CN110548301A - marionette demonstration device - Google Patents

Abstract

A string puppet demonstration device proposed by the present invention includes a string lifting working mechanism for controlling the puppet. The string lifting working mechanism includes a mounting frame, a right hand action assembly, a left hand action assembly, a head action assembly, a right leg action assembly, The left leg action component and the controller, the right hand action component, the left hand action component, the head action component, the right leg action component and the left leg action component are respectively installed on the installation frame, and the controller respectively controls and connects the right hand action component, the left hand action component, Head Action Component, Right Leg Action Component, and Left Leg Action Component. The invention can automatically control the action of the marionette, avoids manual participation, and effectively improves the accuracy of the action.

Description

String Puppet Demonstration Device

technical field

The invention relates to the technical field of puppet control, in particular to a marionette demonstration device.

Background technique

Among all kinds of puppet shows, marionettes are one of the most representative puppet shows in China, one of the world cultural heritages, and can be called the world's first-class puppet performance art. Generally, the marionettes need to be manually manipulated during use, but one person can only manipulate two marionettes. For a puppet show that requires multiple marionettes, multiple people are needed, which is troublesome and inefficient.

Contents of the invention

Based on the technical problems existing in the background technology, a string puppet demonstration device proposed by the present invention can automatically control the motion of the string puppet, avoiding manual participation, and effectively improving the accuracy of the motion.

A string puppet demonstration device proposed by the present invention includes a string lifting working mechanism for controlling the puppet. The string lifting working mechanism includes a mounting frame, a right hand action assembly, a left hand action assembly, a head action assembly, a right leg action assembly, Left leg action component and controller;

The right-hand action unit, left-hand action unit, head action unit, right-leg action unit and left-leg action unit are respectively installed on the installation frame, and the controller controls and connects the right-hand action unit, left-hand action unit, head action unit, and right leg action respectively. component and left leg action component;

The right-hand action assembly includes the first guide rail, the second guide rail, the first slider, the first rotating assembly, the first winding wheel, the first magnet block, the first connecting plate, the first Hall sensor, the puppet's right-hand carrying line, the first a limiting plate, a first drive assembly and a second drive assembly;

The first guide rail is installed on one side of the mounting frame along the first horizontal direction, the second guide rail is arranged along the second horizontal direction perpendicular to the first horizontal direction, the second guide rail is slidingly connected with the first guide rail, and the first drive assembly drives the second The guide rail is used to drive the second guide rail to slide along the first horizontal direction, the first slider is slidably connected to the second guide rail, and the second drive assembly is driven to connect the first slider to drive the first slider to slide along the second horizontal direction;

The first rotating assembly is installed on the first slider, the first reel is installed on the first rotating assembly and is driven by it to rotate in the vertical direction, the first limiting plate is located on the lower side of the first reel, the second A limiting plate is provided with a first limiting hole for the puppet's right-hand carrying line to pass through. One end of the puppet's right-hand carrying line is fixedly connected to the first winding wheel, and the other end bypasses the first winding wheel and passes through the first limiting hole. The bit hole is fixedly connected with the right hand of the puppet;

The first magnet block is installed on the end face of the first winding wheel, one end of the first connecting plate is fixedly connected with the first slider, and the other end is fixedly connected with the first Hall sensor, and the position of the first Hall sensor is in line with the position of the first magnet. The positions of the blocks correspond, the signal of the first Hall sensor is connected to the controller, and the controller respectively controls and connects the first driving assembly, the second driving assembly, and the first rotating assembly.

Preferably, it also includes a first wire passing wheel for the puppet's right hand to go around. The first wire passing wheel is installed on the first limiting plate. A hole is punched out for a secure connection with the puppet's right hand.

Preferably, it also includes a puppet horizontal movement mechanism for controlling the puppet to move freely in the horizontal plane. The puppet horizontal movement mechanism includes a third guide rail, a fourth guide rail, a sliding seat, a bracket, a slewing support bearing, a third drive assembly, and a fourth drive assembly. component, the second rotating component;

The third guide rail is installed on the bracket along the first horizontal direction, the second guide rail is arranged along the second horizontal direction, the second guide rail is slidably connected with the third guide rail, and the third driving assembly drives the second guide rail to drive the third guide rail along the first horizontal direction. Sliding in the horizontal direction, the sliding seat is slidably connected to the second guide rail, and the fourth driving component drives the connecting sliding seat to drive the sliding seat to slide in the second horizontal direction;

The upper end of the outer ring of the slewing support bearing is fixedly connected with the sliding seat, the inner ring of the slewing support bearing is fixedly connected with the mounting frame, and the second rotating assembly drives the inner ring of the slewing supporting bearing to rotate in the horizontal direction. Rotational speed measurement components for measuring the rotation angle;

The signal of the speed measuring component is connected to the controller, and the controller controls the third driving component, the fourth driving component and the second rotating component respectively.

Preferably, the left-hand action assembly includes a fifth guide rail, a sixth guide rail, a second slider, a third rotating assembly, a second reel, a second magnet block, a second connecting plate, a second Hall sensor, and a puppet left handle. line, the second limiting plate, the fifth drive assembly and the sixth drive assembly;

The fifth guide rail is installed on the other side of the mounting frame along the first horizontal direction, the sixth guide rail is arranged along the second horizontal direction, the sixth guide rail is slidingly connected with the fifth guide rail, and the fifth drive assembly is driven to connect the fifth guide rail to drive the sixth guide rail Sliding along the first horizontal direction, the second slider is slidably connected to the sixth guide rail, and the sixth drive assembly drives and connects the second slider to drive the second slider to slide along the second horizontal direction;

The third rotating assembly is installed on the second slider, the third rotating assembly drives and connects the second winding wheel so that the second winding wheel rotates vertically, the second limiting plate is located on the lower side of the second winding wheel, The second limit plate is provided with a second limit hole for the puppet's left hand-held line to pass through. One end of the puppet's left hand-held line is fixedly connected to the second winding wheel, and the other end goes around the second winding wheel and passes through the second winding wheel. The limit hole is fixedly connected with the left hand of the puppet;

The second magnet block is installed on the second winding wheel, one end of the second connecting plate is fixedly connected with the second slider, and the other end is fixedly connected with the second Hall sensor, and the position of the second Hall sensor is connected with the position of the second magnet block. Corresponding to the position, the signal of the second Hall sensor is connected to the controller, and the controller respectively controls and connects the fifth driving component, the sixth driving component, and the third rotating component.

Preferably, it also includes a second wire passing wheel for the puppet's left-handed line to go around. The second line-passing wheel is installed on the second limiting plate. A hole pierces a puppet's left hand to secure the connection.

Preferably, the head action assembly includes a fourth rotating assembly, a third winding wheel, a third Hall sensor, a third magnet block, a third connecting plate, a third limiting plate and a puppet head string;

The rotating assembly is installed on the mounting frame, the third winding wheel is installed on the fourth rotating assembly and driven by it to rotate vertically, the third limiting plate is located on the lower side of the third winding wheel, and the third limiting plate There is a third limiting hole for the puppet's head string to pass through, one end of the puppet's head string is fixedly connected to the third winding wheel, and the other end goes around the third winding wheel and passes through the third limiting hole To be fixedly connected to the head of the puppet;

The third magnet block is installed on the third winding wheel, one end of the third connecting plate is fixedly connected with the installation frame, and the other end is fixedly connected with the third Hall sensor, and the position of the third Hall sensor corresponds to the position of the third magnet block , the signal of the third Hall sensor is connected to the controller, and the controller controls the connection to the fourth rotating assembly.

Preferably, it also includes a third wire passing wheel for the puppet head to go around. The third wire passing wheel is installed on the third limiting plate. The limiting hole passes through and is fixedly connected with the head of the puppet.

Preferably, the right leg action assembly includes a fifth rotating assembly, a fourth winding wheel, a fourth Hall sensor, a fourth magnet block, a fourth connecting plate, a fourth limiting plate and a puppet right leg lifting wire;

The fifth rotating assembly is installed on the mounting frame, the fourth winding wheel is installed on the fifth rotating assembly and driven by it to rotate in the vertical direction, the fourth limiting plate is located on the lower side of the fourth winding wheel, the fourth limiting plate There is a fourth limiting hole on the bit plate for the puppet's right leg lifting line to pass through. One end of the puppet's right leg lifting line is fixedly connected to the fourth winding wheel, and the other end goes around the fourth winding wheel and passes through the fourth limiting hole. The bit hole is fixedly connected with the puppet's right leg;

The fourth magnet block is installed on the fourth winding wheel, one end of the fourth connecting plate is fixedly connected to the installation frame, and the other end is fixedly connected to the fourth Hall sensor, and the position of the fourth Hall sensor corresponds to the position of the fourth magnet block , the signal of the fourth hall sensor is connected to the controller, and the controller controls the connection to the fifth rotating assembly.

Preferably, it also includes a fourth thread-passing wheel for the puppet's right leg to go around. The fourth thread-passing wheel is installed on the fourth limiting plate. The limiting hole passes through and is fixedly connected with the right leg of the puppet.

Preferably, the left leg action assembly includes a sixth rotating assembly, a fifth winding wheel, a fifth Hall sensor, a fifth magnet block, a fifth connecting plate, a fifth limiting plate and a puppet left leg lifting wire;

The sixth rotating assembly is installed on the mounting frame, the fifth winding wheel is installed on the fifth rotating assembly and is driven to rotate in the vertical direction, the fifth limiting plate is located on the lower side of the fifth winding wheel, the fifth limiting plate There is a fifth limit hole on the bit plate for the puppet's left leg to pass through. One end of the puppet's left leg is fixedly connected to the fifth winding wheel, and the other end goes around the fifth winding wheel and passes through the fifth limit. The bit hole is fixedly connected with the left leg of the puppet;

The fifth magnet block is installed on the fifth winding wheel, one end of the fifth connecting plate is fixedly connected to the installation frame, and the other end is fixedly connected to the fifth Hall sensor, and the position of the fifth Hall sensor corresponds to the position of the fifth magnet block , the signal of the fifth Hall sensor is connected to the controller, and the controller controls the connection to the fifth rotating assembly.

Preferably, it also includes a fifth wire passing wheel for the left leg of the puppet to go around. The fifth wire passing wheel is installed on the fifth limiting plate. The limiting hole passes through and is fixedly connected with the left leg of the puppet.

Compared with the prior art, the present invention has the following beneficial effects:

(1) Automatically control the action of the marionette through the thread-lifting mechanism to avoid manual participation and improve work efficiency.

(2) The actual rotational speed of the first reel is detected by the first Hall sensor, so as to perform closed-loop control on the rotational speed of the first rotating assembly, so as to improve the accuracy of the rotational speed of the third rotating assembly, thereby realizing the puppet's right hand The movement is precisely controlled, and the precision of the movement of the right hand of the marionette is effectively improved.

Description of drawings

Fig. 1 is a structural schematic diagram of a marionette demonstration device proposed by the present invention.

Fig. 2 is a schematic front view of the thread lifting working mechanism in the present invention.

Fig. 3 is a schematic right view of the thread lifting working mechanism in the present invention.

Fig. 4 is a schematic top view of the thread lifting working mechanism in the present invention.

FIG. 5 is an enlarged view of A in FIG. 2 .

Detailed ways

Referring to Figures 1-5, a string puppet demonstration device proposed by the present invention includes a string lifting mechanism for controlling the puppet. component, right leg action component and left leg action component and controller;

The right hand action assembly, left hand action assembly, head action assembly, right leg action assembly and left leg action assembly are installed on the mounting frame 7 respectively, and the controller controls and connects the right hand action assembly, left hand action assembly, head action assembly, right leg action assembly, respectively. Action component and left leg action component;

The right-hand action assembly includes the first guide rail 1, the second guide rail 2, the first slider 3, the first rotating assembly, the first reel 4, the first magnet block 9, the first connecting plate 5, and the first Hall sensor 6 , puppet right hand carrying line 8, the first limiting plate, the first drive assembly and the second drive assembly;

The first guide rail 1 is installed on one side of the mounting frame 7 along the first horizontal direction, the second guide rail 2 is arranged along the second horizontal direction perpendicular to the first horizontal direction, the second guide rail 2 is slidably connected with the first guide rail 1, and the first drive The assembly is drivingly connected to the second guide rail 2 to drive the second guide rail 2 to slide along the first horizontal direction, the first slider 3 is slidably connected to the second guide rail 2, and the second drive assembly is drivingly connected to the first slider 3 to drive the first slider Block 3 slides along the second horizontal direction;

The first rotating assembly is installed on the first slider 3, the first winding wheel 4 is installed on the first rotating assembly and driven by it to rotate in the vertical direction, and the first limiting plate is located under the first winding wheel 4 On the side, the first limiting plate is provided with the first limiting hole for the puppet's right-hand carrying line 8 to pass through, and one end of the puppet's right-hand carrying line 8 is fixedly connected with the first winding wheel 4, and the other end goes around the first winding wheel 4 and pass through the first limiting hole to be fixedly connected with the puppet's right hand;

The first magnet block 9 is installed on the end face of the first reel 4, one end of the first connecting plate 5 is fixedly connected with the first slider 3, and the other end is fixedly connected with the first Hall sensor 6, and the first Hall sensor The position of 6 corresponds to the position of the first magnet block 9, and the signal of the first Hall sensor 6 is connected to the controller, and the controller controls and connects the first driving assembly, the second driving assembly and the first rotating assembly respectively.

In the present invention, the first drive assembly drives the second guide rail to slide along the first horizontal direction so that the puppet's right hand slides along the first horizontal direction, and the second drive assembly drives the first slider to slide along the second horizontal direction so that the puppet's right hand slides along the second horizontal direction. Sliding in the second horizontal direction; drive the first winding wheel to rotate vertically through the first rotating assembly to make the puppet's right hand move up and down; detect the actual speed of the first winding wheel through the first Hall sensor, so that The rotation speed of the rotating assembly is controlled in a closed loop to improve the accuracy of the rotating speed of the third rotating assembly, thereby realizing precise control of the puppet's right-hand movement; preventing the puppet's right-hand handle line 8 from detaching from the first winding wheel through the first limiting hole . Specifically, the first rotating assembly includes a first motor, and an output shaft of the first motor is fixedly connected to the first winding wheel. The first drive assembly includes a first lead screw and a first drive motor, the first lead screw is arranged parallel to the first guide rail, the second guide rail is screwed to the first lead screw, and the first drive motor drives and connects the first lead screw. The second drive assembly includes a second lead screw and a second drive motor, the second lead screw is arranged parallel to the second guide rail, the first slider is screwed to the second lead screw, and the second drive motor drives and connects the second lead screw.

In this embodiment, it also includes a first wire passing wheel 10 for the puppet's right hand carrying line 8 to bypass. The wheel 10 passes through the first limiting hole to be fixedly connected with the puppet's right hand, so as to reduce the friction of the first limiting hole on the puppet's right-hand handle line 8 .

In this embodiment, it also includes a puppet horizontal movement mechanism for controlling the puppet to move freely in the horizontal plane. Assembly, the fourth drive assembly, the second rotating assembly 13;

The third guide rail is installed on the bracket along the first horizontal direction, the fourth guide rail is arranged along the second horizontal direction,

The fourth guide rail is slidably connected with the third guide rail, the third drive assembly is driven to connect the fourth guide rail to drive the third guide rail to slide along the first horizontal direction, the sliding seat 12 is slidably connected to the fourth guide rail, and the fourth drive assembly is driven to connect the sliding seat to Driving the sliding seat 12 to slide along the second horizontal direction;

The outer ring of the slewing support bearing 11 is fixedly connected to the sliding seat 12, the inner ring of the slewing support bearing 11 is fixedly connected to the mounting frame 7, and the second rotating assembly is driven to connect the slewing supporting bearing 11 to rotate in the horizontal direction. There is a rotational speed measuring assembly 14 for measuring rotational speed;

The rotational speed measurement component 14 is connected to the controller with signals, and the controller controls the third driving component, the fourth driving component and the second rotating component respectively.

Drive the fourth guide rail to slide along the first horizontal direction through the third drive assembly to make the installation frame 7 slide along the first horizontal direction, and the fourth drive assembly drives the sliding seat 12 to slide along the second horizontal direction; drive the slewing support through the second rotation assembly The inner ring of the bearing 11 rotates so that the mounting frame 7 rotates along a horizontal square; the actual rotational speed of the inner ring of the slewing support bearing 11 is detected by the first rotational speed measuring assembly 14, thereby controlling the closed-loop rotational speed of the second rotating assembly to improve the second The precise control of the rotational speed of the rotating assembly realizes the precise control of the movement of the entire marionette in the horizontal direction. Specifically, the second rotating assembly includes a second motor and a gear, the output shaft of the second motor is fixedly connected to the gear, and the gear meshes with the inner ring of the slewing support bearing 11 . The third drive assembly includes a third lead screw and a third drive motor, the third lead screw is arranged parallel to the third guide rail, the fourth guide rail is screwed to the third lead screw, and the third drive motor drives and connects the third lead screw. The fourth drive assembly includes a fourth lead screw and a fourth drive motor, the fourth lead screw is arranged parallel to the fourth guide rail, the sliding seat 12 is screwed to the fourth lead screw, and the fourth drive motor drives and connects the fourth lead screw. The slewing support bearing 11 includes an outer ring and an inner ring that can rotate with each other.

In this embodiment, the left-hand action assembly includes a fifth guide rail, a sixth guide rail, a second slider, a third rotating assembly, a second winding wheel, a second magnet block, a second connecting plate, a second Hall sensor, The puppet's left handle line, the second limit plate, the fifth drive assembly and the sixth drive assembly;

The fifth guide rail is installed on the other side of the mounting frame 7 along the first horizontal direction, the sixth guide rail is arranged along the second horizontal direction, the sixth guide rail is slidingly connected to the fifth guide rail, and the fifth drive assembly is driven to connect the fifth guide rail to drive the sixth guide rail. The guide rail slides along the first horizontal direction, the second slider is slidably connected to the sixth guide rail, and the sixth drive assembly drives and connects the second slider to drive the second slider to slide along the second horizontal direction;

The third rotating assembly is installed on the second slider, the third rotating assembly drives and connects the second winding wheel so that the second winding wheel rotates vertically, the second limiting plate is located on the lower side of the second winding wheel, The second limit plate is provided with a second limit hole for the puppet's left hand-held line to pass through. One end of the puppet's left hand-held line is fixedly connected to the second winding wheel, and the other end goes around the second winding wheel and passes through the second winding wheel. The limit hole is fixedly connected with the left hand of the puppet;

The second magnet block is installed on the second winding wheel, one end of the second connecting plate is fixedly connected with the second slider, and the other end is fixedly connected with the second Hall sensor, and the position of the second Hall sensor is connected with the position of the second magnet block. Corresponding to the position, the signal of the second Hall sensor is connected to the controller, and the controller respectively controls and connects the fifth driving component, the sixth driving component, and the third rotating component.

The fifth driving assembly drives the sixth guide rail to slide along the first horizontal direction so that the puppet's left hand slides along the first horizontal direction, and the sixth driving assembly drives the second slider to slide along the second horizontal direction; The three reels rotate vertically to make the left hand of the puppet move up and down; the second hall sensor detects the actual rotational speed of the second reel, so as to control the rotational speed of the third rotating assembly in a closed loop to improve the third rotation Precise control of the rotation speed of the components enables precise control of the movement of the puppet's left hand; the puppet's left-handed line is prevented from detaching from the second winding wheel through the second limiting hole. Specifically, the third rotating assembly includes a third motor, and an output shaft of the third motor is fixedly connected to the second winding wheel. The fifth drive assembly includes a fifth lead screw and a fifth drive motor, the fifth lead screw is arranged parallel to the fifth guide rail, the fifth guide rail is threadedly connected to the fifth lead screw, and the fifth drive motor drives and connects the fifth lead screw. The sixth drive assembly includes a sixth lead screw and a sixth drive motor, the sixth lead screw is arranged parallel to the sixth guide rail, the second slide block is screwed to the sixth lead screw, and the sixth drive motor drives the sixth lead screw.

In this embodiment, it also includes a second thread passing wheel for the puppet's left-handed thread to go around. The second thread-passing wheel is installed on the second limiting plate. The left hand of a puppet is fixedly connected through the two limiting holes, so as to reduce the friction of the second limiting hole on the left hand line of the puppet.

In this embodiment, the head action assembly includes a fourth rotating assembly, a third winding wheel, a third Hall sensor, a third magnet block, a third connecting plate, a third limiting plate, and a puppet head string;

The rotating assembly is installed on the mounting frame 7, the third reel is installed on the rotating assembly and driven by it to rotate vertically, the third limiting plate is located at the lower side of the third reel, and the third limiting plate There is a third limiting hole for the puppet head string to pass through. One end of the puppet head string is fixedly connected to the third winding wheel, and the other end goes around the third winding wheel and passes through the third limiting hole to Fixed connection with the head of the puppet;

The third magnet block is installed on the third winding wheel, one end of the third connecting plate is fixedly connected with the installation frame 7, and the other end is fixedly connected with the third Hall sensor, and the position of the third Hall sensor is the same as the position of the third magnet block. Correspondingly, the signal of the third Hall sensor is connected to the controller, and the controller controls the connection to the fourth rotating assembly.

The actual rotational speed of the third reel is detected by the third Hall sensor, so that the closed-loop control of the rotational speed of the fourth rotating assembly can be performed to improve the precise control of the rotational speed of the fourth rotating assembly, thereby realizing the puppet's head movement Precise control; through the third limit hole to prevent the head of the puppet from lifting the thread off the third winding wheel. Specifically, the fourth rotating component is a fourth motor, and the output shaft of the fourth motor is fixedly connected to the third winding wheel.

In a further embodiment, it also includes a third wire passing wheel for the puppet's head to go around. The third wire passing wheel is installed on the third limiting plate. Pass through the third limiting hole and connect with the head of the puppet to reduce the friction of the third limiting hole on the head of the puppet.

In this embodiment, the right leg action assembly includes a fifth rotating assembly, a fourth winding wheel, a fourth Hall sensor, a fourth magnet block, a fourth connecting plate, a fourth limiting plate, and a puppet right leg lifting wire;

The fifth rotating assembly is installed on the mounting frame 7, the fourth winding wheel is installed on the fifth rotating assembly and is driven to rotate in the vertical direction, the fourth limiting plate is located at the lower side of the fourth winding wheel, the fourth The limit plate is provided with a fourth limit hole for the puppet's right leg lifting line to pass through. One end of the puppet's right leg lifting line is fixedly connected with the fourth winding wheel, and the other end goes around the fourth winding wheel and passes through the fourth winding wheel. The limit hole is fixedly connected with the right leg of the puppet;

The fourth magnet block is installed on the fourth winding wheel, one end of the fourth connecting plate is fixedly connected to the installation frame 7, and the other end is fixedly connected to the fourth Hall sensor, and the position of the fourth Hall sensor is the same as the position of the fourth magnet block. Correspondingly, the signal of the fourth Hall sensor is connected to the controller, and the controller controls the connection to the fifth rotating assembly.

The actual rotation speed of the fourth winding wheel is detected by the fourth Hall sensor, so that the closed-loop control of the rotation speed of the fifth rotating assembly can be performed to improve the precise control of the rotation speed of the fifth rotating assembly, thereby realizing the movement of the right leg of the puppet. Precise control; prevent the puppet's right leg from lifting the line from the fourth winding wheel through the fourth limit hole. Specifically, the fifth rotating component is a fifth motor, and the output shaft of the fifth motor is fixedly connected to the fourth winding wheel.

In a further embodiment, it also includes a fourth wire passing wheel for the puppet's right leg to lift the line around. Pass through the fourth limiting hole and fix the connection with the right leg of the puppet to reduce the friction of the fourth limiting hole on the puppet's right leg lifting line.

In this embodiment, the left leg action assembly includes a sixth rotating assembly, a fifth winding wheel, a fifth Hall sensor, a fifth magnet block, a fifth connecting plate, a fifth limiting plate, and a puppet left leg lifting wire;

The sixth rotating assembly is installed on the mounting frame 7, the fifth winding wheel is installed on the fifth rotating assembly and is driven to rotate in the vertical direction, the fifth limiting plate is located at the lower side of the fifth winding wheel, the fifth winding wheel There is a fifth limit hole on the limit plate for the puppet’s left leg to pass through. One end of the puppet’s left leg is fixedly connected to the fifth winding wheel, and the other end is bypassed by the fifth winding wheel and passed through the fifth winding wheel. The limit hole is fixedly connected with the left leg of the puppet;

The fifth magnet block is installed on the fifth winding wheel, one end of the fifth connecting plate is fixedly connected to the installation frame 7, and the other end is fixedly connected to the fifth Hall sensor, and the position of the fifth Hall sensor is the same as the position of the fifth magnet block. Correspondingly, the signal of the fifth Hall sensor is connected to the controller, and the controller controls the connection to the fifth rotating assembly. The actual rotation speed of the fifth winding wheel is detected by the fifth Hall sensor, so that the closed-loop control of the rotation speed of the sixth rotating assembly can be performed to improve the precise control of the rotation speed of the sixth rotating assembly, thereby realizing the movement of the left leg of the puppet. Precise control; prevent the left leg of the puppet from lifting the line from the fifth winding wheel through the fifth limit hole. Specifically, the sixth rotating component is the sixth motor, and the output shaft of the sixth motor is fixedly connected to the fifth winding wheel.

In a further embodiment, it also includes a fifth wire passing wheel for the puppet's left leg to lift the line around. Pass through the fifth limiting hole and fix the connection with the left leg of the puppet to reduce the friction of the fifth limiting hole on the puppet's left leg lifting line.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (8)

1. A string puppet people's demonstration device is characterized in that, comprises the string lifting working mechanism that is used to control puppet, and lifting string working mechanism comprises installation frame (7), right-hand action assembly, left-hand action assembly, head action assembly, Right leg action component, left leg action component and controller; The right hand action assembly, the left hand action assembly, the head action assembly, the right leg action assembly and the left leg action assembly are respectively installed on the mounting frame (7), and the controller controls and connects the right hand action assembly, the left hand action assembly, the head action assembly, Right leg action component and left leg action component; The right-hand action assembly includes a first guide rail (1), a second guide rail (2), a first slider (3), a first rotating assembly, a first winding wheel (4), a first magnet block (9), a first Connecting plate (5), first Hall sensor (6), puppet's right handle line (8), first limiting plate, first driving assembly and second driving assembly; The first guide rail (1) is installed on one side of the installation frame (7) along the first horizontal direction, the second guide rail (2) is arranged along the second horizontal direction perpendicular to the first horizontal direction, the second guide rail (2) and the first The guide rail (1) is slidably connected, the first drive assembly is driven to connect the second guide rail (2) to drive the second guide rail (2) to slide along the first horizontal direction, and the first slider (3) slides with the second guide rail (2) Connected, the second driving assembly drives and connects the first slider (3) to drive the first slider (3) to slide along the second horizontal direction; The first rotating assembly is installed on the first slider (3), the first winding wheel (4) is installed on the first rotating assembly and is driven to rotate in the vertical direction, and the first limiting plate is located on the first winding On the lower side of the wire wheel (4), the first limiting plate is provided with a first limiting hole for the puppet's right-hand carrying line (8) to pass through, and one end of the puppet's right-hand carrying line (8) is connected to the first winding wheel (4) Fixedly connected, the other end walks around the first winding wheel (4) and passes through the first limiting hole to be fixedly connected with the right hand of the puppet; The first magnet block (9) is installed on the end face of the first winding wheel (4), one end of the first connecting plate (5) is fixedly connected with the first slider (3), and the other end is connected with the first Hall sensor (6). ) is fixedly connected, and the position of the first Hall sensor (6) corresponds to the position of the first magnet block (9). The second driving assembly and the first rotating assembly. 2. The marionette figurine demonstration device according to claim 1, is characterized in that, also comprises the puppet horizontal movement mechanism for controlling the puppet to move freely in the horizontal plane, the puppet horizontal movement mechanism comprises the 3rd guide rail, the 4th guide rail, Sliding seat (12), bracket, slewing support bearing (11), third driving assembly, fourth driving assembly and second rotating assembly (13); The third guide rail is installed on the bracket along the first horizontal direction, the second guide rail (2) is arranged along the second horizontal direction, the second guide rail (2) is slidably connected with the third guide rail, and the third driving assembly is driven to connect the second guide rail (2 ) to drive the third guide rail to slide along the first horizontal direction, the sliding seat (12) is slidably connected to the second guide rail (2), and the fourth driving assembly drives the connecting sliding seat to drive the sliding seat (12) to slide along the second horizontal direction; The outer ring of the slewing support bearing (11) is fixedly connected to the sliding seat (12), the inner ring of the slewing support bearing (11) is fixedly connected to the installation frame (7), and the second rotating assembly is driven to connect the inner ring of the slewing support bearing (11). ring to drive the inner ring of the slewing support bearing (11) to rotate in the horizontal direction, and one side of the second rotating assembly is provided with a rotational speed measuring assembly (14) for measuring the rotation angle; The rotational speed measurement component (14) is connected to the controller with signals, and the controller controls the third driving component, the fourth driving component and the second rotating component respectively. 3. The marionette figurine demonstration device according to claim 1, characterized in that, it also includes a first thread-passing wheel (10) for the puppet's right hand to carry the line (8), the first thread-passing wheel (10) Installed on the first limiting plate, the puppet's right hand carrying line (8) goes around the first wire passing wheel (10) and passes through the first limiting hole to be fixedly connected with the puppet's right hand. 4. The marionette demonstration device according to claim 1, wherein the left-hand action assembly comprises a fifth guide rail, a sixth guide rail, a second slider, a third rotating assembly, a second winding wheel, a second Magnet block, second connecting plate, second Hall sensor, puppet's left handle line, second limiting plate, fifth driving assembly and sixth driving assembly; The fifth guide rail is installed on the other side of the mounting frame (7) along the first horizontal direction, the sixth guide rail is arranged along the second horizontal direction, the sixth guide rail is slidingly connected to the fifth guide rail, and the fifth drive assembly is driven to connect the fifth guide rail to drive The sixth guide rail slides along the first horizontal direction, the second slider is slidably connected to the sixth guide rail, and the sixth drive assembly drives and connects the second slider to drive the second slider to slide along the second horizontal direction; The third rotating assembly is installed on the second slider, the third rotating assembly drives and connects the second winding wheel so that the second winding wheel rotates vertically, the second limiting plate is located on the lower side of the second winding wheel, The second limit plate is provided with a second limit hole for the puppet's left hand-held line to pass through. One end of the puppet's left hand-held line is fixedly connected to the second winding wheel, and the other end goes around the second winding wheel and passes through the second winding wheel. The limit hole is fixedly connected with the left hand of the puppet; The second magnet block is installed on the second winding wheel, one end of the second connecting plate is fixedly connected with the second slider, and the other end is fixedly connected with the second Hall sensor, and the position of the second Hall sensor is connected with the position of the second magnet block. Corresponding to the position, the signal of the second Hall sensor is connected to the controller, and the controller respectively controls and connects the fifth driving component, the sixth driving component, and the third rotating component. 5. The string puppet demonstration device according to claim 4, characterized in that, it also includes a second thread passing wheel for the puppet's left hand-held thread to bypass, and the second thread passing wheel is installed on the second limiting plate, The left hand line of the puppet walks around the second wire passing wheel and passes through the second limiting hole to be fixedly connected with the left hand of the puppet. 6. The marionette demonstration device according to claim 1, characterized in that, the head action assembly includes a fourth rotating assembly, a third winding wheel, a third Hall sensor, a third magnet block, and a third connection plate, the third limit plate and the puppet head lifting line; The rotating assembly is installed on the mounting frame (7), the third winding wheel is installed on the rotating assembly and driven by it to rotate vertically, the third limiting plate is located at the lower side of the third winding wheel, and the third limiting There is a third limit hole on the board for the puppet head string to pass through. One end of the puppet head string is fixedly connected to the third winding wheel, and the other end goes around the third winding wheel and passes through the third limit hole. The hole is fixedly connected with the head of the puppet; The third magnet block is installed on the third winding wheel, one end of the third connecting plate is fixedly connected with the installation frame (7), and the other end is fixedly connected with the third Hall sensor, and the position of the third Hall sensor is connected with the third magnet block Corresponding to the position, the signal of the third Hall sensor is connected to the controller, and the controller controls the connection to the fourth rotating assembly; Preferably, it also includes a third wire passing wheel for the puppet head to go around. The third wire passing wheel is installed on the third limiting plate. The limiting hole passes through and is fixedly connected with the head of the puppet. 7. The marionette demonstration device according to claim 1, characterized in that, the right leg action assembly includes a fifth rotating assembly, a fourth winding wheel, a fourth Hall sensor, a fourth magnet block, and a fourth connection board, the fourth limiting board and the puppet's right leg lifting line; The fifth rotating assembly is installed on the mounting frame (7), the fourth reel is installed on the fifth rotating assembly and driven by it to rotate in the vertical direction, the fourth limiting plate is located on the lower side of the fourth reel, The fourth limit plate is provided with a fourth limit hole for the puppet's right leg to pass through. One end of the puppet's right leg is fixedly connected to the fourth winding wheel, and the other end is bypassed by the fourth winding wheel and passed through. The fourth limiting hole is fixedly connected with the right leg of the puppet; The fourth magnet block is installed on the fourth winding wheel, one end of the fourth connecting plate is fixedly connected with the installation frame (7), and the other end is fixedly connected with the fourth Hall sensor, and the position of the fourth Hall sensor is connected with the fourth magnet block Corresponding to the position, the signal of the fourth Hall sensor is connected to the controller, and the controller controls the connection to the fifth rotating assembly; Preferably, it also includes a fourth thread-passing wheel for the puppet's right leg to go around. The fourth thread-passing wheel is installed on the fourth limiting plate. The limiting hole passes through and is fixedly connected with the right leg of the puppet. 8. The marionette demonstration device according to claim 1, characterized in that the left leg action assembly includes a sixth rotating assembly, a fifth winding wheel, a fifth Hall sensor, a fifth magnet block, and a fifth connection board, the fifth limiting board and the puppet's left leg lifting line; The sixth rotating assembly is installed on the mounting frame (7), the fifth winding wheel is installed on the fifth rotating assembly and driven by it to rotate in the vertical direction, the fifth limiting plate is located on the lower side of the fifth winding wheel, The fifth limit plate is provided with a fifth limit hole for the puppet's left leg to pass through. One end of the puppet's left leg is fixedly connected to the fifth winding wheel, and the other end is bypassed by the fifth winding wheel and passed through. The fifth limiting hole is fixedly connected with the left leg of the puppet; The fifth magnet block is installed on the fifth winding wheel, one end of the fifth connecting plate is fixedly connected with the installation frame (7), and the other end is fixedly connected with the fifth Hall sensor, and the position of the fifth Hall sensor is connected with the fifth magnet block Corresponding to the position of the fifth Hall sensor, the signal of the fifth Hall sensor is connected to the controller, and the controller controls the connection to the fifth rotating assembly; Preferably, it also includes a fifth wire passing wheel for the left leg of the puppet to go around. The fifth wire passing wheel is installed on the fifth limiting plate. The limiting hole is pierced to be fixedly connected with the puppet's left leg.