CN113386157B

CN113386157B - Playing structure of robot musician, drum-beating robot and control method thereof

Info

Publication number: CN113386157B
Application number: CN202110945896.0A
Authority: CN
Inventors: 徐延泷; 潘心浩
Original assignee: Beijing Mujia Tianshu Culture Technology Co ltd
Current assignee: Beijing Mujia Tianshu Culture Technology Co ltd
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2021-11-16
Anticipated expiration: 2041-08-18
Also published as: CN113386157A

Abstract

The invention provides a playing structure of a robot bandsman, a drum playing robot and a control method of the drum playing robot, relates to the technical field of performance robots, and solves the problem that the playing effect of the drum playing robot in the prior art is poor. The playing structure comprises a crank rocker mechanism and a bistable module, wherein the bistable module comprises a drumstick mechanism and an elastic pre-tightening mechanism connected with the drumstick mechanism, the elastic pre-tightening mechanism is used for adjusting the force required by the drumstick mechanism to be separated from a drumstick surface, the drumstick mechanism can be positioned at a lower limit stable position before touching the drumstick surface, and the relative position of the drumstick mechanism and a rocker is ensured to be accurate; the drumstick mechanism swings away from the drumhead under the action of knocking force after contacting the drumstick mechanism and can be quickly separated from the drumhead to ensure that drumsticks are short, crisp and crisp, and can continuously move to the upper limit stable position to avoid secondary knocking on the drumstick mechanism by back-and-forth swinging to influence the drumstick accuracy. The drumstick mechanism can automatically reset along with the movement of the rocker in a movement period and return to the lower limit steady-state position to be ready for knocking the drumhead next time.

Description

Playing structure of robot musician, drum-beating robot and control method thereof

Technical Field

The invention relates to the technical field of performance robots, in particular to a playing structure of a robot musician, a drum-beating robot and a control method of the drum-beating robot.

Background

Robots capable of replacing humans to perform repetitive physical labor, or those that are dangerous and exceed human limits, have been commonly used in industrial manufacturing, medical care, national defense, emergency rescue, home service. In recent years, along with the cross fusion of science and technology and art and the growth of people on cultural consumption, performance robots are in the spotlight, and robots in forms such as dancing robots, unmanned aerial vehicle formation performance and robot bands appear.

At present, the existing robot of percussion instrument is mainly a jazz drum abroad. Percussion instrument class music robot generally comprises a plurality of steering wheel, and the degree of freedom is many, and the action is fast, and the performance is effectual, therefore also is the one direction of many researches. Most percussion robots satisfy the music expression requirement of the whole music by mainly composing a drum kit or a drum array by a plurality of drums with different timbres. Some traditional instruments for playing or publicizing the percussion drum are often only used for adjusting the speed of percussion drum, and people can realize richer changes in the speed of percussion through the matching of wrists and fingers when performing percussion music, and the drum sound is stable and transparent through reasonable force.

The applicant has found that the prior art has at least the following technical problems:

at present, when a drum instrument is played from a robot or a knocking structure, the regulation of knocking rhythm and knocking force can be realized, and the phenomenon that the drumstick is slowly separated from the drumhead to inhibit the vibration of the drumhead to make the sound stuffy and disordered often occurs.

Disclosure of Invention

The invention aims to provide a playing structure of a robot musician, a drum playing robot and a control method of the drum playing robot, and aims to solve the technical problem that the playing effect of the drum playing robot in the prior art is poor. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides a playing structure of a robot musician, which comprises a crank rocker mechanism and a bistable module, wherein: the bistable module comprises a drumstick mechanism and an elastic pre-tightening mechanism connected with the drumstick mechanism, the drumstick mechanism has a lower limit stable position and an upper limit stable position, the drumstick mechanism at the lower limit stable position can touch a drumhead under the driving of the crank rocker mechanism, and the elastic pre-tightening mechanism is used for adjusting the force required by the drumstick mechanism to be separated from the drumhead, and the drumstick mechanism can rebound to the upper limit stable position after touching the drumhead.

As a further improvement of the invention, the playing structure further comprises a housing and a driving mechanism, an accommodating chamber for installing the driving mechanism and the elastic pre-tightening mechanism is arranged in the housing, the crank-rocker mechanism comprises a crank, a connecting rod and a rocker which are arranged outside the housing, the crank is connected with the driving mechanism, the connecting rod is rotatably connected with the crank, the rocker is pivotally connected with the housing through a connecting component, the other end of the rocker is rotatably connected with the drumstick mechanism, the connecting rod is rotatably connected to the middle section of the rocker, and the driving mechanism can drive the crank-rocker mechanism to drive the drumstick mechanism to knock the drumstick surface.

As a further improvement of the present invention, the drumstick mechanism includes a swing drumstick seat, a drumstick connecting rod and a drumstick head, two ends of the drumstick connecting rod are respectively and fixedly connected with the swing drumstick seat and the drumstick head, the elastic pre-tightening mechanism is connected with the swing drumstick seat, the swing drumstick seat is pivotally connected with the rocker, a shape locking portion is present on the swing drumstick seat, and a swing angle between the swing drumstick seat and the rocker can be limited by the shape locking portion.

As a further improvement of the invention, the elastic pre-tightening mechanism comprises an adjusting motor, a worm and gear transmission structure, a torsion spring and a drumstick traction rope, which are arranged in the shell, wherein the adjusting motor is connected with one end of the torsion spring through the worm and gear transmission structure, the other end of the torsion spring is connected with the drumstick traction rope, one end of the drumstick traction rope, which is far away from the torsion spring, can penetrate out of the shell to be connected with the swinging drumstick seat, and the adjusting motor can drive the worm and gear transmission structure to rotate so as to adjust the pre-tightening force of the torsion spring.

As a further improvement of the invention, the worm and gear transmission structure comprises a worm wheel, a worm and a connecting shaft, the adjusting motor is connected with the worm, the worm is meshed with the worm wheel, the connecting shaft is arranged on the worm wheel, an installation groove is arranged on the connecting shaft, the torsion spring is sleeved on the connecting shaft, and one end of the torsion spring is fixedly arranged in the installation groove.

As a further improvement of the invention, the connecting assembly comprises a rocker rotating shaft and a bearing seat, the bearing seat is arranged in the shell, a mounting hole for mounting the rocker rotating shaft is arranged on the bearing seat, the end part of the rocker rotating shaft penetrating out of the shell is fixedly connected with the rocker, and the rocker rotating shaft can form pivotal connection with the shell through the bearing seat.

As a further improvement of the present invention, the housing includes a first housing and a second housing, the accommodating chamber is formed between the first housing and the second housing, the first housing and the second housing are both provided with a bearing seat, one end of the rocker rotating shaft is mounted on the bearing seat on the first housing, and the other end of the rocker rotating shaft can penetrate out of the second housing through a mounting hole on the bearing seat on the second housing to be fixedly connected with the rocker.

As a further improvement of the invention, the connecting rod comprises a telescopic sleeve rod, the telescopic sleeve rod comprises an outer supporting rod and an inner supporting rod, the outer supporting rod is connected with the crank, the inner supporting rod is connected with the rocker, the outer supporting rod is sleeved on the periphery of the inner supporting rod, and the inner supporting rod is connected with the outer supporting rod in a threaded manner;

the playing structure of robot musician still includes the sensing module, the sensing module includes position sensor, speed sensor and force sensor, wherein, position sensor sets up the crank or on the rocker, speed sensor sets up actuating mechanism is last, force sensor sets up on the drumstick haulage rope.

A drum beating robot comprises a playing structure of a robot musician.

A control method of a drum beating robot, the control method comprising: the bistable module is mounted on the crank rocker mechanism, the bistable module and the crank rocker mechanism form bistable pivotal connection, the drumstick mechanism has a lower limit stable position and an upper limit stable position, and the drumstick mechanism can be quickly separated from a drumhead after contacting the drumhead under the action of the bistable module so as to enable the drumstick to be short and promote crispness;

the drumstick mechanism can be located at a lower limit stable position before touching the drumhead, the drumstick mechanism located at the lower limit stable position can touch the drumhead under the driving of the crank rocker mechanism, the drumstick mechanism can swing in the direction far away from the drumhead under the reaction of a knocking force after touching the drumhead, the drumstick mechanism can continue to move to the upper limit stable position, and the drumstick mechanism can automatically reset along with the crank rocker mechanism in a movement period and returns to the lower limit stable position to be ready for knocking the drumhead next time.

The invention provides a playing structure of a robot musician, which comprises a shell, a driving mechanism, a crank rocker mechanism, a drumstick mechanism and an elastic pre-tightening mechanism, wherein the driving mechanism is connected with the crank rocker mechanism, the crank rocker mechanism is connected with the drumstick mechanism, the driving mechanism can drive the crank rocker mechanism to drive the drumstick mechanism to act, and the drum beating rhythm of the drumstick mechanism can be adjusted by starting and stopping the motor. Because the crank rocker mechanism can convert unidirectional rotation motion into reciprocating motion required by the drumstick mechanism for knocking, the driving mechanism does not need to be frequently reversed, can rotate in a unidirectional high speed, and keeps extremely high knocking frequency. And the deformation degree of the drumhead (namely the force required for adjusting the drumstick mechanism to be quickly separated from the drumhead) when the drumstick mechanism knocks the drumhead to rebound can be adjusted by adjusting the pretightening force of the elastic pretightening mechanism, so that the drumstick lightness is adjusted, and the larger the deformation is, the heavier the drumstick is. The drumstick mechanism is positioned at the lower limit steady-state position before touching the drum surface, so that the relative position of the drumstick mechanism and the rocker is accurate, and the playing time is accurate. After the drumstick mechanism touches the drumhead, under the action of knocking force, the drumstick mechanism swings towards the direction far away from the drumhead, can be quickly separated from the drumhead, ensures short and crisp drumstick points, continues to move to the upper limit steady-state position, and avoids secondary knocking on the drumhead caused by back-and-forth swinging to influence drumhead accuracy. The drumstick mechanism can automatically reset along with the movement of the rocker in a movement period, returns to the lower limit steady-state position and is ready for knocking the drumhead next time. The playing structure of the robot musician provided by the invention realizes the adjustment of the beating rhythm and the force, and has rich music expression.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a first schematic structural diagram of a playing structure of a robot musician according to an embodiment of the present invention;

fig. 2 is a second structural diagram of a playing structure of a robot musician according to the embodiment of the invention;

fig. 3 is a third schematic structural diagram (not shown in the second casing) of the playing structure of the robot musician according to the embodiment of the present invention;

FIG. 4 is an enlarged view of portion A of FIG. 3;

fig. 5 is a fourth structural diagram of a playing structure of a robot musician according to the embodiment of the invention;

fig. 6 is a fifth structural schematic diagram (not showing the first casing) of the playing structure of the robot musician according to the embodiment of the present invention;

fig. 7 is a sixth schematic structural view of the playing structure of the robot musician provided by the embodiment of the invention (the first casing is not shown);

fig. 8 is an enlarged view of portion B of fig. 7;

FIG. 9 is a schematic structural diagram of the drumstick mechanism provided by the embodiment of the invention;

FIG. 10 is a schematic structural view of a swinging drumstick holder provided by an embodiment of the invention;

fig. 11 is a plan view of a playing structure of a robot musician according to an embodiment of the present invention;

FIG. 12 is a sectional view taken along line A-A in FIG. 11;

fig. 13 is an enlarged view of portion C of fig. 12;

FIG. 14 is a sectional view of the oscillating drumstick holder in an embodiment of the invention;

FIG. 15 is a schematic diagram of the drumstick mechanism in the lower extreme steady state position in an embodiment of the invention;

FIG. 16 is a schematic diagram of the rebound condition of the drumstick mechanism after contacting the drumhead in an embodiment of the present invention;

fig. 17 is a schematic diagram of the drumstick mechanism in the upper limit steady-state position in the embodiment of the invention.

Reference numerals: 1. a housing; 110. a first housing; 120. a second housing; 2. a crank and rocker mechanism; 21. a crank; 22. a connecting rod; 221. an outer strut; 222. an inner support rod; 23. a rocker; 3. a drum driving motor; 4. a speed reducer; 5. a rocker shaft; 6. a bearing seat; 7. a drumstick mechanism; 71. swinging the drumstick base; 711. avoiding a space; 72. a drumstick connecting rod; 73. a drum hammer head; 8. a shape-locking portion; 81. a first locking surface; 82. a second locking surface; 9. an elastic pre-tightening mechanism; 91. adjusting the motor; 92. a worm gear; 93. a worm; 94. a torsion spring; 95. a drumstick pull rope; 10. a connecting shaft; 101. mounting grooves; 11. a rotation speed sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

Referring to fig. 1 to 17, the invention provides a playing structure of a robot musician, which includes a crank rocker mechanism 2 and a bistable module, wherein the bistable module includes a drumstick mechanism 7 and an elastic pre-tightening mechanism 9 connected with the drumstick mechanism 7, the drumstick mechanism 7 has a lower limit steady-state position and an upper limit steady-state position, the drumstick mechanism 7 in the lower limit steady-state position can touch a drumhead under the driving of the crank rocker mechanism 2, the elastic pre-tightening mechanism 9 is used for adjusting the force required by the drumstick mechanism 7 to break away from the drumhead, and the drumstick mechanism 7 can rebound to the upper limit steady-state position after touching the drumstick.

The playing structure of the robot musician provided by the invention further comprises a shell 1 and a driving mechanism, wherein an accommodating cavity used for installing the driving mechanism and an elastic pre-tightening mechanism 9 is arranged in the shell 1, the driving mechanism is connected with the crank rocker mechanism 2, the crank rocker mechanism 2 is connected with the drumstick mechanism 7, the driving mechanism can drive the crank rocker mechanism 2 to drive the drumstick mechanism 7 to knock the drumstick surface, the elastic pre-tightening mechanism 9 is connected with the drumstick mechanism 7, and the deformation degree of the drumstick surface when the drumstick mechanism 7 knocks the drumstick surface to rebound can be adjusted by adjusting the pre-tightening force of the elastic pre-tightening mechanism 9.

The crank rocker mechanism can convert unidirectional rotation motion into reciprocating motion required by the drumstick mechanism for knocking, so that the driving mechanism does not need frequent reversing, can rotate in a unidirectional high speed mode, and keeps extremely high knocking frequency. And the deformation degree of the drumhead (namely the force required for adjusting the drumstick mechanism to be quickly separated from the drumhead) when the drumstick mechanism knocks the drumhead to rebound can be adjusted by adjusting the pretightening force of the elastic pretightening mechanism, so that the drumstick lightness is adjusted, and the larger the deformation is, the heavier the drumstick is. The drumstick mechanism is positioned at the lower limit steady-state position before touching the drum surface, so that the relative position of the drumstick mechanism and the rocker is accurate, and the playing time is accurate. After the drumstick mechanism touches the drumhead, under the action of knocking force, the drumstick mechanism swings towards the direction far away from the drumhead, can be quickly separated from the drumhead, ensures short and crisp drumstick points, continues to move to the upper limit steady-state position, and avoids secondary knocking on the drumhead caused by back-and-forth swinging to influence drumhead accuracy. The drumstick mechanism can automatically reset along with the movement of the rocker in a movement period, returns to the lower limit steady-state position and is ready for knocking the drumhead next time.

With reference to fig. 11 and 12, the crank-rocker mechanism 2 includes a crank 21, a connecting rod 22 and a rocker 23, which are disposed outside the housing 1, the crank 21 is connected with the driving mechanism, the connecting rod 22 is rotatably connected with the crank 21, the rocker 23 is pivotally connected with the housing 1 through a connecting assembly, the other end of the rocker 23 is rotatably connected with the drumstick mechanism 7, and the connecting rod 22 is rotatably connected with the middle section of the rocker 23.

The high-speed motor is selected for the drive mechanism in this embodiment, and the high-speed swing of drumstick mechanism 7 is realized through crank rocker mechanism 2 cooperation high-speed drive mechanism, avoids steering wheel or the limited problem of pneumatic drive drumming frequency to enable to beat the drum frequency upper limit and improve, the drum sound is penetrating.

Specifically, referring to fig. 3, the driving mechanism includes a drum driving motor 3 and a speed reducer 4, the drum driving motor 3 is connected to the speed reducer 4, an output shaft of the speed reducer 4 is fixedly connected to the crank 21, and the rotation of the drum driving motor 3 is decelerated by the speed reducer 4 to drive the crank 21 to rotate.

The drumstick mechanism 7 drives the crank rocker mechanism 2 to act by a rotary actuator (drum beating driving motor 3), and the drum beating driving motor 3 in the embodiment is preferably a stepping motor or a brushless motor. Because the crank rocker mechanism 2 can convert the unidirectional rotation motion into the reciprocating motion required by the drumstick mechanism 7 for knocking, the drum beating driving motor 3 can rotate in a unidirectional high speed without frequent reversing, and the extremely high knocking frequency is kept. The drum beating rhythm can be adjusted by adjusting the rotating speed and the starting and stopping of the drum beating driving motor 3.

Referring to fig. 3 and 4, the connecting rod 22 in this embodiment is a telescopic rod, and is adjustable in length so as to adjust the swing amplitude of the rocker 23. The telescopic sleeve rod comprises an outer support rod and an inner support rod, the outer support rod is connected with the crank 21, the inner support rod is connected with the rocker 23, the outer support rod is sleeved on the periphery of the inner support rod, and the inner support rod is connected with the outer support rod in a threaded mode; in addition, the outer support rod and the inner support rod can be further fixed through bolts after the positions of the outer support rod and the inner support rod are adjusted.

As an optional implementation manner of the embodiment of the present invention, the connection assembly includes a rocker rotating shaft 5 and a bearing seat 6, as shown in fig. 3, the bearing seat 6 is disposed in the housing 1, a mounting hole for mounting the rocker rotating shaft 5 is disposed on the bearing seat 6, the end of the rocker rotating shaft 5 penetrating through the housing 1 is fixedly connected to the rocker 23, and the rocker rotating shaft 5 can form a pivot connection with the housing 1 through the bearing seat 6.

As an optional implementation manner of the embodiment of the present invention, the casing 1 includes a first casing 110 and a second casing 120, an accommodating chamber is formed between the first casing 110 and the second casing 120, a bearing seat 6 is disposed on each of the first casing 110 and the second casing 120, one end of the rocker rotating shaft 5 is mounted on the bearing seat 6 on the first casing 110, and the other end of the rocker rotating shaft 5 can penetrate out of the second casing 120 through a mounting hole on the bearing seat 6 on the second casing 120 to be fixedly connected with the rocker 23. The provision of the casing 1 makes the overall playing structure safer.

As an alternative embodiment of the present invention, the drumstick mechanism 7 shown in fig. 9 includes a swing drumstick base 71, a drumstick connecting rod 72 and a drumstick head 73, two ends of the drumstick connecting rod 72 are respectively and fixedly connected with the swing drumstick base 71 and the drumstick head 73, the elastic pre-tightening mechanism 9 is connected with the swing drumstick base 71, the swing drumstick base 71 is pivotally connected with the rocker 23, the form-locking portion 8 shown in fig. 13 is present on the swing drumstick base 71, and the swing angle between the swing drumstick base 71 and the rocker 23 can be limited by the form-locking portion 8. The drum hammer head 73 and the drum hammer connecting rod 72 are detachably connected in a threaded manner, so that materials with different hardness and weight can be replaced by the drum hammer head 73, and different musical instruments and playing requirements can be met.

With reference to fig. 12 and 13, the rocking stick base 71 is provided with a form-locking portion 8, the form-locking portion 8 is a form-locking surface provided on the right side of the rocking stick base 71 cooperating with the rocker 23, the rocking stick base 71 is further provided with an escape space 711 for cooperating with the rocker 23, and the rocking angle between the rocking stick base 71 and the rocker 23 is limited by form-locking. Through the bistable state module that the design can be spacing, can make the drumstick break away from the drumhead after knocking fast, the drum sound is still penetrating crisp when the low-speed heavy hit drumhead, can not make sound vexation confusion because of the drumstick breaks away from the drumhead slowly and restraines the drumhead vibration.

As an optional implementation manner of the embodiment of the present invention, with reference to fig. 6, 7 and 8, the elastic pre-tightening mechanism 9 includes an adjusting motor 91, a worm gear 92 and worm 93 transmission structure, a torsion spring 94 and a drumstick traction rope 95 installed in the housing 1, the adjusting motor 91 is connected to one end of the torsion spring 94 through the worm gear 92 and worm 93 transmission structure, the other end of the torsion spring 94 is connected to the drumstick traction rope 95, one end of the drumstick traction rope 95, which is far away from the torsion spring 94, can penetrate through the housing 1 to be connected to the swing drumstick base 71, and the adjusting motor 91 can adjust the pre-tightening force of the torsion spring 94 by driving the worm gear 92 and worm 93 transmission structure to rotate, so as to adjust the tension on the drumstick traction rope 95 connected to the torsion spring 94. The force required for quickly separating the drumstick mechanism 7 from the drumhead can be adjusted by adjusting the tension on the drumstick traction rope 95, and further the drumming weight is adjusted.

The worm gear 92 and worm 93 transmission structure comprises a worm gear 92, a worm 93 and a connecting shaft 10, the adjusting motor 91 is connected with the worm 93, the worm 93 is meshed with the worm gear 92, the connecting shaft 10 is arranged on the worm gear 92, an installation groove 101 is formed in the connecting shaft 10, the torsion spring 94 is sleeved on the connecting shaft 10, and one end of the torsion spring 94 is fixedly arranged in the installation groove 101. The drumstick traction rope 95 is used for elastically traction the swing drumstick seat 71, the adjusting motor 91 is adopted in the force application to drive the worm 93 to drive the worm wheel 92 to rotate, the pre-tightening force of the torsion spring 94 is further adjusted, therefore, the tension on the drumstick traction rope 95 connected with the torsion spring 94 is adjusted, and the force required by the drumstick to be separated from the drumhead can be adjusted by adjusting the tension of the drumstick traction rope 95.

The drumstick mechanism 7, the crank rocker mechanism 2 and the elastic pre-tightening mechanism 9 in the embodiment form a bistable drumstick module, the drumstick mechanism 7 is mounted on the rocker 23, the bistable pivot connection is formed between the drumstick mechanism 7 and the rocker 23, the drumstick mechanism 7 is located at a lower limit stable position before touching the drum surface, at this time, the shape locking part 8 arranged on the swing drumstick base 71 shown in fig. 14 comprises a first locking surface 81 and a second locking surface 82, when the drumstick mechanism 7 is located at the lower limit stable position, the rocker 23 is clamped by the first locking surface 81 on the swing drumstick base 71, the relative position of the swing drumstick base 71 and the rocker 23 is ensured to be accurate, and the playing time is ensured to be accurate. When the drumstick touches the drumhead, under the action of knocking force, the drumstick swings towards the direction far away from the drumhead to quickly separate from the drumhead, so that short and crisp drumstick is guaranteed, the drumstick can continuously move to the upper limit steady-state position, and when the drumstick mechanism 7 is located at the upper limit steady-state position, the rocker 23 is clamped by the second locking surface 82 on the swing drumstick seat 71, and the drumstick is prevented from swinging back and forth to knock the drumhead for the second time, so that the drumhead accuracy is prevented from being influenced. The drumstick will automatically reset with the movement of the rocker 23 in one movement cycle, and return to the lower limit steady state position to prepare for the next drumhead knocking.

The swinging angle between the drumstick mechanism 7 and the rocker 23 is limited by the positive locking portion 8 designed on the swinging drumstick seat 71, and the drumstick pulling rope 95 is used for elastically pulling the swinging drumstick seat 71, so that the swinging drumstick seat 71 is kept stable in two stable positions. The playing structure of the robot musician provided by the invention can enable the drumstick to be quickly separated from the drumhead after being knocked, the drumbeats are still transparent and crisp when the drumhead is hit at a low speed, and the drumstick is not separated from the drumhead slowly to inhibit the drumhead from vibrating to make the sound stuffy and disordered. The pre-tightening rigidity of the elastic pre-tightening mechanism 9 can be adjusted to conveniently adjust the strength of the drum beating force, so that the expressive force of music is richer and the control is more accurate.

The working cycle process of the playing structure of the robot musician provided by the invention is shown in fig. 15, 16 and 17. Fig. 15 shows the state that the drumstick head 73 is not in contact with the drumhead at the low point (lower limit steady state position), the swinging drumstick base 71 tends to move counterclockwise under the pulling force of the drumstick pulling rope 95 and keeps at the lower limit steady state position, at this time, the rocker 23 swings counterclockwise downward, and the drumstick base is driven by the rocker 23 to rotate to the position of contact with the drumhead.

Fig. 16 shows the state of the drumstick head 73 rebounding after contacting the drumhead at a low point, and the swinging drumstick base 71 is subjected to the reaction force of the drumhead after contacting the drumhead, has a clockwise rotation tendency, and can overcome the tension of the drumstick pulling rope 95 and move to the upper limit steady-state position of the upper limit. The extended length of the drumstick traction rope 95 is the shortest at the upper limit steady-state position and the lower limit steady-state position, and the drumstick mechanism 7 can be kept stable under small external force disturbance.

Fig. 17 shows the hammer mechanism 7 in the high point reset state in which the rocker 23 can swing clockwise upward, like the change in configuration of the toggle mechanism, and the swinging hammer holder 71 can continue to swing reciprocally as the rocker 23 continues to swing due to the fact that it enters the lower limit position under the pulling force of the hammer pulling rope 95, and the playing structure will be restored to the state of fig. 15 again. By repeating this cycle, continuous stable drumming can be achieved.

In addition, the playing structure of the robot musician also comprises a sensing module which comprises a position sensor and a rotating speed sensor 11, wherein the position sensor can be arranged on the crank 21, the position of the rocker 23 can be accurately detected by detecting the position of the crank 21 in the crank-rocker mechanism 2, and the initial position of the drumstick is determined so as to determine the drum beating time. Of course, the position sensor may also be provided on the rocker 23. The rotation speed sensor 11 is arranged on the drum beating driving motor 3 and is used for detecting the rotation speed of the drum beating driving motor 3 so as to determine the speed of the drumstick beating the drumhead and further control the drum beating rhythm.

Further, the sensing module also includes a position or angle sensor for detecting the position of the adjustment motor 91.

Further, the sensing module further includes a tension sensor for detecting the tension of the drumstick traction rope 95. The tension sensor is arranged on the drumstick traction rope 95, and the weight of the drum beating force can be controlled by detecting the pretightening force of the torsion spring 94.

The invention also provides a drum beating robot which comprises the playing structure of the robot musician. The drum beating robot can control the speed of the beat of the drum and the lightness of the drum, so the control mode of the drum beating robot is different from that of the traditional percussion instrument playing robot.

Before knocking, the drum beating robot firstly controls the drum beating driving motor 3 to drive the crank 21 to move to an initial position, which is generally an upper limit position of the drumstick mechanism 7. The desired rotation speed of the drumstick drive motor 3 can be obtained by analyzing the speed at which the drumstick mechanism 7 hits the drumhead, and the rotation speed of the drumstick drive motor 3 is detected by the rotation speed sensor 11 and controlled by the motor driver. The time delay required for the motor to start hitting the drum surface at the initial position can be calculated through the expected rotating speed. The time when the drumstick hits the drumhead minus the time delay is the expected starting time of the motor. The drumstick resilience force is driven by the adjustment motor 91 and detected by the tension sensor. The speed of drumstick mechanism 7 hitting the drumhead and the relation between the resilience force of drumstick mechanism 7 and the tone and loudness can be calibrated in the debugging stage and recorded in the music analysis program.

In addition, the invention also provides a control method of the drum beating robot comprising the playing structure, the bistable module is mounted on the crank rocker mechanism 2, the bistable module and the crank rocker mechanism 2 form bistable pivoting connection, and due to the fact that the drumstick mechanism 7 has a lower limit stable position and an upper limit stable position, the drumstick mechanism 7 can be quickly separated from the drumhead after contacting the drumhead under the action of the bistable module, so that the drumstick point is short and crisp; the drumstick mechanism 7 can be in a lower limit steady-state position before touching the drumhead, the drumstick mechanism 7 in the lower limit steady-state position can touch the drumhead under the driving of the crank rocker mechanism 2, and after the drumstick mechanism 7 touches the drumhead, the drumstick mechanism 7 can swing in the direction far away from the drumhead under the reaction of knocking force and can continuously move to the upper limit steady-state position.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A playing structure of a robot musician is characterized by comprising a crank rocker mechanism and a bistable module, wherein:

the bistable module comprises a drumstick mechanism and an elastic pre-tightening mechanism connected with the drumstick mechanism, the drumstick mechanism has a lower limit stable position and an upper limit stable position, the drumstick mechanism at the lower limit stable position can be driven by the crank rocker mechanism to touch a drumhead, the elastic pre-tightening mechanism is used for adjusting the force required by the drumstick mechanism to be separated from the drumhead, and the drumstick mechanism can rebound to the upper limit stable position after touching the drumhead;

the playing structure further comprises a shell and a driving mechanism, an accommodating cavity for mounting the driving mechanism and the elastic pre-tightening mechanism is formed in the shell, the crank and rocker mechanism comprises a crank, a connecting rod and a rocker which are arranged outside the shell, the crank is connected with the driving mechanism, the connecting rod is rotatably connected with the crank, the rocker is in pivot connection with the shell through a connecting assembly, the other end of the rocker is rotatably connected with the drumstick mechanism, the connecting rod is rotatably connected to the middle section of the rocker, and the driving mechanism can drive the crank and rocker mechanism to drive the drumstick mechanism to knock a drumhead;

the drumstick mechanism comprises a swing drumstick seat, a drumstick connecting rod and a drumstick head, wherein the two ends of the drumstick connecting rod are fixedly connected with the swing drumstick seat and the drumstick head respectively;

elasticity pretension mechanism is including installing adjustment motor, worm gear transmission structure, torsional spring and drumstick haulage rope in the shell, the adjustment motor passes through worm gear transmission structure with the one end of torsional spring is connected, the other end of torsional spring with the drumstick haulage rope is connected, keep away from on the drumstick haulage rope the one end of torsional spring can be worn out the shell with the swing drumstick seat is connected, the adjustment motor can be through driving worm gear transmission structure rotates with the adjustment the pretightning force of torsional spring.

2. The robot musician's performance structure of claim 1, characterized in that, the worm gear and worm transmission structure includes worm wheel, worm and connecting axle, the adjustment motor with the worm is connected, the worm with the worm wheel meshes mutually, be provided with on the worm wheel the connecting axle, be provided with the mounting groove on the connecting axle, the torsional spring cover is established on the connecting axle and the one end of torsional spring sets firmly in the mounting groove.

3. The playing structure of a robot musician according to claim 1, wherein the connecting assembly comprises a rocker rotating shaft and a bearing seat, the bearing seat is arranged in the shell, a mounting hole for mounting the rocker rotating shaft is formed in the bearing seat, the end of the rocker rotating shaft penetrating out of the shell is fixedly connected with the rocker, and the rocker rotating shaft can form a pivot connection with the shell through the bearing seat.

4. The playing structure of a robot musician according to claim 3, wherein the casing comprises a first casing and a second casing, the first casing and the second casing form the accommodating chamber therebetween, the first casing and the second casing are both provided with the bearing seat, one end of the rocker rotating shaft is mounted on the bearing seat on the first casing, and the other end of the rocker rotating shaft can penetrate out of the second casing through a mounting hole on the bearing seat on the second casing so as to be fixedly connected with the rocker.

5. A performance structure of a robot musician according to claim 1, wherein the connecting rods are telescopic rods including outer struts and inner struts, the outer struts are connected with the cranks, the inner struts are connected with the rocking bars, the outer struts are sleeved on the outer peripheries of the inner struts, and the inner struts are connected with the outer struts in a threaded manner;

6. A drum beating robot characterized by comprising a playing structure of a robot musician according to any one of claims 1 to 5.

7. A control method of a drum-beating robot, characterized in that the drum-beating robot is the drum-beating robot of claim 6, the control method comprising:

the bistable module is mounted on the crank rocker mechanism, the crank rocker mechanism and the crank rocker mechanism form bistable pivotal connection, the drumstick mechanism has a lower limit stable position and an upper limit stable position, and the drumstick mechanism can be quickly separated from a drumhead after contacting the drumhead under the action of the bistable module so as to ensure that the drumstick is short and crisp;