CN107253200B - It is a kind of for playing the robot of frame drum - Google Patents
It is a kind of for playing the robot of frame drum Download PDFInfo
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- CN107253200B CN107253200B CN201710423038.3A CN201710423038A CN107253200B CN 107253200 B CN107253200 B CN 107253200B CN 201710423038 A CN201710423038 A CN 201710423038A CN 107253200 B CN107253200 B CN 107253200B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/004—Playing a music instrument
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K9/00—Devices in which sound is produced by vibrating a diaphragm or analogous element, e.g. fog horns, vehicle hooters or buzzers
- G10K9/10—Devices in which sound is produced by vibrating a diaphragm or analogous element, e.g. fog horns, vehicle hooters or buzzers driven by mechanical means only
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- Multimedia (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
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Abstract
The present invention relates to robotic technology fields more particularly to a kind of for playing the robot of frame drum.In the robot, the first retarder that first motor is respectively set at left and right sides of body trunk and connect with first motor, the output shaft of the first retarder of the left and right sides is connect in a manner of driving ipsilateral arm component left-right rotation with the arm component.Thus, two first motors and two the first retarders can control two arm components or so unitary rotation, the relative distance for controlling the front end of two arm components increases or reduces, and then two can be tapped simultaneously apart from excessive or too small drum/small cymbals, and it is directed to and taps the different drum/small cymbals ipsilateral in an arm component, arm component can be controlled by first motor and the first retarder to horizontally rotate close to ipsilateral different drum/small cymbals, the body trunk without robot ceaselessly rotates.
Description
Technical field
The present invention relates to robotic technology fields more particularly to a kind of for playing the robot of frame drum.
Background technique
Robot for playing frame drum is primarily directed to the drummer in band, controls manipulator by intelligence system
The small cymbals movement of beating a drum of arm simulation drummer, cooperation band normally plays.Different instruction generations is inputted to intelligence system targeted specifically
Code, the music that robot can cooperate band performance different according to code.Relative to the study and training of drummer's longer cycle, machine
Device people rapidly can adapt to different music, cooperate perfectly with band performance.Therefore, robot is in following intelligent music
There is important value in performance.
Robot at this stage and few and major function beat a drum only for traditional drummer's both arms/and the unification of small cymbals acts
(moving up and down, tap or do not tap), these robots, need to be in conjunction with the machine person because arm can only move in the up-down direction
Rotating to complete to tap drum/small cymbals of different location for body, causes robot integrally can ceaselessly rotate, the visual effect of performance
Difference requires height to the kinematic accuracy of each driving element, also, existing structure is difficult to complete to tap two simultaneously apart from excessive or mistake
Small drum/small cymbals.
Summary of the invention
(1) technical problems to be solved
The purpose of the present invention is to provide a kind of for playing the robot of frame drum, which can tap two simultaneously
It is a that there is no do not stall dynamic defect apart from excessive or too small drum/small cymbals and in performance.
(2) technical solution
In order to achieve the above object, the main technical schemes that the present invention uses include:
The present invention provide it is a kind of for playing the robot of frame drum, including pedestal, support body trunk on the base,
And it is connected to two arm components (4) of the left and right sides of body trunk, further includes: be separately positioned on body trunk
Two first motors and two the first retarders of the left and right sides；Wherein, the input shaft of two the first retarders is respectively and together
The output axis connection of the first motor of side, the output shaft of two the first retarders is to drive ipsilateral arm component left-right rotation
Mode connect with the arm component.
According to the present invention, the output shaft of two the first retarders stretches out upwards, and two arm components, which all have, to be stretched downwards
Support shaft out is connected by synchronous belt drive mechanism power between the output shaft and ipsilateral support shaft of two the first retarders
It connects.
According to the present invention, arm component further include the second motor, the second retarder, big arm, small arm, the first cylinder,
Second cylinder and Drumstick frame, the second motor and the second retarder are fixed together, the top of support shaft and the second motor and/or the
Two retarders are directly or indirectly fixed, and the output shaft of the second motor crosses out and the input axis connection with the second retarder, the
The output shaft of two retarders is crossed out and is fixedly connected with the top of big arm, the top hinge of the lower part of big arm and small arm
It connects, the lower part of small arm and Drumstick frame are hinged, and the both ends of the first cylinder are hinged with big arm and small arm respectively, the second cylinder
Both ends are hinged with small arm and Drumstick frame respectively.
According to the present invention, the junction of the second cylinder and Drumstick frame is located at the separate big of the junction of small arm and Drumstick frame
The side of arm.
According to the present invention, first motor and the first retarder are fixed together, body trunk include the first elevating mechanism and
First rotating mechanism；Wherein, the first elevating mechanism is connected between pedestal and the first rotating mechanism, can drive the first whirler
Structure moves up and down relative to pedestal, and the first rotating mechanism is connected between the first elevating mechanism and first motor/first retarder,
The first retarder and first motor can be driven to rotate relative to the first elevating mechanism；Or first rotating mechanism be connected to pedestal
And first between elevating mechanism, the first elevating mechanism can be driven to rotate relative to pedestal, the first elevating mechanism is connected to first
Between rotating mechanism and first motor/first retarder, the first retarder and first motor can be driven relative to the first rotation
Mechanism moves up and down.
According to the present invention, the first elevating mechanism includes third cylinder, and the first rotating mechanism includes encapsulating shell, column and third
Motor；The bottom end of third cylinder is fixed on the base, and the piston rod of third cylinder stretches out upwards and connects with the bottom end of third motor
It connects, the projecting shaft of third motor is stretched out upwards and connect with the bottom end of column, and the top of column is connect with encapsulating shell, the left and right sides
Synchronous belt drive mechanism be located in encapsulating shell, the first retarder of the left and right sides is fixed on the package.
According to the present invention, further includes: lower limb component, the second elevating mechanism and the second rotating mechanism；Wherein, the second elevator
Structure is connected between pedestal and the second rotating mechanism, and the second rotating mechanism can be driven to move up and down relative to pedestal, the second rotation
Rotation mechanism is connected between the second elevating mechanism and lower limb component, and lower limb component can be driven to turn relative to the second elevating mechanism
It is dynamic；Alternatively, the second rotating mechanism is connected between pedestal and the second elevating mechanism, the second elevating mechanism can be driven relative to base
Seat rotation, the second elevating mechanism are connected between the second rotating mechanism and the upper end of lower limb component, can drive lower limb component
Upper end moves up and down relative to the second rotating mechanism.
According to the present invention, the second rotating mechanism include the 4th motor and third retarder, the second elevating mechanism include support,
4th cylinder and lifting seat, the 4th motor and third retarder are directly or indirectly fixed on pedestal or body trunk, the 4th electricity
The projecting shaft of machine stretches out upwards, the output axis connection of the input shaft of third retarder and the 4th motor, the output of third retarder
Stretch out in axial direction and connect with support, lifting seat, which can slide up and down, to be connected on the support, the 4th cylinder supports in the holder, the
The piston rod of four cylinders is stretched out upwards and is fixed with lifting seat, and the upper end of lifting seat and lower limb component is hinged.
According to the present invention, lower limb component includes huckle, calf, pedal, the 5th cylinder, the 6th cylinder and the 7th gas
Cylinder, the upper end of huckle and lifting seat are hinged, and the lower end of huckle and the upper end of calf are hinged, the lower end of calf and pedal
Rear end it is hinged, the both ends of the 5th cylinder are hinged with lifting seat and huckle respectively, the both ends of the 6th cylinder respectively with huckle
Hinged with calf, the both ends of the 7th cylinder are hinged with calf and pedal respectively.
According to the present invention, support and lifting seat are U-frame, and the two side walls of support are equipped with corresponding two vertically
The two side walls outside of slideway, lifting seat is equipped with corresponding two guide pads, and two guide pads slide setting correspondingly
In two slideways.
(3) beneficial effect
The beneficial effects of the present invention are:
In robot for playing frame drum of the invention, one first is respectively set at left and right sides of body trunk
Motor and first retarder, the input shaft of two the first retarders respectively with the output axis connection of ipsilateral first motor,
The output shaft of two the first retarders is connect in a manner of driving ipsilateral arm component left-right rotation with the arm component.By
This, on the one hand, two first motors and two the first retarders can control two arm component transverse direction unitary rotations, that is, control
The relative distance of the front end of two arm components increases or reduces, and then can tap two simultaneously apart from excessive or too small
Drum/small cymbals, and be directed to and tap the different drum/small cymbals ipsilateral in an arm component, it can be subtracted by first motor and first
Fast device control arm component lateral rotation is gone close to ipsilateral different drum/small cymbals, and the body trunk without robot ceaselessly turns
It is dynamic；On the other hand, using the combination of motor and retarder, retarder can produce biggish torque, be conducive to control arm group
Part movement.
Detailed description of the invention
Fig. 1 is the general assembly drawing for the robot for playing frame drum that following specific embodiment provides, wherein being also shown
Frame drum；
Fig. 2 is the stereoscopic schematic diagram for the robot for playing frame drum that following specific embodiment provides；
Fig. 3 is used to play toothed belt transmission used in the robot of frame drum for what following specific embodiment provided
The schematic diagram of mechanism；
Fig. 4 is the sectional perspective schematic diagram for the robot for playing frame drum that following specific embodiment provides,
In basically illustrate big arm, small arm, the first cylinder, Drumstick frame, the second cylinder and arm drumstick；
Fig. 5 is the sectional perspective schematic diagram for the robot for playing frame drum that following specific embodiment provides,
In basically illustrate lower limb component, the second elevating mechanism and lower limb drumstick.
[appended drawing reference]
1: pedestal；2: lower limb component；3: body trunk；4: arm component；5: frame drum；6: pedestal；7: the four motors；8:
Third retarder；9: third cylinder；10: first motor；11: the first retarders；12: column；13: support shaft；14: the second electricity
Machine；15: the second retarders；16: bracket；17: encapsulating shell；18: third motor；19: transmission belt；20: Drumstick frame；21: arm drum
Mallet；22: the second cylinders；23: big arm；24: the first cylinders；25: small arm；26: pedal；27: lower limb drumstick；28: the seven gas
Cylinder；29: calf；30: the six cylinders；31: huckle；32: lifting seat；33: the five cylinders；34: the four cylinders；35: support.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.Wherein, the directional terminologies such as "upper", "lower" involved in this paper, shown in Fig. 1, Fig. 2, Fig. 4 and Fig. 5
It is orientated reference.
Referring to figs. 1 to Fig. 5, the present embodiment provides a kind of for playing the robot of frame drum.The robot includes pedestal
1,3, two, the body trunk first motor 10 of arm component 4, two and two the first retarders 11.Pedestal 1 is used to support entirely
Robot, body trunk 3 are supported on pedestal 1, and two arm components 4 are connected to the left and right sides of body trunk 3, and two
First motor 10 is separately positioned on the left and right sides of body trunk 3, and two the first retarders 11 are separately positioned on body trunk 3
The left and right sides, two the first retarders 11 and two first motors 10 can be directly or indirectly fixed on body trunk 3.Two
The input shaft of the one speed reducer 11 output axis connection with ipsilateral first motor 10 respectively, the output shaft of two the first retarders 11
Connect in a manner of driving ipsilateral 4 left-right rotation of arm component with the arm component 4, i.e. two the first retarders 11 it is defeated
Shaft is connect with ipsilateral arm component 4 respectively, and the mode connected is can to drive ipsilateral 4 left-right rotation of arm component,
Realize that the front end of two arm components 4 is relatively close or separate.Wherein, left-right rotation refers to that arm component 4 at least can be certain
Rotation in angle also includes certainly the rotation that can carry out 360 °.
Thus, on the one hand, two first motors 10 and two the first retarders 11 can control two arm components 4 laterally
Unitary rotation, that is, control two arm components 4 front end relative distance increase or reduce, and then can tap simultaneously two away from
From excessive or too small drum/small cymbals, and it is directed to and taps different drum/small cymbals ipsilateral in an arm component 4, it can be by the
One motor 10 and the lateral left-right rotation of the first retarder 11 control arm component 4 are gone close to ipsilateral different drum/small cymbals, without machine
The body trunk 3 of device people ceaselessly rotates；On the other hand, using the combination of motor and retarder, retarder can produce larger
Torque, be conducive to control arm component 4 move.
Further, referring to Figures 1 and 2, in the present embodiment, two the first retarders 11 are respectively positioned on ipsilateral first motor 10
Top, the output shaft of two first motors 10 stretches out upwards and the input axis connection with the first ipsilateral retarder 11, two
The output shaft of first retarder 11 stretches out upwards, and two arm components 4 all have the support shaft 13 extended downwardly, support shaft 13
Axis it is parallel with the axis of output shaft of the first retarder 11, the output shaft of two the first retarders 11 and ipsilateral support shaft
It is connected by power by a synchronous belt drive mechanism between 13, the rotation of the output shaft of the first retarder 11 is transmitted to branch
It supports on axis 13, and then arm component 4 is driven to rotate entirely around the axis of support shaft 13.
Specifically, synchronous belt drive mechanism includes driving pulley, driven pulley and transmission belt 19, main belt referring to Fig. 3
Wheel is coaxially attached on the output shaft of the first retarder 11, and driven pulley is coaxially attached in support shaft 13, transmission belt 19
It is sleeved on driving pulley and driven pulley.The rotation of the output shaft of the first retarder 11 drives driving pulley rotation as a result, main
Movable belt pulley rotation drives transmission belt 19 to rotate, and the rotation of transmission belt 19 drives driven pulley rotation, and driven pulley rotation drives support
Axis 13 rotates, and the rotation of support shaft 13 drives the whole lateral rotation of arm component 4.
Certainly, the present invention is not limited to this, and in other embodiments, the output shaft of the first retarder 11 is to drive arm group
The specific structure that the mode of 4 left-right rotation of part is connect with the arm component 4 is not limited to above-mentioned synchronous belt drive mechanism, and first subtracts
The output shaft of fast device 11 can directly be connected to carry out power transmission and (support shaft 13 can be set at this time to be used for arm component 4
It is connected with exporting axis, output shaft can also be connect with the other structures in arm component 4, as long as arm can be started by connecting band
The whole left-right rotation of component 4), a pair being meshed can be set on the output shaft of the first retarder 11 and support shaft 13
Gear carries out gear drive, above-mentioned synchronous belt drive mechanism can also be changed to gear drive, other can also be used certainly
The combination of existing transmission mechanism and transmission mechanism.
To sum up, in the present embodiment, by the setting of first motor 10 and the first retarder 11, two arm components are realized
4 left-right rotation, the accurate open and close movement for imitating two arms of human body, with transverse shifting close to different drum/small cymbals.
Further, referring to FIG. 1, FIG. 2 and FIG. 4, arm component 4 further includes the 16, second electricity of bracket in addition to including support shaft 13
Machine 14, the second retarder 15, big arm 23, small arm 25, the first cylinder 24, the second cylinder 22 and Drumstick frame 20, big arm 23,
Small arm 25 and Drumstick frame 20 imitate large arm, forearm and the hand of human body respectively.Bracket 16 is fixedly connected with the top of support shaft 13,
Second motor 14 and the second retarder 15 are fixed on bracket 16, and the output shaft of the second motor 14 crosses out and slows down with second
The output shaft of the input axis connection of device 15, the second retarder 15 crosses out and passes through the through-hole on bracket 16 and big arm 23
Top is fixedly connected, wherein is laterally extended the axis for referring to and extending or be approximately perpendicular to body trunk perpendicular to the axis of body trunk
Line extends.The rotation of the output shaft of the second motor 14 drives the second retarder 15 through the input shaft of the second retarder 15 as a result,
Output shaft rotation, and then big arm 23 is driven to do rotating upwardly and downwardly in perpendicular.
Certainly, in the present embodiment, the second motor 14 and the second retarder 15 pass through the top of bracket 16 and support shaft 13
It is indirectly fixed, but the present invention is not limited to this, when the second motor 14 and the second retarder 15 are fastened to each other,
One or two of second motor 14 and the second retarder 15 can be directly fixed with support shaft 13, in the second motor 14 and second
When retarder 15 is not affixed to together, the second motor 14 and the second retarder 15 can simultaneously directly or indirectly and support shaft
13 top is fixed.To sum up, as long as support shaft 13 is able to drive the second motor 14 and the second retarder 15 rotates together
Structure is used equally in robot of the invention.
To sum up, the robot of the present embodiment realizes two arms by the setting of the second motor 14 and the second retarder 15
First and last the rotating upwardly and downwardly in perpendicular relative to body trunk 3 of component 4, it is accurate to imitate two arms of human body forward
It rotates backward.
Referring further to Figure 2 and Fig. 4, in the present embodiment, the lower part of big arm 23 and the top of small arm 25 are hinged, small
The lower part of arm 25 and Drumstick frame 20 are hinged, and (both ends of cylinder involved by this paper refer to cylinder cylinder at the both ends of the first cylinder 24
The extension end of bottom one end and cylinder piston rod) hinged with big arm 23 and small arm 25 respectively, the both ends difference of the second cylinder 22
It is hinged with small arm 25 and Drumstick frame 20.First cylinder 24 by small arm 25 and big arm 23 connection formed small arm 25 relative to
23 forward fold of big arm, i.e., bend towards the side close to frame drum 5；The junction of second cylinder 22 and Drumstick frame 20 is located at
The side far from big arm 23 of small arm 25 and the junction of Drumstick frame 20.The first cylinder 24 drives big 23 He of arm as a result,
Relative motion between small arm 25 is equivalent to the bending of human body large arm and forearm or stretches, and the second cylinder 22 drives small arm 25
Relative motion between Drumstick frame 20 is equivalent to the bending of human body forearm and hand and stretches.
To sum up, by the design of above-mentioned first cylinder 24 and the second cylinder 22, flexible mechanical arm is formed, so that the machine
The movement of the arm component 4 of people is more flexible.
In the present embodiment, big arm 23 includes two spaced large arm plates, and small arm 25 includes that two intervals are set
The forearm plate set, the both ends of the first cylinder 24 are located between two large arm plates and two forearm plates.Between Drumstick frame 20 includes
The first support and second support separated, first support and second support are designed with through-hole and pass through for arm drumstick 21.Wherein,
One bracket is relative to second support closer to big arm 23, and first support and small arm 25 are hinged, second support and the second cylinder
22 is hinged.The junction of the second cylinder 22 and Drumstick frame 20 is consequently formed, and to be located at small arm 25 remote with the junction of Drumstick frame 20
Side from big arm 23.
Further, in the present embodiment, referring to Fig. 2, body trunk 3 includes the first elevating mechanism and the first rotating mechanism.
First elevating mechanism is connected between pedestal 1 and the first rotating mechanism, and the first rotating mechanism can be driven relative to about 1 pedestal
Movement, it is preferable that the first elevating mechanism is located at 1 top of pedestal, and the first rotating mechanism is located above the first elevating mechanism.First rotation
Rotation mechanism is connected between 10/ first retarder 11 of the first elevating mechanism and first motor.Wherein, if first motor 10 and first
Retarder 11 is fixedly secured to one another, then the first rotating mechanism is connect i.e. with one in first motor 10 and the first retarder 11
Can, certainly, the first rotating mechanism can also be connect simultaneously with first motor 10 and the first retarder 11.First rotating mechanism can
The first retarder 11 and first motor 10 is driven to rotate relative to the first elevating mechanism.Body trunk 3 can be stretched up and down as a result,
Contracting is equivalent to the height of adjustment human body upper body namely the height of arm component 4, and then is adapted to the shelf of different height size
Drum 5.Also, the upper half of body trunk 3 can also be reversed relative to lower half, adjust two arm components 4 relative to shelf
The lateral position of drum 5 controls the lateral position of left and right Drumstick frame 20 in combination with first motor 10, is especially needing significantly
Cooperate first motor 10 when rotating left and right Drumstick frame 20.
Specifically, in the present embodiment, the first elevating mechanism includes third cylinder 9, and the first rotating mechanism includes encapsulating shell
17, column 12 and third motor 18.The bottom end of third cylinder 9 is fixed on pedestal 1, and the piston rod of third cylinder 9 stretches out upwards
And connect with the bottom end of third motor 18, the projecting shaft of third motor 18 is stretched out and is connect with the bottom end of column 12, column upwards
12 top is connect with encapsulating shell 17, and the synchronous belt drive mechanism of the left and right sides is located in encapsulating shell 17, and the first of the left and right sides
Retarder 11 is fixed on encapsulating shell 17, i.e., the first retarder 11 is directly anchored on body trunk 3, the first motor 10 of two sides
It is fixed on the first ipsilateral retarder 11, i.e., first motor 10 is indirectly fixed on body trunk 3 by the first retarder 11.
The first retarder 11 and first motor 10 are fixed on the two sides of body trunk 3 as a result,.When encapsulating shell 17 is larger, first slows down
Device 11 and first motor 10 are fixed on the lower section of encapsulating shell 17, are also considered as at this time positioned at the two sides of body trunk 3.
Certainly, the present invention is not limited to this, in other embodiments, can also remove column 12 and stretching third motor 18
Shaft is directly connect with encapsulating shell 17, in general, the projecting shaft of third motor 18 can directly or indirectly (passing through column 12) with
Encapsulating shell 17 connects.Alternatively, the first elevating mechanism and the first rotating mechanism can also be other different structures, alternatively, with above-mentioned reality
It is opposite to apply mode, the first rotating mechanism is connected between pedestal 1 and the first elevating mechanism, can drive the first elevating mechanism phase
Pedestal 1 is rotated, the first elevating mechanism is connected between 10/ first retarder 11 of the first rotating mechanism and first motor, energy
The first retarder 11 and first motor 10 is enough driven to move up and down relative to the first rotating mechanism.
Further, referring to Fig. 2 and Fig. 5, robot further includes lower limb component 2, the second elevating mechanism and the second rotating mechanism.
Second rotating mechanism is connected between pedestal 1 and the second elevating mechanism, it is preferable that and the second rotating mechanism is located at 1 top of pedestal, the
Two elevating mechanisms are located above the second rotating mechanism, and the second rotating mechanism can drive the second elevating mechanism relative to 1 turn of pedestal
It is dynamic.Second elevating mechanism is connected between the second rotating mechanism and the upper end of lower limb component 2, can drive the upper of lower limb component 2
End moves up and down relative to the second rotating mechanism, that is, the height of adjustment human leg.The second elevating mechanism controls as a result,
Lower limb component 2 is whole to be lifted or declines, for stepping on drum/small cymbals.Second rotating mechanism is for controlling lower limb component 2 relative to body master
Dry 3 rotation, to adapt to the position of lower section drum/small cymbals or multiple drum/small cymbals that can step in different frame drums 5.The machine of the present embodiment
Device people has added lower limb component 2 relative to existing robot, can either beat a drum/small cymbals can also step on drum/small cymbals, it more adapts to modern
The role of drummer.
Specifically, in the present embodiment, the second rotating mechanism includes pedestal 6, the 4th motor 7 and third retarder 8, and second
Elevating mechanism includes support 35, the 4th cylinder 34 and lifting seat 32.Pedestal 6 is inverted U shape, and is supported on pedestal 1, third retarder
8 are fixed on pedestal 6 and (are preferably fixed on the top plate of pedestal 6) in pedestal 6, and the 4th motor 7 is located at third retarder 8
Lower section and be fixed on third retarder 8, i.e. the 4th motor 7 and third retarder 8 are indirectly fixed to pedestal 1 by pedestal 6
On.The projecting shaft of 4th motor 7 stretches out upwards, the output axis connection of the input shaft of third retarder 8 and the 4th motor 7, third
The output shaft of retarder 8 stretches out upwards and the through-hole passed through on pedestal 6 is connect with support 35,32 company of can slide up and down of lifting seat
Connect on support 35, the 4th cylinder 34 is supported in support 35, the piston rod of the 4th cylinder 34 stretch out upwards and with lifting seat 32
Bottom end fix, the top of lifting seat 32 and the upper end of lower limb component 2 are hinged.The output shaft rotation of the 4th motor 7 is through the as a result,
The input shaft of three retarders 8 drives the output shaft rotation of third retarder 8, and the output shaft rotation of third retarder 8 drives support
35 rotations, the rotation of support 35 drive lifting seat 32 to rotate, and the rotation of lifting seat 32 drives 2 unitary rotation of lower limb component.4th cylinder
34 piston rod, which moves up and down, drives lifting seat 32 to move up and down, and then the upper end of lower limb component 2 is driven to move up and down.
Preferably, support 35 and lifting seat 32 are U-frame, and the two side walls of support 35 are equipped with corresponding two and erect
The two side walls outside of straight slideway, lifting seat 32 is equipped with corresponding two guide pads, and two guide pads slide correspondingly
It is arranged in two slideways.
Certainly, the present invention is not limited to this, and in other embodiments, the 4th motor 7 and third retarder 8 can be fixed directly
On pedestal 1, the 4th motor 7 and third retarder 8 can also be directly or indirectly fixed on body trunk 3.Also, the second lifting
Mechanism and the second rotating mechanism can be other structures, alternatively, opposite with above embodiment, the second elevating mechanism is connected to base
Between seat 1 and the second rotating mechanism, the second rotating mechanism can be driven to move up and down relative to pedestal 1, the second rotating mechanism connects
It connects between the second elevating mechanism and lower limb component 2, lower limb component 2 can be driven to rotate relative to the second elevating mechanism.
Further, in the present embodiment, referring to Fig. 5, lower limb component 2 includes huckle 31, calf 29, pedal 26, the
Five cylinders 33, the 6th cylinder 30 and the 7th cylinder 28, huckle 31, calf 29 and pedal 26 imitate respectively human body thigh,
Shank and foot.Specifically, the upper end of huckle 31 and lifting seat 32 are hinged, and the lower end of huckle 31 and the upper end of calf 29 are cut with scissors
It connects, the lower end of calf 29 and the rear end of pedal 26 are hinged, and pedal 26 extends forward for stepping drumstick pedal 26, the 5th cylinder
33 both ends are hinged with lifting seat 32 and huckle 31 respectively, the both ends of the 6th cylinder 30 respectively with huckle 31 and calf 29
Hingedly, the both ends of the 7th cylinder 28 are hinged with calf 29 and pedal 26 respectively.The junction of 5th cylinder 33 and huckle 31
Positioned at the side of the close calf 29 of lifting seat 32 Yu 31 junction of huckle, the 6th cylinder 30 is by huckle 31 and calf
29 connections form calf 29 and bend downward relative to huckle 31, and the junction of the 7th cylinder 28 and pedal 26 is located at calf
29 with the side of the separate body trunk 3 of the junction of pedal 26.5th cylinder 33 driving huckle 31 and lifting seat 32 as a result,
Between relative motion be equivalent to lifting and falling for human thigh, the 6th cylinder 30 drives between huckle 31 and calf 29
Relative motion be equivalent to human body thigh and shank bending or stretch, the 7th cylinder 28 drive calf 29 and pedal 26 it
Between relative motion be equivalent to the foot of human body and lifting and fall.
To sum up, by the design of above-mentioned 5th cylinder 33, the 6th cylinder 30 and the 7th cylinder 28, flexible mechanical leg is formed,
So that the movement of the leg of the robot is more flexible.
In the present embodiment, huckle 31 includes two spaced thigh plates, and position is distinguished at the both ends of the 5th cylinder 33
It is neutralized between two thigh plates in U-frame (lifting seat 32).Calf 29 includes two spaced calf plates, the 6th cylinder
30 both ends are located between two thigh plates and two calf plates.
To sum up, the robot of the present embodiment, the work of the first elevating mechanism, third cylinder 9 work, move down on piston rod
It is dynamic, adjust machine upper part of human body whole height；The work of first rotating mechanism, third motor 18 work, and column 12 is driven to rotate, thus
Machine upper part of human body is rotated, position of two arm components 4 relative to frame drum 5 is adjusted.First motor 10 works, and passes through first
Retarder 11 slows down, and synchronized tape handler is driven, and imparts power to support shaft 13, what support shaft 13 support
Second retarder 15 and the second motor 14 and arm component 4 are rotated integrally as support shaft 13 rotates together, and then are adjusted
Position of the arm component 4 relative to frame drum 5.The work of second motor 14, imparts power to large arm by the second retarder 15
Portion 23 rotates big arm 23 around the upper end, is mounted on the first cylinder 24 on big arm 23 with the rotation of big arm 23, and first
The piston rod of cylinder 24 is mobile, drives small arm 25 to start to rotate, the second cylinder 22 mounted thereto is with movement, the second gas
The piston rod of cylinder 22 is mobile, and Drumstick frame 20 is driven to start to rotate, and the rotation of Drumstick frame 20 drives arm drumstick 21 therein to rotate, on
Lower percussion drum surface completes movement of beating a drum.Second rotating mechanism work, the 4th motor 7 work, is made entirely by third retarder 8
Lower limb component 2 rotates, to adjust the relative position of lower limb component 2 Yu frame drum 5.It is moved down on the piston rod of 4th cylinder 34
It is dynamic, it is moved up and down with lower limb component 2 is whole, the piston rod of the 5th cylinder 33 is mobile, rotates huckle 31, the 6th cylinder 30
Piston rod stretching motion, drive calf 29 to rotate, the piston rod of the 7th cylinder 28 is mobile, rotates pedal 26, drives down
Limb drumstick 27 taps drum surface, and completion, which is stepped on, agitates work.
The height for adjusting robot arm component 4 by the first elevating mechanism as a result, adjusts machine by the first rotating mechanism
Device people's entirety direction adjusts the distance of two arm components, 4 front end by first motor 10 and the first retarder 11, passes through the second electricity
Machine 14 and the whole front-rear position of the second retarder 15 adjustment arm component 4 adjust big arm 23 and small by the first cylinder 24
Angle between arm 25 adjusts the angle between small arm 25 and Drumstick frame 20 by the second cylinder 22 and (adjusts small arm
Angle between 25 and drumstick), the height of lower limb component 2 is adjusted by the second elevating mechanism, is adjusted by the second rotating mechanism
Left-right position of the lower limb component 2 relative to body trunk 3 adjusts huckle 31 relative to body trunk 3 by the 5th cylinder 33
Angle, the angle between huckle 31 and calf 29 is adjusted by the 6th cylinder 30, passes through the 7th cylinder 28 and adjusts shank
Angle between portion 29 and pedal 26 can complete highly difficult performance to adapt to the frame drum 5 of different dimensions, and
Arm and lower extremity movement are more flexible when performance.Wherein, it is appreciated that by the driving of rotation and the movement of each different directions,
Big arm 23, small arm 25, Drumstick frame 20, huckle 31, calf 29 and pedal 26 are the movements done spatially.
In addition, robot may include intelligence system, people can write different code commands by computer, then convey
To intelligence system, intelligence system controls the movement of each motor and cylinder according to code command, and then controls arm component 4 under
Limb component 2 simulates the beating a drum of drummer/small cymbals and steps on the movement of drum/small cymbals, and band is cooperated normally to play.
The robot architecture of the present embodiment is simple, and manufacturing cost is low, easy to operate, is suitble to promote the use of.
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (4)
1. it is a kind of for playing the robot of frame drum, including pedestal (1), the body trunk being supported on the pedestal (1)
(3) and be connected to the body trunk (3) the left and right sides two arm components (4), which is characterized in that also wrap
It includes:
Be separately positioned on the left and right sides of the body trunk (3) two first motors (10) and two the first retarders
(11)；
Wherein, the input shaft of two first retarders (11) connects with the output shaft of the ipsilateral first motor (10) respectively
It connects, the output shaft of two first retarders (11) is in a manner of driving the ipsilateral arm component (4) left-right rotation
It is connect with the arm component (4)；
The output shaft of two first retarders (11) stretches out upwards, and two arm components (4) all have and stretch downwards
Support shaft (13) out passes through between the output shaft and the ipsilateral support shaft (13) of two first retarders (11)
Synchronous belt drive mechanism is connected by power；
The arm component (4) further includes the second motor (14), the second retarder (15), big arm (23), small arm (25),
One cylinder (24), the second cylinder (22) and Drumstick frame (20), second motor (14) and second retarder (15) are fixed
Together, the top of the support shaft (13) and second motor (14) and/or the second retarder (15) are directly or indirectly solid
Fixed, the output shaft of second motor (14) crosses out and the input axis connection with second retarder (15), and described the
The output shaft of two retarders (15) is crossed out and is fixedly connected with the top of the big arm (23), the big arm (23)
Lower part and the top of the small arm (25) are hinged, and the lower part and the Drumstick frame (20) of the small arm (25) are hingedly, described
The both ends of first cylinder (24) respectively with the big arm (23) and the small arm (25) hingedly, second cylinder (22)
Both ends are hinged with the small arm (25) and the Drumstick frame (20) respectively；
The junction of second cylinder (22) and the Drumstick frame (20) is located at the small arm (25) and the Drumstick frame
(20) side far from the big arm (23) of junction；
It is described for play the robot of frame drum to further include lower limb component (2), the second elevating mechanism and the second rotating mechanism；
Wherein, second elevating mechanism is connected between the pedestal (1) and second rotating mechanism, can be driven described
Second rotating mechanism moves up and down relative to the pedestal (1), and second rotating mechanism is connected to second elevating mechanism
Between the lower limb component (2), the lower limb component (2) can be driven to rotate relative to second elevating mechanism；Alternatively,
Second rotating mechanism is connected between the pedestal (1) and second elevating mechanism, can drive second lifting
Mechanism is rotated relative to the pedestal (1), and second elevating mechanism is connected to second rotating mechanism and the lower limb group
Between the upper end of part (2), the upper end of the lower limb component (2) can be driven to move up and down relative to second rotating mechanism；
Second rotating mechanism includes the 4th motor (7) and third retarder (8), and second elevating mechanism includes support
(35), the 4th cylinder (34) and lifting seat (32), the 4th motor (7) and the third retarder (8) are directly or indirectly solid
It is scheduled on the pedestal (1) or the body trunk (3), the projecting shaft of the 4th motor (7) stretches out upwards, and the third subtracts
The input shaft of fast device (8) and the output axis connection of the 4th motor (7), the output shaft of the third retarder (8) are stretched upwards
It connecting out and with the support (35), the lifting seat (32), which can slide up and down, to be connected on the support (35), and described
Four cylinders (34) are supported in the support (35), the piston rod of the 4th cylinder (34) stretch out upwards and with the lifting seat
(32) fixed, the upper end of the lifting seat (32) and the lower limb component (2) is hinged；
The lower limb component (2) includes huckle (31), calf (29), pedal (26), the 5th cylinder (33), the 6th cylinder
(30) and the 7th cylinder (28), the upper end and the lifting seat (32) of the huckle (31) hingedly, the huckle (31)
The upper end of lower end and the calf (29) is hinged, and the lower end of the calf (29) and the rear end of the pedal (26) are hinged,
The both ends of 5th cylinder (33) respectively with the lifting seat (32) and the huckle (31) hingedly, the 6th cylinder
(30) both ends respectively with the huckle (31) and the calf (29) hingedly, the both ends of the 7th cylinder (28) are distinguished
It is hinged with the calf (29) and the pedal (26).
2. according to claim 1 for playing the robot of frame drum, which is characterized in that
The first motor (10) and first retarder (11) are fixed together, and the body trunk (3) includes first liter
Descending mechanism and the first rotating mechanism；
Wherein, first elevating mechanism is connected between the pedestal (1) and first rotating mechanism, can be driven described
First rotating mechanism moves up and down relative to the pedestal (1), and first rotating mechanism is connected to first elevating mechanism
Between first motor (10)/first retarder (11), first retarder (11) and first electricity can be driven
Machine (10) is rotated relative to first elevating mechanism；Or first rotating mechanism is connected to the pedestal (1) and described
Between first elevating mechanism, first elevating mechanism can be driven to rotate relative to the pedestal (1), first elevator
Structure is connected between first rotating mechanism and the first motor (10)/first retarder (11), can drive described
One speed reducer (11) and the first motor (10) are moved up and down relative to first rotating mechanism.
3. according to claim 2 for playing the robot of frame drum, which is characterized in that
First elevating mechanism includes third cylinder (9), first rotating mechanism include encapsulating shell (17), column (12) and
Third motor (18)；
The bottom end of the third cylinder (9) is fixed on the pedestal (1), and the piston rod of the third cylinder (9) stretches out upwards
And connect with the bottom end of the third motor (18), the projecting shaft of the third motor (18) stretch out upwards and with the column
(12) bottom end connection, the top of the column (12) are connect with the encapsulating shell (17), and the synchronous belt of the left and right sides passes
Motivation structure is located in the encapsulating shell (17), and first retarder (11) of the left and right sides is fixed on the encapsulating shell (17)
On.
4. according to claim 1 for playing the robot of frame drum, which is characterized in that
The support (35) and the lifting seat (32) are U-frame, and the two side walls of the support (35) are equipped with corresponding
Two vertical slideways, be equipped with corresponding two guide pads on the outside of the two side walls of the lifting seat (32), led described in two
It is slidably arranged in correspondingly to block in two slideways.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710423038.3A CN107253200B (en) | 2017-06-07 | 2017-06-07 | It is a kind of for playing the robot of frame drum |
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| CN201710423038.3A CN107253200B (en) | 2017-06-07 | 2017-06-07 | It is a kind of for playing the robot of frame drum |
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| CN107253200B true CN107253200B (en) | 2019-05-10 |
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| CN201710423038.3A Expired - Fee Related CN107253200B (en) | 2017-06-07 | 2017-06-07 | It is a kind of for playing the robot of frame drum |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291067A (en) * | 2018-11-26 | 2019-02-01 | 华南理工大学 | It is a kind of to impart knowledge to students, perform dual-purpose robot and its working method of beating a drum |
| CN111243560B (en) * | 2020-01-13 | 2023-06-20 | 安徽芜湖宝丰输送机械有限公司 | Knocking equipment based on chain conveying control |
| CN112847389A (en) * | 2020-12-31 | 2021-05-28 | 滨州学院 | Drum beating robot |
| CN112917494B (en) * | 2021-02-02 | 2022-03-04 | 南通理工学院 | Drum set playing robot with multiple support arms having recognition function and playing method thereof |
| CN113386157B (en) * | 2021-08-18 | 2021-11-16 | 北京木甲天枢文化科技有限公司 | Playing structure of robot musician, drum-beating robot and control method thereof |
| CN115488908A (en) * | 2022-11-17 | 2022-12-20 | 之江实验室 | Robot lower limb and robot |
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| CN201120159Y (en) * | 2007-11-30 | 2008-09-24 | 上海市静安区青少年活动中心 | Rataplan robot |
| CN201342239Y (en) * | 2008-12-24 | 2009-11-11 | 席风春 | Robot doll with hands and feet capable of playing drum |
| CN201389344Y (en) * | 2008-12-31 | 2010-01-27 | 席风春 | Flexible hyperactivity type drum machine doll |
| CN202191696U (en) * | 2010-12-22 | 2012-04-18 | 山东大陆科技有限公司 | Dance robot |
| CN205799537U (en) * | 2016-07-11 | 2016-12-14 | 中国地质大学（武汉） | A kind of robotic's structure playing dulcimer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201120159Y (en) * | 2007-11-30 | 2008-09-24 | 上海市静安区青少年活动中心 | Rataplan robot |
| CN201342239Y (en) * | 2008-12-24 | 2009-11-11 | 席风春 | Robot doll with hands and feet capable of playing drum |
| CN201389344Y (en) * | 2008-12-31 | 2010-01-27 | 席风春 | Flexible hyperactivity type drum machine doll |
| CN202191696U (en) * | 2010-12-22 | 2012-04-18 | 山东大陆科技有限公司 | Dance robot |
| CN205799537U (en) * | 2016-07-11 | 2016-12-14 | 中国地质大学（武汉） | A kind of robotic's structure playing dulcimer |
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