CN100506494C - Robot capable of playing music instrument - Google Patents
Robot capable of playing music instrument Download PDFInfo
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- CN100506494C CN100506494C CNB2004100176128A CN200410017612A CN100506494C CN 100506494 C CN100506494 C CN 100506494C CN B2004100176128 A CNB2004100176128 A CN B2004100176128A CN 200410017612 A CN200410017612 A CN 200410017612A CN 100506494 C CN100506494 C CN 100506494C
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Abstract
The robot capable of playing piano includes main body and electric control mechanism. The main body consists of pedestal, lower limbs, waist, chest, neck, head, arms, palms and other parts; and the control mechanism set in proper position of the main body controls the up and down motion of two sets of fingers, the up and down motion of two wrists, the right and left motion of two wrists, the right and left motion of the right foot, the right and left motion of the upper body, the up and down motion of the right foot, the right and left motion of two arms, etc. The playing control mechanism includes stepped motor and corresponding driver and the auxiliary control mechanism has DC motor and corresponding speed regulator. The robot has wide application range, powerful anti-jamming capacity, easy installation and debugging and other advantages.
Description
Technical field
The present invention relates to a kind of electric model, relate in particular to the robot that a kind of meeting plays the piano.
Background technology
At present, generally the control method of the electric model of Shi Yonging is comparatively simple, and most sequential integrated circuits that adopt are controlled the actuation time and the order of electric model, make electric model repeat limited action.Though this control method circuit structure is simple, problem such as have that action is single, responsiveness and action dynamics are not enough, its product of making sight and property of participation are all relatively poor.And the qin of playing is electronic organ, can not control the dynamics of the finger of playing the musical instrument, and can not play the song of chord.
Summary of the invention
Purpose of the present invention is to overcome the deficiency that the prior art electric model exists, the robot that provides a kind of meeting to play the piano.
To achieve these goals, the technical measures that the present invention taked are: the robot that a kind of meeting plays the piano comprises robot body and electrical equipment control mechanism; Described machine is gone into main body and is made up of base, lower limb mechanism, waist mechanism, chest mechanism, neck mechanism, head mechanism, two arm mechanisms and two palm mechanisms, lower limb mechanism and waist mechanism are movably connected with base respectively, waist mechanism and chest mechanism are fixedly linked, chest mechanism and neck mechanism are fixedly linked, and neck mechanism is movably connected by cross axle and the head mechanism of establishing within it; Be respectively equipped with two groups of fingers at robot body's suitable position and move up and down controlling organization, two wrists move up and down controlling organization, two wrist left and right moving control mechanisms, right crus of diaphragm left and right moving control mechanism, upper body left and right moving control mechanism, right crus of diaphragm moves up and down controlling organization, two arm left and right moving control mechanisms, two arms move up and down controlling organization, head moves forward and backward controlling organization, head left and right moving control mechanism, the eyeball rotation controling mechanism, face opening and closing controlling organization and forearm extension and contraction control mechanism.
Described head mechanism comprises head skeleton, rotating shaft, two eyeballs and face, rotating shaft is movably connected on the head skeleton by bearing, two eyeballs respectively link to each other with the head skeleton hinge joint by a little axle, face is made up of upper lip and lower lip, upper lip and head skeleton are fixedly linked, and lower lip links to each other with the rotating shaft hinge joint.
Described two arm mechanisms respectively comprise big arm connecting rod and forearm connecting rod, and the rear end hinge joint of big arm connecting rod is in chest mechanism, and its front end links to each other with the hinge joint of forearm connecting rod, and the front end of forearm connecting rod links with palm mechanism and links to each other.
Described two palm mechanisms respectively comprise palm skeleton, finger rotating shaft, cross axle, five fingers and five extension springs, the finger rotating shaft is connected the front end of palm skeleton, the front end of cross axle links to each other with the rear end hinge joint of palm skeleton, the rear end of cross axle links to each other with the hinge joint of forearm connecting rod, five fingers are movably connected in the finger rotating shaft, and five extension springs are connected between each finger and the palm skeleton rear end.
Described two groups of fingers move up and down controlling organization and respectively comprise five motors, and five motors are installed in respectively in the base, respectively link to each other with splicing of wire rope by crank, and the other end of each steel wire rope links to each other with five finger hinge joints of right-hand man respectively;
Described two wrists move up and down controlling organization and respectively comprise motor, screw mandrel, silk braid, connecting rod and steel wire rope, motor is installed in the base, screw mandrel links to each other with the main shaft of motor, one end of silk braid links to each other with the screw mandrel interlock, the other end links to each other with the connecting rod hinge joint, the hinge joint of the middle part of connecting rod and base links to each other, and two ends link to each other with two splicing of wire ropes respectively, the other end of two steel wire ropes respectively with palm mechanism in the two ends of cross axle link and link to each other;
Described two wrist left and right moving control mechanisms respectively comprise motor, screw mandrel, silk braid, connecting rod and steel wire rope, motor is installed in the base, screw mandrel links to each other with the main shaft of motor, one end of silk braid links to each other with the screw mandrel interlock, the other end links to each other with the connecting rod hinge joint, the hinge joint of the middle part of connecting rod and base links to each other, and two ends link to each other with two splicing of wire ropes respectively, the other end of steel wire rope respectively with palm mechanism in the two ends of palm skeleton link and link to each other;
Described right crus of diaphragm left and right moving control mechanism comprises motor, crank and rocker mechanism and connecting rod, motor is installed in the base, one end of crank and rocker mechanism links to each other with the main shaft of motor, the other end links to each other with the connecting rod hinge joint, the middle part of connecting rod links to each other with the right crus of diaphragm hinge joint, and two ends link to each other with the outside hinge joint of base respectively;
Described upper body left and right moving control mechanism comprises motor, driving gear, travelling gear and power transmission shaft, motor is installed in the base, driving gear is installed on the main shaft of motor, and link to each other with travelling gear engagement, travelling gear and power transmission shaft are fixedly linked, and the top and the waist mechanism of power transmission shaft are fixedly linked;
Described right crus of diaphragm moves up and down controlling organization and comprises motor, crank and rocker mechanism and connecting rod, the connecting rod middle part of described right crus of diaphragm left and right moving control mechanism is connected with a pole, motor is installed in the afterbody of this pole, one end of crank and rocker mechanism links to each other with the main shaft of motor, the other end links to each other with the connecting rod hinge joint, and the other end of connecting rod and the root of right crus of diaphragm are fixedly linked;
Described two arm left and right moving control mechanisms respectively comprise motor, driving gear, travelling gear and rotating shaft, two motor symmetries are installed in the chest mechanism, driving gear is installed on the main shaft of motor, and link to each other with travelling gear engagement, travelling gear and rotating shaft are fixedly linked, two rotating shaft symmetries are vertically mounted on up and down between the two ends of chest mechanism, and wherein portion links to each other with two big arm connecting rods hinge joints respectively;
Described two arms move up and down controlling organization and respectively comprise motor, screw mandrel, silk braid and connecting rod, two motors link to each other with two travelling gears hinge joint in the two arm left and right moving control mechanisms respectively, screw mandrel links to each other with the main shaft of motor, one end of silk braid links to each other with the screw mandrel interlock, the other end links to each other with the connecting rod hinge joint, the other end of connecting rod and the rotating shaft middle part of big arm connecting rod hinge joint in arm left and right moving control mechanism;
Described head moves forward and backward controlling organization and comprises motor, crank and rocker mechanism and connecting rod, motor is installed in the chest mechanism, one end of crank and rocker mechanism links to each other with the main shaft of motor, and the other end links to each other with the connecting rod hinge joint, and the cross axle in the other end of connecting rod and the neck mechanism is fixedly linked;
Described head left and right moving control mechanism comprises motor, crank and connecting rod, motor is installed in head and moves forward and backward on the connecting rod in the controlling organization, one end of crank links to each other with the main shaft of motor, the other end is arranged in the chute of connecting rod, the top and the head mechanism of connecting rod are fixedly linked, and link to each other with cross axle hinge joint in the neck mechanism simultaneously;
Described eyeball rotation controling mechanism comprises motor, crank and rocker mechanism and drive gear mechanism, motor is installed in the head skeleton, one end of crank and rocker mechanism links to each other with the main shaft of motor, the hinge joint of the other end and drive gear mechanism links to each other, and little that is connected eyeball in the other end of drive gear mechanism and the head mechanism is fixedly linked;
Described face opening and closing controlling organization comprises motor, crank and connecting rod, and motor is installed in the head skeleton, and an end of crank links to each other with the main shaft of motor, and the other end links to each other with the connecting rod hinge joint, and the other end of connecting rod links to each other with the hinge joint of the lower lip of face;
Described forearm extension and contraction control mechanism respectively comprises connecting rod, motor, screw mandrel, silk braid, the connecting rod that one end of connecting rod and arm move up and down in the controlling organization is fixedly linked, the other end links to each other with the motor hinge joint, screw mandrel links to each other with the main shaft of motor, one end of silk braid links to each other with the screw mandrel interlock, and the other end links to each other with the hinge joint of forearm connecting rod.
Described two groups of fingers move up and down controlling organization, two wrists move up and down controlling organization, two wrist left and right moving control mechanisms, right crus of diaphragm left and right moving control mechanism, right crus of diaphragm moves up and down controlling organization, two arm left and right moving control mechanisms, the motor that two arms move up and down in controlling organization and the forearm extension and contraction control mechanism is a stepper motor, adopt stepper motor driver, the pulse signal that control system is sent is converted into the angular displacement of stepper motor, frequency by the control step pulse signal, to the accurate speed governing of motor, by the number of control step motor pulses, motor is accurately located.
The motor that described upper body left and right moving control mechanism, head move forward and backward in controlling organization, head left and right moving control mechanism, eyeball rotation controling mechanism and the face opening and closing controlling organization is a direct current generator, adopting speed regulator to carry out pulse wide modulation, is the speed governing that dutycycle realizes motor by the width that changes input pulse.
Described respectively the action in the controlling organization all is provided with infrared detector at corresponding position, and each infrared detector inside has Schmidt's shaping, can accurately locate the action of motor.
Described electrical equipment control mechanism comprises electric appliance control box and the outside control section that connects, be provided with in the electric appliance control box to set up separately under PC main frame, the PC main frame and set up each slave central processing unit under single-chip microcomputer main frame, the single-chip microcomputer main frame separately, the outside control section that connects comprises each infrared detection loop, each drive motors loop, the electric power loop that is connected with the slave central processing unit and manually debugs the loop.
The present invention adopts the multi computer communication principle, adopts the serial parallel communication modes, realizes between PC main frame and the single-chip microcomputer and the transfer of data between single-chip microcomputer and the single-chip microcomputer.
The robot that the present invention can play the piano makes it compared with prior art owing to adopted above technical scheme, has following advantage and characteristics:
1, the action of robot is finished is designed to change the Stepping Motor Control mode and promptly changes Stepping Motor Control pulse frequency and direction of action, thereby change the speed and the direction of stepper motor, the dynamics and the degree of depth with regard to tunable control finger keystroke, foot pedals realize the timing of playing the musical instrument;
2, play controlling organization and adopt stepper motor and stepper motor driver, the pulse signal that control system is sent is converted into the angular displacement of stepper motor, the frequency of control step pulse signal, with this to the accurate speed governing of motor;
3, the auxiliary movement controlling organization adopts direct current generator, and pulse wide modulation is adopted in the speed governing of direct current generator, and promptly adopting the width that changes input pulse is the speed governing that duty is recently realized motor, cooperates the coordination of robot, makes it drill to gather and have more human interest;
4, in each controlling organization, adopted infrared detector, can make the stroke of stepper motor measure accurately and count, and stepper motor is played a protective role, and, direct current generator accurately be located direct current generator;
5, adopted the multi computer communication principle,, adopted the serial parallel communication modes, realized between PC and the single-chip microcomputer and the transfer of data between single-chip microcomputer and the single-chip microcomputer, can guarantee the control system harmonious orderly, and accelerate communication speed greatly by the communications protocol of mutual agreement.
Description of drawings
Fig. 1 is the main TV structure schematic diagram of the present invention robot that can play the piano;
Fig. 2 is the side-looking structural representation of the present invention robot that can play the piano;
Fig. 3 is the A-A cutaway view Amplified image of Fig. 1;
Fig. 4 is the B-B cutaway view Amplified image of Fig. 1;
Fig. 5 is the palm structural representation among the present invention;
The side view of palm structure shown in Fig. 6 Fig. 5;
Fig. 7 is the C-C cutaway view Amplified image of Fig. 2 and Fig. 5;
Fig. 8 is the head construction schematic diagram among the present invention;
The side view of head construction shown in Fig. 9 Fig. 8;
Figure 10 is the structured flowchart of the electrical control part among the present invention.
The specific embodiment
See also Fig. 1, cooperate referring to Fig. 2.The robot that the present invention can play the piano is made up of robot body and electrical equipment control mechanism two parts.The robot body is by base 1, lower limb mechanism 2, waist mechanism 3, chest mechanism 4, neck mechanism 5, head mechanism 6, two arm mechanisms 7 and two palm mechanisms 8 form, and also are respectively equipped with two groups of fingers at the suitable position of each building block of robot body and move up and down controlling organization 9, two wrists move up and down controlling organization 10, two wrist left and right moving control mechanisms 11, right crus of diaphragm left and right moving control mechanism 12, upper body left and right moving control mechanism 13, right crus of diaphragm moves up and down controlling organization 14, two arm left and right moving control mechanisms 15, two arms move up and down controlling organization 16, head moves forward and backward controlling organization 17, head left and right moving control mechanism 18, eyeball rotation controling mechanism 19, face opening and closing controlling organization 20 and forearm extension and contraction control mechanism 21.
Continuation cooperates referring to Fig. 8, Fig. 9 referring to Fig. 1, Fig. 2.Head mechanism 6 among the present invention comprises head skeleton 601, rotating shaft 602, two eyeballs 603 and face 604, rotating shaft 602 is movably connected on the head skeleton 601 by bearing, two eyeballs 603 respectively link to each other with head skeleton 601 hinge joints by a little axle 605, face 604 is made up of upper lip 6041 and lower lip 6042, upper lip 6041 is fixedly linked with head skeleton 601, and lower lip 6042 links to each other with rotating shaft 602 hinge joints.
Continuation is referring to Fig. 1, Fig. 2.Two arm mechanisms 7 among the present invention respectively comprise big arm connecting rod 701 and forearm connecting rod 702, and the rear end hinge joint of big arm connecting rod 701 is in chest mechanism 4, and its front end links to each other with 702 hinge joints of forearm connecting rod, and the front end of forearm connecting rod 702 links with palm mechanism 8 and links to each other.
Continuation cooperates referring to Fig. 5, Fig. 6, Fig. 7 referring to Fig. 1, Fig. 2.Two palm mechanisms 8 among the present invention respectively comprise palm skeleton 801, finger rotating shaft 802, cross axle 803, five 804 and five extension springs 805 of finger.Finger rotating shaft 802 is connected the outer end of palm skeleton 801, the outer end of cross axle 803 links to each other with the inner hinge joint of palm skeleton 801, the inner of cross axle 803 links to each other with 702 hinge joints of forearm connecting rod, five fingers 804 are movably connected in the finger rotating shaft 802, five extension springs 805 be connected to respectively point 804 and palm skeleton 801 the inners between.
Continuation cooperates referring to Fig. 5, Fig. 6 referring to Fig. 1, Fig. 2.Two groups of fingers among the present invention move up and down controlling organization 9 and respectively comprise five motors 901, five motors are installed in respectively in the base 1, respectively link to each other with steel wire rope 903 hinge joints by crank 902, the other end of each steel wire rope 903 links to each other with 804 hinge joints of five of right-hand man fingers respectively, each finger 804 with point rotating shaft 802 tangle a little on infrared detector 904,905 is installed.
Continuation cooperates referring to Fig. 5, Fig. 6, Fig. 7 referring to Fig. 1, Fig. 2.Two wrists among the present invention move up and down controlling organization 10 and respectively comprise motor 101, screw mandrel 102, silk braid 103, connecting rod 104 and steel wire rope 105, motor 101 is installed in the base 1, screw mandrel 102 links to each other with the main shaft of motor 101, one end of silk braid 103 links to each other with screw mandrel 102 interlocks, the other end links to each other with connecting rod 104 hinge joints, the middle part of connecting rod 104 links to each other with base 1 hinge joint, two ends link to each other with 105 hinge joints of two steel wire ropes respectively, the other end of two steel wire ropes 105 links to each other with the two ends hinge joint of cross axle 803 in the palm mechanism 8 respectively, and infrared detector 106 is installed on cross axle 803,107.
Continuation cooperates referring to Fig. 5, Fig. 6 referring to Fig. 1, Fig. 2.Two wrist left and right moving control mechanisms 11 among the present invention respectively comprise motor 111, screw mandrel 112, silk braid 113, connecting rod 114 and steel wire rope 115, motor 111 is installed in the base 1, screw mandrel 112 links to each other with the main shaft of motor 111, one end of silk braid 113 links to each other with screw mandrel 2 interlocks, the other end links to each other with connecting rod 114 hinge joints, the middle part of connecting rod 114 links to each other with base 1 hinge joint, two ends link to each other with 115 hinge joints of two steel wire ropes respectively, the other end of steel wire rope 115 links to each other with the two ends hinge joint of palm skeleton 801 in the palm mechanism 8 respectively, palm skeleton 801 and cross axle 803 tangle a little on infrared detector 116 is installed, 117.
Continuation is referring to Fig. 1, Fig. 2.Crank and rocker mechanism, connecting rod 124 that right crus of diaphragm left and right moving control mechanism 12 among the present invention comprises motor 121, is made up of crank 122 and rocking bar 123, motor 121 is installed in the base 1, one end of crank 122 links to each other with the main shaft of motor, the other end links to each other with rocking bar 123 hinge joints, another of rocking bar 123 is proper to link to each other with connecting rod 124 hinge joints, the middle part of connecting rod 124 links to each other with right crus of diaphragm 2 hinge joints, and two ends link to each other with the outside hinge joint of base 1 respectively; On the anchor point of connecting rod 124 and base 1, infrared detector 125,126 is installed.
Continuation cooperates referring to Fig. 3 referring to Fig. 1, Fig. 2.Upper body left and right moving control mechanism 13 among the present invention comprises motor 131, driving gear 132, travelling gear 133 power transmission shafts 134, motor 131 is installed in the base 1, driving gear 132 is installed on the motor, and with travelling gear 133 engagement links to each other, travelling gear 133 is fixedly linked with power transmission shaft 134, the upper end of power transmission shaft 134 and waist mechanism 2 are fixedly linked, and infrared detector 135 is installed on travelling gear 133.
Continuation is referring to Fig. 1, Fig. 2.Right crus of diaphragm among the present invention moves up and down crank and rocker mechanism and the connecting rod 144 that controlling organization 14 comprises motor 141, is made up of crank 142 and rocking bar 143.Connecting rod 124 middle parts in right crus of diaphragm left and right moving control mechanism 12 are connected with a pole, motor 141 is installed in the afterbody of this pole, one end of crank 142 links to each other with the main shaft of motor, the other end links to each other with rocking bar 143 hinge joints, the other end of rocking bar 143 links to each other with connecting rod 144 hinge joints, and the root of the other end of connecting rod 144 and right crus of diaphragm 2 is fixedly linked.
Continuation cooperates referring to Fig. 4 referring to Fig. 1, Fig. 2.Two arm left and right moving control mechanisms 15 among the present invention respectively comprise motor 151, driving gear 152, travelling gear 153 and rotating shaft 154, motor 151 is installed in the chest mechanism, driving gear 152 is installed on the main shaft of motor, and link to each other with travelling gear 153 engagement, travelling gear 153 is fixedly linked with rotating shaft 154, two rotating shafts 154 are vertically mounted on up and down between the two ends of chest mechanism 4, wherein portion links to each other with two big arm connecting rod 701 hinge joints respectively, and infrared detector 155,156 is installed in rotating shaft 154.
Continuation is referring to Fig. 1, Fig. 2.Two arms among the present invention move up and down controlling organization 16 and respectively comprise motor 161, screw mandrel 162, silk braid 163 and connecting rod 164.Travelling gear 153 hinge joints in motor 161 and the arm left and right moving control mechanism 15 link to each other, screw mandrel 162 links to each other with the main shaft of motor 161, one end of silk braid 163 links to each other with screw mandrel 162 interlocks, the other end links to each other with connecting rod 164 hinge joints, rotating shaft 154 hinge joints in connecting rod 164 and the arm left and right moving control mechanism 15 link to each other, big arm connecting rod 701 and rotating shaft 154 tangle a little on infrared detector 165,166 is installed.
Continuation is referring to Fig. 1, Fig. 2.Head among the present invention moves forward and backward crank and rocker mechanism and the connecting rod 174 that controlling organization 17 comprises motor 171, is made up of crank 172 and rocking bar 173, motor 171 is installed in the chest mechanism, one end of crank 172 links to each other with the main shaft of motor, the other end links to each other with rocking bar 173 hinge joints, the other end of rocking bar 173 links to each other with connecting rod 174 hinge joints, cross axle 501 in the other end of connecting rod 174 and the neck mechanism 5 is fixedly linked, and infrared detector 175 is installed on cross axle 501.
Continuation is referring to Fig. 1, Fig. 2.Head left and right moving control mechanism 18 among the present invention comprises motor 181, crank 182 and connecting rod 183.Motor 181 is installed in head and moves forward and backward on the connecting rod 174 in the controlling organization 17, one end of crank 182 links to each other with the main shaft of motor 181, the other end is arranged in the chute of connecting rod 182, the top of connecting rod 182 and head mechanism 6 are fixedly linked, link to each other simultaneously, infrared detector 184 is installed on cross axle 501 with cross axle 501 hinge joints in the neck mechanism 5.
Continuation cooperates referring to Fig. 8, Fig. 9 referring to Fig. 1, Fig. 2.The crank and rocker mechanism that eyeball rotation controling mechanism 19 among the present invention comprises motor 191, be made up of crank 192 and rocking bar 193, the drive gear mechanism of forming by gear shaft 194 and two gears 195, motor 191 is installed in the head skeleton, one end of crank 192 links to each other with the main shaft of motor 191, the other end links to each other with rocking bar 193 hinge joints, the other end of rocking bar 193 links to each other with gear shaft 194 hinge joints, gear shaft 194 links to each other with 195 engagements of two gears, two gears 195 are fixedly linked with the little axle 605 that is connected eyeball respectively, on little axle 605 infrared detector 196 are installed.
Continuation cooperates referring to Fig. 8, Fig. 9 referring to Fig. 1, Fig. 2.Face opening and closing controlling organization 20 among the present invention comprises motor 201, crank 202 and connecting rod 203.Motor 201 is installed in the head skeleton 601, one end of crank 202 links to each other with the main shaft of motor 201, the other end links to each other with connecting rod 202 hinge joints, 6042 hinge joints of the other end of connecting rod 202 and the lower lip of face link to each other, lower lip 6042 and head skeleton 601 tangle a little on infrared detector 204 is installed.
Continuation is referring to Fig. 1, Fig. 2.Forearm extension and contraction control mechanism 21 among the present invention respectively comprises connecting rod 211, motor 212, screw mandrel 213 and silk braid 214.The connecting rod 164 that one end of connecting rod 211 and arm move up and down in the controlling organization is fixedly linked, the other end links to each other with motor 212 hinge joints, screw mandrel 213 links to each other with the main shaft of motor 212, and an end of silk braid 214 links to each other with screw mandrel 213 interlocks, and the other end links to each other with 702 hinge joints of forearm connecting rod.
Electrical equipment control of the present invention mechanism, comprise electric appliance control box and the outside control section that connects, be provided with in the electric appliance control box to set up separately under PC main frame, the PC main frame and set up each slave central processing unit under single-chip microcomputer main frame, the single-chip microcomputer main frame separately, the outside control section that connects comprises each infrared detection loop, each drive motors loop, the electric power loop that is connected with the slave central processing unit and manually debugs the loop.
Referring to Figure 10, Figure 10 is the structured flowchart of the electrical equipment control mechanism among the present invention, and each slave central processing unit links to each other with PC by communication interface card.Wherein left hand wrist central processing unit respectively moves the action of motor by motor driver control left hand wrist, and the starting point of its actuating length and terminal point feed back to central processing unit by each infrared detector; Right hand wrist central processing unit respectively moves the action of motor by motor driver control right hand wrist, and the starting point of its actuating length and terminal point feed back to central processing unit by each infrared detector; The left-hand finger central processing unit respectively moves the action of motor by motor driver control left-hand finger, and the starting point of its actuating length and terminal point feed back to central processing unit by each infrared detector; The right finger central processing unit respectively moves the action of motor by motor driver control right finger, and the starting point of its actuating length and terminal point feed back to central processing unit by each infrared detector; Right crus of diaphragm and auxiliary movement central processing unit respectively move the action of motor by motor driver control right crus of diaphragm, the starting point of its actuating length and terminal point feed back to central processing unit by each infrared detector, and control the action of each auxiliary movement motor by dc driver, the starting point of its actuating length and terminal point feed back to central processing unit by each infrared detector; Selected songs and light control central processing unit connect selected songs control loop and light control loop respectively.In addition, the vision signal of PC outputs to projector and produces picture signal, and the audio signal of PC outputs to power amplifier and produces voice signal by stereo set, and spectators also can accompany by microphone.
Claims (8)
1, the robot that plays the piano of a kind of meeting is characterized in that: comprise robot body and electrical equipment control mechanism; Described robot body is made up of base, lower limb mechanism, waist mechanism, chest mechanism, neck mechanism, head mechanism, two arm mechanisms and two palm mechanisms, lower limb mechanism and waist mechanism are movably connected with base respectively, waist mechanism and chest mechanism are fixedly linked, chest mechanism and neck mechanism are fixedly linked, and neck mechanism is movably connected by cross axle and the head mechanism of establishing within it; Be respectively equipped with two groups of fingers at robot body's suitable position and move up and down controlling organization, two wrists move up and down controlling organization, two wrist left and right moving control mechanisms, right crus of diaphragm left and right moving control mechanism, upper body left and right moving control mechanism, right crus of diaphragm moves up and down controlling organization, two arm left and right moving control mechanisms, two arms move up and down controlling organization, head moves forward and backward controlling organization, head left and right moving control mechanism, the eyeball rotation controling mechanism, face opening and closing controlling organization and forearm extension and contraction control mechanism; Wherein,
Described two groups of fingers move up and down controlling organization and respectively comprise first～the 5th motor, described five motors are installed in the base respectively, respectively link to each other with first splicing of wire rope by crank, the other end of each first steel wire rope links to each other with five finger hinge joints of right-hand man respectively;
Described two wrists move up and down controlling organization and respectively comprise the 6th motor, first screw mandrel, first silk braid, first connecting rod and two second steel wire ropes, the 6th motor is installed in the base, first screw mandrel links to each other with the main shaft of the 6th motor, one end of first silk braid links to each other with the first screw mandrel interlock, the other end links to each other with the first connecting rod hinge joint, the middle part of first connecting rod links to each other with the base hinge joint, two ends link to each other with two second splicing of wire ropes respectively, and the other end of two second steel wire ropes links to each other with the two ends hinge joint of cross axle in the palm mechanism respectively;
Described two wrist left and right moving control mechanisms respectively comprise the 7th motor, second screw mandrel, second silk braid, second connecting rod and the 3rd steel wire rope, the 7th motor is installed in the base, second screw mandrel links to each other with the main shaft of the 7th motor, one end of second silk braid links to each other with the second screw mandrel interlock, the other end links to each other with the second connecting rod hinge joint, the middle part of second connecting rod links to each other with the base hinge joint, two ends link to each other with two the 3rd splicing of wire ropes respectively, and the other end of the 3rd steel wire rope links to each other with the two ends hinge joint of palm skeleton in the palm mechanism respectively;
Described right crus of diaphragm left and right moving control mechanism comprises the 8th motor, first crank and rocker mechanism and third connecting rod, the 8th motor is installed in the base, one end of first crank and rocker mechanism links to each other with the main shaft of the 8th motor, the other end links to each other with the third connecting rod hinge joint, the middle part of third connecting rod links to each other with the right crus of diaphragm hinge joint, and two ends link to each other with the outside hinge joint of base respectively;
Described upper body left and right moving control mechanism comprises the 9th motor, first driving gear, first travelling gear and first power transmission shaft, the 9th motor is installed in the base, first driving gear is installed on the main shaft of the 9th motor, and link to each other with first travelling gear engagement, first travelling gear and first power transmission shaft are fixedly linked, and the top and the waist mechanism of first power transmission shaft are fixedly linked;
Described right crus of diaphragm moves up and down controlling organization and comprises the tenth motor, second crank and rocker mechanism and the 4th connecting rod, the third connecting rod middle part of described right crus of diaphragm left and right moving control mechanism is connected with a pole, the tenth motor is installed in the afterbody of this pole, one end of second crank and rocker mechanism links to each other with the main shaft of the tenth motor, the other end links to each other with the hinge joint of the 4th connecting rod, and the other end of the 4th connecting rod and the root of right crus of diaphragm are fixedly linked;
Described two arm left and right moving control mechanisms respectively comprise 1 the 11 motor, second driving gear, one second travelling gear and a rotating shaft, 2 the 11 motors in described mechanism symmetry respectively are installed in the chest mechanism, second driving gear is installed on the main shaft of motor, and link to each other with second travelling gear engagement, second travelling gear and rotating shaft are fixedly linked, two rotating shaft symmetries are vertically mounted on up and down between the two ends of chest mechanism, and wherein portion links to each other with two big arm connecting rods hinge joints respectively;
Described two arms move up and down controlling organization and respectively comprise 1 the 13 motor, the 3rd screw mandrel, the 3rd silk braid and the 5th connecting rod, two motors link to each other with two travelling gears hinge joint in the two arm left and right moving control mechanisms respectively, the 3rd screw mandrel links to each other with the main shaft of described two motors, one end of the 3rd silk braid links to each other with the 3rd screw mandrel interlock, the other end links to each other with the hinge joint of the 5th connecting rod, the other end of the 5th connecting rod and the rotating shaft middle part of big arm connecting rod hinge joint in arm left and right moving control mechanism;
Described head moves forward and backward controlling organization and comprises the 15 motor, the 3rd crank and rocker mechanism and the 6th connecting rod, the 15 motor is installed in the chest mechanism, one end of the 3rd crank and rocker mechanism links to each other with the main shaft of the 15 motor, the other end links to each other with the hinge joint of the 6th connecting rod, and the cross axle in the other end of the 6th connecting rod and the neck mechanism is fixedly linked;
Described head left and right moving control mechanism comprises the 16 motor, first crank and seven-link assembly, the 16 motor is installed in head and moves forward and backward on the 6th connecting rod in the controlling organization, one end of first crank links to each other with the main shaft of the 16 motor, the other end is arranged in the chute of seven-link assembly, the top and the head mechanism of seven-link assembly are fixedly linked, and link to each other with cross axle hinge joint in the neck mechanism simultaneously;
Described eyeball rotation controling mechanism comprises the 17 motor, four-throw endplay device and the 3rd drive gear mechanism, the 17 motor is installed in the head skeleton, one end of four-throw endplay device links to each other with the main shaft of the 17 motor, the hinge joint of the other end and the 3rd drive gear mechanism links to each other, and little that is connected eyeball in the other end of the 3rd drive gear mechanism and the head mechanism is fixedly linked;
Described face opening and closing controlling organization comprises the 18 motor, second crank and the 8th connecting rod, the 18 motor is installed in the head skeleton, one end of second crank links to each other with the main shaft of the 18 motor, the other end links to each other with the hinge joint of the 8th connecting rod, and the other end of the 8th connecting rod links to each other with the hinge joint of the lower lip of face;
Described forearm extension and contraction control mechanism respectively comprises the 9th connecting rod, the 19 motor, the 4th screw mandrel, the 4th silk braid, the 5th connecting rod that one end of the 9th connecting rod and arm move up and down in the controlling organization is fixedly linked, the other end links to each other with the hinge joint of the 19 motor, the 4th screw mandrel links to each other with the main shaft of the 19 motor, one end of the 4th silk braid links to each other with the 4th screw mandrel interlock, and the other end links to each other with the hinge joint of forearm the 9th connecting rod.
2, the robot that plays the piano of meeting as claimed in claim 1, it is characterized in that: described two arm mechanisms respectively comprise big arm connecting rod and forearm connecting rod, the rear end hinge joint of big arm connecting rod is in chest mechanism, its front end links to each other with the hinge joint of forearm connecting rod, and the front end of forearm connecting rod links with palm mechanism and links to each other.
3, the robot that plays the piano of meeting as claimed in claim 1, it is characterized in that: described two palm mechanisms respectively comprise palm skeleton, finger rotating shaft, cross axle, five fingers and five extension springs, the finger rotating shaft is connected the front end of palm skeleton, the front end of cross axle links to each other with the rear end hinge joint of palm skeleton, the rear end of cross axle links to each other with the hinge joint of forearm connecting rod, five fingers are movably connected in the finger rotating shaft, and five extension springs are connected between each finger and the palm skeleton rear end.
4, the robot that meeting as claimed in claim 1 plays the piano, it is characterized in that: described two groups of fingers move up and down controlling organization, two wrists move up and down controlling organization, two wrist left and right moving control mechanisms, right crus of diaphragm left and right moving control mechanism, right crus of diaphragm moves up and down controlling organization, two arm left and right moving control mechanisms, the motor that two arms move up and down in controlling organization and the forearm extension and contraction control mechanism is a stepper motor, adopt stepper motor driver, the pulse signal that control system is sent is converted into the angular displacement of stepper motor, frequency by the control step pulse signal, to the accurate speed governing of described stepper motor, by the number of control step motor pulses, described stepper motor is accurately located.
5, the robot that plays the piano of meeting as claimed in claim 1, it is characterized in that: the motor that described upper body left and right moving control mechanism, head move forward and backward in controlling organization, head left and right moving control mechanism, eyeball rotation controling mechanism and the face opening and closing controlling organization is a direct current generator, adopting speed regulator to carry out pulse wide modulation, is the speed governing that dutycycle realizes described direct current generator by the width that changes input pulse.
6, the robot that plays the piano of meeting as claimed in claim 1 is characterized in that: described respectively the action in the controlling organization, all be provided with infrared detector at corresponding position, and each infrared detector inside has Schmidt's shaping, can accurately locate the action of motor.
7, the robot that plays the piano of meeting as claimed in claim 1, it is characterized in that: described electrical equipment control mechanism comprises electric appliance control box and the outside control section that connects, be provided with in the electric appliance control box under PC main frame, the PC main frame and set up the single-chip microcomputer main frame separately, set up each slave central processing unit under the single-chip microcomputer main frame separately, the outside control section that connects comprises each infrared detection loop, each drive motors loop, the electric power loop that is connected with the slave central processing unit and manually debugs the loop.
8, the robot that plays the piano of meeting as claimed in claim 1 is characterized in that: adopt the multi computer communication principle, adopt the serial parallel communication modes, realize between PC main frame and the single-chip microcomputer and the transfer of data between single-chip microcomputer and the single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100176128A CN100506494C (en) | 2004-04-12 | 2004-04-12 | Robot capable of playing music instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100176128A CN100506494C (en) | 2004-04-12 | 2004-04-12 | Robot capable of playing music instrument |
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| Publication Number | Publication Date |
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| CN1683121A CN1683121A (en) | 2005-10-19 |
| CN100506494C true CN100506494C (en) | 2009-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100176128A Expired - Fee Related CN100506494C (en) | 2004-04-12 | 2004-04-12 | Robot capable of playing music instrument |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2469506A1 (en) * | 2010-12-24 | 2012-06-27 | National Taiwan University of Science and Technology | Chord-playing robot system and method for controlling the same |
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| CN101833325B (en) * | 2010-05-24 | 2012-04-04 | 上海电气集团股份有限公司 | Robot for playing Zhongruan and control method |
| CN102656982A (en) * | 2012-04-27 | 2012-09-12 | 东北农业大学 | Servo-motor unilateral output type rice pot seedling transplanting mechanism |
| CN103000055B (en) * | 2012-11-28 | 2014-12-31 | 苏州工业园区职业技术学院 | Lyre-playing, chess, calligraphy and painting mechanical arm teaching device system |
| CN105345820B (en) * | 2015-12-01 | 2017-08-22 | 上海唐娃智能科技有限公司 | Child growth intelligent robot and its control method |
| CN106272459B (en) * | 2016-08-31 | 2018-01-19 | 佛山博文机器人自动化科技有限公司 | A kind of anthropomorphic robot |
| CN108416892B (en) * | 2018-03-09 | 2020-09-29 | 浙江工业大学 | Lottery ticket machine keyboard automatic keystroke system |
| CN108202333A (en) * | 2018-03-09 | 2018-06-26 | 浙江工业大学 | A kind of automatic keystroke system of safety keyboard |
| CN109202935A (en) * | 2018-10-30 | 2019-01-15 | 希格斯动力科技（珠海）有限公司 | Play the hand method for controlling stepping motor and device of robot |
| CN109895113B (en) * | 2019-03-01 | 2020-10-16 | 达闼科技（北京）有限公司 | Robot thorax skeleton and robot |
| CN111086012B (en) * | 2019-12-30 | 2021-09-17 | 深圳市优必选科技股份有限公司 | Head structure and robot |
| CN111267114B (en) * | 2020-01-17 | 2021-10-08 | 尹凡 | Infant pacifies guardianship robot |
-
2004
- 2004-04-12 CN CNB2004100176128A patent/CN100506494C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2469506A1 (en) * | 2010-12-24 | 2012-06-27 | National Taiwan University of Science and Technology | Chord-playing robot system and method for controlling the same |
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| Publication number | Publication date |
|---|---|
| CN1683121A (en) | 2005-10-19 |
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