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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- 230000007246 mechanism Effects 0.000 claims abstract description 228
- 210000000707 wrist Anatomy 0.000 claims abstract description 18
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 6
- 210000003128 head Anatomy 0.000 claims description 46
- 230000005540 biological transmission Effects 0.000 claims description 37
- 229910000831 Steel Inorganic materials 0.000 claims description 22
- 239000010959 steel Substances 0.000 claims description 22
- 210000005252 bulbus oculi Anatomy 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 230000005236 sound signal Effects 0.000 description 2
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- 230000033764 rhythmic process Effects 0.000 description 1
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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 invention relates to an electric model, in particular to a robot capable of playing a piano.
Background
At present, the commonly used control method of the electric model is simple, and a time sequence integrated circuit is mostly adopted to control the action time and the sequence of the electric model, so that the electric model can repeatedly carry out limited actions. Although the circuit structure of the control method is simple, the control method has the problems of single action, insufficient action speed and action strength and the like, and the manufactured product has poor ornamental value and participation. And the musical instrument played is an electronic musical instrument, the strength of fingers playing the musical instrument cannot be controlled, and the songs with chords cannot be played.
Disclosure of Invention
The invention aims to overcome the defects of an electric model in the prior art and provide a robot capable of playing a piano.
In order to achieve the purpose, the technical measures adopted by the invention are as follows: a robot capable of playing a piano comprises a robot main body and an electric appliance control mechanism; the machine body consists of a base, a lower limb mechanism, a waist mechanism, a chest mechanism, a neck mechanism, a head mechanism, two arm mechanisms and two palm mechanisms, wherein the lower limb mechanism and the waist mechanism are respectively movably connected with the base; two groups of finger up-down moving control mechanisms, two wrist left-right moving control mechanisms, a right foot left-right moving control mechanism, an upper body left-right moving control mechanism, a right foot up-down moving control mechanism, two arm left-right moving control mechanisms, two arm up-down moving control mechanisms, a head front-back moving control mechanism, a head left-right moving control mechanism, an eyeball rotating control mechanism, a mouth opening-closing control mechanism and a small arm stretching control mechanism are respectively arranged at proper positions of the robot main body.
The head mechanism comprises a head framework, a rotating shaft, two eyeballs and a mouth, wherein the rotating shaft is movably connected to the head framework through a bearing, the two eyeballs are hinged to the head framework through small shafts respectively, the mouth is composed of an upper lip and a lower lip, the upper lip is fixedly connected to the head framework, and the lower lip is hinged to the rotating shaft.
The two arm mechanisms respectively comprise a big arm connecting rod and a small arm connecting rod, the rear end of the big arm connecting rod is hinged on the chest mechanism, the front end of the big arm connecting rod is hinged with the small arm connecting rod, and the front end of the small arm connecting rod is hinged with the palm mechanism.
The two palm mechanisms respectively comprise a palm framework, finger rotating shafts, a cross shaft, five fingers and five tension springs, the finger rotating shafts are connected to the front end of the palm framework, the front end of the cross shaft is hinged to the rear end of the palm framework, the rear end of the cross shaft is hinged to a small arm connecting rod, the five fingers are movably connected to the finger rotating shafts, and the five tension springs are respectively connected between the fingers and the rear end of the palm framework.
The two groups of finger up-and-down movement control mechanisms respectively comprise five motors, the five motors are respectively arranged in the base and are respectively articulated with the steel wire ropes through cranks, and the other ends of the steel wire ropes are respectively articulated with five fingers of a left hand and a right hand;
the two wrist up-and-down movement control mechanisms respectively comprise a motor, a screw rod, a screw sleeve, a connecting rod and steel wire ropes, the motor is arranged in the base, the screw rod is connected with a main shaft of the motor, one end of the screw sleeve is occluded and connected with the screw rod, the other end of the screw sleeve is hinged and connected with the connecting rod, the middle part of the connecting rod is hinged and connected with the base, the two ends of the connecting rod are respectively hinged and connected with the two steel wire ropes, and the other ends of the two steel wire ropes are respectively hinged and connected with the two ends;
the left and right movement control mechanisms of the two wrists respectively comprise a motor, a screw rod, a screw sleeve, a connecting rod and a steel wire rope, the motor is arranged in the base, the screw rod is connected with a main shaft of the motor, one end of the screw sleeve is occluded and connected with the screw rod, the other end of the screw sleeve is hinged and connected with the connecting rod, the middle part of the connecting rod is hinged and connected with the base, the two ends of the connecting rod are hinged and connected with the two steel wire ropes respectively, and the other end of the steel wire rope is hinged and connected with the two ends;
the right foot left-right movement control mechanism comprises a motor, a crank rocker mechanism and a connecting rod, the motor is arranged in the base, one end of the crank rocker mechanism is connected with a main shaft of the motor, the other end of the crank rocker mechanism is hinged with the connecting rod, the middle part of the connecting rod is hinged with the right foot, and the two ends of the connecting rod are hinged with the outer side of the base respectively;
the upper body left-right movement control mechanism comprises a motor, a driving gear, a transmission gear and a transmission shaft, wherein the motor is arranged in the base, the driving gear is arranged on a main shaft of the motor and is meshed and connected with the transmission gear, the transmission gear is fixedly connected with the transmission shaft, and the top end of the transmission shaft is fixedly connected with the waist mechanism;
the right foot up-and-down movement control mechanism comprises a motor, a crank rocker mechanism and a connecting rod, wherein the middle part of the connecting rod of the right foot left-and-right movement control mechanism is connected with a supporting rod, the motor is arranged at the tail part of the supporting rod, one end of the crank rocker mechanism is connected with a main shaft of the motor, the other end of the crank rocker mechanism is hinged with the connecting rod, and the other end of the connecting rod is fixedly connected with the root part of the right foot;
the two arm left-right movement control mechanisms respectively comprise a motor, a driving gear, a transmission gear and a rotating shaft, the two motors are symmetrically arranged in the chest mechanism, the driving gear is arranged on a main shaft of the motor and is meshed and connected with the transmission gear, the transmission gear is fixedly connected with the rotating shaft, the two rotating shafts are symmetrically and vertically arranged between the upper end and the lower end of the chest mechanism, and the middle parts of the two rotating shafts are respectively hinged and connected with the two large arm connecting rods;
the two arm up-and-down movement control mechanisms respectively comprise motors, a screw rod, a screw sleeve and a connecting rod, the two motors are hinged with two transmission gears in the two arm left-and-right movement control mechanisms respectively, the screw rod is connected with a main shaft of the motors, one end of the screw sleeve is meshed with the screw rod and the other end of the screw sleeve is hinged with the connecting rod, and the other end of the connecting rod and the large arm connecting rod are hinged in the middle of a rotating shaft in the arm left-and-right movement control mechanism;
the head forward-backward movement control mechanism comprises a motor, a crank rocker mechanism and a connecting rod, the motor is arranged in the chest mechanism, one end of the crank rocker mechanism is connected with a main shaft of the motor, the other end of the crank rocker mechanism is hinged with the connecting rod, and the other end of the connecting rod is fixedly connected with a cross shaft in the neck mechanism;
the head left-right movement control mechanism comprises a motor, a crank and a connecting rod, the motor is arranged on the connecting rod in the head front-back movement control mechanism, one end of the crank is connected with a main shaft of the motor, the other end of the crank is arranged in a sliding groove of the connecting rod, and the top end of the connecting rod is fixedly connected with the head mechanism and is hinged with a cross shaft in the neck mechanism;
the eyeball rotation control mechanism comprises a motor, a crank rocker mechanism and a transmission gear mechanism, the motor is arranged in the head framework, one end of the crank rocker mechanism is connected with a main shaft of the motor, the other end of the crank rocker mechanism is hinged with the transmission gear mechanism, and the other end of the transmission gear mechanism is fixedly connected with a small shaft connected with an eyeball in the head mechanism;
the mouth opening and closing control mechanism comprises a motor, a crank and a connecting rod, the motor is installed in the head framework, one end of the crank is connected with a main shaft of the motor, the other end of the crank is hinged with the connecting rod, and the other end of the connecting rod is hinged with the lower lip of the mouth;
the small arm telescopic control mechanisms respectively comprise a connecting rod, a motor, a lead screw and a screw sleeve, one end of the connecting rod is fixedly connected with the connecting rod in the arm up-and-down movement control mechanism, the other end of the connecting rod is hinged with the motor, the lead screw is connected with a main shaft of the motor, one end of the screw sleeve is meshed with the lead screw, and the other end of the screw sleeve is hinged with the small arm connecting rod.
The motors in the two groups of finger up-and-down moving control mechanisms, the two wrist left-and-right moving control mechanisms, the right foot left-and-right moving control mechanisms, the two arm up-and-down moving control mechanisms and the small arm telescopic control mechanisms are step motors, a step motor driver is adopted to convert pulse signals sent by a control system into the angular displacement of the step motors, the motors are accurately regulated by controlling the frequency of the step pulse signals, and the motors are accurately positioned by controlling the number of pulses of the step motors.
The motors in the upper body left-right movement control mechanism, the head front-back movement control mechanism, the head left-right movement control mechanism, the eyeball rotation control mechanism and the mouth opening and closing control mechanism are direct current motors, a speed regulator is adopted to carry out pulse width speed regulation, and the speed regulation of the motors is realized by changing the width of input pulses, namely the duty ratio.
In each action control mechanism, an infrared detector is arranged at a corresponding position, and Schmidt shaping is arranged in each infrared detector, so that the action of the motor can be accurately positioned.
The electric appliance control mechanism comprises an electric appliance control box and an external connection control part, wherein a PC host machine is arranged in the electric appliance control box, a single chip microcomputer host machine is arranged below the PC host machine, and slave machine central processing units are arranged below the single chip microcomputer host machine, and the external connection control part comprises infrared detection circuits, driving motor circuits, a power supply circuit and a manual debugging circuit which are connected with the slave machine central processing units.
The invention adopts the principle of multi-computer communication and the serial-parallel communication mode to realize the data transmission between the PC host and the singlechip and between the singlechip and the singlechip.
Compared with the prior art, the robot capable of playing the piano has the following advantages and characteristics due to the adoption of the technical scheme:
1. the action completion of the robot is designed to change the control mode of the stepping motor, namely, the control pulse frequency and the action direction of the stepping motor are changed, so that the speed and the direction of the stepping motor are changed, the force and the depth of the finger keystroke and the pedal can be coordinately controlled, and the rhythm sense of the piano playing is realized;
2. the playing control mechanism adopts a stepping motor and a stepping motor driver, converts a pulse signal sent by the control system into angular displacement of the stepping motor, and controls the frequency of the stepping pulse signal so as to accurately regulate the speed of the motor;
3. the auxiliary action control mechanism adopts a direct current motor, the speed regulation of the direct current motor adopts pulse width speed regulation, namely, the speed regulation of the motor is realized by changing the width of an input pulse, namely, the duty ratio, and the coordination action of the robot is matched, so that the robot has more human taste;
4. the infrared detectors are adopted in the control mechanisms, so that the stroke of the stepping motor can be accurately measured and counted, the stepping motor is protected, and the direct current motor is accurately positioned;
5. the multi-machine communication principle is adopted, the data transmission between the PC and the single chip microcomputer and between the single chip microcomputer is realized by adopting a serial-parallel communication mode through mutually agreed communication protocols, the coordination and the order of a control system can be ensured, and the communication speed is greatly accelerated.
Drawings
FIG. 1 is a schematic front view of a robot for playing a piano according to the present invention;
FIG. 2 is a schematic side view of a piano playing robot according to the present invention;
FIG. 3 is an enlarged sectional view A-A of FIG. 1;
FIG. 4 is an enlarged sectional view B-B of FIG. 1;
FIG. 5 is a schematic view of a palm structure of the present invention;
FIG. 6 is a side view of the palm structure shown in FIG. 5;
FIG. 7 is an enlarged cross-sectional view C-C of FIGS. 2 and 5;
FIG. 8 is a schematic view of the head structure of the present invention;
FIG. 9 is a side view of the illustrated head structure of FIG. 8;
fig. 10 is a block diagram of the structure of an electric appliance control section in the present invention.
Detailed Description
Please refer to fig. 1, and fig. 2. The robot capable of playing the piano consists of a robot main body and an electric appliance control mechanism. The robot main body is composed of a base 1, a lower limb mechanism 2, a waist mechanism 3, a chest mechanism 4, a neck mechanism 5, a head mechanism 6, two arm mechanisms 7 and two palm mechanisms 8, wherein two groups of finger up-down moving control mechanisms 9, two wrist up-down moving control mechanisms 10, two wrist left-right moving control mechanisms 11, a right foot left-right moving control mechanism 12, an upper body left-right moving control mechanism 13, a right foot up-down moving control mechanism 14, two arm left-right moving control mechanisms 15, two arm up-down moving control mechanisms 16, a head front-back moving control mechanism 17, a head left-right moving control mechanism 18, an eyeball rotating control mechanism 19, a mouth opening-closing control mechanism 20 and a small arm stretching control mechanism 21 are respectively arranged at appropriate positions of all the components of the robot main body.
With continued reference to fig. 1 and 2, and with continued reference to fig. 8 and 9. The head mechanism 6 comprises a head framework 601, a rotating shaft 602, two eyeballs 603 and a mouth 604, wherein the rotating shaft 602 is movably connected to the head framework 601 through a bearing, the two eyeballs 603 are hinged with the head framework 601 through a small shaft 605 respectively, the mouth 604 is composed of an upper lip 6041 and a lower lip 6042, the upper lip 6041 is fixedly connected with the head framework 601, and the lower lip 6042 is hinged with the rotating shaft 602.
Continuing to refer to fig. 1 and 2. The two-arm mechanism 7 comprises a big arm connecting rod 701 and a small arm connecting rod 702 respectively, the rear end of the big arm connecting rod 701 is hinged on the chest mechanism 4, the front end of the big arm connecting rod 701 is hinged with the small arm connecting rod 702, and the front end of the small arm connecting rod 702 is hinged with the palm mechanism 8.
With continuing reference to fig. 1 and 2, and with further reference to fig. 5, 6 and 7. The two palm mechanisms 8 in the invention respectively comprise a palm skeleton 801, a finger rotating shaft 802, a cross shaft 803, five fingers 804 and five tension springs 805. The finger rotating shaft 802 is connected to the outer end of the palm framework 801, the outer end of the cross shaft 803 is hinged to the inner end of the palm framework 801, the inner end of the cross shaft 803 is hinged to the forearm connecting rod 702, five fingers 804 are movably connected to the finger rotating shaft 802, and five tension springs 805 are respectively connected between each finger 804 and the inner end of the palm framework 801.
With continued reference to fig. 1 and 2, and with continued reference to fig. 5 and 6. The two groups of finger up-and-down movement control mechanisms 9 comprise five motors 901 respectively, the five motors are respectively arranged in the base 1 and are hinged with a steel wire rope 903 respectively through a crank 902, the other end of each steel wire rope 903 is hinged with five fingers 804 of a left hand and a right hand respectively, and infrared detectors 904 and 905 are arranged on the hinged point of each finger 804 and the finger rotating shaft 802.
With continuing reference to fig. 1 and 2, and with further reference to fig. 5, 6 and 7. The two wrist up-and-down movement control mechanisms 10 respectively comprise a motor 101, a screw rod 102, a thread sleeve 103, a connecting rod 104 and a steel wire rope 105, wherein the motor 101 is arranged in a base 1, the screw rod 102 is connected with a main shaft of the motor 101, one end of the thread sleeve 103 is meshed with the screw rod 102, the other end of the thread sleeve 103 is hinged with the connecting rod 104, the middle part of the connecting rod 104 is hinged with the base 1, the two ends of the connecting rod 104 are respectively hinged with the two steel wire ropes 105, the other ends of the two steel wire ropes 105 are respectively hinged with the two ends of a cross shaft 803 in a palm mechanism 8, and infrared detectors 106 and 107 are arranged on the cross.
With continued reference to fig. 1 and 2, and with continued reference to fig. 5 and 6. The left and right wrist movement control mechanisms 11 respectively comprise a motor 111, a screw rod 112, a thread sleeve 113, a connecting rod 114 and a steel wire rope 115, wherein the motor 111 is arranged in a base 1, the screw rod 112 is connected with a main shaft of the motor 111, one end of the thread sleeve 113 is meshed with the screw rod 2, the other end of the thread sleeve 113 is hinged with the connecting rod 114, the middle part of the connecting rod 114 is hinged with the base 1, the two ends of the connecting rod 114 are hinged with the two steel wire ropes 115 respectively, the other end of the steel wire rope 115 is hinged with the two ends of a palm framework 801 in a palm mechanism 8 respectively, and infrared detectors 116 and 117 are arranged on a hinged point of the palm framework 801 and a cross shaft.
Continuing to refer to fig. 1 and 2. The right foot left-right movement control mechanism 12 comprises a motor 121, a crank and rocker mechanism consisting of a crank 122 and a rocker 123, and a connecting rod 124, wherein the motor 121 is arranged in the base 1, one end of the crank 122 is connected with a main shaft of the motor, the other end of the crank 122 is hinged with the rocker 123, the other end of the rocker 123 is hinged with the connecting rod 124, the middle part of the connecting rod 124 is hinged with the right foot 2, and the two ends of the connecting rod 124 are respectively hinged with the outer side of the base 1; infrared detectors 125 and 126 are mounted on the hinge point of the link 124 and the base 1.
With continuing reference to fig. 1 and 2, and with further reference to fig. 3. The upper body left-right movement control mechanism 13 comprises a motor 131, a driving gear 132 and a transmission gear 133 transmission shaft 134, wherein the motor 131 is arranged in the base 1, the driving gear 132 is arranged on the motor and meshed with the transmission gear 133, the transmission gear 133 is fixedly connected with the transmission shaft 134, the upper end of the transmission shaft 134 is fixedly connected with the waist mechanism 2, and an infrared detector 135 is arranged on the transmission gear 133.
Continuing to refer to fig. 1 and 2. The right foot up-down movement control mechanism 14 in the present invention includes a motor 141, a crank-rocker mechanism composed of a crank 142 and a rocker 143, and a connecting rod 144. The middle part of the connecting rod 124 of the right foot left-right movement control mechanism 12 is connected with a supporting rod, the motor 141 is arranged at the tail part of the supporting rod, one end of the crank 142 is connected with the main shaft of the motor, the other end is hinged with the rocker 143, the other end of the rocker 143 is hinged with the connecting rod 144, and the other end of the connecting rod 144 is fixedly connected with the root part of the right foot 2.
With continuing reference to fig. 1 and 2, and with further reference to fig. 4. The two-arm left-right movement control mechanism 15 comprises a motor 151, a driving gear 152, a transmission gear 153 and a rotating shaft 154 respectively, wherein the motor 151 is arranged in a chest mechanism, the driving gear 152 is arranged on a main shaft of the motor and is meshed and connected with the transmission gear 153, the transmission gear 153 is fixedly connected with the rotating shaft 154, the two rotating shafts 154 are vertically arranged between the upper end and the lower end of the chest mechanism 4, the middle parts of the two rotating shafts are hinged and connected with two large arm connecting rods 701 respectively, and infrared detectors 155 and 156 are arranged on the rotating shafts 154.
Continuing to refer to fig. 1 and 2. The two-arm up-and-down movement control mechanism 16 in the present invention includes a motor 161, a screw 162, a screw housing 163, and a link 164. The motor 161 is hinged with a transmission gear 153 in the arm left-right movement control mechanism 15, the screw rod 162 is connected with a main shaft of the motor 161, one end of the screw sleeve 163 is meshed with the screw rod 162, the other end of the screw sleeve is hinged with the connecting rod 164, the connecting rod 164 is hinged with a rotating shaft 154 in the arm left-right movement control mechanism 15, and infrared detectors 165 and 166 are arranged on a hinged point of the large arm connecting rod 701 and the rotating shaft 154.
Continuing to refer to fig. 1 and 2. The head forward-backward movement control mechanism 17 of the present invention comprises a motor 171, a crank-rocker mechanism composed of a crank 172 and a rocker 173, and a connecting rod 174, wherein the motor 171 is installed in the chest mechanism, one end of the crank 172 is connected with a main shaft of the motor, the other end is hinged with the rocker 173, the other end of the rocker 173 is hinged with the connecting rod 174, the other end of the connecting rod 174 is fixedly connected with a cross shaft 501 in the neck mechanism 5, and an infrared detector 175 is installed on the cross shaft 501.
Continuing to refer to fig. 1 and 2. The head left-right movement control mechanism 18 of the present invention includes a motor 181, a crank 182, and a link 183. The motor 181 is mounted on the connecting rod 174 in the head forward-backward movement control mechanism 17, one end of the crank 182 is connected with the main shaft of the motor 181, the other end is disposed in the sliding slot of the connecting rod 182, the top end of the connecting rod 182 is fixedly connected with the head mechanism 6 and is hinged with the cross shaft 501 in the neck mechanism 5, and the infrared detector 184 is mounted on the cross shaft 501.
With continued reference to fig. 1 and 2, and with continued reference to fig. 8 and 9. The eyeball rotation control mechanism 19 of the invention comprises a motor 191, a crank rocker mechanism consisting of a crank 192 and a rocker 193, and a transmission gear mechanism consisting of a gear shaft 194 and two gears 195, wherein the motor 191 is arranged in a head framework, one end of the crank 192 is connected with a main shaft of the motor 191, the other end of the crank 192 is hinged with the rocker 193, the other end of the rocker 193 is hinged with the gear shaft 194, the gear shaft 194 is meshed with the two gears 195, the two gears 195 are respectively fixedly connected with a small shaft 605 connected with an eyeball, and an infrared detector 196 is arranged on the small shaft 605.
With continued reference to fig. 1 and 2, and with continued reference to fig. 8 and 9. The mouth opening and closing control mechanism 20 of the present invention includes a motor 201, a crank 202, and a connecting rod 203. The motor 201 is installed in the head skeleton 601, one end of the crank 202 is connected with the main shaft of the motor 201, the other end is hinged with the connecting rod 202, the other end of the connecting rod 202 is hinged with the lower lip 6042 of the mouth, and the infrared detector 204 is installed on the hinged point of the lower lip 6042 and the head skeleton 601.
Continuing to refer to fig. 1 and 2. The forearm extension control mechanisms 21 in the present invention each include a link 211, a motor 212, a lead screw 213, and a thread bushing 214. One end of the connecting rod 211 is fixedly connected with the connecting rod 164 in the arm up-and-down movement control mechanism, the other end is hinged with the motor 212, the screw rod 213 is connected with the main shaft of the motor 212, one end of the screw sleeve 214 is meshed with the screw rod 213, and the other end is hinged with the small arm connecting rod 702.
The invention relates to an electric appliance control mechanism, which comprises an electric appliance control box and an external connection control part, wherein a PC host machine is arranged in the electric appliance control box, a singlechip host machine is arranged below the PC host machine, and slave central processing units are arranged below the singlechip host machine, and the external connection control part comprises infrared detection loops, driving motor loops, a power supply loop and a manual debugging loop which are connected with the slave central processing units.
Referring to fig. 10, fig. 10 is a block diagram of the electrical control mechanism of the present invention, and each slave cpu is connected to a PC through a communication interface card. The left wrist central processor controls the action of each action motor of the left wrist through the motor driver, and the starting point and the end point of the action stroke are fed back to the central processor by each infrared detector; the right-hand wrist central processor controls the action of each action motor of the right-hand wrist through a motor driver, and the starting point and the end point of the action stroke are fed back to the central processor by each infrared detector; the left finger central processing unit controls the action of each action motor of the left finger through a motor driver, and the starting point and the end point of the action stroke are fed back to the central processing unit by each infrared detector; the right-hand finger central processing unit controls the action of each action motor of the right-hand finger through a motor driver, and the starting point and the end point of the action stroke are fed back to the central processing unit by each infrared detector; the right foot and auxiliary action central processor controls the action of each action motor of the right foot through a motor driver, the starting point and the end point of the action stroke are fed back to the central processor by each infrared detector, the action of each auxiliary action motor is controlled through a direct current driver, and the starting point and the end point of the action stroke are fed back to the central processor by each infrared detector; the central processor for selecting music and controlling light is connected with the circuit for controlling music selection and the circuit for controlling light. In addition, the video signal of the PC is output to the projector to generate an image signal, the audio signal of the PC is output to the power amplifier to generate a sound signal through the sound equipment, and audiences can accompany a song through the microphone.
Claims (8)
1. A robot that can play piano which characterized in that: comprises a robot main body and an electric appliance control mechanism; the robot main body consists of a base, a lower limb mechanism, a waist mechanism, a chest mechanism, a neck mechanism, a head mechanism, two arm mechanisms and two palm mechanisms, wherein the lower limb mechanism and the waist mechanism are respectively movably connected with the base; two groups of finger up-down moving control mechanisms, two wrist left-right moving control mechanisms, a right foot left-right moving control mechanism, an upper body left-right moving control mechanism, a right foot up-down moving control mechanism, two arm left-right moving control mechanisms, two arm up-down moving control mechanisms, a head front-back moving control mechanism, a head left-right moving control mechanism, an eyeball rotating control mechanism, a mouth opening-closing control mechanism and a small arm telescopic control mechanism are respectively arranged at proper positions of the robot main body; wherein,
the two groups of finger up-and-down movement control mechanisms respectively comprise a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth;
the two wrist up-and-down movement control mechanisms respectively comprise a sixth motor, a first lead screw, a first screw sleeve, a first connecting rod and two second steel wire ropes, wherein the sixth motor is arranged in the base, the first lead screw is connected with a main shaft of the sixth motor, one end of the first screw sleeve is meshed with the first lead screw, the other end of the first screw sleeve is hinged with the first connecting rod, the middle part of the first connecting rod is hinged with the base, the two ends of the first connecting rod are respectively hinged with the two second steel wire ropes, and the other ends of the two second steel wire ropes are respectively hinged with the two ends of a cross shaft in the palm mechanism;
the left and right movement control mechanisms of the two wrists respectively comprise a seventh motor, a second lead screw, a second screw sleeve, a second connecting rod and a third steel wire rope, the seventh motor is arranged in the base, the second lead screw is connected with a main shaft of the seventh motor, one end of the second screw sleeve is meshed with the second lead screw, the other end of the second screw sleeve is hinged with the second connecting rod, the middle part of the second connecting rod is hinged with the base, the two ends of the second connecting rod are hinged with the two third steel wire ropes respectively, and the other end of the third steel wire rope is hinged with the two ends of a palm framework in the palm mechanism respectively;
the right foot left-right movement control mechanism comprises an eighth motor, a first crank rocker mechanism and a third connecting rod, the eighth motor is installed in the base, one end of the first crank rocker mechanism is connected with a main shaft of the eighth motor, the other end of the first crank rocker mechanism is hinged with the third connecting rod, the middle part of the third connecting rod is hinged with the right foot, and the two ends of the third connecting rod are hinged with the outer side of the base respectively;
the upper body left-right movement control mechanism comprises a ninth motor, a first driving gear, a first transmission gear and a first transmission shaft, wherein the ninth motor is arranged in the base;
the right foot up-and-down movement control mechanism comprises a tenth motor, a second crank rocker mechanism and a fourth connecting rod, wherein the middle part of the third connecting rod of the right foot left-and-right movement control mechanism is connected with a supporting rod, the tenth motor is arranged at the tail part of the supporting rod, one end of the second crank rocker mechanism is connected with a main shaft of the tenth motor, the other end of the second crank rocker mechanism is hinged with the fourth connecting rod, and the other end of the fourth connecting rod is fixedly connected with the root part of the right foot;
the two arm left-right movement control mechanisms respectively comprise an eleventh motor, a second driving gear, a second transmission gear and a rotating shaft, wherein the two eleventh motors in the mechanisms are respectively and symmetrically arranged in the chest mechanism, the second driving gear is arranged on a main shaft of the motor and is meshed and connected with the second transmission gear, the second transmission gear is fixedly connected with the rotating shaft, the two rotating shafts are symmetrically and vertically arranged between the upper end and the lower end of the chest mechanism, and the middle parts of the two rotating shafts are respectively hinged and connected with the two large arm connecting rods;
the two arm up-and-down movement control mechanisms respectively comprise a thirteenth motor, a third screw rod, a third screw sleeve and a fifth connecting rod, the two motors are respectively articulated and connected with two transmission gears in the two arm left-and-right movement control mechanisms, the third screw rod is connected with main shafts of the two motors, one end of the third screw sleeve is occluded and connected with the third screw rod, the other end of the third screw sleeve is articulated and connected with the fifth connecting rod, and the other end of the fifth connecting rod and the large arm connecting rod are articulated and connected in the middle of a rotating shaft in the arm left-and-right movement control mechanism;
the head forward-backward movement control mechanism comprises a fifteenth motor, a third crank-rocker mechanism and a sixth connecting rod, the fifteenth motor is arranged in the chest mechanism, one end of the third crank-rocker mechanism is connected with a main shaft of the fifteenth motor, the other end of the third crank-rocker mechanism is hinged with the sixth connecting rod, and the other end of the sixth connecting rod is fixedly connected with a cross shaft in the neck mechanism;
the head left-right movement control mechanism comprises a sixteenth motor, a first crank and a seventh connecting rod, the sixteenth motor is arranged on the sixth connecting rod in the head front-back movement control mechanism, one end of the first crank is connected with a main shaft of the sixteenth motor, the other end of the first crank is arranged in a sliding groove of the seventh connecting rod, and the top end of the seventh connecting rod is fixedly connected with the head mechanism and is hinged with a cross shaft in the neck mechanism;
the eyeball rotation control mechanism comprises a seventeenth motor, a fourth crank and rocker mechanism and a third transmission gear mechanism, wherein the seventeenth motor is arranged in the head framework, one end of the fourth crank and rocker mechanism is connected with a main shaft of the seventeenth motor, the other end of the fourth crank and rocker mechanism is hinged with the third transmission gear mechanism, and the other end of the third transmission gear mechanism is fixedly connected with a small shaft connected with an eyeball in the head mechanism;
the mouth opening and closing control mechanism comprises an eighteenth motor, a second crank and an eighth connecting rod, the eighteenth motor is installed in the head framework, one end of the second crank is connected with a main shaft of the eighteenth motor, the other end of the second crank is hinged with the eighth connecting rod, and the other end of the eighth connecting rod is hinged with the lower lip of the mouth;
the small arm telescopic control mechanisms respectively comprise a ninth connecting rod, a nineteenth motor, a fourth screw rod and a fourth screw sleeve, one end of the ninth connecting rod is fixedly connected with a fifth connecting rod in the arm up-and-down movement control mechanism, the other end of the ninth connecting rod is hinged with the nineteenth motor, the fourth screw rod is connected with a main shaft of the nineteenth motor, one end of the fourth screw sleeve is meshed with the fourth screw rod, and the other end of the fourth screw sleeve is hinged with the small arm ninth connecting rod.
2. The robot for playing a piano of claim 1, wherein: the two arm mechanisms respectively comprise a big arm connecting rod and a small arm connecting rod, the rear end of the big arm connecting rod is hinged on the chest mechanism, the front end of the big arm connecting rod is hinged with the small arm connecting rod, and the front end of the small arm connecting rod is hinged with the palm mechanism.
3. The robot for playing a piano of claim 1, wherein: the two palm mechanisms respectively comprise a palm framework, finger rotating shafts, a cross shaft, five fingers and five tension springs, the finger rotating shafts are connected to the front end of the palm framework, the front end of the cross shaft is hinged to the rear end of the palm framework, the rear end of the cross shaft is hinged to a small arm connecting rod, the five fingers are movably connected to the finger rotating shafts, and the five tension springs are respectively connected between the fingers and the rear end of the palm framework.
4. The robot for playing a piano of claim 1, wherein: the motors in the two groups of finger up-and-down moving control mechanisms, the two wrist left-and-right moving control mechanisms, the right foot left-and-right moving control mechanisms, the two arm up-and-down moving control mechanisms and the small arm telescopic control mechanisms are step motors, a step motor driver is adopted to convert pulse signals sent by a control system into the angular displacement of the step motors, the accurate speed regulation of the step motors is realized by controlling the frequency of the step pulse signals, and the accurate positioning of the step motors is realized by controlling the number of pulses of the step motors.
5. The robot for playing a piano of claim 1, wherein: the motors in the upper body left-right movement control mechanism, the head front-back movement control mechanism, the head left-right movement control mechanism, the eyeball rotation control mechanism and the mouth opening and closing control mechanism are direct current motors, a speed regulator is adopted to carry out pulse width speed regulation, and the speed regulation of the direct current motors is realized by changing the width of input pulses, namely the duty ratio.
6. The robot for playing a piano of claim 1, wherein: in each action control mechanism, an infrared detector is arranged at a corresponding position, and Schmidt shaping is arranged in each infrared detector, so that the action of the motor can be accurately positioned.
7. The robot for playing a piano of claim 1, wherein: the electric appliance control mechanism comprises an electric appliance control box and an external connection control part, a PC host machine is arranged in the electric appliance control box, a single chip microcomputer host machine is arranged under the PC host machine, slave machine central processing units are arranged under the single chip microcomputer host machine, and the external connection control part comprises infrared detection loops, driving motor loops, power supply loops and manual debugging loops which are connected with the slave machine central processing units.
8. The robot for playing a piano of claim 1, wherein: the data transmission between the PC host and the singlechip and between the singlechip and the singlechip is realized by adopting a multi-machine communication principle and a serial-parallel communication mode.
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 |
|---|---|
| CN1683121A CN1683121A (en) | 2005-10-19 |
| CN100506494C true CN100506494C (en) | 2009-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100176128A Expired - Fee Related CN100506494C (en) | 2004-04-12 | 2004-04-12 | Robot capable of playing music instrument |
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| CN (1) | CN100506494C (en) |
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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| 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 |
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| 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 |
| CN111531562B (en) * | 2020-05-12 | 2024-08-13 | 北京木甲天枢文化科技有限公司 | Konghou playing 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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