CN102145231B - Robot shadow puppet device and control system of stage facilities thereof - Google Patents
Robot shadow puppet device and control system of stage facilities thereof Download PDFInfo
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- CN102145231B CN102145231B CN 201110096369 CN201110096369A CN102145231B CN 102145231 B CN102145231 B CN 102145231B CN 201110096369 CN201110096369 CN 201110096369 CN 201110096369 A CN201110096369 A CN 201110096369A CN 102145231 B CN102145231 B CN 102145231B
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- 241000283973 Oryctolagus cuniculus Species 0.000 description 5
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Abstract
The invention provides a robot shadow puppet device, which comprises a shadow puppet. The device is characterized by also comprising a control unit and a mobile base, wherein the mobile base is provided with a fixed bracket, a motor and a plurality of mechanical arms connected with the motor; the plurality of mechanical arms are connected on movable parts of the shadow puppet respectively; the control unit is used for controlling the movement of the mobile base and the actions of the mechanical arms; and the basic part of the shadow puppet is fixed on the fixed bracket. The invention also provides a control system of corresponding stage facilities. The shadow puppet is controlled by a robot, so the occupied space is small, and the actions of the shadow puppet are richer; jump action of the shadow puppet can be realized through a lifting platform, so that the shadow puppet is more lively and interesting; and because the shadow puppet is basically attached to or far from a shadow puppet screen through electric control telescopic rods, the fade-in fade-out visual effect of figures can be realized. The old traditional performance form is innovated into a shadow puppet performance form controlled by robot programs.
Description
Technical field
The present invention relates to robot system, particularly, relate to the control system of robot shadow puppet device and stage facility thereof.
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 simultaneously percussion instrument and string music, and dense local colour is arranged.In Henan, Rural Areas in Shanxi Province, this simple and unadorned folk art form is subjected to people's welcome very much.
Yet traditional shadow show needs manually to handle behind the scenes figure for shadow-play and exercises to change, and meanwhile also need to be cooperated by performer and band the acoustics such as upper dialogue and music.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 simultaneously the respectively manipulation of figure for shadow-play multiple location.
Summary of the invention
For defective of the prior art, the purpose of this invention is to provide the control system of a kind of robot shadow puppet device and stage facility thereof.
According to an aspect of the present invention, robot shadow puppet device is provided, comprise figure for shadow-play, it is characterized in that, also comprise control module and movable base, wherein, the some mechanical arms that are provided with fixed support, motor on the described movable base and connect described motor, described some mechanical arms are connected to respectively on each movable part of described figure for shadow-play, described control module is used for controlling the movement of described movable base and the action of described mechanical arm, and the basic section 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 the line between the near-end and described gear have angle.
Preferably, described fixed support comprises the automatically controlled expansion link that connects described control module, and the telescopic end of described automatically controlled expansion link connects the basic section 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.
According to another aspect of the present invention, the control system of the stage facility of robot shadow puppet device also is provided, comprise shadow show curtain and stage, it is characterized in that, also comprise each described robot shadow puppet device, illuminating lamp, audio playing apparatus, curtain device in some claims 1 to 8, wherein, described control module comprises such as lower unit: the curtain control module, wherein, described curtain device comprises turbine worm speed change gear and curtain, and described curtain control module is used for controlling the folding that described turbine worm speed change gear is regulated curtain; The audio frequency control unit, it is used for the control audio playing apparatus and plays sound; Lighting control unit, it is used for the light and shade of control illuminating lamp.
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 frosting, described illuminating lamp is positioned at front one side of described shadow show curtain, perhaps be positioned at and basically pasting the described shadow show curtain back side one side, 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, be positioned at the back side that the figure for shadow-play of the described robot shadow puppet device on the described cross slide way is pasting described shadow show curtain basically, under the drive of figure for shadow-play at described automatically controlled expansion link of the described robot shadow puppet device on the described longitudinal rail can basically pasting and position away from the back side of described shadow show curtain between move freely.
The present invention 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 present invention saved the space, so that shadow show can be performed in the little spaces such as show window; Therefore robot can control the respective activity section 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 invention 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; That figure for shadow-play is basically pasting or can realize the visual effect that the personage is fade-in fade-out away from the shadow show curtain by automatically controlled expansion link.So the present invention 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 invention will become:
Fig. 1 illustrates according to the first embodiment of the present invention, the Facad structure schematic diagram of robot shadow puppet device;
Fig. 2 illustrates according to a second embodiment of the present invention, the Facad structure schematic diagram of robot shadow puppet device;
Fig. 3 illustrates a third embodiment in accordance with the invention, the side structure schematic diagram of robot shadow puppet device;
Fig. 4 illustrates a fourth embodiment in accordance with the invention, the Facad structure schematic diagram of robot shadow puppet device;
Fig. 5 illustrates according to a fifth embodiment of the invention, the Facad structure schematic diagram of robot shadow puppet device;
Fig. 6 illustrates according to a sixth embodiment of the invention, the structural representation of robot shadow puppet device gear and drive.
The specific embodiment
Fig. 1 illustrates according to the first embodiment of the present invention, the Facad structure schematic diagram of robot shadow puppet device.Particularly, in the present embodiment, described robot shadow puppet device comprises figure for shadow-play, also comprise control module and movable base 2, wherein, the some mechanical arms that are provided with fixed support 4, motor on the described movable base 2 and connect 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 control module is used for controlling the movement of described movable base 2 and the action of described mechanical arm, and the basic section 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 section 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 that is fixed thereon 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 shown in Fig. 2 will be higher than the rabbit figure for shadow-play shown in Fig. 1 in position, 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 by screw rod transmission the function of rise and fall, and those skilled in the art can realize such hoistable platform in conjunction with prior art, do not repeat them here.
Fig. 3 illustrates a third embodiment in accordance with the invention, the side structure schematic diagram of robot shadow puppet device.Particularly, in the present embodiment, described fixed support 4 comprises the automatically controlled expansion link that connects described control module, and the telescopic end of described automatically controlled expansion link connects the basic section 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 section 11, so spectators can see that described movable part 12 just looks at less than described basic section 11; When described automatically controlled expansion link is in when stretching out state, described basic section 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 gradually the fade in effect of play curtain of described basic section 12, otherwise, then can see the effect of the play curtain of gradually fading out.
According to another aspect of the present invention, the control system of the stage facility of robot shadow puppet device also is provided, comprise shadow show curtain and stage, also comprise some according to robot shadow puppet device provided by the invention, illuminating lamp, audio playing apparatus, curtain device, wherein, described control module comprises such as lower unit: the curtain control module, wherein, described curtain device comprises turbine worm speed change gear and curtain, and described curtain control module is used for controlling the folding that described turbine worm speed change gear is regulated curtain; The audio frequency control unit, it is used for the control audio playing apparatus and plays sound; Lighting control unit, it is used for the light and shade of control illuminating lamp.
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 frosting, described illuminating lamp is positioned at front one side of described shadow show curtain, perhaps be positioned at and basically pasting the described shadow show curtain back side one side, 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, be positioned at the back side that the figure for shadow-play of the described robot shadow puppet device on the described cross slide way is pasting described shadow show curtain basically, under the drive of figure for shadow-play at described automatically controlled expansion link of the described robot shadow puppet device on the described longitudinal rail can basically pasting 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 basically pasting, 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 respectively described movable base according to path movement accurately.
Next further specify again the operation principle of device provided by the present invention by Fig. 4 to Fig. 5.Particularly, Fig. 4 illustrates a fourth embodiment in accordance with the invention, the Facad structure schematic diagram of robot shadow puppet device, in the present embodiment, described robot shadow puppet device comprises figure for shadow-play, also comprise control module and movable base, wherein, be provided with fixed support 4 on the described movable base, motor, and the some mechanical arms that connect described motor, described some mechanical arms are connected to respectively each movable part of described figure for shadow-play, and (for example movable part 13,14,15,16) on, described control module is used for controlling the movement of described movable base and the action of described mechanical arm, and the basic section 11 of described figure for shadow-play is fixed on the described fixed support 4.
More specifically, described device comprises that the figure for shadow-play control lever 61 that connects described movable part 13 is connected, connects figure for shadow-play control lever 62 and gear 52, the figure for shadow-play control lever 63 that connects described movable part 15 and the gear 53 of described movable part 14, connects figure for shadow-play control lever 64 and the gear 54 of described movable part 16 with gear.
Further, Fig. 5 illustrates according to a fifth embodiment of the invention, the Facad structure schematic diagram of robot shadow puppet device.Those skilled in the art can be with the state diagram that is interpreted as after the middle figure for shadow-play transition activities embodiment illustrated in fig. 4 embodiment illustrated in fig. 5.Particularly, take embodiment illustrated in fig. 4 as 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 the movable part 13,14,15 of described figure for shadow-play, 16 positions with respect to basic section 11 changed.
Wherein, Fig. 6 illustrates according to a sixth embodiment of the invention, the structural representation of robot shadow puppet 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 arrange 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 edge in suitable amplitude and just can make described gear also same along suitable counterclockwise reciprocating rotation in by a small margin along the counter clockwise direction reciprocating rotation, thereby realized the movement posture that placard is shaken the head, waved and walks.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (9)
1. robot shadow puppet device, comprise figure for shadow-play, it is characterized in that, also comprise control module and movable base, wherein, the some mechanical arms that are provided with fixed support, motor on the described movable base and connect described motor, described some mechanical arms are connected to respectively on each movable part of described figure for shadow-play, described control module is used for controlling the movement of described movable base and the action of described mechanical arm, and the basic section of described figure for shadow-play is connected on the described fixed support; Described fixed support comprises the automatically controlled expansion link that connects described control module, and the telescopic end of described automatically controlled expansion link connects the basic section of described figure for shadow-play.
2. robot shadow puppet device according to claim 1, 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 shadow puppet device according to claim 2, 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 shadow puppet device according to claim 2 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 the line between the near-end and described gear have angle.
5. robot shadow puppet device according to claim 1 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.
6. robot shadow puppet device according to claim 5 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.
7. robot shadow puppet device according to claim 6 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.
8. the control system of the stage facility of a robot shadow puppet device, comprise shadow show curtain and stage, it is characterized in that, also comprise each described robot shadow puppet device, illuminating lamp, audio playing apparatus, curtain device in the claim 1 to 7, wherein, described control module comprises such as lower unit:
-curtain control module, wherein, described curtain device comprises turbine worm speed change gear and curtain, described curtain control module is used for controlling the folding that described turbine worm speed change gear is regulated curtain;
-audio frequency control unit, it is used for the control audio playing apparatus and plays sound;
-lighting control unit, it is used for the light and shade of control illuminating lamp.
9. control system according to claim 8, 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 frosting, described illuminating lamp is positioned at front one side of described shadow show curtain, perhaps be positioned at and basically pasting the described shadow show curtain back side one side, 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, be positioned at the back side that the figure for shadow-play of the described robot shadow puppet device on the described cross slide way is pasting described shadow show curtain basically, under the drive of figure for shadow-play at described automatically controlled expansion link of the described robot shadow puppet device on the described longitudinal rail can basically pasting and position away from the back side of described shadow show curtain between move freely.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110096369 CN102145231B (en) | 2011-04-18 | 2011-04-18 | Robot shadow puppet device and control system of stage facilities thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201110096369 CN102145231B (en) | 2011-04-18 | 2011-04-18 | Robot shadow puppet device and control system of stage facilities thereof |
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| CN102145231A CN102145231A (en) | 2011-08-10 |
| CN102145231B true CN102145231B (en) | 2013-03-20 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102626554B (en) * | 2012-03-27 | 2014-08-13 | 西安电子科技大学 | Mechanical shadow structure and movement angle and movement positioning control methods thereof |
| CN102580327B (en) * | 2012-03-27 | 2013-08-14 | 西安电子科技大学 | Method for editing and controlling shadow play performing of intelligent robot |
| CN102631788B (en) * | 2012-04-18 | 2014-07-09 | 中国地质大学（武汉） | Shadow play entertainment toy based on singlechip control |
| CN103111079B (en) * | 2013-03-14 | 2014-08-13 | 青岛大学 | Shadow play performing machine |
| CN103463820B (en) * | 2013-09-12 | 2015-01-28 | 绍兴迅实电子科技有限公司 | Integral 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2066762U (en) * | 1989-09-25 | 1990-12-05 | 易钢 | Shape changeable puppet |
| CN2261283Y (en) * | 1996-03-04 | 1997-09-03 | 惠文 | Figure toy |
| US6377281B1 (en) * | 2000-02-17 | 2002-04-23 | The Jim Henson Company | Live performance control of computer graphic characters |
| CN101837198A (en) * | 2010-04-20 | 2010-09-22 | 肖弘 | Robot control system for shadow puppet performance |
| CN202052332U (en) * | 2011-04-18 | 2011-11-30 | 上海市师资培训中心实验基地附属中学 | Robot shadow puppet device |
-
2011
- 2011-04-18 CN CN 201110096369 patent/CN102145231B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2066762U (en) * | 1989-09-25 | 1990-12-05 | 易钢 | Shape changeable puppet |
| CN2261283Y (en) * | 1996-03-04 | 1997-09-03 | 惠文 | Figure toy |
| US6377281B1 (en) * | 2000-02-17 | 2002-04-23 | The Jim Henson Company | Live performance control of computer graphic characters |
| CN101837198A (en) * | 2010-04-20 | 2010-09-22 | 肖弘 | Robot control system for shadow puppet performance |
| CN202052332U (en) * | 2011-04-18 | 2011-11-30 | 上海市师资培训中心实验基地附属中学 | Robot shadow puppet device |
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