CN113246151B - Robot for playing urheen alone - Google Patents
Robot for playing urheen alone Download PDFInfo
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- CN113246151B CN113246151B CN202110603288.1A CN202110603288A CN113246151B CN 113246151 B CN113246151 B CN 113246151B CN 202110603288 A CN202110603288 A CN 202110603288A CN 113246151 B CN113246151 B CN 113246151B
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- manikin
- controlling
- rod
- trunk
- wire drawing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/004—Playing a music instrument
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Engineering & Computer Science (AREA)
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a robot for playing urheen alone, wherein a bow rod is held by the right hand of a manikin trunk, a piano rod is held by the left hand, a piano cylinder is fixed on the left thigh of the manikin trunk, and a first mechanism for controlling the right hand action, a second mechanism for controlling the left hand action and a control panel for controlling the first mechanism and the second mechanism are arranged in the manikin trunk; the first mechanism comprises a rotating mechanism for controlling the swing of the right arm and a stretching mechanism for controlling the contact of the bow hair of the bow rod with the inner string and the outer string; the invention can be used to make Erhu just like real person. The robot of the invention can deeply publicize culture, science and technology and art, and has wider applicable range: participating in arrangement of places such as tourist attractions, temple wedding celebration, employment exposition and the like; can help to improve the activities of the traditional festival of the nation; the combination of traditional music and modern intelligence adds more fun to life.
Description
Technical Field
The invention belongs to the field of robot manufacturing, and particularly relates to a urheen solo robot.
Background
The robot band can be created in China rarely, and due to great difficulty and complex process, the robot band can be manufactured successfully by multi-person groups of college calendars organized in all aspects in large enterprises, large schools and the like for a long time, but the manufacturing cost is high, the practicability is low, and the robot band is not suitable for being used, visited and displayed in folks.
Disclosure of Invention
In view of this, the present invention provides a solo robot for urheen.
In order to achieve the purpose, the technical scheme is as follows:
a robot for solo playing of two-stringed bowed instrument comprises a manikin trunk, wherein a bow rod is held by the right hand of the manikin trunk, a piano rod is held by the left hand of the manikin trunk, a piano tube is fixed on the left thigh of the manikin trunk, and a first mechanism for controlling the right hand to act, a second mechanism for controlling the left hand to act and a control panel for controlling the first mechanism and the second mechanism are installed in the manikin trunk;
the first mechanism comprises a rotating mechanism for controlling the swing of the right arm and a stretching mechanism for controlling the contact of the bow hair of the bow rod with the inner string and the outer string;
the second mechanism is used for controlling the left finger to press the string;
and the control panel is electrically connected with the first mechanism and the second mechanism respectively.
As a further improvement of the invention, the control panel comprises a circular turntable, a plurality of concentric switch-on rings are uniformly arranged on the turntable, adjacent switch-on rings are separated by a circular groove, a plurality of switch-on points for controlling the rotating mechanism, the stretching mechanism and the pressing mechanism are welded in the switch-on rings, a first rotating rod is rotatably arranged in the center of the turntable, contact pieces which are correspondingly contacted with the switch-on rings are sequentially arranged on the first rotating rod, the first rotating rod is connected with the output end of a first motor arranged in the center of the other side of the turntable, one contact piece is a normally-open point and is connected with a live wire of a power supply, the rest contact pieces are connected in series and are communicated with a null wire of the power supply, and the switch-on point is electrically connected with the first mechanism and the second mechanism through wires on the other side of the turntable.
As a further improvement of the invention, the rotating disc is made of a red copper plate.
As a further improvement of the invention, the rotating mechanism comprises a second motor arranged in a chest cavity of the trunk of the manikin, the second motor is electrically connected with a corresponding connection point on a connection ring, the second motor is connected with one end of a screw rod rotatably arranged in the chest cavity, meanwhile, a sliding rod is arranged in the chest cavity in parallel with the axis of the screw rod, sliding blocks are arranged on the screw rod and the sliding rod in a penetrating way, a first bearing is arranged at the upper end of the sliding block, a through hole is vertically and fixedly arranged on the first bearing, one end of a connecting rod is arranged in the through hole in a penetrating way, the other end of the connecting rod is connected with the lower end of a second rotating rod which is vertically arranged, the upper end of the second rotating rod is arranged on a second bearing which is fixedly arranged on the right shoulder of the trunk of the manikin in a penetrating way, and meanwhile, the upper end of the right arm of the trunk of the manikin is fixedly connected with the second rotating rod;
stretching mechanism is including installing the telescopic cylinder at manikin truck shoulder, telescopic cylinder and the switch-on point electric connection on its corresponding switch-on circle, on the fixed plate on the manikin truck was fixed to the telescopic cylinder bottom, telescopic cylinder's the flexible fixed pulling-on piece that is provided with of serving, pulling-on piece one end is connected with the first wire drawing one end of passing the fixed plate, and simultaneously, the pulling-on piece is connected with first connecting piece one end, rotate in the middle of the first connecting piece and connect in manikin truck chest, the first connecting piece other end is connected with the one end of second wire drawing, the second wire drawing other end passes the fixed plate and rotates and install the second connecting piece one end at the hand and be connected, second connecting piece intermediate position rotates and installs on the hand, and the second connecting piece other end is connected with the first wire drawing other end.
As a further improvement of the invention, the first wire drawing and the second wire drawing are respectively connected with the second connecting piece through soft springs, and the first wire drawing and the second wire drawing are both penetrated in the sleeve.
As a further improvement of the present invention, the second mechanism includes an electromagnetic controller electrically connected to the control panel, the electromagnetic controller is electrically connected to the connection point on the corresponding connection ring, the electromagnetic controller is connected to the left finger through four third drawing wires, the left finger is curved, the finger root of the left finger is rotatably connected to the palm, and the finger tip of the left finger is pressed on the string.
As a further improvement of the invention, the third drawn wire is also penetrated in the sleeve.
The beneficial effects of the invention are:
1. the manufacturing cost is low, the independence is strong, and the originality is unique;
2. the robot can deeply propaganda culture, science and technology and art, and has wider application range: can go in and out of high-end celebration places; participating in arrangement of places such as tourist attractions, temple wedding celebration, employment exposition and the like; can help the activities of the traditional festival of the nationality;
3. the combination of traditional music and modern intelligence adds more fun to life.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the present invention relating to a rotating mechanism;
FIG. 3 shows a second motor and a screw rod according to the present invention 、 The slide rod and the slide block are assembled schematically.
FIG. 4 is a schematic view of the drawing mechanism according to the present invention;
FIG. 5 is a schematic view of a control panel according to the present invention;
fig. 6 is an assembly view of the first rotary rod, the contact piece and the connecting point according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Please refer to fig. 1-6:
a robot for solo playing of two-stringed bowed instrument comprises a manikin trunk 1, wherein a bow rod is held by the right hand of the manikin trunk 1, a piano rod is held by the left hand, a piano tube is fixed on the left thigh of the manikin trunk 1, and a first mechanism 2 for controlling the right hand to act, a second mechanism 3 for controlling the left hand to act and a control panel 4 for controlling the first mechanism 2 and the second mechanism 3 are installed in the manikin trunk 1;
the first mechanism 2 comprises a rotating mechanism 20 for controlling the swing of the right arm and a stretching mechanism 21 for controlling the contact of the bow hair of the bow rod with the inner and outer strings;
a second mechanism 3 including a pressing mechanism for controlling the left finger to press the string;
and the control panel 4 is electrically connected with the first mechanism 2 and the second mechanism 3 respectively.
The control panel 4 comprises a circular turntable 40, the turntable 40 is made of a copper plate, a plurality of concentric connection rings 401 are uniformly arranged on the turntable 40, adjacent connection rings 401 are separated by a circular groove a, a plurality of connection points 402 used for controlling the rotating mechanism 20, the stretching mechanism 21 and the pressing mechanism are welded in the connection rings 401, a first rotating rod 403 is rotatably arranged at the center of the turntable 40, contact pieces 404 correspondingly contacted with the connection rings 401 are sequentially arranged on the first rotating rod 403, the first rotating rod 403 is communicated with a first motor 405 arranged at the center of the other side of the turntable 40 and connected with a power supply, one of the contact pieces 404 is a normally open point, and the contact points 402 corresponding to other contact pieces 404 are respectively electrically connected with a first mechanism 2 and a second mechanism 3 which are controlled by the contact pieces.
In the application, the turn-on ring 401 on the circular turntable 40 has three rings, the first ring is used for controlling the beat number of the music score (namely controlling fingers to press strings), the second ring is used for controlling bow pushing and bow pulling, and the third ring is used for controlling inward and outward string falling;
the rotating mechanism 20 comprises a second motor 201 installed in a chest cavity of the manikin trunk 1, the second motor 201 is electrically connected with a corresponding connection point 402 on a connection ring 401, the second motor 201 is connected with one end of a screw rod 202 rotatably installed in the chest cavity, meanwhile, a sliding rod 203 is installed in the chest cavity and is parallel to the axis of the screw rod 202, a sliding block 204 is arranged on the screw rod 202 and the sliding rod 203 in a penetrating manner, a first bearing 205 is arranged at the upper end of the sliding block 204, a through hole 206 is vertically and fixedly arranged on the first bearing 205, one end of a connecting rod 207 is arranged in the through hole 206 in a penetrating manner, the other end of the connecting rod 207 is connected with the lower end of a second rotating rod 208 vertically arranged, the upper end of the second rotating rod 208 is arranged on a second bearing 209 fixedly installed on the right shoulder of the manikin trunk 1 in a penetrating manner, and meanwhile, the upper end of the right arm of the manikin trunk 1 is fixedly connected with the second rotating rod 208;
the stretching mechanism 21 comprises a telescopic cylinder 210 arranged on the shoulder of the manikin trunk 1, the telescopic cylinder 210 is electrically connected with a corresponding connection point 402 on a connection ring 401, the bottom of the telescopic cylinder 210 is fixed on a fixing plate 211 on the manikin trunk 1, a pull sheet 212 is fixedly arranged on the telescopic end of the telescopic cylinder 210, one end of the pull sheet 212 is connected with one end of a first wire drawing 213 penetrating through the fixing plate 211, meanwhile, the pull sheet 212 is connected with one end of a first connecting piece 214, the middle of the first connecting piece 214 is rotatably connected in the chest of the manikin trunk 1, the other end of the first connecting piece 214 is connected with one end of a second wire drawing 215, the other end of the second wire drawing 215 penetrates through the fixing plate 211 to be connected with one end of a second connecting piece 216 rotatably arranged on the hand, the middle position of the second connecting piece 216 is rotatably arranged on the hand, the other end of the second connecting piece 216 is connected with the other end of the first wire drawing 213, and the second connecting piece 216 is connected with a bow rod for adjusting contact inside and outside of bow hairs; the first wire 213 and the second wire 215 are respectively connected with a second connecting piece 216 through a soft spring 217, and the first wire 213 and the second wire 215 are both inserted in the sleeve.
The second mechanism 3 comprises an electromagnetic controller 30 electrically connected with the control panel 4, the electromagnetic controller 30 is electrically connected with a corresponding connecting point 402 on a connecting ring 401, the electromagnetic controller 30 is respectively connected with the middle position of the proximal phalanx of the left finger through four third wire drawing 31, the left finger is bent, the finger root position of the left finger is rotatably connected with the palm, and the finger tip of the left finger is pressed on the string; the third wire 31 is also threaded into the sleeve.
In operation, the control panel 4 is placed, the power is turned on, the first motor 405 rotates, the first rotating rod 403 rotates slowly, each contact piece 404 sweeps the corresponding turn-on point 402 on the turn-on ring 401, the second motor 201, the telescopic cylinder 210 and the electromagnetic controller 30 are controlled to complete corresponding actions, and the performance of the urheen is completed, in addition, the unique playing control flow of the urheen is as follows: power → controller contact piece 404 and contact point 402 are on → relay → electromagnetic controller 30 → robot completes the plucking.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a robot is exclusively played to two-stringed bowed instrument, includes the manikin truck, the right hand of manikin truck is held there is the bow stick, and the musical instrument pole is being held to the left hand, and a musical instrument section of thick bamboo is fixed on manikin truck left thigh, its characterized in that: a first mechanism for controlling the right-hand action, a second mechanism for controlling the left-hand action and a control panel for controlling the first mechanism and the second mechanism are arranged in the manikin body;
the first mechanism comprises a rotating mechanism for controlling the swing of the right arm and a stretching mechanism for controlling the contact of the bow hair of the bow rod with the inner string and the outer string;
the rotating mechanism comprises a second motor arranged in a chest cavity of the trunk of the manikin, the second motor is electrically connected with a corresponding connecting point on a connecting ring, the second motor is connected with one end of a screw rod rotatably arranged in the chest cavity, meanwhile, a sliding rod is arranged in the chest cavity in parallel with the axis of the screw rod, a sliding block is arranged on the screw rod and the sliding rod in a penetrating manner, a first bearing is arranged at the upper end of the sliding block, a through hole is vertically and fixedly arranged on the first bearing, one end of a connecting rod is arranged in the through hole in a penetrating manner, the other end of the connecting rod is connected with the lower end of a second rotating rod which is vertically arranged, the upper end of the second rotating rod is arranged on a second bearing which is fixedly arranged on the right shoulder of the trunk of the manikin in a penetrating manner, and meanwhile, the upper end of the right arm of the trunk of the manikin is fixedly connected with the second rotating rod;
the stretching mechanism comprises a telescopic cylinder arranged on the shoulder part of the trunk of the manikin, the telescopic cylinder is electrically connected with a connecting point on a corresponding connecting ring, the bottom of the telescopic cylinder is fixed on a fixing plate on the trunk of the manikin, a pulling piece is fixedly arranged on a telescopic end of the telescopic cylinder, one end of the pulling piece is connected with one end of a first wire drawing penetrating through the fixing plate, meanwhile, the pulling piece is connected with one end of a first connecting piece, the middle of the first connecting piece is rotatably connected in the chest cavity of the manikin trunk, the other end of the first connecting piece is connected with one end of a second wire drawing, the other end of the second wire drawing penetrates through the fixing plate and is connected with one end of a second connecting piece rotatably arranged on a hand, the middle position of the second connecting piece is rotatably arranged on the hand, and the other end of the second connecting piece is connected with the other end of the first wire drawing;
the second mechanism is used for controlling the left finger to press the string;
the second mechanism comprises an electromagnetic controller electrically connected with the control panel, the electromagnetic controller is electrically connected with a connecting point on a corresponding connecting ring, the electromagnetic controller is respectively connected with a left finger through four third drawn wires, the left finger is bent, the finger root of the left finger is rotatably connected with a palm, and the finger tip of the left finger is pressed on the string;
the control panel is electrically connected with the first mechanism and the second mechanism respectively;
the control panel includes circular carousel, evenly be provided with a plurality of concentric switch-on circles on the carousel, it is adjacent cut apart through circular recess between the switch-on circle, fusion welding has a plurality of switch-on points that are used for controlling slewing mechanism, tension mechanism and pressing mechanism in the switch-on circle, the carousel center is rotated and is installed first bull stick, install the contact piece with the corresponding contact of each switch-on circle on the first bull stick in proper order, first bull stick and install the first motor output intercommunication of being connected at carousel opposite side center and power, one of them the contact piece is for normally opening the point, the corresponding contact point of other contacts respectively rather than the first mechanism and the second mechanism electric connection of control.
2. A solo robot according to claim 1, wherein: the rotary plate is made of a red copper plate.
3. A solo robot according to claim 1, wherein: the first wire drawing and the second wire drawing are connected with the second connecting piece through soft springs respectively, and the first wire drawing and the second wire drawing penetrate through the sleeve.
4. A solo robot for two-stringed bowed instrument according to claim 1, wherein: the third drawn wire also penetrates through the sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110603288.1A CN113246151B (en) | 2021-05-31 | 2021-05-31 | Robot for playing urheen alone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110603288.1A CN113246151B (en) | 2021-05-31 | 2021-05-31 | Robot for playing urheen alone |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113246151A CN113246151A (en) | 2021-08-13 |
| CN113246151B true CN113246151B (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110603288.1A Active CN113246151B (en) | 2021-05-31 | 2021-05-31 | Robot for playing urheen alone |
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| Country | Link |
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| CN (1) | CN113246151B (en) |
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| CN113246151A (en) | 2021-08-13 |
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