm 55 is substantially vertical, the 6th lever arm 56 basic horizontal.
The connecting plate 522 that second lever arm 52, the 3rd lever arm 53, the 4th lever arm 54 and the 5th lever arm 55 include two blocks of side plates 521 and be connected between two blocks of side plates 521, at every block side plate 521 with the lateral surface of one end being provided with described first rope sheave 31, by installed part 6, the sleeve pipe 22 of the first rope sheave 31 two ends stay cord 2 is separately fixed on side plate 521, heart yearn 21 is arranged in described installed part 6.6th lever arm 56 comprises top board 561 and is arranged at the first rope sheave 31 on top board 561 bottom surface, the drive motors 1 of this group link gear draws the first rope sheave 31 through the stay cord 2 of this group link gear and drives top board 561 to rotate, in addition, the sleeve pipe 22 of the first rope sheave 31 two ends stay cord 2 of the 6th lever arm 56 is separately fixed on the bottom surface of top board 561.
Part second rope sheave 32 offers 1 grooving, part second rope sheave 32 offers 2 groovings, 1 grooving is installed with 1 stay cord.Concrete, have 6 drive motors, 1,1 drive motors and draw 1 lever arm rotation.Wherein for connect the first lever arm 51 and the 6th lever arm 56 the second rope sheave 32 on offer 1 grooving, for connect the second lever arm 52, the 3rd lever arm 53, the 4th lever arm 54 and the 5th lever arm 55 the second rope sheave 32 on offer 2 groovings.
At the first lever arm 51 and the second lever arm 52, second lever arm 52 and the 3rd lever arm 53, between the 3rd lever arm 53 and the 4th lever arm 54, be provided with spring 7.Have the effect of buffering in the process that spring 7 declines at lever arm, in some cases, spring 7 has the effect of energy storage, can reduce the driving load of drive motors 1 thus, reaches economize on electricity, energy-conservation object.
Described pedestal is provided with strainer, is regulated the tensioning of stay cord 2 by strainer.Described strainer comprises the mount pad 81 be arranged on inside casing 41, mount pad 81 is provided with slide rail 811, be provided with chute 11 bottom drive motors 1, drive motors 1 is arranged on mount pad 81, chute 11 tensioning that make drive motors 1 can move forward and backward regulate stay cord 2 chimeric with slide rail 811.Structure is simple, the convenient tensioning regulating stay cord 2.
Adjustable shelf and pedestal overcoat have Decorative Cover, Decorative Cover is simpasana, and its chimera is provided with mobilizable face and eyes (all not illustrating in figure), and the 6th lever arm 56 is provided with 2 motors, wherein 1 motor pulls face by stay cord, and another 1 motor pulls eyes by stay cord.Preferably, the 6th lever arm 56 can be arranged the support for mounted motor.
Claims (10)
1. a lion dance robot, comprise pedestal, adjustable shelf and driven unit, this adjustable shelf comprises multiple lever arm hinged successively, this driven unit comprises multiple drive motors, it is characterized in that: this adjustable shelf and driven unit are installed on pedestal respectively, this driven unit also comprises many stay cords, lever arm, a drive motors and at least one stay cord form one group of link gear, and the lever arm that the drive motors often organizing link gear draws this group link gear through the stay cord of this group link gear rotates.
2. a kind of lion dance robot according to claim 1, it is characterized in that: often organize in link gear, lever arm is provided with the first rope sheave, the rotating shaft output of drive motors is provided with the second rope sheave, stay cord one end is fixed on the first rope sheave, the other end is fixed on the first rope sheave after walking around the second rope sheave, or stay cord one end is fixed on the second rope sheave, and the other end is fixed on the second rope sheave after walking around the first rope sheave.
3. a kind of lion dance robot according to claim 2, it is characterized in that: described pedestal comprises casing and is arranged on the cover plate at casing top, described multiple drive motors intervals layout is inside casing, described multiple lever arm comprises the first lever arm, first lever arm comprises disk, is arranged on the installing plate of disk both sides and is arranged on the first rope sheave on disk bottom surface, two installing plates up extend for hinged installation lever arm, and disk is installed on the cover board and disk can circumferentially rotate.
4. a kind of lion dance robot according to claim 3, it is characterized in that: also include some installed parts, every bar stay cord comprises heart yearn and sleeve pipe, sleeve pipe is placed on outside heart yearn, entablature and sill is provided with inside pedestal, by installed part, the sleeve pipe of the second rope sheave two ends stay cord is separately fixed on entablature and sill, and by installed part, the sleeve pipe of the first rope sheave two ends stay cord of the first lever arm is separately fixed on the bottom surface of cover plate, heart yearn is arranged in described installed part.
5. a kind of lion dance robot according to claim 4, it is characterized in that: described multiple lever arm also comprises the second lever arm, the 3rd lever arm, the 4th lever arm, the 5th lever arm and the 6th lever arm, second lever arm, the 3rd lever arm, the 4th lever arm, the 5th lever arm and the 6th lever arm are hinged successively, second lever arm is hingedly mounted on two installing plates of the first lever arm, in the middle of disk, offer through hole, part stay cord passes from through hole.
6. a kind of lion dance robot according to claim 5, it is characterized in that: the connecting plate that the second lever arm, the 3rd lever arm, the 4th lever arm and the 5th lever arm include two blocks of side plates and be connected between two blocks of side plates, at every block side plate with the lateral surface of one end being provided with described first rope sheave, by installed part, the sleeve pipe of the first rope sheave two ends stay cord is separately fixed on side plate, heart yearn is arranged in described installed part.
7. a kind of lion dance robot according to any one of claim 1 to 6, is characterized in that: part second rope sheave offers 1 grooving, part second rope sheave offers 2 groovings, and grooving is used for being installed with described stay cord.
8. a kind of lion dance robot according to claim 5 or 6, is characterized in that: at the first lever arm and the second lever arm, the second lever arm and the 3rd lever arm, be provided with spring between the 3rd lever arm and the 4th lever arm.
9. a kind of lion dance robot according to any one of claim 1 to 6, it is characterized in that: on described pedestal, be provided with strainer, the tensioning of stay cord is regulated by strainer, described strainer comprises the mount pad be arranged on pedestal, mount pad is provided with slide rail, drive motors is provided with chute, and drive motors is arranged on mount pad, the chute tensioning that make drive motors can move forward and backward regulate stay cord chimeric with slide rail.
10. a kind of lion dance robot according to claim 5 or 6, it is characterized in that: adjustable shelf and pedestal overcoat have Decorative Cover, Decorative Cover is simpasana, its chimera is provided with mobilizable face and eyes, 6th lever arm is provided with 2 motors, wherein 1 motor pulls face by stay cord, and another 1 motor pulls eyes by stay cord.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610053477.5A CN105538319A (en) | 2016-01-26 | 2016-01-26 | Lion dance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610053477.5A CN105538319A (en) | 2016-01-26 | 2016-01-26 | Lion dance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105538319A true CN105538319A (en) | 2016-05-04 |
Family
ID=55818109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610053477.5A Pending CN105538319A (en) | 2016-01-26 | 2016-01-26 | Lion dance robot |
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| CN (1) | CN105538319A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826860A (en) * | 2017-03-24 | 2017-06-13 | 浙江格瑶电子科技有限公司 | A kind of new lion dance robot |
| CN106826859A (en) * | 2017-03-24 | 2017-06-13 | 浙江格瑶电子科技有限公司 | A kind of energy-conservation lion dance robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1136988A (en) * | 1995-05-31 | 1996-12-04 | 北京航空航天大学 | Driving method and use for joint driving mechanism |
| CN102672715A (en) * | 2012-05-15 | 2012-09-19 | 华南理工大学 | Cable-driven mechanical arm for assisting disabled/elderly people |
| KR20130054304A (en) * | 2013-04-29 | 2013-05-24 | 주식회사 엔티리서치 | A robot hand to grip object having various body-shape |
| CN203711378U (en) * | 2014-03-05 | 2014-07-16 | 国家电网公司 | Electrical insulator washing arm |
| CN104440904A (en) * | 2014-12-29 | 2015-03-25 | 淮海工学院 | Steel wire rope transmission mechanical hand |
| CN104758060A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学 | Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery |
| CN105031930A (en) * | 2015-07-01 | 2015-11-11 | 广运机电(苏州)有限公司 | Full-automatic lion dancing machine |
| CN105150193A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Ultra-redundancy flexible mechanical arm based on closed-loop rope driving |
| CN205521429U (en) * | 2016-01-26 | 2016-08-31 | 中山市大谷电子科技有限公司 | Lion dance robot |
-
2016
- 2016-01-26 CN CN201610053477.5A patent/CN105538319A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1136988A (en) * | 1995-05-31 | 1996-12-04 | 北京航空航天大学 | Driving method and use for joint driving mechanism |
| CN102672715A (en) * | 2012-05-15 | 2012-09-19 | 华南理工大学 | Cable-driven mechanical arm for assisting disabled/elderly people |
| KR20130054304A (en) * | 2013-04-29 | 2013-05-24 | 주식회사 엔티리서치 | A robot hand to grip object having various body-shape |
| CN203711378U (en) * | 2014-03-05 | 2014-07-16 | 国家电网公司 | Electrical insulator washing arm |
| CN104440904A (en) * | 2014-12-29 | 2015-03-25 | 淮海工学院 | Steel wire rope transmission mechanical hand |
| CN104758060A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学 | Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery |
| CN105031930A (en) * | 2015-07-01 | 2015-11-11 | 广运机电(苏州)有限公司 | Full-automatic lion dancing machine |
| CN105150193A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Ultra-redundancy flexible mechanical arm based on closed-loop rope driving |
| CN205521429U (en) * | 2016-01-26 | 2016-08-31 | 中山市大谷电子科技有限公司 | Lion dance robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826860A (en) * | 2017-03-24 | 2017-06-13 | 浙江格瑶电子科技有限公司 | A kind of new lion dance robot |
| CN106826859A (en) * | 2017-03-24 | 2017-06-13 | 浙江格瑶电子科技有限公司 | A kind of energy-conservation lion dance robot |
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Application publication date: 20160504 |
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