CN104260099B - Based on the Western flute automatic Playing robot of MIDI decoding - Google Patents
Based on the Western flute automatic Playing robot of MIDI decoding Download PDFInfo
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Abstract
The invention provides a kind of Western flute automatic Playing robot based on MIDI decoding, comprise MIDI decode system, robot control system, air-channel system, mechanical arm, flexible manipulator and apery body, wherein, the play control data that described MIDI decoding system decodes obtains is applied to described robot control system, described robot control system respectively with described air-channel system, mechanical arm, flexible manipulator connects, described mechanical arm, flexible manipulator is separately positioned on described apery body, described air-channel system can be arranged on described apery body or outside apery body.Present invention also offers a kind of automatic Playing method.The invention has the beneficial effects as follows: intelligence degree is high, integrated level is high, and play wind instruments song and change simple and quick, flexible structure, volume is little, and cost is low, can realize arbitrary standards mid form flute solo song selected songs flexibly and play.
Description
Technical field
The present invention relates to automatic Playing robot, particularly relate to a kind of Western flute automatic Playing robot based on MIDI decoding and automatic Playing method.
Background technology
Shanghai Communications University developed a kind of robot (patent No.: CN02151062, publication number CN1417005A) playing wind instruments recorder.This flute playing robot is implemented to control by main control computer, adopts air compressor machine as power gas source.Main control computer is linked with digital electric magnet valve and automatic pressure regulator respectively by DI/O and D/A, air pressure compressor is connected to manual pressure regulating valve, connect digital magnetic valve and automatic pressure regulator respectively again, six groups of digital electric magnet valves corresponding six Direct Action Type minitype cylinders installed again in Dextrous Hand respectively, automatic pressure regulator is connected to recorder by decompressor, flexible air-bag.The one's intention as revealed in what one says that main control computer control automatic pressure regulator and digital electric magnet valve realize playing wind instruments controls and hole sound control system.This robot advantage realizes relatively simple, and shortcoming needs external gas source and noise is comparatively large, do not have design robot body part, do not have unified melody code decode system, can not realize flute song selected songs performance arbitrarily flexibly except pointing except.
The sincere Science and Technology Ltd. of Zigong, Sichuan comprises a flute in the robot band that 2004 develop and plays robot.The complete apery of this robot profile makes, and it is played wind instruments source of the gas and adopts external air source, can simulate people and realize playing wind instruments in process the cooperation control pointing and play wind instruments air-flow, but internal implementation is not open.This robot can change body posture to increase vivid effect in the process of playing wind instruments, solo can be carried out or participate in this robot band instrumental ensembling, but due to the melody code decode system not having a set of unification general, its alternative song only has several head, other song need customize to company, can not realize flexibly flute song selected songs arbitrarily and play.
In the patent of invention " the playing wind instruments system of robot bandsman " (patent No.: 200610118657.3, publication number: CN101192402A) that sincere Science and Technology Ltd. of the electric group in Shanghai and Zi Gong applies for jointly, devise a kind of robot bandsman and play wind instruments system.This robot is produced played wind instruments air-flow by inserted computer control DC24/AC220 inverter, air pump, pneumatic servovalve, and is controlled to play wind instruments air-flow according to the gas flow control program that song beat, scale are write by inserted computer Rigen.Finger structure is connected with each finger of robot with extension spring by steel wire rope by a stepper motor, controls by inserted computer the action that ten stepper motors control ten fingers respectively.Be provided with alternative song in inserted computer, spectators on-the-spot can allow robot solo or (instrumental) ensemble by touch-screen point song.Its advantage is profile apery and true to nature, achieves having air source, can be played by spectators' selected songs from alternative song.Shortcoming is the melody code decode system not having a set of unification general, can only choose performance from alternative song, can not realize flexibly flute song selected songs arbitrarily and play.
Summary of the invention
In order to solve the problems of the prior art, the invention provides a kind of Western flute automatic Playing robot based on MIDI decoding and the automatic Playing method that can realize flexibly flute song selected songs performance arbitrarily.
The invention provides a kind of Western flute automatic Playing robot based on MIDI decoding, comprise MIDI decode system, robot control system, air-channel system, mechanical arm, flexible manipulator and apery body, wherein, described MIDI decode system is connected with described robot control system, described robot control system respectively with described air-channel system, mechanical arm, flexible manipulator connects, described mechanical arm, flexible manipulator is separately positioned on described apery body, described air-channel system can be arranged on described apery body or outside apery body, described MIDI decode system comprises MIDI decoder module and play control data format analysis processing module, MIDI decoder module transfers to play control data format analysis processing module to process after resolving .mid file, described robot control system comprises storage card and inserted computer, described inserted computer is provided with storage card, the play control data file that described play control data format analysis processing resume module obtains is stored in the storage card of described robot control system, described air-channel system comprises artificial lung and artificial lip, described mechanical arm is multi-degree-of-freemechanical mechanical arm, each finger of described flexible manipulator has one or more driving link or without driving link, described apery body has Local Phase to overlap with described artificial lip, described mechanical arm has Local Phase to overlap with described apery body, described mechanical arm has Local Phase to overlap with described flexible manipulator, described mechanical arm and described flexible manipulator are for being rotationally connected.
As a further improvement on the present invention, described artificial lung comprises motor lead screw slide unit, cylinder, air accumulator, check valve, overflow valve, two position three-way valve, two-position five-way valve, baroceptor and electric Proportion valve, described motor lead screw slide unit is connected with described cylinder, described cylinder respectively with described two-position five-way valve, two position three-way valve connects, described air accumulator is connected with described check valve, described baroceptor arranges in the outlet pipe of described air accumulator, described baroceptor is connected with described inserted computer, described electric Proportion valve is connected with described two position three-way valve, described air accumulator is connected with described overflow valve.
As a further improvement on the present invention, described mechanical arm comprises shoulder joint, large arm, elbow joint, forearm and ball head platform, described apery body is connected with described shoulder joint, described shoulder joint is connected with described large arm, described large arm is connected with described elbow joint, described elbow joint is connected with described forearm, described forearm is connected with described ball head platform, described shoulder joint comprises shoulder three articulation fixed support, described shoulder three articulation fixed support comprises shoulder first joint, shoulder second joint and shoulder the 3rd joint, described elbow joint comprises ancon three articulation fixed support, described ancon three articulation fixed support comprises ancon first joint, ancon second joint and ancon the 3rd joint, described shoulder first joint and described shoulder second joint are bolted, described shoulder second joint and described shoulder the 3rd joint are bolted, described ancon first joint and described ancon second joint are bolted, described ancon second joint and described ancon the 3rd joint are bolted, described ball head platform comprises bulb bearing and bulb support, and rear end and the described bulb support of described bulb bearing are that spherical pair is connected.
As a further improvement on the present invention, described flexible manipulator comprises steering wheel, drive fingerboard, finger root, skillful finger and the back of the hand, described skillful finger is the multiple degree of freedom finger of multi-joint composition, described steering wheel is connected with described finger root by described driving fingerboard, described finger root is connected with described skillful finger, described steering wheel is fixedly connected with described driving fingerboard, described driving fingerboard is connected with described finger root bolt, described finger root is connected with described skillful finger bolt, described steering wheel, finger root, drive fingerboard, skillful finger is all fixed on described the back of the hand, each finger of described flexible manipulator has one or more driving link or without driving link.
As a further improvement on the present invention, described skillful finger is the multiple degree of freedom finger of multi-joint composition, described skillful finger comprises joint and finger deutomerite in finger cephalomere, finger, described finger deutomerite comprises the first deutomerite and the second deutomerite, described finger cephalomere with save bolt in described finger and be connected, in described finger, joint is connected with described second deutomerite bolt, and described second deutomerite is sheathed on the first deutomerite leading portion, and described second deutomerite and described first deutomerite are that coaxial rotation is connected.
As a further improvement on the present invention, the leading portion of described artificial lip has hole, flat gap, and the back segment of described artificial lip is provided with screwed hole, and described artificial lip is run through to described screwed hole in hole, described flat gap, and described screwed hole is connected with pneumatic joint.Hole, described flat gap is gas flow harness shape during for controlling to play wind instruments.
As a further improvement on the present invention, described robot control system, artificial lung and power supply are the entirety independent of described apery body, according to the difference of described apery body and application scenarios, can be positioned over described apery body interior or other are local.
As a further improvement on the present invention, form and the size of the motor lead screw slide unit of described artificial lung and cylinder combination do not limit, and only need provide enough stable sources of the gas.
As a further improvement on the present invention, described artificial lung does not limit to and combines with motor lead screw slide unit and cylinder, can also be motor and rotary cylinder combination or motor and customization piston in combination.
As a further improvement on the present invention, described flexible manipulator first-selection performs steering wheel for all having one except right hand tail refers to, described flexible manipulator right hand tail refers to that having two performs steering wheel.Can increase according to the requirement of playing difficulty or reduce and perform steering wheel accordingly.
As a further improvement on the present invention, described performance control documents first-selection is txt file form, file format that in addition can be different according to the different choice of embedded system.
As a further improvement on the present invention, the master control borad first-selection of described robot control system is STM32 master control borad.
As a further improvement on the present invention, playing information in described performance control documents comprises tone information that Western flute plays, plays wind instruments dynamics information, plays wind instruments velocity information and fingering information, described tone information, playing wind instruments dynamics information, to play wind instruments between velocity information and fingering information and specifically successively not put in order, is can according to information format self-defining during Embedded System Programming.
As a further improvement on the present invention, described storage card first-selection is SD card, and described performance control documents first-selection is stored in SD card, can be stored in addition in the storage medium that TF card or other embedded system can read.
As a further improvement on the present invention, the hole, flat gap of described artificial lip first-selection is flat, rectangular and the hole, gap of two ends semicircle for cross section, and the shape of described cross section can regulate to change plays wind instruments effect preferably to reach.
Present invention also offers a kind of automatic Playing method, comprise the following steps:
S1: generate midi standard formatted music file by electronic music software programming electronic edition music score;
S2: adopt MIDI decode system to generate play control data file this midi standard formatted music file;
S3: this play control data file is saved in storage card;
S4: read the control information robot controlled described in above-mentioned any one and play Western flute from storage card.
As a further improvement on the present invention, described play control data file comprises tone information that Western flute plays, plays wind instruments dynamics information, plays wind instruments velocity information and fingering information, described play control data file is stored in the storage card of described robot control system, stores multiple described performance control documents in storage card.
The invention has the beneficial effects as follows: can computer end to arbitrary standard mid formatted audio files automatically carry out decode obtain robot can play control data file, can be stored in storage card by play control data file easily, robot be according to the music information automatic playing the West flute in play control data file; Described MIDI decode system makes robot change song fast and easy; Intelligence degree is high, and integrated level is high, and play wind instruments song and change simple and quick, flexible structure, volume is little, and cost is low, can realize flexibly flute song selected songs arbitrarily and play.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of Western flute automatic Playing robot based on MIDI decoding of the present invention;
Fig. 2 is the theory diagram of the MIDI decode system of a kind of Western flute automatic Playing robot based on MIDI decoding of the present invention;
Fig. 3 is the theory diagram of the robot control system of a kind of Western flute automatic Playing robot based on MIDI decoding of the present invention.
Detailed description of the invention
Illustrate below in conjunction with accompanying drawing and detailed description of the invention the present invention is further described.
Drawing reference numeral in Fig. 1 is: apery body 1; Artificial lip 2; Shoulder joint 31; Shoulder first joint 321; Shoulder second joint 322; Shoulder the 3rd joint 323; Large arm 33; Ancon first joint 341; Ancon second joint 342; Ancon the 3rd joint 343; Forearm 35; Bulb bearing 361; Bulb support 362; Chair 4; Dc source 5; Artificial lung 6; Master control borad 7; Artificial lip flexible pipe 8; First deutomerite 911; Second deutomerite 912; 913 are saved in finger; Finger 914; Finger root 92; Drive fingerboard 93; Steering wheel 94; The back of the hand 95; The West flute 10.
As shown in Figure 2, the flute music score that described MIDI decode system can process any flute music score or arbitrary standards MIDI music format obtains being directly used in the play control data file 101 controlled needed for the performance of flute automatic Playing robot.Wherein, flute music score is optional process with writing electronic edition music score.Concrete principle is as follows: MIDI(and MusicalInstrumentDigitalInterface) be musical instrument digital interface, the music file meeting MIDI protocol rule is standard MIDI file, and suffix name is generally .mid..mid file essence is binary file, comprises the instruction of a lot of information structure, and these instructions have contained the full detail required for music playing.Write C programmer according to MIDI protocol rule to carry out decoding by MIDI decoder module 100 and can obtain playing information file, again playing information is changed into play control data file 101 by play control data format analysis processing module 200 according to self-defining format analysis processing, this file can be directly used in and control the automatic Playing that flute automatic Playing robot completes melody.
As shown in Figure 3, the control system of described flute automatic Playing robot adopts inserted computer 103 as main control computer, comprises finger control module 104, source of the gas and air pressure control module 107, SD card plug and play module 102 and selected songs module 106 4 modules.The play control data file 101 controlling the performance of flute robot that is directly used in obtained by the process of MIDI decode system leaves in D card plug and play module 102, chooses module 106 and is used for selecting to play song.
A kind of Western flute automatic Playing robot based on MIDI decoding, comprise MIDI decode system, robot control system, air-channel system, mechanical arm, flexible manipulator and apery body 1, wherein, the play control data file that described MIDI decoding system decodes obtains is for described robot control system, described robot control system controls described air-channel system, mechanical arm and flexible manipulator, described mechanical arm, artificial lip and flexible manipulator are separately positioned on described apery body 1, described air-channel system can be arranged on described apery body 1 or outside, described MIDI decode system comprises MIDI decoder module 100 and play control data format analysis processing module 200, described MIDI decoder module 100 is connected with described play control data format analysis processing module 200, described robot control system comprises storage card and inserted computer 103, , described storage card is provided with in described inserted computer 103, described play control data format analysis processing module 200 processes the play control data file obtained and is stored in the storage card of described robot control system, described air-channel system comprises artificial lung 6 and artificial lip 2, described mechanical arm is multi-degree-of-freemechanical mechanical arm, each finger of described flexible manipulator has one or more driving link or without driving link, described apery body 1 has Local Phase to overlap with described artificial lip 2, described mechanical arm has Local Phase to overlap with described apery body 1, described mechanical arm has Local Phase to overlap with described flexible manipulator, described mechanical arm and described flexible manipulator are for being rotationally connected.Described artificial lung 6 comprises motor lead screw slide unit, cylinder 111, air accumulator 112, check valve, overflow valve, two position three-way valve, two-position five-way valve, baroceptor 115 and electric Proportion valve 113, described motor lead screw slide unit is connected with described cylinder 111, described cylinder 111 respectively with described two-position five-way valve, two position three-way valve connects, described air accumulator 112 is connected with described baroceptor 115, described baroceptor 115 is connected with described check valve, described baroceptor 115 is connected with described inserted computer 103, described electric Proportion valve 113 is connected with described two position three-way valve, described air accumulator 112 is connected with described overflow valve.
Present invention also offers a kind of automatic Playing method, comprise the following steps:
S1: generate midi standard formatted music file by electronic music software programming electronic edition music score;
S2: adopted by this midi standard formatted music file MIDI decoding to generate play control data file 101;
S3: this play control data file 101 is saved in storage card;
S4: read the control information robot controlled described in above-mentioned any one and play Western flute from storage card.
Described play control data file 101 comprises tone information that Western flute plays, plays wind instruments dynamics information, plays wind instruments velocity information and fingering information, described play control data file 101 is stored in the storage card of described robot control system, stores multiple described performance control documents in storage card.
During performance, inserted computer 103 constantly reads the data flow in play control data file 101, obtains real-time finger control instruction and plays wind instruments gas flow optimized instruction.Finger grip portion, exports by inserted computer 103 action that 11 road PWM ripples control the switching key lid of 11 steering wheels 94 respectively; Play wind instruments gas flow optimized part, the PWM ripple of the variable duty ratio of certain frequency is exported by inserted computer 103, the 0-3.3V voltage be directly proportional with it is exported according to playing wind instruments gas flow optimized instruction adjustment PWM ripple dutycycle, turning 4-20mA linear transformation module converts through PWM becomes 4-20mA electric current as the control signal of electric Proportion valve, can obtain the air pressure be directly proportional to this control signal, then direct oral cavity magnetic valve 114 obtains playing wind instruments airflow feeding to artificial lip 2.Pressure sensor 115 is equipped with in air accumulator 112 exit, optoelectronic switch 110 is equipped with at lung's motor 109 guide rail two ends, master control borad 7 by the value of detected pressures sensor 115 during A/D cause for gossip to judge whether air accumulator 112 arrives the constant operation pressure of specifying, and in this, as the operating switch of lung's motor 109, when air accumulator 112 force value is higher than setting value Pmax, lung's motor 109 quits work, and when air accumulator 112 force value is lower than setting value Pmin, lung's motor 109 is started working.
Master control borad 7 sends pulse signal to lung's motor driver 108, lung's motor driver 108 controls lung's motor 109 forward or reverse, lung's motor 109 drives screw mandrel forward or reverse, screw mandrel rotates and causes screw mandrel slide block to make left and right rectilinear motion, slide block drives cylinder push-rod to make piston movement, cylinder 111 outwards outwards exports gas by one end, two-position five-way valve coordinates the piston movement of cylinder 111 to make cylinder 111 all have gas to export when promoting or pulling by energising or power-off, check valve makes gas that cylinder 111 can only be had to be input to air accumulator 112 and can not reverse flow air return cylinder, air accumulator 112 pressure maintaining effects are to make the air-flow of the stable output be able to continuously in artificial lip flexible pipe 8, the safety of components and parts in gas circuit is ensured after overflow pressure-reducing valve setting pressure, the output pressure of electric Proportion valve 113 is controlled by the size of current adjusting electric Proportion valve 113, the moment break-make finally controlling gas by two position three-way valve realizes copying the rapid aeration action of the mankind, gas is ejected into Western flute 10 after artificial lip 2, thus blows Western flute 10.In gas circuit, baroceptor 115 detects the pressure of air accumulator 112 in real time, if pressure is lower than setting value, return action signal is to master control borad 7, master control borad 7 controls lung's motor 109 and rotates, if pressure is higher than setting value, return stop signal to master control borad 7, master control borad 7 controls lung's motor 109 to be stopped.
As shown in Figure 1, described mechanical arm comprises shoulder joint 31, shoulder three articulation fixed mount, large arm 33, ancon three articulation fixed support, forearm 35 and ball head platform, they axially connect, order of connection shoulder joint 31, shoulder three articulation fixed support, large arm 33, ancon three articulation fixed support, forearm 35 and ball head platform.Described shoulder three articulation fixed support comprises shoulder first joint 321, shoulder second joint 322, shoulder the 3rd joint 323, described ancon three articulation fixed support comprises ancon first joint 341, ancon second joint 342, ancon the 3rd joint 343 connects with bolt and can lock after screws regulates, shoulder first joint 321, shoulder second joint 322, shoulder the 3rd joint 323 connects with bolt and can lock after screws regulates, ancon first joint 341, ancon second joint 342, ancon the 3rd joint 343 connects with bolt and can locking after screws regulates.Described ball head platform comprises bulb bearing 361 and bulb support 362, and described bulb bearing 361 rear end is with described bulb support 362 for spherical pair is connected, and described bulb support 362 can swing and lock by relatively described bulb bearing 361 sphere.Described shoulder joint 31 end is sheathed on described shoulder first joint 321 and can locks with holding screw after coaxial rotation adjustment, described large arm 33 leading portion is sheathed on described shoulder the 3rd joint 323 and can locks with holding screw after coaxial rotation adjustment, described large arm 33 rear end be sheathed on state ancon first joint 341 and can coaxial rotation regulate after lock with holding screw, described forearm 35 leading portion is sheathed on described ancon the 3rd joint 343 and can locks with holding screw after coaxial rotation adjustment, described forearm 35 back segment is sheathed on the bulb bearing 361 of described ball head platform and can locks with holding screw after coaxial rotation adjustment, described ball head platform is connected with the back of the hand 95 of described flexible manipulator and can coaxial rotation regulates rear nut to lock at bulb support place.
As shown in Figure 1, described flexible manipulator comprises steering wheel 94, drives fingerboard 93, finger root 92, skillful finger and the back of the hand 95, described skillful finger is the multiple degree of freedom finger of multi-joint composition, lock joint after described skillful finger and described finger root 92 can be adjusted to ideal position motionless, described steering wheel 94 drives described driving fingerboard 93 to drive described finger root 92 and skillful finger to realize the push action of flute cover plate.Steering wheel 94 is fixedly connected with described driving fingerboard 93, described driving fingerboard 93 and described finger root 92 are connected with bolt and can lock after screws regulates, described finger root 92 and described skillful finger are connected with bolt and can lock after screws regulates, and steering wheel 94, described finger root 93, described driving fingerboard 92, described skillful finger are all fixed on described the back of the hand 95.Described skillful finger is the multiple degree of freedom finger of multi-joint composition, and described skillful finger comprises joint 913 and finger deutomerite in finger cephalomere 914, finger, and described finger deutomerite comprises the first deutomerite 911 and the second deutomerite 912.Described finger cephalomere 914 with save 913 in described finger and be connected with bolt and can regulate around screws and lock afterwards, in described finger, joint 913 and described second deutomerite 912 are connected with bolt and can lock after screws regulate, and described second deutomerite 912 is sheathed on the first deutomerite 911 leading portion and can locks with holding screw after coaxial rotation adjustment.
Provided by the invention decoding with the operation principle of the Western flute automatic Playing robot of embedded system based on MIDI is:
MIDI decodes: be that the song that will play writes electronic music by electronic music software for editing, save as the electronic music file format of .mid, open the MIDI decoding software write to decode to electronic music file format, obtain play control data file 101, play control data file 101 is stored in SD card, afterwards SD card is inserted master control borad 7.
Robot plays and prepares: needed to adjust the performance posture of robot before Western flute 10 is played by robot, reconditioner mechanical arm and flexible manipulator better play posture to make the tone hole of Western flute 10 aim at artificial lip 2 and be in, just by each joint locking, can be able to change after adjusting the performance posture of robot later.
Robot automatic Playing flute: pressure sensor 115 detects that air accumulator 112 air pressure is lower than sending actuating signal to master control borad 7 during setting value, and master control borad 7 controls lung's motor 109 and rotates, cylinder 111 exports in gas to air accumulator 112 and stores and pressurize.When strike up Western flute 10 time, master control borad 7 reads the control information in SD card in play control data file 101, master control borad 7 controls electric Proportion valve 113 and regulates the intensity of giving vent to anger, thus adjustment air-flow velocity, gas outputs to the sound hole of Western flute 10 after artificial lip 2, thus blows Western flute 10; Master control borad 7 reads the control information also corresponding Western flute performance fingering in SD card in play control data file 101 simultaneously, control the action of corresponding steering wheel 94, steering wheel 94 drives the skillful finger motion fixed, and realizes the action of finger presses the West flute cover plate.Coordinated by above action thus realize robot automatic Playing the West flute.
Provided by the invention decoding with the advantage of the Western flute automatic Playing robot of embedded system based on MIDI is:
Can computer end to arbitrary standard mid formatted audio files automatically decode obtain robot can play control data file 101, can be stored in SD card by play control data file 101 easily, robot be according to the music information automatic playing the West flute in play control data file 101; Mechanical arm and flexible manipulator can allow robot show different performance postures; Described air-channel system can provide source of the gas for robot, does not need external air source; Described built-in dc source 5 can provide power supply for robot, does not need external power supply, adapts to multiple occasion; Apery body 1 can be changed, and adapts to the application of different scene; Intelligence degree is high, and integrated level is high, utilizes the feature that electronic music volume is composed simply and mid formatted audio files easily obtains, and MIDI decode system makes to play wind instruments song and changes simple and quick; Robot architecture is flexible, and volume is little, and cost is low.
1, MIDI decode system is furnished with, can automatic decoding.Electronic music is write and is easily understood, and mid formatted audio files obtains easily, and MIDI decode system makes the speed changing song fast;
2, play control data file 101 is stored in SD card, do not need again to master control borad burning program after changing song, only need change the play control data file 101 in SD card, multiple play control data file 101 can be stored in SD card simultaneously, the touch-screen only need expanded on master control borad 7 or external key carry out choosing the song needing to play, and achieve robot and can play many songs;
3, there is mechanical arm and flexible manipulator, and adjust simple and convenient, robot can be allowed to show performance posture miscellaneous;
4, robot modularized, apery body 1 can be changed according to the application of different scenes, only mechanical arm and artificial lip need be pulled down and be installed on new apery body 1, change simple and convenient, applying flexible;
5, robot control system and air-channel system are all the systems of independent completion, there is modularization and the little feature of volume, different positions can be positioned over according to the difference of application scenarios, child's apery body 1 of sitting posture is adopted in the present invention, small volume, can be positioned in chair 4, and the adult's apery body 1 according to stance can be positioned over apery body thoracic cavity, do not need external power and source of the gas, achieve the integration of robot;
6, simple with each mechanical structure portion structure of the Western flute automatic Playing robot of embedded system based on MIDI decoding, a lot of structure member can buy in the market, low cost of manufacture.
Above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (5)
1. the Western flute automatic Playing robot based on MIDI decoding, it is characterized in that: comprise MIDI decode system, robot control system, air-channel system, mechanical arm, flexible manipulator and apery body, wherein, the play control data that described MIDI decoding system decodes obtains is applied to described robot control system, described robot control system respectively with described air-channel system, mechanical arm, flexible manipulator connects, described mechanical arm, flexible manipulator is separately positioned on described apery body, described air-channel system is arranged on described apery body or outside apery body, described MIDI decode system comprises MIDI decoder module and play control data format analysis processing module, MIDI decoder module transfers to play control data format analysis processing module to process after resolving .mid file, described robot control system comprises inserted computer, described inserted computer is provided with storage card, the play control data file that described play control data format analysis processing resume module obtains is stored in the storage card of described robot control system, described air-channel system comprises artificial lung and artificial lip, described mechanical arm is multi-degree-of-freemechanical mechanical arm, each finger of described flexible manipulator has one or more driving link or without driving link, described apery body has Local Phase to overlap with described artificial lip, described mechanical arm has Local Phase to overlap with described apery body, described mechanical arm has Local Phase to overlap with described flexible manipulator, described mechanical arm and described flexible manipulator are for being rotationally connected, described artificial lung comprises motor lead screw slide unit, cylinder, air accumulator, check valve, overflow valve, two position three-way valve, two-position five-way valve, baroceptor and electric Proportion valve, described motor lead screw slide unit is connected with described cylinder, described cylinder respectively with described two-position five-way valve, two position three-way valve connects, described air accumulator is connected with described baroceptor, described baroceptor is connected with described check valve, described baroceptor is connected with described inserted computer, described electric Proportion valve is connected with described two position three-way valve, described air accumulator is connected with described overflow valve.
2. the Western flute automatic Playing robot based on MIDI decoding according to claim 1, it is characterized in that: described mechanical arm comprises shoulder joint, large arm, elbow joint, forearm and ball head platform, described apery body is connected with described shoulder joint, described shoulder joint is connected with described large arm, described large arm is connected with described elbow joint, described elbow joint is connected with described forearm, described forearm is connected with described ball head platform, described shoulder joint comprises shoulder three articulation fixed support, described shoulder three articulation fixed support comprises shoulder first joint, shoulder second joint and shoulder the 3rd joint, described elbow joint comprises ancon three articulation fixed support, described ancon three articulation fixed support comprises ancon first joint, ancon second joint and ancon the 3rd joint, described shoulder first joint and described shoulder second joint are bolted, described shoulder second joint and described shoulder the 3rd joint are bolted, described ancon first joint and described ancon second joint are bolted, described ancon second joint and described ancon the 3rd joint are bolted, described ball head platform comprises bulb bearing and bulb support, and rear end and the described bulb support of described bulb bearing are that spherical pair is connected.
3. the Western flute automatic Playing robot based on MIDI decoding according to claim 1, it is characterized in that: described flexible manipulator comprises steering wheel, drive fingerboard, finger root, skillful finger and the back of the hand, described skillful finger is the multiple degree of freedom finger of multi-joint composition, described steering wheel is connected with described finger root by described driving fingerboard, described finger root is connected with described skillful finger, described steering wheel is fixedly connected with described driving fingerboard, described driving fingerboard is connected with described finger root bolt, described finger root is connected with described skillful finger bolt, described steering wheel, finger root, drive fingerboard, skillful finger is all fixed on described the back of the hand, each finger of described flexible manipulator has one or more driving link or without driving link.
4. the Western flute automatic Playing robot based on MIDI decoding according to claim 3, it is characterized in that: described skillful finger is the multiple degree of freedom finger of multi-joint composition, described skillful finger comprises joint and finger deutomerite in finger cephalomere, finger, described finger deutomerite comprises the first deutomerite and the second deutomerite, described finger cephalomere with save bolt in described finger and be connected, in described finger, joint is connected with described second deutomerite bolt, described second deutomerite is sheathed on the first deutomerite leading portion, and described second deutomerite and described first deutomerite are that coaxial rotation is connected.
5. the Western flute automatic Playing robot based on MIDI decoding according to claim 1, it is characterized in that: the leading portion of described artificial lip has hole, flat gap, the back segment of described artificial lip is provided with screwed hole, described artificial lip is run through to described screwed hole in hole, described flat gap, and described screwed hole is connected with pneumatic joint.
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| CN201410449830.2A CN104260099B (en) | 2014-09-05 | 2014-09-05 | Based on the Western flute automatic Playing robot of MIDI decoding |
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| CN108789433A (en) * | 2018-06-12 | 2018-11-13 | 珠海格力智能装备有限公司 | The control method of robot, apparatus and system |
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| CN105390128B (en) * | 2015-11-09 | 2019-10-11 | 清华大学 | Automatic Playing mechanical device and percussion instrument automatic playing system |
| CN105856249A (en) * | 2016-05-05 | 2016-08-17 | 安徽击尔智能科技有限公司 | Chinese vertical bamboo flute playing robot |
| CN109693252A (en) * | 2019-01-21 | 2019-04-30 | 昆山塔米机器人有限公司 | A kind of robot movement control device and motion control method |
| CN110782743A (en) * | 2019-05-19 | 2020-02-11 | 延安大学 | Music teaching demonstration equipment and system thereof |
| CN110154062B (en) * | 2019-06-27 | 2021-05-28 | 南通理工学院 | Suona blowing robot |
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