CN107263504A - A kind of mechanical device of playing piano - Google Patents
A kind of mechanical device of playing piano Download PDFInfo
- Publication number
- CN107263504A CN107263504A CN201710619148.7A CN201710619148A CN107263504A CN 107263504 A CN107263504 A CN 107263504A CN 201710619148 A CN201710619148 A CN 201710619148A CN 107263504 A CN107263504 A CN 107263504A
- Authority
- CN
- China
- Prior art keywords
- drive device
- sliding block
- mechanical
- arm
- fixing end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 17
- 210000000245 forearm Anatomy 0.000 claims description 23
- 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 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 8
- 210000003811 finger Anatomy 0.000 description 45
- 210000003813 thumb Anatomy 0.000 description 23
- 210000005224 forefinger Anatomy 0.000 description 8
- 210000004932 little finger Anatomy 0.000 description 8
- 238000004088 simulation Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 210000001037 metacarpus Anatomy 0.000 description 3
- 238000010079 rubber tapping Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to robotic technology field, more particularly to a kind of mechanical device of playing piano.It includes frame, two or so sliding blocks, two mechanical arms, two manipulators, two front and rear sliding blocks, left and right slide bar, two or so motors and two or so timing belts；The both sides of frame are connected with a front and rear sliding block respectively；Left and right slide bar is arranged between two front and rear sliding blocks；The front-end and back-end of sliding block are respectively arranged with left and right motor and prominent axle before and after each, and each left and right timing belt is arranged on the prominent axle of the output shaft of the left and right motor of a front and rear sliding block and another front and rear sliding block；Each left and right sliding block empty set fixes connected on the slide bar of left and right, and with one or so timing belt；The shoulder of each mechanical arm is connected with one or so sliding block, and the wrist of each mechanical arm is connected with a manipulator.A kind of mechanical device of playing piano of the present invention, the scope that moves left and right of single mechanical arm is equal to piano developed width, and then the true performance scene for simulating piano.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of mechanical device of playing piano.
Background technology
The research and development of robot have been directed to industry-by-industry, including music field with application.Simulation player playing piano,
The robot of electronic organ etc. can accurately tap steel by the action moved to simulate pianist of control machinery device
The key of qin, realization is performed music.
A kind of piano performance robot based on smart mobile phone of prior art, using horizontal mechanism so that mechanical arm level
It is mobile, and horizontal mobile mechanism includes independently driving a machinery between two groups of left and right, two groups of left and right horizontal mobile mechanism
Arm is moved horizontally, and the horizontal moving ranges of the two groups of horizontal mobile mechanisms in left and right account for the half of piano developed width respectively；Mechanical arm
Using connecting rod, montant formation ancon joint, using connecting rod and U-shaped support formation wrist joint, in actual use, when connecting rod with
Angular adjustment between montant or connecting rod and U-shaped support in place after, locked with wing nut；Manipulator pulls modeling using steering wheel
Material drawstring causes finger-joint activity；Fingerboard side plate is matched for clamping tightly using the pinching end of disk briquetting and clamp arm.
The deficiency that the above-mentioned piano performance robot based on smart mobile phone is present is：1st, each mechanical arm is moved horizontally
Scope is the half of piano developed width, and this causes the limit on the right-right-hand limit position of the mechanical arm on the left side to be the centre of piano, the machine on the right
The limit on the left position of tool arm is also the centre of piano, it is impossible to which real simulation pianist really plays scene；2nd, mechanical arm
Ancon and the angle of bend of wrist be that, by manual adjustment, automaticity and precision be not high；3rd, the finger of manipulator
By pulling plastic pull tie to realize, the dynamics for tapping fingerboard is not enough, causes the sounding effect of piano to be affected；4th, utilize
The position that the clamping engagement of disk briquetting and clamp arm is clamped between piano side plate, two disks is fixed so that whole piano is drilled
The piano that robot is only applicable to install the piano performance robot is played, the scope of application is reduced；5th, it can not realize foot-operated
Slap function.
The content of the invention
(1) technical problem to be solved
It is an object of the invention to provide a kind of mechanical device of playing piano, the left and right to solve single mechanical arm is moved
Dynamic scope is not equal to piano developed width, in turn results in the problem of can not truly simulating piano performance scene.
(2) technical scheme
In order to achieve the above object, the main technical schemes that the present invention is used include：
The present invention provides a kind of mechanical device of playing piano.Specifically, the mechanical device of the playing piano include frame,
Two or so drive devices, two mechanical arms and two manipulators, shoulder and mechanical arm of each mechanical arm including mechanical arm
Wrist, two or so drive devices include two front and rear sliding blocks, left and right slide bar, two or so motors, two or so timing belts and
Two or so sliding blocks；
The both sides of frame are connected with a front and rear sliding block respectively；
Left and right slide bar is arranged between two front and rear sliding blocks；
The front-end and back-end of sliding block are respectively arranged with left and right motor and prominent axle before and after each, and each left and right timing belt is arranged on
On the output shaft of the left and right motor of one front and rear sliding block and the prominent axle of another front and rear sliding block, two left and right timing belts are parallel
Arrangement；
Each left and right sliding block empty set fixes connected on the slide bar of left and right, and with one or so timing belt；
The shoulder of each mechanical arm is connected with one or so sliding block, and the wrist of each mechanical arm is connected with a manipulator.
Further, the mechanical device of playing piano of the invention also includes：
Front and rear drive device, front and rear drive device includes the output of the fixing end and front and rear drive device of front and rear drive device
End, the fixing end of front and rear drive device, the output end of front and rear drive device are connected with front and rear sliding block, frame respectively, front and rear sliding block
With respect to frame rectilinear movement.
Further, front and rear drive device includes：Front and rear motor, drive coordination band, two front and rear synchronizing bars, before and after two
Timing belt and two front and rear slide bars；
Two front and rear slide bars are separately fixed at the both sides of frame；
The rear and front end of frame is rotated respectively is provided with two front and rear synchronizing bars, and front and rear motor is provided with frame；
Drive coordination band is disposed therein between a front and rear synchronizing bar and the output shaft of front and rear motor；
Timing belt is arranged between two front and rear synchronizing bars before and after each；
Sliding block empty set is connected on a front and rear slide bar, and with a front and rear timing belt before and after each.
Further, the mechanical device of playing piano of the invention also includes：
Vertical drive device and pedestal；
Vertical drive device includes the fixing end of vertical drive device and the mobile terminal of vertical drive device, vertical driving dress
The fixing end put, the mobile terminal of vertical drive device are connected with pedestal, frame respectively, and the mobile terminal of vertical drive device is erected relatively
The fixing end rectilinear movement of straight drive device.
Further, each mechanical arm includes big arm, small arm and forearm drive device；
Forearm drive device includes the fixing end of forearm drive device and the output end of forearm drive device, forearm driving dress
Fixing end, the output end of forearm drive device put are connected with big arm, small arm respectively, and the big relatively small arm of arm, which is rotated, to be connected
Connect.
Further, each mechanical arm also includes shoulder drive device；
Each shoulder drive device includes the fixing end of shoulder drive device and the output end of shoulder drive device, and shoulder drives
Fixing end, the output end of shoulder drive device of dynamic device are connected with one big arm, one or so sliding block respectively, each large arm
Portion rotates connection relative to one or so sliding block.
Further, each mechanical arm also includes left and right steering wheel and up and down steering wheel；
Each small arm connects a manipulator by one or so steering wheel and about one steering wheel.
Further, manipulator includes palmar hand, at least one finger section and matched at least with least one finger section
One finger actuation device；
Each finger actuation device includes the fixing end of finger actuation device and the output end of finger actuation device, and finger drives
Fixing end, the output end of finger actuation device of dynamic device are connected with palmar hand, a finger section respectively, finger section palm opposite
Portion rotates connection.
Further, the mechanical device of playing piano of the invention also includes：
The foot-operated palm and foot drive device；
Foot drive device includes the fixing end of foot drive device and the mobile terminal of foot drive device, rides driving dress
The fixing end put, the mobile terminal of foot drive device are connected with pedestal, the foot-operated palm respectively, and the mobile terminal of foot drive device is relative
The fixing end rectilinear movement of foot drive device.
Further, vertical drive device includes vertical motor, deceleration device, ball and leading screw；
The fuselage of vertical motor is fixedly connected with pedestal, and the output shaft of leading screw and vertical motor is connected by speed brake setting
Connect, ball is fixedly connected with frame.
(3) beneficial effect
The beneficial effects of the invention are as follows：
The mechanical device of the playing piano of the present invention, two front and rear sliding blocks are separately positioned on the both sides of frame, and left and right is synchronous
Band is arranged in the output of the left and right motor of a front and rear sliding block and the prominent axle of another front and rear sliding block, and each left and right sliding block with
One or so timing belt is fixed, and the sliding scale of each left and right sliding block is the distance between frame both sides, the as width of piano.
The mechanical device of the playing piano of the present invention, each left and right sliding block is fixedly connected with one or so timing belt respectively,
Timing belt is as the input of left and right sliding block, and two or so timing belts parallel arrangement, and each left and right sliding block is slidably inputed not
Mutual interference can be caused.
The mechanical device of the playing piano of the present invention, left and right sliding block empty set is on the slide bar of left and right, left and right slider support or so
The weight of sliding block, and the slip of left and right sliding block is play the guiding role.
The mechanical device of the playing piano of the present invention, left and right sliding block is connected with mechanical arm, and left and right sliding block empty set is slided in left and right
On bar, left and right slide bar causes mechanical arm to keep balance by left and right sliding block.
The mechanical device of the playing piano of the present invention, two or so sliding blocks are arranged on the slide bar of left and right, wherein, one or so
The front end of sliding block and it is oppositely arranged on the left and right timing belt of front end and is connected, the rear end of another left and right sliding block and after being oppositely arranged on
The left and right timing belt at end is connected, and two or so sliding blocks ensure simultaneously on the premise of the width that moving range is equal to piano is ensured
Distance to fingerboard is consistent, and is more really simulated and real to be played scene.
To sum up, a kind of mechanical device of playing piano of the invention, the scope that moves left and right of single mechanical arm is equal to piano
Developed width, truly simulates the performance scene of piano.
Brief description of the drawings
Fig. 1 is the structural representation of the mechanical device of playing piano in embodiment；
Fig. 2 removes the structural representation of part after the sliding block of left and right for left and right drive device in Fig. 1 and vertical drive device
Figure；
Fig. 3 is the structural representation of mechanical arm, manipulator and left and right sliding block part in Fig. 1.
【Description of reference numerals】
In figure：
1：Frame；
2：Left and right drive device；21：Front and rear sliding block；22：Left and right motor；23：Prominent axle；24：Left and right slide bar；25：Left and right is same
Walk band；26：Left and right sliding block；
3：Front and rear drive device；31：Front and rear motor；32：Drive coordination band；33：Front and rear synchronizing bar；34：Front and rear timing belt；
35：Front and rear slide bar；
4：Pedestal；
5：Vertical drive device；51：Vertical motor；52：Leading screw；53：Ball；
6：Mechanical arm；61：Big arm；62：Small arm；63：Forearm drive device；64：Shoulder drive device；65：Left and right
Steering wheel；66：Steering wheel up and down；
7：Manipulator；71：Palmar hand；72：Thumb section；73：Thumb drives device；
8：The foot-operated palm；
9：Foot drive device.
Embodiment
In order to preferably explain the present invention, in order to understand, below in conjunction with the accompanying drawings, by embodiment, to this hair
It is bright to be described in detail.
In the present embodiment, left and right refers to towards the left side and the right during piano, front and rear finger towards the front and back during piano,
Refer to up and down above and below on plummet direction, both sides refer to the left and right sides, two ends refer to rear and front end.
In the present embodiment, shoulder refers to the connection between big arm 61 and left and right sliding block 26, turn of correspondence simulation shoulders of human body
Dynamic function, ancon refers to the connection between big arm 61 and small arm 62, and the rotating function of correspondence simulation human body ancon, wrist refers to hand
Connection between metacarpus 71 and small arm 62, correspondence simulates the left-right rotation function of human body wrist and rotates upwardly and downwardly function.
Reference picture 1- Fig. 3, the mechanical device of the playing piano of the present embodiment at least includes：Frame 1, two or so driving dresses
Put 2, two mechanical arms 6 and two manipulators 7.
Each mechanical arm 6 includes the shoulder of mechanical arm and the wrist of mechanical arm, and the shoulder of mechanical arm refers to the correspondence of mechanical arm 6
One end of shoulders of human body is simulated, the wrist of mechanical arm refers to one end of the correspondence simulation human body wrist of mechanical arm 6.
The mechanical device of the playing piano of the present embodiment can realize position adjustments of the mechanical arm 6 in left and right directions.
Two or so drive devices 2 include two front and rear sliding blocks 21, left and right slide bar 24, two or so motors 22, two left sides
Right timing belt 25 and two or so sliding blocks 26.
The both sides of frame 1 are connected with a front and rear sliding block 21 respectively.Connection herein can be to be directly connected to, or
It is indirectly connected with.In the present embodiment, the both sides of frame 1 are indirectly connected with a front and rear sliding block 21 respectively.
Left and right slide bar 24 is arranged between two front and rear sliding blocks 21.
The front-end and back-end of sliding block 21 are respectively arranged with left and right motor 22 and prominent axle 23, each left and right timing belt before and after each
25 are arranged on the prominent axle 23 of the output shaft of the left and right motor 22 of a front and rear sliding block 21 and another front and rear sliding block 21, two institutes
Left and right timing belt 25 is stated to be arranged in parallel.Certainly, it is fixed on the output shaft of left and right motor 22 and on the prominent axle 23 of front and rear sliding block 21
Left and right Toothed belt pulley is provided with, left and right Toothed belt pulley is used cooperatively with left and right timing belt 25.Left and right motor 22 can be rotated forward
And reversion, and then realize the rotation of the both direction of left and right timing belt 25.
The empty set of each left and right sliding block 26 fixes connected on left and right slide bar 24, and with one or so timing belt 25.Slide left and right
Bar 24 is used to left and right sliding block 26 is supported and is oriented to.In the present embodiment, the quantity of left and right slide bar 24 is two, when left and right sliding block 26
On the power born it is uneven when, two or so slide bars 24 can ensure that left and right sliding block 26 keeps balance.The two of left and right timing belt 25
The rotation in individual direction can cause left and right sliding block 26 mobile to the left or to the right.
The shoulder of each mechanical arm is connected with one or so sliding block 26, and the wrist of each mechanical arm connects with a manipulator 7
Connect.
When left and right motor 22 is opened, the rotation of the output shaft of left and right motor 22 by left and right timing belt 25 cause with or so it is synchronous
Horizontally slipped with the left and right sliding block 26 that 25 are fixedly connected, and then the mechanical arm 6 being connected with left and right sliding block 26 is moved left and right, its
In, two or so motors 22 control horizontally slipping for one or so sliding block 26 respectively.
The mechanical device of the playing piano of the present embodiment, two front and rear sliding blocks 21 are separately positioned on the both sides of frame 1, left and right
Timing belt 25 is arranged in the output of the left and right motor 22 of a front and rear sliding block 21 and the prominent axle 23 of another front and rear sliding block 21, and
Each left and right sliding block 26 is fixed with one or so timing belt 25, and the sliding scale of each left and right sliding block 26 is between the both sides of frame 1
Distance, as piano width.
The mechanical device of the playing piano of the present embodiment, each left and right sliding block 26 is fixed with one or so timing belt 25 respectively
Connection, timing belt is as the input of left and right sliding block 26, and two or so timing belts 25 are arranged in parallel, each left and right sliding block 26
Slidably input and do not result in mutual interference.
The mechanical device of the playing piano of the present embodiment, the empty set of left and right sliding block 26 is on left and right slide bar 24, left and right sliding block 26
The weight of left and right sliding block 26 is supported, and the slip of left and right sliding block 26 is play the guiding role.
The mechanical device of the playing piano of the present embodiment, left and right sliding block 26 is connected with mechanical arm 6, and the empty set of left and right sliding block 26 exists
On left and right slide bar 24, left and right slide bar 24 causes mechanical arm 6 to keep balancing by left and right sliding block 26.
The mechanical device of the playing piano of the present embodiment, two or so sliding blocks 26 are arranged on left and right slide bar 24, wherein, one
The front end of individual or so sliding block 26 and be oppositely arranged on front end left and right timing belt 25 be connected, the rear end of another left and right sliding block 26 with
The left and right timing belt 25 for being oppositely arranged on rear end is connected, and two or so sliding blocks 26 are ensureing moving range equal to the width of piano
Under the premise of, while ensure that the distance of fingerboard is consistent, more really simulate real performance scene.
The mechanical device of the playing piano of the present embodiment can realize position adjustments of the mechanical arm 6 in fore-and-aft direction.
Specifically, the both sides of frame 1 are connected by front and rear drive device 3 with front and rear sliding block 21.
Front and rear drive device 3 includes the output end of the fixing end and front and rear drive device of front and rear drive device, front and rear driving
The fixing end of device, the output end of front and rear drive device are connected with front and rear sliding block 21, frame 1 respectively, and front and rear sliding block 21 is with respect to machine
Frame 1 moves linearly.
More specifically, front and rear drive device 3 includes：Front and rear motor 31, drive coordination band 32, two front and rear synchronizing bars 33,
Two front and rear timing belts 34 and two front and rear slide bars 35.
Two front and rear slide bars 35 are separately fixed at the both sides of frame 1.
The rear and front end of frame 1 is rotated respectively is provided with two front and rear synchronizing bars 33, and front and rear motor is provided with frame 1
31。
Drive coordination band 32 is disposed therein between the output shaft of front and rear a synchronizing bar 33 and front and rear motor 31.Certainly,
The timing belt matched with drive coordination band 32 is provided with the output shaft of front and rear motor 31 and one of them front and rear synchronizing bar 33
Belt wheel, is to be fixedly connected between Toothed belt pulley and the output shaft of front and rear motor 31 and one of them front and rear synchronizing bar 33.It is front and rear
Motor 31 can realize reversion and main story, and then realize the rotation of the front and rear both direction of timing belt 34.
Timing belt 34 is arranged between two front and rear synchronizing bars 33 before and after each.Now, two front and rear timing belts 34 are distinguished
Positioned at the both sides of frame 1.The both sides of synchronizing bar 33 are respectively fixed with two front and rear Toothed belt pulleys, each timing belt before and after each
Coordinate with the front and rear timing belt 34 on the front and rear synchronizing bar 33 in side two.Before four on two front and rear synchronizing bars 33
The basic parameter of Toothed belt pulley is the same afterwards.
The empty set of sliding block 21 is connected on a front and rear slide bar 35, and with a front and rear timing belt 34 before and after each.Now, it is preceding
Sliding block 21 plays the starting power input action of sliding block 21 before and after support guide, front and rear 34 pairs of timing belt before and after 35 pairs of slide bar afterwards.Before
The rotation of the both direction of timing belt 34 can cause front and rear sliding block 21 to slide forward or backward afterwards.
Left and right slide bar 24 is arranged between two front and rear sliding blocks 21, and two front and rear sliding blocks 21 can be caused in front and rear sliding block 21
On slide back and forth during, keep balance and synchronous slide.
After front and rear motor 31 starts, the rotation of the front and rear output shaft of motor 31 passes to wherein one by drive coordination band 32
Synchronizing bar 33 before and after individual so that this front and rear synchronizing bar 33 is rotated, and by positioned at both sides between two front and rear synchronizing bars 33
Front and rear timing belt 34 is connected, when this front and rear timing belt 34 is rotated, it is ensured that before two front and rear synchronizing bars 33 and two
The synchronous axial system of timing belt 34 afterwards, so that two front and rear sliding blocks 21 being respectively fixedly connected with two front and rear timing belts 34 are preceding
Rear is to synchronous slide.
The mechanical device of the playing piano of the present embodiment can realize position adjustments of the mechanical arm 6 in plummet direction.
Specifically, the mechanical device of the playing piano of the present embodiment includes vertical drive device 5 and pedestal 4.
Vertical drive device 5 includes the fixing end of vertical drive device and the mobile terminal of vertical drive device, vertical driving
The fixing end of device, the mobile terminal of vertical drive device are connected with pedestal 4, frame 1 respectively, the mobile terminal phase of vertical drive device
Fixing end rectilinear movement to vertical drive device.
More specifically, vertical drive device 5 includes vertical motor 51, deceleration device, ball 53 and leading screw 52.
The fuselage of vertical motor 51 is fixedly connected with pedestal 4, and the output shaft of leading screw 52 and vertical motor 51 is filled by slowing down
Put and be fixedly connected, ball 53 is fixedly connected with frame 1.Leading screw 52 and ball 53 realize relative linear motion.
When vertical motor 51 is opened, the rotation of the vertical output shaft of motor 51 causes 52 turns of leading screw after slowing down by deceleration device
It is dynamic, and the fuselage of vertical motor 51 is fixed with pedestal 4, so, the meeting opposite base 4 of ball 53 coordinated with leading screw 52 is moved vertically
It is dynamic, and ball 53 is fixed with frame 1, and then realize that the in the vertical direction of 1 opposite base of frame 4 is moved.
The mechanical device of the playing piano of the present embodiment can realize that the ancon of mechanical arm 6 is rotated.
Specifically, each mechanical arm 6 includes big arm 61, small arm 62 and forearm drive device 63.
Forearm drive device 63 includes the fixing end of forearm drive device and the output end of forearm drive device, forearm driving
The fixing end of device, the output end of forearm drive device are connected with big arm 61, small arm 62 respectively, and big arm 61 is with respect to forearm
Portion 62 rotates connection.
More specifically, forearm drive device 63 can use steering wheel to realize, by the output end of the fuselage of steering wheel and steering wheel point
Big arm 61 and small arm 62 are not fixedly connected with.Wherein, the output end of steering wheel is rotated relative to the fuselage of steering wheel.Now, big arm
It is indirectly connected between 61 and small arm 62.
More specifically, forearm drive device 63 can use cylinder to realize, naturally it is also possible to be hydraulic cylinder, linear electric motors
Deng, the piston rod of the fuselage of cylinder and cylinder is rotated respectively and connects big arm 61 and small arm 62, big arm 61 and small arm
Connection is directly rotated between 62.Wherein, the piston rod of cylinder moves linearly with respect to the fuselage of cylinder.
The mechanical device of the playing piano of the present embodiment can realize that the shoulder of mechanical arm 6 is rotated.
Specifically, the mechanical device of the playing piano of the present embodiment, each mechanical arm 6 also includes shoulder drive device 64.
Each shoulder drive device 64 includes the fixing end of shoulder drive device and the output end of shoulder drive device, shoulder
The fixing end of drive device, the output end of shoulder drive device are connected with one big arm 61, one or so sliding block 26 respectively, often
Individual big arm 61 rotates connection relative to one or so sliding block 26.
More specifically, shoulder drive device 64 can use cylinder to realize, naturally it is also possible to be hydraulic cylinder, linear electric motors
Deng the piston rod of the fuselage of cylinder and cylinder is rotated into the big arm 61 of connection and left and right sliding block 26, big arm 61 and left and right respectively
Connection is directly rotated between sliding block 26.Wherein, the piston rod of cylinder moves linearly with respect to the fuselage of cylinder.
More specifically, shoulder drive device 64 can use steering wheel to realize, by the output end of the fuselage of steering wheel and steering wheel point
Big arm 61 and left and right sliding block 26 are not fixedly connected with.Wherein, the output end of steering wheel is rotated relative to the fuselage of steering wheel.Now, large arm
It is indirectly connected between portion 61 and left and right sliding block 26.
The mechanical device of the playing piano of the present embodiment can realize wrist left-right rotation between mechanical arm 6 and manipulator 7
Rotated upwardly and downwardly with wrist.
Specifically, the mechanical device of the playing piano of the present embodiment, each mechanical arm 6 is also including left and right steering wheel 65 and up and down
Steering wheel 66.
Each small arm 62 connects a manipulator 7 by one or so steering wheel 65 and about one steering wheel 66.
The fuselage of steering wheel 66 is fixedly connected with the fuselage of left and right steering wheel 65 up and down.The output end and palmar hand of steering wheel 66 up and down
71 connections, the output end of steering wheel 66 is relative to the rotation of its fuselage up and down.The output end of left and right steering wheel 65 is connected with small arm 62, left
The output end of right standard rudder machine 65 is rotated relative to its fuselage.
Steering wheel 66 causes palmar hand 71 to be rotated upwardly and downwardly with small arm 62 up and down, and left and right steering wheel 65 causes small arm 62 and palm
The left-right rotation of portion 71, up and down the rotation direction of steering wheel 66 and left and right steering wheel 65 be arranged vertically.
The mechanical device of the playing piano of the present embodiment can realize percussion of each finger respectively to keyboard.
Specifically, manipulator 7 includes palmar hand 71, at least one finger section and matched at least with least one finger section
One finger actuation device.Wherein, the palmar hand 71 of manipulator 7 is used to rotate with small arm 62 and is connected.The finger of the present embodiment
Portion includes thumb section 72, forefinger portion, middle finger portion, third finger portion and little finger of toe portion.Accordingly, finger actuation device includes thumb drives
Device 73, forefinger drive device, middle finger drive device, nameless drive device and little finger of toe drive device.
Each finger actuation device includes the fixing end of finger actuation device and the output end of finger actuation device, and finger drives
Fixing end, the output end of finger actuation device of dynamic device are connected with palmar hand 71, a finger section respectively, and finger section is with respect to hand
Metacarpus 71 rotates connection.
More specifically, respectively to thumb section 72, forefinger portion, middle finger portion, the corresponding drive device in third finger portion and little finger of toe portion
It is introduced with type of drive.
Thumb section 72
Thumb drives device 73 includes the fixing end of thumb drives device and the output end of thumb drives device, thumb drives
The fixing end of device, the output end of thumb drives device are connected with a palmar hand 71, thumb section 72 respectively, and finger section is with respect to hand
Metacarpus 71 rotates connection.
More specifically, thumb drives device 73 can use cylinder to realize, naturally it is also possible to be hydraulic cylinder, linear electric motors
Deng the piston rod of the fuselage of cylinder and cylinder is rotated into connection palmar hand 71 and thumb section 72, palmar hand 71 and thumb section respectively
Connection is directly rotated between 72.Wherein, the piston rod of cylinder moves linearly with respect to the fuselage of cylinder.
More specifically, thumb drives device 73 can use steering wheel to realize, by the output end of the fuselage of steering wheel and steering wheel point
Palmar hand 71 and thumb section 72 are not fixedly connected with.Wherein, the output end of steering wheel is rotated relative to the fuselage of steering wheel.Now, palmar hand
It is indirectly connected between 71 and thumb section 72.
Forefinger portion, middle finger portion, third finger portion and little finger of toe portion drive device it is similar with the drive device of thumb section 72, difference
It is only that and the drive device of thumb section 72 is changed to corresponding forefinger portion, middle finger portion, the corresponding driving in third finger portion and little finger of toe portion
Device.Forefinger portion, middle finger portion, third finger portion and little finger of toe portion type of drive as the type of drive of thumb section 72.
Certainly, thumb section 72, forefinger portion, middle finger portion, third finger portion and little finger of toe portion can be hinged with palmar hand 71 respectively,
Can be so that thumb section 72, forefinger portion, middle finger portion, third finger portion and little finger of toe portion to be hinged by same rotating shaft and palmar hand 71.
The mechanical device of the playing piano of the present embodiment can be realized to be hit to foot-operated stepping on for the palm 8.
Specifically, the mechanical device of the playing piano of the present embodiment also includes the foot-operated palm 8 and foot drive device 9.
Foot drive device 9 includes the fixing end of foot drive device and the mobile terminal of foot drive device, rides driving
The fixing end of device, the mobile terminal of foot drive device are connected with pedestal 4, the foot-operated palm 8 respectively, the mobile terminal of foot drive device
Fixing end with respect to foot drive device moves linearly.Preferably, the direction of rectilinear movement is stepped on the direction hit with the foot-operated palm 8 and kept
Unanimously.
More specifically, foot drive device 9 can be cylinder, hydraulic cylinder and linear electric motors etc..
After foot drive device 9 is opened, the mobile terminal of foot drive device is straight with respect to the fixing end of foot drive device
Line is moved, and the mobile terminal of the fixing end of foot drive device, foot drive device is connected with pedestal 4, the foot-operated palm 8 respectively, base
The position of seat 4 is fixed, and the foot-operated palm 8 realizes the movement of in the vertical direction, realizes and foot-operated stepping on is hit.
The mechanical device of the playing piano of the present embodiment also includes control device, and control device is used for electricity before and after accurately controlling
Machine 31, two or so motors 22, vertical motor 51, two forearm drive devices 63, two shoulder drive devices 64, two or so
Steering wheel 65, about two steering wheels 66, foot drive device 9 and finger actuation device are turned on and off, and then are realized to each
The accurate control of individual action.
The mechanical device of the playing piano of the present embodiment, can be used for playing piano, naturally it is also possible to for playing electronics
The similar musical instrument such as qin.
The mechanical device of the playing piano of the present embodiment, movable using front and rear sliding block 21 is realized before mechanical arm 6
After move, moving left and right for mechanical arm 6 is realized using moving left and right for left and right sliding block 26, using being moved down on the opposite base 4 of frame 1
It is dynamic to realize moving up and down for mechanical arm 6, the rotation of the shoulder of mechanical arm 6 is realized using shoulder drive device 64, is driven using forearm
Device 63 realizes the rotation of the ancon of mechanical arm 6, and the left-right rotation of wrist is realized using left and right steering wheel 65, real using steering wheel 66 up and down
Rotating upwardly and downwardly for existing wrist, finger tapping keyboard is realized using finger actuation device, is realized using foot drive device 9 to foot-operated
Step on and hit.
To sum up, a kind of mechanical device of playing piano of the present embodiment, the scope that moves left and right of single mechanical arm 6 is equal to steel
Qin developed width, truly simulates the performance scene of piano, at the same realize mechanical arm adjusted about 6, front and rear regulation, mechanical arm
6 shoulders are rotated, ancon is rotated, wrist rotation, and 8 pairs of foot-operated the stepping on of the every finger tapping keyboard of manipulator 7 and the foot-operated palm are hit.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, will change in specific embodiments and applications, and this specification content should not be construed as to the present invention
Limitation.
Claims (10)
1. a kind of mechanical device of playing piano, including frame (1), two or so drive devices (2), two mechanical arms (6) and
Two manipulators (7), each mechanical arm (6) includes the shoulder of mechanical arm and the wrist of mechanical arm, it is characterised in that
Two or so drive devices (2) include two front and rear sliding blocks (21), left and right slide bar (24), two or so motors (22), two
Individual or so timing belt (25) and two or so sliding blocks (26)；
The both sides of the frame (1) are connected with a front and rear sliding block (21) respectively；
The left and right slide bar (24) is arranged between two front and rear sliding blocks (21)；
The front-end and back-end of each front and rear sliding block (21) are respectively arranged with left and right motor (22) and prominent axle (23), each described
Left and right timing belt (25) is arranged on the output shaft and another front and rear sliding block of the left and right motor (22) of a front and rear sliding block (21)
(21) on prominent axle (23), two left and right timing belt (25) parallel arrangements；
Each left and right sliding block (26) empty set fixes connected on left and right slide bar (24), and with one or so timing belt (25)；
The shoulder of each mechanical arm is connected with one or so sliding block (26), the wrist and a machinery of each mechanical arm
Hand (7) is connected.
2. the mechanical device of playing piano according to claim 1, it is characterised in that also include：
Front and rear drive device (3), the front and rear drive device (3) includes the fixing end and front and rear drive device of front and rear drive device
Output end, it is described before and after drive device fixing end, it is described before and after drive device output end respectively with front and rear sliding block (21),
Frame (1) is connected, and the front and rear sliding block (21) moves linearly with respect to frame (1).
3. the mechanical device of playing piano according to claim 2, it is characterised in that
Drive device (3) includes before and after described：Front and rear motor (31), drive coordination band (32), two front and rear synchronizing bars (33), two
Timing belt (34) and two front and rear slide bars (35) before and after individual；
Two front and rear slide bars (35) are separately fixed at the both sides of frame (1)；
The rear and front end of the frame (1) is rotated respectively is provided with two front and rear synchronizing bars (33), and is set in the frame (1)
There is front and rear motor (31)；
The drive coordination band (32) be disposed therein one it is described before and after synchronizing bar (33) and the front and rear motor (31) it is defeated
Between shaft；
Each front and rear timing belt (34) is arranged between described two front and rear synchronizing bars (33)；
Each front and rear sliding block (21) empty set is connected on a front and rear slide bar (35), and with a front and rear timing belt (34).
4. the mechanical device of playing piano according to claim 1, it is characterised in that also include：
Vertical drive device (5) and pedestal (4)；
The vertical drive device (5) includes the fixing end of vertical drive device and the mobile terminal of vertical drive device, described perpendicular
The straight fixing end of drive device, the mobile terminal of the vertical drive device are connected with pedestal (4), frame (1) respectively, described vertical
The fixing end rectilinear movement of the mobile terminal opposed vertical drive device of drive device.
5. the mechanical device of playing piano according to claim 1, it is characterised in that
Each mechanical arm (6) includes big arm (61), small arm (62) and forearm drive device (63)；
The forearm drive device (63) includes the fixing end of forearm drive device and the output end of forearm drive device, described small
The fixing end of arm drive device, the output end of the forearm drive device connect with the big arm (61), small arm (62) respectively
Connect, the relatively small arm of the big arm (61) (62) rotates connection.
6. the mechanical device of playing piano according to claim 5, it is characterised in that
Each mechanical arm (6) also includes shoulder drive device (64)；
Each shoulder drive device (64) includes the fixing end of shoulder drive device and the output end of shoulder drive device, institute
State the fixing end of shoulder drive device, the output end of the shoulder drive device respectively with a big arm (61), one
Left and right sliding block (26) is connected, and each big arm (61) rotates connection relative to one or so sliding block (26).
7. the mechanical device of playing piano according to claim 5, it is characterised in that
Each mechanical arm (6) also includes left and right steering wheel (65) and up and down steering wheel (66)；
Each small arm (62) connects a manipulator (7) by one or so steering wheel (65) and about one steering wheel (66).
8. the mechanical device of playing piano according to claim 1, it is characterised in that
The manipulator (7) includes palmar hand (71), at least one finger section and matched with least one finger section at least one
Individual finger actuation device；
Each finger actuation device includes the fixing end of finger actuation device and the output end of finger actuation device, the hand
Refer to the fixing end of drive device, the output end of the finger actuation device respectively with the palmar hand (71), a finger section to connect
Connect, the finger section palm opposite portion (71) rotates connection.
9. the mechanical device of playing piano according to claim 1, it is characterised in that also include：
The foot-operated palm (8) and foot drive device (9)；
The foot drive device (9) includes the fixing end of foot drive device and the mobile terminal of foot drive device, the pin
Step on the fixing end of drive device, the mobile terminal of the foot drive device to be connected with pedestal (4), the foot-operated palm (8) respectively, the pin
The mobile terminal for stepping on drive device moves linearly with respect to the fixing end of foot drive device.
10. the mechanical device of playing piano according to claim 4, it is characterised in that
The vertical drive device (5) includes vertical motor (51), deceleration device, ball (53) and leading screw (52)；
The fuselage of the vertical motor (51) is fixedly connected with pedestal (4), the leading screw (52) and the output of vertical motor (51)
Axle is connected by speed brake setting, and the ball (53) is fixedly connected with frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710619148.7A CN107263504B (en) | 2017-07-26 | 2017-07-26 | A kind of mechanical device of playing piano |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710619148.7A CN107263504B (en) | 2017-07-26 | 2017-07-26 | A kind of mechanical device of playing piano |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107263504A true CN107263504A (en) | 2017-10-20 |
| CN107263504B CN107263504B (en) | 2019-07-12 |
Family
ID=60078208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710619148.7A Expired - Fee Related CN107263504B (en) | 2017-07-26 | 2017-07-26 | A kind of mechanical device of playing piano |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107263504B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202910A (en) * | 2018-10-30 | 2019-01-15 | 希格斯动力科技（珠海）有限公司 | The sequential control method and system that robot single-tone is played |
| CN113183166A (en) * | 2021-05-31 | 2021-07-30 | 李天富 | Robot for playing electronic organ |
| WO2021258117A1 (en) * | 2020-06-18 | 2021-12-23 | Loc Vo Gia | A robotic arm, a robotic hand, a robotic system for playing the piano |
| CN116728419A (en) * | 2023-08-09 | 2023-09-12 | 之江实验室 | Continuous playing action planning method, system, equipment and medium for playing robot |
Citations (4)
| 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 |
| CN204505268U (en) * | 2015-03-17 | 2015-07-29 | 合肥探奥自动化有限公司 | A kind of robot for performance of playing the musical instrument |
| CN205660736U (en) * | 2016-06-03 | 2016-10-26 | 三峡大学 | Piano performance robot based on smart mobile phone |
| CN106903704A (en) * | 2017-05-03 | 2017-06-30 | 合肥磐石自动化科技有限公司 | A kind of Novel piano plays robot system |
-
2017
- 2017-07-26 CN CN201710619148.7A patent/CN107263504B/en not_active Expired - Fee Related
Patent Citations (4)
| 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 |
| CN204505268U (en) * | 2015-03-17 | 2015-07-29 | 合肥探奥自动化有限公司 | A kind of robot for performance of playing the musical instrument |
| CN205660736U (en) * | 2016-06-03 | 2016-10-26 | 三峡大学 | Piano performance robot based on smart mobile phone |
| CN106903704A (en) * | 2017-05-03 | 2017-06-30 | 合肥磐石自动化科技有限公司 | A kind of Novel piano plays robot system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202910A (en) * | 2018-10-30 | 2019-01-15 | 希格斯动力科技（珠海）有限公司 | The sequential control method and system that robot single-tone is played |
| WO2021258117A1 (en) * | 2020-06-18 | 2021-12-23 | Loc Vo Gia | A robotic arm, a robotic hand, a robotic system for playing the piano |
| CN113183166A (en) * | 2021-05-31 | 2021-07-30 | 李天富 | Robot for playing electronic organ |
| CN113183166B (en) * | 2021-05-31 | 2024-08-06 | 李天富 | Electronic organ playing robot |
| CN116728419A (en) * | 2023-08-09 | 2023-09-12 | 之江实验室 | Continuous playing action planning method, system, equipment and medium for playing robot |
| CN116728419B (en) * | 2023-08-09 | 2023-12-22 | 之江实验室 | Continuous playing action planning method, system, equipment and medium for playing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107263504B (en) | 2019-07-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107263504A (en) | A kind of mechanical device of playing piano | |
| CN103945904B (en) | Sports equipment | |
| JP4354540B2 (en) | Haptic drive device, haptic application method, and recording medium | |
| CN107253200B (en) | It is a kind of for playing the robot of frame drum | |
| CN106903704A (en) | A kind of Novel piano plays robot system | |
| Ijspeert et al. | Trajectory formation for imitation with nonlinear dynamical systems | |
| CN105283227B (en) | The control of health and fitness facilities | |
| CN102716587B (en) | System and method for controlling automatic puppet performance | |
| Jochum et al. | Sequence and chance: Design and control methods for entertainment robots | |
| CN110275551A (en) | Stability training modularized combination type motion platform and its clipping random motion planning and control method | |
| CN106646220A (en) | Spaceflight servo motor variable working condition dynamic loading system and spaceflight servo motor variable working condition dynamic loading method | |
| CN205451647U (en) | Single sufficient gait simulation and plantar pressure simulation system | |
| CN205660736U (en) | Piano performance robot based on smart mobile phone | |
| Grunberg et al. | Development of an autonomous dancing robot | |
| CN102306017B (en) | Xylophone playing robot with humanoid structure | |
| JP2956180B2 (en) | Electronic musical instrument | |
| US11771949B2 (en) | Realistic sloping simulation device for fitness equipment | |
| CN207615995U (en) | A kind of welding position automatic regulating apparatus being suitable for emulating welding equipment | |
| CN107598470A (en) | A kind of welding position automatic regulating apparatus for being applied to emulation welding equipment | |
| CN209579548U (en) | A kind of small-sized apery class mandibular movement device | |
| CN109491505B (en) | Percussion instrument playing simulation system and force feedback device based on virtual reality technology | |
| CN206263988U (en) | A kind of waist structure for anthropomorphic robot | |
| Gourishankar et al. | Hapstick: a high fidelity haptic simulation for billiards | |
| CN206998939U (en) | The robot architecture that a kind of dulcimer is intelligently played | |
| CN201752559U (en) | Three degree-of-freedom upper limb rehabilitation training device based on virtual reality technique |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190712 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |