CN202052332U - Robot shadow puppet device - Google Patents
Robot shadow puppet device Download PDFInfo
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- CN202052332U CN202052332U CN2011201135671U CN201120113567U CN202052332U CN 202052332 U CN202052332 U CN 202052332U CN 2011201135671 U CN2011201135671 U CN 2011201135671U CN 201120113567 U CN201120113567 U CN 201120113567U CN 202052332 U CN202052332 U CN 202052332U
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- shadow
- play
- movable base
- gear
- robot
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Abstract
The utility model provides a robot shadow puppet device, which comprises a shadow puppet and is characterized by also comprising a controller and a moving base, wherein a fixed support frame, a motor and a plurality of mechanical arms are also arranged on the moving base, the mechanical arms are connected with the motor and are respectively connected onto each movable part of the shadow puppet, the controller is used for controlling the moving of the moving base and the action of the mechanical arms, and the basic part of the shadow puppet is fixed on the fixed support frame. The utility model also provides a control system of corresponding stage facilities. The shadow puppet is controlled by a robot, so the occupied space is small, the actions of the shadow puppet are richer, the jumping action of the shadow puppet can be realized through a lifting platform, the shadow puppet figure is more lively and interesting, the shadow puppet is basically pasted or goes far away from a shadow puppet curtain through electrically controlling a telescopic rod, and the fading-into/out visual effect of the figure can be realized. The ancient traditional performance form is innovated into the shadow puppet performance mode controlled by robot programs.
Description
Technical field
The utility model relates to robot system, particularly, relates to robot figure for shadow-play device.
Background technology
Shadow show is that a kind of personage's outline made from light-illuminating animal skin or cardboard is to perform the drama among the people of story.During performance, artists are in white curtain back, Yi Bian handle the opera personage, state story Yi Bian sing with local popular tune, are equipped with percussion instrument and string music simultaneously, and dense local colour is arranged.In Henan, the rural area, Shanxi, this simple and unadorned folk art form is subjected to people's welcome very much.
Yet traditional shadow show needs manually to handle figure for shadow-play behind the scenes and exercises to change, and meanwhile also need cooperate acoustics such as going up dialogue and music by performer and band.Therefore, traditional shadow show needs certain place to hold the performer, and the quality of shadow show depends on performer's performance then and there fully, and because the performer only can handle figure for shadow-play by two hands, therefore the action of figure for shadow-play is comparatively simple, can't finish the manipulation respectively of figure for shadow-play multi-section position simultaneously.
The utility model content
At defective of the prior art, the purpose of this utility model provides a kind of robot figure for shadow-play device.
According to an aspect of the present utility model, robot figure for shadow-play device is provided, comprise figure for shadow-play, it is characterized in that, also comprise controller and movable base, wherein, some mechanical arms that described movable base is provided with fixed support, motor and connects described motor, described some mechanical arms are connected to respectively on each movable part of described figure for shadow-play, described controller is used to control the action of moving of described movable base and described mechanical arm, and the basic portion of described figure for shadow-play is fixed on the described fixed support.
Preferably, described mechanical arm comprises figure for shadow-play control lever, gear and drive, and wherein, described motor drives described gear by described drive, and the near-end of described figure for shadow-play control lever connects the movable part of described figure for shadow-play, far-end is connected on the described gear.
Preferably, the near-end of described figure for shadow-play control lever is connected on the eccentric position of described gear, and the far-end of described figure for shadow-play control lever and the line between the near-end are parallel to the rotating shaft of described gear or have angle with the rotating shaft of described gear.
Preferably, the near-end of described figure for shadow-play control lever is connected on the center of described gear, and the far-end of described figure for shadow-play control lever and the rotating shaft of line between the near-end and described gear have angle.
Preferably, described fixed support comprises the automatically controlled expansion link that connects described controller, and the flexible end of described automatically controlled expansion link connects the basic portion of described figure for shadow-play.
Preferably, also comprise the hoistable platform that is arranged on the described movable base, wherein, described fixed support, motor and mechanical arm carry on described hoistable platform.
Preferably, an end of described hoistable platform by rotating shaft be connected on the described movable base, the other end rotates under described driven by motor by drive link mechanism.
Preferably, described drive link mechanism comprises connecting rod and carries eccentric wheel on described movable base that described connecting rod is connected between described hoistable platform and the described eccentric wheel.
Preferably, also comprise shadow show curtain, stage that is positioned at described figure for shadow-play the place ahead and the illuminating lamp that connects described controller, audio playing apparatus, curtain device, wherein, described movable base, illuminating lamp, audio playing apparatus, curtain device and shadow show curtain are arranged on the described stage.
Preferably, described shadow show curtain is made of single face ground glass, wherein, the back side of described shadow show curtain is smooth surface, the front is a frosting, described illuminating lamp is positioned at front one side of described shadow show curtain, perhaps be positioned at and pasting the described shadow show curtain back side one side basically, described figure for shadow-play is made by the PVC clear sheet, also comprise the cross slide way and the longitudinal rail that are arranged on the described stage, described movable base is positioned at the back side that the described figure for shadow-play on the described cross slide way is pasting described shadow show curtain basically, described movable base under the drive of described figure for shadow-play on the described longitudinal rail at described automatically controlled expansion link can pasting basically and position away from the back side of described shadow show curtain between move freely.
The utility model comprises a little: by robot control figure for shadow-play, therefore make the performance of shadow show not be subjected to the restriction of performer's quantity and can perform whenever and wherever possible; It is much smaller that robot compares in shared space the shared space of performer, so the utility model saved the space, makes shadow show to perform in little spaces such as show window; Therefore robot can control the respective activity portion of figure for shadow-play respectively by a plurality of (for example more than 4) mechanical arm, and figure for shadow-play of the present utility model moves more horn of plenty; Can realize the jump action of figure for shadow-play making more vivid and interesting of figure for shadow-play personage by hoistable platform; By automatically controlled expansion link is that figure for shadow-play is pasting basically or can realize the visual effect that the personage is fade-in fade-out away from the shadow show curtain.So the utility model is the shadow puppet performance form of being controlled by the robot program by the figure for shadow-play of hand control performance being changed into the shadow puppet performance by robot program's control with ancient traditional performance form innovation.
Description of drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present utility model will become:
Fig. 1 illustrates according to first embodiment of the present utility model, the Facad structure schematic diagram of robot figure for shadow-play device;
Fig. 2 illustrates according to second embodiment of the present utility model, the Facad structure schematic diagram of robot figure for shadow-play device;
Fig. 3 illustrates according to the 3rd embodiment of the present utility model, the side structure schematic diagram of robot figure for shadow-play device;
Fig. 4 illustrates according to the 4th embodiment of the present utility model, the Facad structure schematic diagram of robot figure for shadow-play device;
Fig. 5 illustrates according to the 5th embodiment of the present utility model, the Facad structure schematic diagram of robot figure for shadow-play device;
Fig. 6 illustrates according to the 6th embodiment of the present utility model, the structural representation of robot figure for shadow-play device gear and drive.
The specific embodiment
Fig. 1 illustrates according to first embodiment of the present utility model, the Facad structure schematic diagram of robot figure for shadow-play device.Particularly, in the present embodiment, described robot figure for shadow-play device comprises figure for shadow-play, also comprise controller and movable base 2, wherein, some mechanical arms that described movable base 2 is provided with fixed support 4, motor and connects described motor, described some mechanical arms are connected to respectively on each movable part (for example movable part 12) of described figure for shadow-play, described controller is used to control the action of moving of described movable base 2 and described mechanical arm, and the basic portion 11 of described figure for shadow-play is fixed on the described fixed support 4.
Preferably, described mechanical arm comprises figure for shadow-play control lever 6, gear 5 and drive, wherein, described motor drives described gear 5 by described drive, and movable part 12, far-end that the near-end of described figure for shadow-play control lever 6 connects described figure for shadow-play are connected on the described gear 5.
In preference of present embodiment, the near-end of described figure for shadow-play control lever 6 is connected on the eccentric position of described gear 5, and the far-end of described figure for shadow-play control lever 6 and the line between the near-end are parallel to the rotating shaft of described gear 5 or have angle with the rotating shaft of described gear.And in another preference of present embodiment, the near-end of described figure for shadow-play control lever 6 is connected on the center of described gear 5, and the rotating shaft of the far-end of described figure for shadow-play control lever 6 and the line between the near-end and described gear 5 has angle.As shown in Figure 1, the health of rabbit figure for shadow-play is as described basic portion 11, and head is as described movable part 12, and when described gear 5 came and went rotation along suitable counter clockwise direction, the figure for shadow-play that spectators see was that rabbit is nodding.
Also comprise the hoistable platform 3 that is arranged on the described movable base 2, wherein, described fixed support 4, motor and mechanical arm carry on described hoistable platform 3.One end of described hoistable platform 3 by rotating shaft be connected on the described movable base 2, the other end rotates under described driven by motor by drive link mechanism.Described drive link mechanism comprises connecting rod and carries eccentric wheel on described movable base 2 that described connecting rod is connected between described hoistable platform and the described eccentric wheel.Like this, described hoistable platform 3 can freely rotate, thereby the figure for shadow-play of fixing on it can be moved in vertical direction, and then obtains the visual effect that figure for shadow-play is jumping.For example, the rabbit figure for shadow-play that will be higher than shown in Fig. 1 of putting on the throne of the rabbit figure for shadow-play shown in Fig. 2 along with the rotation of described hoistable platform 3, just can make spectators enjoy the scene that the rabbit figure for shadow-play is jumping.
One at present embodiment changes in the example, and described hoistable platform 3 can also be realized the function of rise and fall by the screw mandrel transmission, and those skilled in the art can realize such hoistable platform in conjunction with prior art, do not repeat them here.
Fig. 3 illustrates according to the 3rd embodiment of the present utility model, the side structure schematic diagram of robot figure for shadow-play device.Particularly, in the present embodiment, described fixed support 4 comprises the automatically controlled expansion link that connects described controller, and the flexible end of described automatically controlled expansion link connects the basic portion 11 of described figure for shadow-play.As shown in Figure 3, this moment, described automatically controlled expansion link was in contraction state, and the movable part 12 of described figure for shadow-play more is close to play curtain than basic portion 11, so spectators can see that described movable part 12 just looks at less than described basic portion 11; When described automatically controlled expansion link is in when stretching out state, described basic portion 11 is also pasting basically in the play curtain, become in the process of the state of stretching out by contraction state at described automatically controlled expansion link like this, spectators can see fade in the gradually effect of play curtain of described basic portion 12, otherwise, then can see the effect of the play curtain of fading out gradually.
Preferably, also comprise shadow show curtain, stage that is positioned at described figure for shadow-play the place ahead and the illuminating lamp that connects described controller, audio playing apparatus, curtain device, wherein, described movable base, illuminating lamp, audio playing apparatus, curtain device and shadow show curtain are arranged on the described stage.
Preferably, described shadow show curtain is made of single face ground glass, wherein, the back side of described shadow show curtain is smooth surface, the front is a frosting, described illuminating lamp is positioned at front one side of described shadow show curtain, perhaps be positioned at and pasting the described shadow show curtain back side one side basically, described figure for shadow-play is made by the PVC clear sheet, also comprise the cross slide way and the longitudinal rail that are arranged on the described stage, described movable base is positioned at the back side that the described figure for shadow-play on the described cross slide way is pasting described shadow show curtain basically, described movable base under the drive of described figure for shadow-play on the described longitudinal rail at described automatically controlled expansion link can pasting basically and position away from the back side of described shadow show curtain between move freely.Wherein, the back side of described shadow show curtain is that smooth surface can be so that described figure for shadow-play be unlikely to may wear to figure for shadow-play when pasting basically, front one side that described illuminating lamp is positioned at described shadow show curtain can make illumination more even and make spectators can't see the shade of figure for shadow-play, visual effect is better, and cross slide way and longitudinal rail limit described movable base respectively according to path movement accurately.
Next further specify the operation principle of the utility model institute generator again by Fig. 4 to Fig. 5.Particularly, Fig. 4 illustrates according to the 4th embodiment's of the present utility model, the Facad structure schematic diagram of robot figure for shadow-play device, in the present embodiment, described robot figure for shadow-play device comprises figure for shadow-play, also comprise controller and movable base, wherein, described movable base is provided with fixed support 4, motor, and the some mechanical arms that connect described motor, described some mechanical arms are connected to each movable part of described figure for shadow-play respectively, and (for example movable part 13,14,15,16) on, described controller is used to control the action of moving of described movable base and described mechanical arm, and the basic portion 11 of described figure for shadow-play is fixed on the described fixed support 4.
More specifically, described device comprises figure for shadow-play control lever 61 and gear 51, the figure for shadow-play control lever 62 that is connected described movable part 14 and gear 52, the figure for shadow-play control lever 63 that connects described movable part 15 and the gear 53 that connects described movable part 13, figure for shadow-play control lever 64 and the gear 54 that connects described movable part 16.
Further, Fig. 5 illustrates according to the 5th embodiment of the present utility model, the Facad structure schematic diagram of robot figure for shadow-play device.Those skilled in the art can with embodiment illustrated in fig. 5 be interpreted as embodiment illustrated in fig. 4 in state diagram after the figure for shadow-play transition activities.Particularly, with embodiment illustrated in fig. 4 is initial conditions, then after described gear 51,52,53,54 turns clockwise certain angle, as shown in Figure 5, the head that this change in location is embodied in the Hypon figure for shadow-play tilted to the left, lift on the right hand, left and right sides pin moves right after movable part 13,14,15,16 positions with respect to basic portion 11 of described figure for shadow-play changed.
Wherein, Fig. 6 illustrates according to the 6th embodiment of the present utility model, the structural representation of robot figure for shadow-play device gear and drive.Particularly, driving wheel 900 is installed on the output shaft of motor, and it drives described gear 51, drives described gear 52, drives described gear 53, drives described gear 54 by drive 904 by drive 903 by drive 902 by drive 901.
Those skilled in the art understand, can make described gear and the equidirectional rotation of described driving wheel by an odd number drive, can make described gear and described driving wheel counter-rotation by an even numbers drive, those skilled in the art can be provided with the quantity of drive according to actual needs, do not repeat them here.
Those skilled in the art also understand, control described driving wheel 900 and in suitable amplitude, just can make described gear also same along suitable counterclockwise reciprocal the rotation in by a small margin, thereby realized the movement posture that placard is shaken the head, waved and walks along suitable counterclockwise reciprocal rotation.
More than specific embodiment of the utility model is described.It will be appreciated that the utility model is not limited to above-mentioned specific implementations, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not influence flesh and blood of the present utility model.
Claims (10)
1. robot figure for shadow-play device, comprise figure for shadow-play, it is characterized in that, also comprise controller and movable base, wherein, some mechanical arms that described movable base is provided with fixed support, motor and connects described motor, described some mechanical arms are connected to respectively on each movable part of described figure for shadow-play, described controller is used to control the action of moving of described movable base and described mechanical arm, and the basic portion of described figure for shadow-play is fixed on the described fixed support.
2. robot according to claim 1 figure for shadow-play device, it is characterized in that, described mechanical arm comprises figure for shadow-play control lever, gear and drive, wherein, described motor drives described gear by described drive, and the near-end of described figure for shadow-play control lever connects the movable part of described figure for shadow-play, far-end is connected on the described gear.
3. robot according to claim 2 figure for shadow-play device, it is characterized in that, the near-end of described figure for shadow-play control lever is connected on the eccentric position of described gear, and the far-end of described figure for shadow-play control lever and the line between the near-end are parallel to the rotating shaft of described gear or have angle with the rotating shaft of described gear.
4. robot according to claim 2 figure for shadow-play device is characterized in that the near-end of described figure for shadow-play control lever is connected on the center of described gear, and the far-end of described figure for shadow-play control lever and the rotating shaft of line between the near-end and described gear have angle.
5. according to each described robot figure for shadow-play device in the claim 1 to 4, it is characterized in that described fixed support comprises the automatically controlled expansion link that connects described controller, the flexible end of described automatically controlled expansion link connects the basic portion of described figure for shadow-play.
6. robot according to claim 5 figure for shadow-play device is characterized in that, also comprises the hoistable platform that is arranged on the described movable base, and wherein, described fixed support, motor and mechanical arm carry on described hoistable platform.
7. robot according to claim 6 figure for shadow-play device is characterized in that, an end of described hoistable platform by rotating shaft be connected on the described movable base, the other end rotates under described driven by motor by drive link mechanism.
8. robot according to claim 7 figure for shadow-play device is characterized in that, described drive link mechanism comprises connecting rod and carry eccentric wheel on described movable base that described connecting rod is connected between described hoistable platform and the described eccentric wheel.
9. robot according to claim 8 figure for shadow-play device, it is characterized in that, also comprise shadow show curtain, stage that is positioned at described figure for shadow-play the place ahead and the illuminating lamp that connects described controller, audio playing apparatus, curtain device, wherein, described movable base, illuminating lamp, audio playing apparatus, curtain device and shadow show curtain are arranged on the described stage.
10. robot according to claim 9 figure for shadow-play device, it is characterized in that, described shadow show curtain is made of single face ground glass, wherein, the back side of described shadow show curtain is smooth surface, the front is a frosting, described illuminating lamp is positioned at front one side of described shadow show curtain, perhaps be positioned at and pasting the described shadow show curtain back side one side basically, described figure for shadow-play is made by the PVC clear sheet, also comprise the cross slide way and the longitudinal rail that are arranged on the described stage, described movable base is positioned at the back side that the described figure for shadow-play on the described cross slide way is pasting described shadow show curtain basically, described movable base under the drive of described figure for shadow-play on the described longitudinal rail at described automatically controlled expansion link can pasting basically and position away from the back side of described shadow show curtain between move freely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201135671U CN202052332U (en) | 2011-04-18 | 2011-04-18 | Robot shadow puppet device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201135671U CN202052332U (en) | 2011-04-18 | 2011-04-18 | Robot shadow puppet device |
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|---|---|
| CN202052332U true CN202052332U (en) | 2011-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011201135671U Expired - Fee Related CN202052332U (en) | 2011-04-18 | 2011-04-18 | Robot shadow puppet device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145231A (en) * | 2011-04-18 | 2011-08-10 | 上海市师资培训中心实验基地附属中学 | Robot shadow puppet device and control system of stage facilities thereof |
| CN102631788A (en) * | 2012-04-18 | 2012-08-15 | 中国地质大学（武汉） | Shadow play entertainment toy based on singlechip control |
| CN102716588A (en) * | 2012-06-27 | 2012-10-10 | 沈阳工业大学 | Shadow puppet performance device operated by machinery |
| CN106598047A (en) * | 2016-12-05 | 2017-04-26 | 渤海大学 | Displacement control method of industrial robot |
| CN107930161A (en) * | 2017-11-16 | 2018-04-20 | 大连交通大学 | A kind of shadow puppet performance equipment |
-
2011
- 2011-04-18 CN CN2011201135671U patent/CN202052332U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145231A (en) * | 2011-04-18 | 2011-08-10 | 上海市师资培训中心实验基地附属中学 | Robot shadow puppet device and control system of stage facilities thereof |
| CN102145231B (en) * | 2011-04-18 | 2013-03-20 | 上海市师资培训中心实验基地附属中学 | Robot shadow puppet device and control system of stage facilities thereof |
| CN102631788A (en) * | 2012-04-18 | 2012-08-15 | 中国地质大学（武汉） | Shadow play entertainment toy based on singlechip control |
| CN102716588A (en) * | 2012-06-27 | 2012-10-10 | 沈阳工业大学 | Shadow puppet performance device operated by machinery |
| CN106598047A (en) * | 2016-12-05 | 2017-04-26 | 渤海大学 | Displacement control method of industrial robot |
| CN107930161A (en) * | 2017-11-16 | 2018-04-20 | 大连交通大学 | A kind of shadow puppet performance equipment |
| CN107930161B (en) * | 2017-11-16 | 2019-08-13 | 大连交通大学 | A kind of shadow puppet performance equipment |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111130 Termination date: 20120418 |