CN108550356B - Electronic control pressure-driven piano playing device - Google Patents
Electronic control pressure-driven piano playing device Download PDFInfo
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- CN108550356B CN108550356B CN201810427367.XA CN201810427367A CN108550356B CN 108550356 B CN108550356 B CN 108550356B CN 201810427367 A CN201810427367 A CN 201810427367A CN 108550356 B CN108550356 B CN 108550356B
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- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 230000006837 decompression Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 238000004088 simulation Methods 0.000 description 11
- 239000000463 material Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000252 nontoxic Toxicity 0.000 description 1
- 230000003000 nontoxic effect Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10C—PIANOS, HARPSICHORDS, SPINETS OR SIMILAR STRINGED MUSICAL INSTRUMENTS WITH ONE OR MORE KEYBOARDS
- G10C3/00—Details or accessories
- G10C3/12—Keyboards; Keys
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B15/00—Teaching music
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10C—PIANOS, HARPSICHORDS, SPINETS OR SIMILAR STRINGED MUSICAL INSTRUMENTS WITH ONE OR MORE KEYBOARDS
- G10C3/00—Details or accessories
- G10C3/16—Actions
- G10C3/20—Actions involving the use of hydraulic, pneumatic or electromagnetic means
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10C—PIANOS, HARPSICHORDS, SPINETS OR SIMILAR STRINGED MUSICAL INSTRUMENTS WITH ONE OR MORE KEYBOARDS
- G10C3/00—Details or accessories
- G10C3/26—Pedals or pedal mechanisms; Manually operated sound modification means
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H1/00—Details of electrophonic musical instruments
- G10H1/32—Constructional details
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Electromagnetism (AREA)
- Electrophonic Musical Instruments (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses an electric control pressure-driven piano playing device which comprises an air compressor, a high-pressure air tank, a pipeline fixing assembly, a simulated finger assembly and a simulated pedal assembly, wherein the high-pressure air tank is connected with the air compressor through a pipeline, the high-pressure air tank is respectively connected with a high-pressure pipeline arranged above a black-white piano key and a pedal through a high-pressure hose and a four-way joint, the high-pressure pipeline is fixed on a piano side plate through the pipeline fixing assembly, and a plurality of simulated finger assemblies and a plurality of simulated pedal assemblies which are connected with the high-pressure pipeline are respectively arranged above the middle of the black-white piano key and the middle of the pedal. The invention has simple structure, convenient use, easy installation and disassembly, no need of changing the internal structure of the piano, no noise in the running process, no influence on the structure of the piano, and the high-pressure gas is utilized to drive the keys and the pedals so as to simulate the actions of fingers and feet on the keys and the pedals during the manual playing.
Description
Technical Field
The invention belongs to the technical field of auxiliary devices for piano teaching, and particularly relates to an electric control press-drive piano playing device.
Background
Piano is very common in elegant places such as concert halls as a king of musical instruments, and greatly enriches the lives of people. In reality, a piano may need to be trained or trained for a long time to play various music, i.e. a person playing the piano needs to have a certain musical literacy, and along with the development of technology, the living standard of people is continuously improved, and the level of appreciation art is also continuously improved. If the traditional piano combines with intelligent science and technology, people can enjoy music under the condition of no manual performance, and the variety of performance is increased.
The patent publication CN101702312a discloses an automatic piano key playing device driven by an electromagnet, however, the following points are not studied in detail in the technical scheme of the patent: 1. the noise problem of the electromagnetic driving device is not really eliminated; 2. the relationship between the radian of the key variation and the piano tone is not considered; 3. the degree of key depression is not considered, how the key depression should be protected when reaching the limit position; 4. the frame electromagnet is arranged in the piano, and influences the internal structure of the piano.
Disclosure of Invention
The invention solves the technical problem of providing the electric control pressure-driven piano playing device which has reasonable structural design, is easy to install and detach, does not need to change the internal structure of the piano and has no noise in the operation process.
The invention adopts the following technical scheme for solving the technical problems, and is characterized by comprising an air compressor, a high-pressure air tank, a pipeline fixing assembly, a simulation finger assembly and a simulation pedal assembly, wherein the high-pressure air tank is connected with the air compressor through a pipeline, the high-pressure air tank is respectively connected with a high-pressure pipeline arranged above a black-white key and a pedal through a high-pressure hose and a four-way joint, the high-pressure pipeline is fixed on a piano side plate through the pipeline fixing assembly, and a plurality of simulation finger assemblies and a plurality of simulation pedal assemblies which are connected with the high-pressure pipeline are respectively arranged above the middle of the black-white key and the middle of the pedal.
Further preferably, the pipeline fixing assembly mainly comprises a fixing clamp plate, an adjusting bolt and a fixing base, wherein the fixing base is arranged on the lower side fixing clamp plate, the fixing base is clamped on the piano side plate and is locked through the adjusting bolt arranged on the fixing base, and the high-pressure pipeline is arranged between the opposite fixing clamp plates and is locked through the adjusting bolt arranged on the upper side fixing clamp plate.
Further preferably, the analog finger assembly mainly comprises three parallel branches, an electromagnetic valve A arranged on a middle branch, a decompression valve B and an electromagnetic valve B arranged on one side branch, a decompression valve C and an electromagnetic valve C arranged on the other side branch and a high-pressure cylinder, wherein one ends of the three parallel branches are connected with a high-pressure pipeline through a multi-way joint, the other ends of the three parallel branches are connected with an air inlet of the high-pressure cylinder, a tripping ring a and a tripping ring B which are arranged up and down are arranged at the lower part of a cylinder body of the high-pressure cylinder, a piston is arranged in the cylinder body, a piston rod opposite to a black-white key is connected at the bottom of the piston, a finger pad is arranged at the tail end of the piston rod, a spring connected with the tripping ring B is sleeved on the piston rod, a one-way valve N is arranged at the upper part of the cylinder body, an exhaust hole is arranged on the cylinder body between the tripping ring a and the tripping ring B, and the position sensor m is arranged on the cylinder body opposite to the upper end of the spring in a free state.
Further preferably, the simulated pedal assembly mainly comprises an electromagnetic valve D and a high-pressure air cylinder, the high-pressure air cylinder is connected with the high-pressure pipeline through the electromagnetic valve D, and the structure of the high-pressure air cylinder is consistent with that of the high-pressure air cylinder in the simulated finger assembly.
Still preferably, the electric control pressure driven piano playing device further comprises a circuit control system, a power supply is used for providing electric energy for the air compressor and the central processor through a power adapter, the central controller is respectively connected with the pressure sensor, the electromagnetic main valve M, the electromagnetic valve A, the electromagnetic valve B, the electromagnetic valve C, the decompression valve B, the decompression valve C, the one-way valve N, the position sensor M and the position sensor N in the control unit of the plurality of simulated pedal assemblies through lines, the pressure sensor is arranged at the top of the high-pressure air tank, and the electromagnetic main valve M is arranged at the inlet of the high-pressure hose.
The invention has simple structure, convenient use, easy installation and disassembly, no need of changing the internal structure of the piano, no noise in the running process, no influence on the structure of the piano, and the high-pressure gas is utilized to drive the keys and the pedals so as to simulate the actions of fingers and feet on the keys and the pedals during the manual playing.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of a simulated finger assembly of the present invention;
FIG. 3 is a schematic view of a simulated foot pedal assembly of the present invention;
FIG. 4 is a schematic view of the structure of the high-pressure cylinder of the present invention;
FIG. 5 is a schematic view of the pipe fixing assembly of the present invention;
fig. 6 is a block diagram of a circuit control system according to the present invention.
In the figure: 1-air compressor, 2-high pressure gas tank, 3-high pressure cylinder, 4-pressure sensor, 5-high pressure hose, 6-multiway joint, 7-high pressure pipeline, 8-pipeline fixed subassembly, 9-simulation finger subassembly, 10-simulation pedal subassembly, 11-cross joint, 12-exhaust hole, 13-piston, 14-spring, 15-piston rod, 16-trip ring a, 17-trip ring B, 18-decompression valve B, 19-solenoid valve A, 20-adjusting bolt, 21-solenoid valve D, 22-fixed splint, 23-unable adjustment base, 24-cylinder body, 25-electromagnetic main valve, 26-decompression valve, 27-position sensor N, 28-single-phase valve N, 29-position sensor m, 30-solenoid valve B, 31-solenoid valve C, 32-finger pad.
Detailed Description
The specific technical scheme of the invention is described in detail with reference to the accompanying drawings. As shown in fig. 1-6, an electric control pressure driving performance device comprises an air compressor 1, a high pressure air tank 2, a pipeline fixing assembly 8, a simulation finger assembly 9 and a simulation pedal assembly 10, wherein the high pressure air tank 2 is connected with the air compressor 1 through a pipeline, the high pressure air tank 2 is respectively connected with a high pressure pipeline 7 arranged above a black-white key and a pedal through a high pressure hose 5 and a four-way joint 11, the high pressure pipeline 7 is fixed on a piano side plate through the pipeline fixing assembly 8, and a plurality of simulation finger assemblies 9 and a plurality of simulation pedal assemblies 10 which are connected with the high pressure pipeline 7 are respectively arranged above the middle of the black-white key and the middle of the pedal; the pipeline fixing assembly 8 mainly comprises fixing clamping plates 22, adjusting bolts 20 and a fixing base 23, wherein the fixing base 23 is arranged on the lower side fixing clamping plates 22, the fixing base 23 is clamped on a piano side plate and is locked through the adjusting bolts 20 arranged on the fixing base 23, and the high-pressure pipeline 7 is arranged between the opposite fixing clamping plates 22 and is locked through the adjusting bolts 20 arranged on the upper side fixing clamping plates 22; the simulated finger assembly 9 mainly comprises three parallel branches, an electromagnetic valve A19 arranged on a middle branch, a decompression valve B18 and an electromagnetic valve B30 arranged on one side branch, a decompression valve C26 and an electromagnetic valve C31 arranged on the other side branch and a high-pressure cylinder 3, wherein one ends of the three parallel branches are connected with a high-pressure pipeline 7 through a multi-way joint 6, the other ends of the three parallel branches are connected with an air inlet of the high-pressure cylinder 3, a tripping ring a 16 and a tripping ring B17 which are arranged up and down are arranged at the lower part of a cylinder 24 of the high-pressure cylinder 3, a piston 13 is arranged in the cylinder 24, a piston rod 15 opposite to a black-white key is connected at the bottom of the piston 13, a finger pad 32 is arranged at the tail end of the piston rod 15, a spring 14 connected with the tripping ring B17 is sleeved on the piston rod 15, an exhaust hole 12 is arranged on the cylinder 24 between the tripping ring a 16 and the tripping ring B17, a position sensor m 29 is arranged on the cylinder 24 at the tripping ring a 16, and a position sensor N27 is arranged on the upper end of the cylinder 24 opposite to the spring 14 in a free state; the simulated pedal assembly 10 mainly comprises an electromagnetic valve D21 and a high-pressure air cylinder 3, the high-pressure air cylinder 3 is connected with the high-pressure pipeline 7 through the electromagnetic valve D21, and the structure of the high-pressure air cylinder 3 is consistent with that of the high-pressure air cylinder 3 in the simulated finger assembly 9; the electric control pressure-driven piano playing device further comprises a circuit control system, a power supply is used for providing electric energy for the air compressor 1 and the central processor through a power adapter, the central controller is respectively connected with the pressure sensor 4, the electromagnetic main valve M25, the electromagnetic valve A19, the electromagnetic valve B18, the electromagnetic valve C26, the decompression valve B18, the decompression valve C26, the one-way valve N28, the position sensor M29 and the position sensor N27 in the control unit of the plurality of simulation pedal assemblies through lines, the pressure sensor 4 is arranged at the top of the high-pressure air tank 2, and the electromagnetic main valve M25 is arranged at the inlet of the high-pressure hose 5.
The specific operation process of the invention is as follows: the device can realize multiple functions such as key depression, resetting, tone intensity, tone length and the like. In order to realize the depression of the piston rod to the key, a circuit control system is started, the pressure sensor senses the pressure in the high-pressure air tank, the air compressor is started, high-pressure air enters a high-pressure pipeline, the piston is pushed by the electromagnetic valve A, and the piston rod is driven to depress the key; in order to realize the reset of the keys, the position sensor m senses, the electromagnetic valve A is closed, high-pressure gas does not enter any more, the one-way valve N is opened, gas in the cylinder body is discharged outwards, at the moment, the pressure is balanced by the exhaust hole below the high-pressure cylinder, and the piston rod is reset by means of the elasticity of the spring, so that the keys are reset; in order to realize the playing of the next note by the key, when the spring is reset and the position sensor N positioned at the position is subjected to induction, the electromagnetic valve A is opened, the one-way valve N is closed, the high-pressure gas continues to compress the piston to drive the piston rod to press down, and the reciprocating cycle is performed; in order to realize the intensity of tones, the air pressure of the high-pressure air in different proportions can be controlled, namely, the downward movement speed of the piston rod driven by the piston is controlled, when the intensity of tones is required, the electromagnetic valve A is opened, the high-pressure air is not decompressed, the pressure intensity is maximum, the high-pressure air pushes the piston to drive the piston rod to move downwards at the maximum speed, the effect of the intensity of tones can be generated, when the intensity of tones is required, the decompression valve B and the electromagnetic valve B or the decompression valve C and the electromagnetic valve C are opened, when the intensity of the high-pressure air is decompressed once, the pressure intensity is weaker, the speed of the piston driven by the high-pressure air to drive the piston rod to move downwards is reduced, the effect of the intensity of tones can be generated, and the like can obtain the effects of different intensities; in order to realize the length of the tone, the conduction time of the one-way valve N can be controlled, so that the stay time of the piston rod on the key is controlled; in order to realize the fixation of the automatic playing system of the piano, a stable structure which is easy to assemble and disassemble is adopted, and the automatic playing system of the piano is erected on a piano plate and spans the piano to simulate the manual operation situation; in order to realize the effects of weak sound and the like of piano pronunciation, a simulated pedal assembly is designed, and the operation principle of the device is approximately the same as that of a simulated key depression part, except that the part does not need to control different dropping speeds of a piston; in order to realize the protection to the key, the device has set up dual protection, has set up the stereoplasm obstacle in the high-pressure cylinder, namely stumble ring a and stumble ring b, and the position sensor that is located stumble ring a department also can sense the signal simultaneously, prevents high-pressure gas reentrant high-pressure cylinder, and check valve N opens simultaneously, makes the high-pressure gas of piston top discharge, and the piston rod no longer pushes down the key, also plays the guard action to the key. Finally, after the system is used, an electromagnetic main valve is arranged at the hard connection part of the high-pressure hose and the high-pressure gas tank for realizing the safety protection function.
The finger pad is made of a safe, nontoxic, high-temperature resistant, cold-resistant, oxidation resistant, electrically insulating, light-resistant and mildew-resistant silicone rubber material; the pipeline fixing device is made of a pressure-resistant material with light weight and moderate hardness; both the trip ring a and the trip ring b are made of a material with higher hardness and wear resistance; the spring is made of a material with moderate hardness, strong impact resistance and strong plastic deformability, and the reaction time of the spring is reduced as much as possible; the piston is made of a material with light weight, higher wear resistance, smaller friction and moderate hardness.
While the basic principles of the invention have been shown and described, there are various changes and modifications to the invention, which fall within the scope of the invention as hereinafter claimed, without departing from the spirit and scope of the invention.
Claims (3)
1. The electric control pressure-driven piano playing device is characterized by comprising an air compressor, a high-pressure air tank, a pipeline fixing assembly, a simulated finger assembly and a simulated pedal assembly, wherein the high-pressure air tank is connected with the air compressor through a pipeline, the high-pressure air tank is respectively connected with a high-pressure pipeline arranged above a black-white piano key and a pedal through a high-pressure hose and a four-way joint, the high-pressure pipeline is fixed on a piano side plate through the pipeline fixing assembly, and a plurality of simulated finger assemblies and a plurality of simulated pedal assemblies which are connected with the high-pressure pipeline are respectively arranged above the middle of the black-white piano key and the middle of the pedal;
the simulated finger assembly mainly comprises three parallel branches, an electromagnetic valve A arranged on a middle branch, a decompression valve B and an electromagnetic valve B arranged on one side branch, a decompression valve C and an electromagnetic valve C arranged on the other side branch and a high-pressure cylinder, wherein one ends of the three parallel branches are connected with a high-pressure pipeline through a multi-way joint, the other ends of the three parallel branches are connected with an air inlet of the high-pressure cylinder, a tripping ring a and a tripping ring B which are arranged up and down are arranged at the lower part of a cylinder body of the high-pressure cylinder, a piston is arranged in the cylinder body, the bottom of the piston is connected with a piston rod opposite to a black-white key, the tail end of the piston rod is provided with a finger pad, a spring connected with the tripping ring B is sleeved on the piston rod, an exhaust hole is arranged on the cylinder body between the one-way valve N and the tripping ring a and the tripping ring B, a position sensor m is arranged on the cylinder body at the position of the tripping ring a, and the position sensor N is arranged on the cylinder body opposite to the upper end of the spring in a free state;
the simulated pedal assembly mainly comprises an electromagnetic valve D and a high-pressure air cylinder, the high-pressure air cylinder is connected with a high-pressure pipeline through the electromagnetic valve D, and the structure of the high-pressure air cylinder is consistent with that of the high-pressure air cylinder in the simulated finger assembly.
2. The electrically controlled press-driven piano playing device according to claim 1, wherein: the pipeline fixing assembly mainly comprises fixing clamping plates, adjusting bolts and fixing bases, wherein the fixing bases are arranged on the lower side fixing clamping plates, the fixing bases are clamped on the piano side plates and are locked through the adjusting bolts arranged on the fixing bases, and the high-pressure pipeline is arranged between the opposite fixing clamping plates and is locked through the adjusting bolts arranged on the upper side fixing clamping plates.
3. The electrically controlled pressure driven piano playing device according to claim 1, further comprising a circuit control system, wherein a power supply is used for supplying power to the air compressor and the central processor through a power adapter, the central controller is electrically connected with the pressure sensor, the electromagnetic main valve M, the electromagnetic valve a, the electromagnetic valve B, the electromagnetic valve C, the decompression valve B, the decompression valve C, the check valve N, the position sensor M and the position sensor N in the control unit of the plurality of analog finger assembly control units and the electromagnetic valve D, the check valve N, the position sensor M and the position sensor N in the control unit of the plurality of analog foot assembly respectively through circuits, the pressure sensor is arranged at the top of the high-pressure air tank, and the electromagnetic main valve M is arranged at the inlet of the high-pressure hose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810427367.XA CN108550356B (en) | 2018-05-07 | 2018-05-07 | Electronic control pressure-driven piano playing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810427367.XA CN108550356B (en) | 2018-05-07 | 2018-05-07 | Electronic control pressure-driven piano playing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108550356A CN108550356A (en) | 2018-09-18 |
| CN108550356B true CN108550356B (en) | 2024-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810427367.XA Active CN108550356B (en) | 2018-05-07 | 2018-05-07 | Electronic control pressure-driven piano playing device |
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| Country | Link |
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| CN (1) | CN108550356B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110111644B (en) * | 2019-04-09 | 2020-12-01 | 长沙师范学院 | Portable musical instrument finger force exercise device capable of adjusting force |
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|---|---|---|---|---|
| GB190319258A (en) * | 1903-09-07 | 1904-07-28 | Henry Frederick Dale Josolyne | Improved Pneumatic Piano Playing Apparatus. |
| JPH10228273A (en) * | 1997-02-14 | 1998-08-25 | Kawai Musical Instr Mfg Co Ltd | Assistant pedal device for piano play |
| CN101702312A (en) * | 2009-11-04 | 2010-05-05 | 马季平 | Key driving device for realizing automatic playing of piano |
| CN101866645A (en) * | 2010-03-30 | 2010-10-20 | 北京乐器研究所 | Piano keyboard vibration playing instrument |
| CN104361881A (en) * | 2014-10-23 | 2015-02-18 | 海伦钢琴股份有限公司 | Automatic vibrating playing machine of piano |
| CN205609199U (en) * | 2016-02-24 | 2016-09-28 | 中北大学 | Piano teaching board |
| 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 |
| CN107791265A (en) * | 2016-08-28 | 2018-03-13 | 李征 | One kind plays the piano anthropomorphic machine's hand |
| CN207134129U (en) * | 2017-05-15 | 2018-03-23 | 中科创达软件股份有限公司 | A kind of piano performance equipment and system |
| CN208045078U (en) * | 2018-05-07 | 2018-11-02 | 河南师范大学 | A kind of automatically controlled pressure drive piano performance device |
-
2018
- 2018-05-07 CN CN201810427367.XA patent/CN108550356B/en active Active
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|---|---|---|---|---|
| GB190319258A (en) * | 1903-09-07 | 1904-07-28 | Henry Frederick Dale Josolyne | Improved Pneumatic Piano Playing Apparatus. |
| JPH10228273A (en) * | 1997-02-14 | 1998-08-25 | Kawai Musical Instr Mfg Co Ltd | Assistant pedal device for piano play |
| CN101702312A (en) * | 2009-11-04 | 2010-05-05 | 马季平 | Key driving device for realizing automatic playing of piano |
| CN101866645A (en) * | 2010-03-30 | 2010-10-20 | 北京乐器研究所 | Piano keyboard vibration playing instrument |
| CN104361881A (en) * | 2014-10-23 | 2015-02-18 | 海伦钢琴股份有限公司 | Automatic vibrating playing machine of piano |
| CN205609199U (en) * | 2016-02-24 | 2016-09-28 | 中北大学 | Piano teaching board |
| CN107791265A (en) * | 2016-08-28 | 2018-03-13 | 李征 | One kind plays the piano anthropomorphic machine's hand |
| 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 |
| CN207134129U (en) * | 2017-05-15 | 2018-03-23 | 中科创达软件股份有限公司 | A kind of piano performance equipment and system |
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