CN112992111B - A magnetostrictive lever-tuned self-sensing superelastic memory alloy wire single-string piano - Google Patents
A magnetostrictive lever-tuned self-sensing superelastic memory alloy wire single-string piano Download PDFInfo
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- 229910001285 shape-memory alloy Inorganic materials 0.000 title claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims description 9
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 7
- 229910052802 copper Inorganic materials 0.000 claims description 7
- 239000010949 copper Substances 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 238000003756 stirring Methods 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 229910001566 austenite Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910000734 martensite Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003446 memory effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
- 230000003864 performance function Effects 0.000 description 1
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- 239000002994 raw material Substances 0.000 description 1
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- 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
- G10H3/00—Instruments in which the tones are generated by electromechanical means
- G10H3/12—Instruments in which the tones are generated by electromechanical means using mechanical resonant generators, e.g. strings or percussive instruments, the tones of which are picked up by electromechanical transducers, the electrical signals being further manipulated or amplified and subsequently converted to sound by a loudspeaker or equivalent instrument
- G10H3/14—Instruments in which the tones are generated by electromechanical means using mechanical resonant generators, e.g. strings or percussive instruments, the tones of which are picked up by electromechanical transducers, the electrical signals being further manipulated or amplified and subsequently converted to sound by a loudspeaker or equivalent instrument using mechanically actuated vibrators with pick-up means
- G10H3/18—Instruments in which the tones are generated by electromechanical means using mechanical resonant generators, e.g. strings or percussive instruments, the tones of which are picked up by electromechanical transducers, the electrical signals being further manipulated or amplified and subsequently converted to sound by a loudspeaker or equivalent instrument using mechanically actuated vibrators with pick-up means using a string, e.g. electric guitar
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10D—STRINGED MUSICAL INSTRUMENTS; WIND MUSICAL INSTRUMENTS; ACCORDIONS OR CONCERTINAS; PERCUSSION MUSICAL INSTRUMENTS; AEOLIAN HARPS; SINGING-FLAME MUSICAL INSTRUMENTS; MUSICAL INSTRUMENTS NOT OTHERWISE PROVIDED FOR
- G10D3/00—Details of, or accessories for, stringed musical instruments, e.g. slide-bars
- G10D3/14—Tuning devices, e.g. pegs, pins, friction discs or worm gears
- G10D3/147—Devices for altering the string tension during playing
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10D—STRINGED MUSICAL INSTRUMENTS; WIND MUSICAL INSTRUMENTS; ACCORDIONS OR CONCERTINAS; PERCUSSION MUSICAL INSTRUMENTS; AEOLIAN HARPS; SINGING-FLAME MUSICAL INSTRUMENTS; MUSICAL INSTRUMENTS NOT OTHERWISE PROVIDED FOR
- G10D3/00—Details of, or accessories for, stringed musical instruments, e.g. slide-bars
- G10D3/22—Material for manufacturing stringed musical instruments; Treatment of the material
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- 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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
- H02N2/043—Mechanical transmission means, e.g. for stroke amplification
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
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Abstract
本发明公开了一种磁致伸缩杠杆调音式自感知超弹记忆合金丝单弦弹拉琴，主要由磁致伸缩致动器、放大杠杆、琴弦夹具、静音步进电机、弹奏片、琴弓、曲柄滑块机构、超弹记忆合金丝琴弦、琴弦固定螺栓、欧姆表组成。该装置通过控制信号发生器将音符转化为对应电信号，经功率放大器放大后控制磁致伸缩杠杆，调节记忆合金丝琴弦的张紧程度，结合欧姆表精确的调节音调高低。同时，控制信号发生器传递给步进电机驱动器一个控制信号，使静音步进电机驱动弹奏片或琴弓演奏。该装置可实现由一根琴弦快速准确的自动调音，自动完成可拉可弹的演奏功能，对磁致伸缩致动器和超弹性形状记忆合金丝的研究与应用具有先进的指导意义与实用价值。
The invention discloses a magnetostrictive lever-tuned self-sensing superelastic memory alloy wire single-string playing piano, which mainly consists of a magnetostrictive actuator, an amplifying lever, a string clamp, a silent stepping motor, a playing piece, a Bow, crank slider mechanism, superelastic memory alloy wire strings, string fixing bolts, and ohmmeter. The device converts the notes into corresponding electrical signals by controlling the signal generator, and after being amplified by the power amplifier, it controls the magnetostrictive lever, adjusts the tension of the memory alloy wire strings, and accurately adjusts the pitch in combination with the ohmmeter. At the same time, the control signal generator transmits a control signal to the stepping motor driver, so that the silent stepping motor drives the playing piece or the bow to play. The device can realize fast and accurate automatic tuning of a string, and automatically complete the function of pulling and playing. It has advanced guiding significance for the research and application of magnetostrictive actuators and superelastic shape memory alloy wires. Practical value.
Description
技术领域technical field
本发明涉及超弹性形状记忆合金乐器领域，特别是涉及一种磁致伸缩杠杆调音式自感知超弹记忆合金丝单弦弹拉琴。The invention relates to the field of superelastic shape memory alloy musical instruments, in particular to a magnetostrictive lever tuning type self-sensing superelastic memory alloy wire single-string playing piano.
背景技术Background technique
超弹性形状记忆合金是一种由两种或两种以上的金属原料所构成的合金，具有超弹性形状记忆效应。对常温下处于奥氏体状态的记忆合金丝施加一定的载荷，使应力超过记忆合金丝的弹性极限后，继续加载奥氏体相变成马氏体，超弹性记忆合金丝伸长量增加，当应力去除后，伴随着马氏体逆相变，应变消失，超弹性记忆合金丝完全恢复到原始长度。记忆合金丝具有自感知的特性，当记忆合金丝的应力应变发生变化时，其电阻也产生相应的变化，通过测量电阻变化可以实现记忆合金丝张紧程度的控制，达到自感知的目的。Superelastic shape memory alloy is an alloy composed of two or more metal raw materials, which has superelastic shape memory effect. A certain load is applied to the memory alloy wire in the austenite state at room temperature, so that after the stress exceeds the elastic limit of the memory alloy wire, the austenite phase changes into martensite after loading, and the elongation of the superelastic memory alloy wire increases. When the stress is removed, along with the reverse martensitic transformation, the strain disappears, and the superelastic memory alloy wire completely recovers to its original length. Memory alloy wire has the characteristics of self-sensing. When the stress and strain of the memory alloy wire changes, its resistance also changes correspondingly. By measuring the resistance change, the tension degree of the memory alloy wire can be controlled to achieve the purpose of self-sensing.
磁致伸缩材料是一种具有磁致伸缩效应的铁磁体，当对磁致伸缩材料施加一定外磁场时，其长度及体积均发生变化，当外加磁场消失后，磁致伸缩材料又恢复原来的尺寸，因此磁致伸缩效应是一个可逆的过程。而超磁致伸缩材料的磁致伸缩系数远大于一般的磁致伸缩材料，且输出力大，因而被广泛用于磁致伸缩致动器上。Magnetostrictive material is a ferromagnet with magnetostrictive effect. When a certain external magnetic field is applied to the magnetostrictive material, its length and volume will change. When the external magnetic field disappears, the magnetostrictive material will return to its original state. size, so the magnetostrictive effect is a reversible process. The magnetostrictive coefficient of giant magnetostrictive materials is much larger than that of ordinary magnetostrictive materials, and the output force is large, so they are widely used in magnetostrictive actuators.
弦乐器可以分为弓弦乐器、拨弦乐器和击弦乐器三种，其发音原理是靠张紧的琴弦振动发出声音的，琴弦的粗细、长短和张紧程度对弦乐器音调的高低有着至关重要的影响。弦乐器一般由不同的琴弦演奏不同的音，通过手指按压琴弦的不同位置改变琴弦的长度，从而弹奏出不同的音调。吉他可以通过调节一根材质、粗细、长短不变的琴弦的张紧程度，弹奏出14个不同的音调。Stringed instruments can be divided into three types: bowed instruments, plucked instruments and percussion instruments. The principle of pronunciation is based on the vibration of the tensioned strings. The thickness, length and tension of the strings are very important to the pitch of the stringed instruments. influences. Stringed instruments generally use different strings to play different tones, and the length of the strings is changed by pressing different positions of the strings with fingers, thereby playing different tones. The guitar can play 14 different tones by adjusting the tension of a string of constant material, thickness and length.
综上所述，可以用一根超弹记忆合金丝作琴弦，一个磁致伸缩杠杆做琴弦张紧装置，静音步进电机驱动弹奏片或琴弓做演奏装置，开发出一种磁致伸缩杠杆调音式自感知超弹记忆合金丝单弦弹拉琴。可以通过控制信号发生器将对应的音调转化为电信号，经过功率放大器放大后，控制磁致伸缩杠杆调节记忆合金丝琴弦的张紧程度，在欧姆表反馈作用下，快速精确的自动调音。对于演奏装置方面，可以控制静音步进电机1上的弹奏片拨琴弦，或控制静音步进电机2上的琴弓拉琴弦，使记忆合金丝琴弦发出声音，实现乐曲的弹拉演奏。该技术对磁致伸缩致动器和超弹记忆合金丝的研究与应用具有先进的指导意义与实用价值。To sum up, a superelastic memory alloy wire can be used as a string, a magnetostrictive lever can be used as a string tensioning device, and a silent stepping motor can drive a playing piece or a bow as a performance device. Self-sensing superelastic memory alloy wire single-string violin tuned by telescopic lever. The corresponding tone can be converted into an electrical signal by controlling the signal generator. After being amplified by the power amplifier, the magnetostrictive lever can be controlled to adjust the tension of the memory alloy wire strings. Under the feedback of the ohmmeter, the automatic tuning can be performed quickly and accurately. . For the performance device, you can control the playing piece on the silent stepping motor 1 to pluck the strings, or control the bow on the silent stepping motor 2 to pull the strings, so that the memory alloy wire strings make sounds and realize the playing of the music. play. The technology has advanced guiding significance and practical value for the research and application of magnetostrictive actuators and superelastic memory alloy wires.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种磁致伸缩杠杆调音式自感知超弹记忆合金丝单弦弹拉琴。该装置可实现由一根记忆合金丝做琴弦，一个磁致伸缩致动器结合放大杠杆做琴弦张紧装置，静音步进电机1驱动弹奏片做弹奏装置，静音步进电机2驱动曲柄滑块机构上的琴弓做拉弦装置，自动实现可弹可拉的演奏乐曲功能。The purpose of the present invention is to provide a magnetostrictive lever tuning type self-sensing superelastic memory alloy wire single-string playing piano. The device can be realized by a memory alloy wire as a string, a magnetostrictive actuator combined with an amplifying lever as a string tensioning device, a silent stepping motor 1 driving a playing piece as a playing device, and a silent stepping motor 2 The bow on the crank-slider mechanism is driven as a string-pulling device, which automatically realizes the function of playing music that can be played and pulled.
为了解决上述技术问题，本发明采用如下技术方案：In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:
一种磁致伸缩杠杆调音式自感知超弹记忆合金丝单弦弹拉琴，主要由琴弦张紧装置、琴弦固定装置、演奏装置、电控装置4个部分所组成。其中琴弦张紧装置部分由磁致伸缩致动器和放大杠杆2个元件组成，琴弦固定装置部分由超弹记忆合金丝琴弦、琴弦固定螺柱、琴弦夹具3个元件组成，演奏装置部分由两个静音步进电机、弹奏片、琴弓和曲柄滑块机构组成，电控装置部分由控制信号发生器、功率放大器、步进电机驱动器和欧姆表组成。A magnetostrictive lever-tuned self-sensing superelastic memory alloy wire single-string playing piano is mainly composed of four parts: a string tensioning device, a string fixing device, a playing device and an electric control device. The string tensioning device is composed of magnetostrictive actuator and magnifying lever, and the string fixing device is composed of superelastic memory alloy wire strings, string fixing studs, and string fixtures. The performance device part is composed of two silent stepping motors, playing piece, bow and crank slider mechanism, and the electronic control device part is composed of a control signal generator, a power amplifier, a stepping motor driver and an ohmmeter.
为了能够使超弹记忆合金丝所受应力超过弹性极限，所述的琴弦张紧装置选用输出力大的磁致伸缩致动器，采用放大杠杆，可以大幅度提高磁致伸缩致动器的输出位移量，放大杠杆的支点位置有一V型槽，将放大杠杆安装在刀刃型支点上，可以使杠杆绕着支点转动，放大杠杆的输出端有两个螺纹盲孔，可用于安放琴弦夹具。In order to make the stress on the superelastic memory alloy wire exceed the elastic limit, the described string tensioning device selects a magnetostrictive actuator with a large output force, and adopts an amplifying lever, which can greatly improve the performance of the magnetostrictive actuator. Output displacement, there is a V-shaped groove at the fulcrum position of the magnifying lever. Install the magnifying lever on the knife-edge fulcrum, which can make the lever rotate around the fulcrum. The output end of the magnifying lever has two threaded blind holes, which can be used to place the string fixture. .
所述的琴弦固定装置包括琴弦夹具和琴弦固定螺柱，琴弦夹具由两个螺栓和开有两个孔的铜片组成，记忆合金丝琴弦一端可以夹紧在铜片和放大杠杆输出端之间，记忆合金丝琴弦的另一端可以穿过琴弦固定螺柱上方的通孔，二者配合可以使超弹记忆合金丝琴弦固定。The string fixing device includes a string clamp and a string fixing stud. The string clamp is composed of two bolts and a copper sheet with two holes. One end of the memory alloy wire string can be clamped on the copper sheet and enlarged. Between the output ends of the lever, the other end of the memory alloy wire string can pass through the through hole above the string fixing stud, and the combination of the two can fix the super elastic memory alloy wire string.
所述的演奏装置主要由静音步进电机控制，弹奏部分的静音步进电机1输出端安装有弹奏片，在步进电机驱动器1输出的控制信号作用下控制弹奏片拨动琴弦使其发声，拉弦部分的静音步进电机2输出端连接着曲柄滑块机构，滑块上安装有琴弓，在步进电机驱动器2输出的控制信号作用下控制琴弓往复拉动琴弦使其发声，可以实现可弹可拉的两种演奏功能。The performance device is mainly controlled by a mute stepper motor, and the output end of the mute stepper motor 1 of the playing part is provided with a playing piece, and under the action of the control signal output by the stepping motor driver 1, the playing piece is controlled to pluck the strings. To make it sound, the output end of the silent stepper motor 2 in the string pulling part is connected to the crank slider mechanism, and a bow is installed on the slider. Its sound can realize two performance functions of playing and pulling.
所述的欧姆表连接在超弹记忆合金丝的两端，实时采集超弹记忆合金丝的电阻变化，根据记忆合金丝应力应变与电阻的对应关系，可以对琴弦的张紧程度进行快速精确的反馈控制。The ohmmeter is connected to both ends of the superelastic memory alloy wire, and the resistance change of the superelastic memory alloy wire is collected in real time. feedback control.
附图说明Description of drawings
图1为超弹记忆合金丝单弦弹拉琴结构示意图。FIG. 1 is a schematic diagram of the structure of a single-string playing and playing a piano with a superelastic memory alloy wire.
图2为琴弦夹具结构示意图。Figure 2 is a schematic diagram of the structure of the string clamp.
图3为超弹记忆合金丝单弦弹拉琴工作流程示意图。FIG. 3 is a schematic diagram of the workflow of playing and playing the piano with a single string of superelastic memory alloy wires.
图中：1为磁致伸缩致动器，2为超磁致伸缩材料，3为线圈，4为杠杆支点，5为放大杠杆，6为琴弦固定螺柱，7为弹奏片，8为静音步进电机1，9为超弹记忆合金丝琴弦，10为曲柄滑块机构，11为静音步进电机2，12为琴弓，13为琴弦夹具，14为欧姆表，15为固定螺栓，16为铜片。In the figure: 1 is magnetostrictive actuator, 2 is giant magnetostrictive material, 3 is coil, 4 is lever fulcrum, 5 is magnifying lever, 6 is string fixing stud, 7 is playing piece, 8 is
具体实施方式Detailed ways
下面结合附图所示对本发明作以下详细的描述：The present invention is described in detail below in conjunction with the accompanying drawings:
参照图1和图2，本装置为一种磁致伸缩杠杆调音式自感知超弹记忆合金丝单弦弹拉琴。超弹记忆合金丝琴弦(9)一端穿过琴弦固定螺柱(6)，另一端穿过琴弦夹具(13)和放大杠杆(5)输出端之间，琴弦夹具(13)由固定螺栓(15)和铜片(16)组成。磁致伸缩致动器(1)安装在靠近杠杆支点(4)位置，其安装底座可以调节，可以增加放大杠杆(5)的位移输出比。控制信号发生器将音符转化为相应的电信号，电信号经过功率放大器放大后，控制磁致伸缩致动器(1)中的线圈(3)产生相应的磁场，在磁场作用下超磁致伸缩材料(2)输出相应的位移。磁致伸缩致动器(1)输出的位移经过放大杠杆(5)的放大作用后，由磁致伸缩致动器(1)输出端的微小位移量转化为放大杠杆(5)输出端的较大位移量，记忆合金丝琴弦(9)随着放大杠杆(5)输出端摆动的角度不同，琴弦的张紧程度随之改变，从而发出不同的音调。超弹记忆合金丝琴弦(9)的两端连接欧姆表(14)，可以通过测量记忆合金丝的电阻变化反应其长度变化，对记忆合金丝琴弦(9)的张紧程度实现精确的反馈控制。Referring to Figures 1 and 2, the device is a magnetostrictive lever-tuned self-sensing superelastic memory alloy wire single-string violin. One end of the superelastic memory alloy wire string (9) passes through the string fixing stud (6), and the other end passes between the string clamp (13) and the output end of the amplifying lever (5). The fixing bolt (15) and the copper sheet (16) are composed. The magnetostrictive actuator (1) is installed at a position close to the lever fulcrum (4), and its installation base can be adjusted to increase the displacement output ratio of the amplifying lever (5). The control signal generator converts the musical note into a corresponding electrical signal, and after the electrical signal is amplified by the power amplifier, the coil (3) in the magnetostrictive actuator (1) is controlled to generate a corresponding magnetic field, and under the action of the magnetic field, the giant magnetostriction Material (2) outputs the corresponding displacement. After the displacement output by the magnetostrictive actuator (1) is amplified by the magnifying lever (5), the small displacement at the output end of the magnetostrictive actuator (1) is converted into a larger displacement at the output end of the magnifying lever (5). The amount of memory alloy wire strings (9) varies with the swinging angle of the output end of the amplifying lever (5), and the tension of the strings changes accordingly, so as to emit different tones. Both ends of the superelastic memory alloy wire strings (9) are connected to the ohmmeter (14), and the change in the length of the memory alloy wire can be reflected by measuring the resistance change of the memory alloy wire, so as to realize the precise degree of tension of the memory alloy wire strings (9). feedback control.
参照图1和图3，控制信号发生器通过功率放大器传输给磁致伸缩致动器(1)一个放大的控制信号同时，在经过判断后也传输给两个步进电机驱动器一个控制信号，驱动静音步进电机1(8)上的弹奏片拨动琴弦，或驱动静音步进电机2(11)上的琴弓拉动琴弦，使琴弦发出声音，完成一个音符的演奏。1 and 3, the control signal generator transmits an amplified control signal to the magnetostrictive actuator (1) through the power amplifier, and also transmits a control signal to the two stepper motor drivers after being judged to drive the The playing piece on the mute stepper motor 1 (8) plucks the strings, or drives the bow on the mute stepper motor 2 (11) to pull the strings, so that the strings emit sound and complete the performance of a note.
上述实例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的科研人员和工程技术人员能够了解本发明的内容并据此实施，并不能以此限制本发明的保护范围。凡根据本发明精神所作的等效变化或修饰，都应涵盖在本发明的保护范围之内。The above examples are only to illustrate the technical concept and characteristics of the present invention, and its purpose is to enable scientific researchers and engineering technicians who are familiar with this technology to understand the content of the present invention and implement accordingly, and cannot limit the protection scope of the present invention with this. All equivalent changes or modifications made according to the spirit of the present invention should be included within the protection scope of the present invention.
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