CN113601523A - Humanoid bamboo flute playing mechanism - Google Patents

Abstract

The invention provides a humanoid bamboo flute playing mechanism, which relates to the technical field of robots and comprises three driving elements and playing fingers in driving connection with the driving elements, wherein the three driving elements are linear motors, and the playing fingers comprise forefinger skeletons, middle finger skeletons and ring finger skeletons which correspond to the linear motors one by one and are in driving rotation connection with the linear motors. The invention adopts the linear motor, so that the flute holes of the bamboo flute can be accurately controlled during playing.

Description

Humanoid bamboo flute playing mechanism

Technical Field

The invention relates to the technical field of robots, in particular to a humanoid bamboo flute playing mechanism.

Background

Bamboo flute has a history of thousands of years of circulation in China, and is a national musical instrument which is deeply loved by people. The bamboo flute has wide application in Chinese national music, Western symphony music and modern music. With the continuous development of traditional music culture in China, the bamboo flute is graceful and graceful as a gentle look, and the traditional musical instrument which is convenient to carry is more and more popular with people.

With the development of science and technology, the robot technology has made great progress, and how to play the composing songs by the robot through the bamboo flute, the robot is welcomed by people. Some robots capable of playing bamboo flute exist in the prior art, but generally all adopt air cylinders as driving mechanisms, and during playing, flute holes of the bamboo flute cannot be precisely controlled.

Disclosure of Invention

In view of this, the present invention provides a mechanism for playing a bamboo flute imitating human hands, so as to solve the technical problem that in the prior art, a bamboo flute hole of the bamboo flute cannot be precisely controlled when the bamboo flute robot using a cylinder to drive a spring plate is used for playing.

In order to achieve the above purpose, the present invention provides a humanoid bamboo flute playing mechanism, which includes a driving element and three fingers in driving connection with the driving element, wherein the driving element is a linear motor, and the fingers include an index finger skeleton, a middle finger skeleton and a ring finger skeleton, which correspond to the linear motor one by one and are in driving rotation connection with the linear motor.

According to a preferred embodiment, the index finger skeleton, the middle finger skeleton and the ring finger skeleton are all set to be bent, the bending direction faces the bamboo flute to be played, and the end parts of the index finger skeleton, the middle finger skeleton and the ring finger skeleton are all provided with a fixed shaft mounting hole and a moving shaft mounting hole.

According to a preferred embodiment, the driving end of the linear motor is provided with a motor pushing head, and the motor pushing head is respectively connected with the index finger framework, the middle finger framework and the ring finger framework through rotating shafts.

According to a preferred embodiment, the motor is provided with a mounting groove on the pushing head, the tail ends of the index finger framework, the middle finger framework and the ring finger framework are inserted into the mounting groove, and the finger moving shaft simultaneously penetrates through the through hole on the motor pushing head and the moving shaft mounting hole.

According to a preferred embodiment, the finger fixing frame is used for fixing the index finger framework, the middle finger framework and the ring finger framework, and the index finger framework, the middle finger framework and the ring finger framework are all connected with the finger fixing frame through rotating shafts.

According to a preferred embodiment, the finger fixing frame is installed on a palm supporting plate, the finger fixing frame is located at one end of the palm supporting plate, a motor installation plate perpendicular to the palm supporting plate is arranged at the opposite end of the palm supporting plate, and the non-driving end of the linear motor is installed on the motor installation plate.

According to a preferred embodiment, the palm support plate is provided with a slotted hole, and the finger fixing frame is installed through the slotted hole.

According to a preferred embodiment, a radial ball bearing is arranged at the non-driving end of the linear motor, a bearing fixing seat is arranged between the radial ball bearing and the motor mounting plate, a long slotted hole is formed in the motor mounting plate, and the bearing fixing seat is installed through the long slotted hole.

According to a preferred embodiment, the palm supporting plate is further provided with a thumb framework and a small thumb framework, the thumb framework is arranged on the back face of the palm supporting plate, the small thumb framework is arranged at the side end of the palm supporting plate, and a bamboo flute fixing ring is arranged on the thumb framework and/or the small thumb framework.

According to a preferred embodiment, the index finger skeleton, the middle finger skeleton, the ring finger skeleton, the thumb skeleton and the little finger skeleton are all sleeved with silica gel sleeves.

The humanoid bamboo flute playing mechanism provided by the invention has the following technical effects:

the human hand-simulated bamboo flute playing mechanism is compared with a traditional bamboo flute playing mechanism, and the human hand-simulated bamboo flute playing mechanism comprises three driving elements and playing fingers, wherein the driving elements are in driving connection with the playing fingers, namely the driving elements drive the playing fingers to play the bamboo flute.

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 these drawings without any creative effort.

Fig. 1 is a playing state diagram of a humanoid bamboo flute playing mechanism according to an embodiment of the invention;

fig. 2 is a constructional view of the anthropomorphic bamboo flute playing mechanism in fig. 1;

fig. 3 is a partial configuration view of the humanoid bamboo flute playing mechanism of fig. 2;

fig. 4 is a front view of the humanoid bamboo flute playing mechanism of fig. 2;

fig. 5 is a sectional view of the anthropomorphic bamboo flute playing mechanism of fig. 4 taken along the direction a-a;

fig. 6 is a structural view of a palm rest of the humanoid bamboo flute playing mechanism of fig. 2;

FIG. 7 is a block diagram of the index finger of the simulated bamboo flute playing mechanism of FIG. 2;

fig. 8 is a block diagram of a middle finger of the anthropomorphic bamboo flute playing mechanism of fig. 2;

fig. 9 is a structural view of a ring finger of the humanoid bamboo flute playing mechanism in fig. 2.

Wherein, fig. 1-9:

1. the index finger; 11. a forefinger skeleton; 2. middle finger; 21. a middle finger skeleton; 3. ring finger; 31. a ring finger skeleton; 4. the thumb; 41. a thumb skeleton; 411. a bamboo flute fixing ring; 5. the little finger; 51. a little finger skeleton; 6. a linear motor; 61. a motor push head; 611. a finger motion axis; 6111. a fixed shaft mounting hole; 62. a finger holder; 621. a finger fixing shaft; 6211. a moving shaft mounting hole; 63. a drive shaft; 7. a palm rest; 71. a motor mounting plate; 72. a bearing fixing seat; 73. a radial ball bearing; 74. a long slot hole; 8. pressing the sheet by fingers; 9. bamboo flute; 91. a flute hole; 10. and (4) a silica gel sleeve.

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 making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.

As described in the background art, some robots capable of playing bamboo flute exist in the prior art, but generally use a cylinder as a driving mechanism, and the flute hole of the bamboo flute cannot be precisely controlled during playing.

Based on the structure, the invention provides a humanoid bamboo flute playing mechanism, compared with the traditional bamboo flute playing mechanism, the driving element of the humanoid bamboo flute playing mechanism adopts three linear motors, each linear motor is respectively in driving rotary connection with a forefinger framework, a middle finger framework and a ring finger framework which form a playing finger, the linear motors are started, and the free ends of the forefinger framework, the middle finger framework and the ring finger framework are driven by the linear motors to play the bamboo flute.

The technical solution of the present invention will be described in detail with reference to the accompanying drawings 1-9.

As shown in fig. 1, the humanoid bamboo flute playing mechanism provided by the invention can be used for playing a bamboo flute 9, and comprises five fingers, namely a thumb 4, an index finger 1, a middle finger 2, a ring finger 3 and a little finger 5, wherein the index finger 1, the middle finger 2 and the ring finger 3 are used as fingers for playing, namely playing fingers, and the index finger 1, the middle finger 2 and the ring finger 3 press flute holes 91 on the bamboo flute 9 in turn to achieve the purpose of playing; the thumb 4 and the little finger 5 are used as the fixing ring 411 of the bamboo flute 9 to fix the bamboo flute 9.

Specifically, imitative people's hand bamboo flute 9 mechanism of playing, including driver part and playing finger, driver part and playing finger drive connection, when driver part started, the drive was played the finger and is moved to the flute hole 91 that is close to bamboo flute 9 and the direction of keeping away from flute hole 91 of bamboo flute 9 to play the effect of playing.

As shown in fig. 2-9, the driving element is preferably a linear motor 6, the elastic fingers include an index finger frame 11, a middle finger frame 21 and a ring finger frame 31, the number of the linear motors 6 corresponds to the number of the elastic fingers, and the linear motors 6 are respectively in driving rotary connection with the index finger frame 11, the middle finger frame 21 and the ring finger frame 31, and the linear motors 6 are used for realizing precise control.

As shown in fig. 7 to 9, the index finger frame 11, the middle finger frame 21, and the ring finger frame 31 have substantially the same shape, are all bent, are bent in the same direction, are bent in the direction of holding the bamboo flute 9, and have a bending angle of more than 90 degrees and less than 180 degrees, and may be selected in this interval according to the difference of the pinfingers.

One end of the index finger framework 11, one end of the middle finger framework 21 and one end of the ring finger framework 31 are respectively provided with a fixing shaft mounting hole 6111 and a moving shaft mounting hole 6211, the fixing shaft mounting holes 6111 are used for mounting the finger fixing shafts 621, the moving shaft mounting holes 6211 are used for mounting the finger moving shafts 611, the other end of the moving shaft mounting holes 6211 can be used for mounting the finger pressing piece 8, the pressing area of fingers can be further increased through the finger pressing piece 8, and air tightness is improved.

The driving and rotating connection of the linear motor 6 with the index finger skeleton 11, the middle finger skeleton 21 and the ring finger skeleton 31 is described as follows:

as shown in fig. 2 and 3, the linear motor 6 is horizontally installed on the palm support plate 7, the driving end of the linear motor is provided with a motor push head 61, the motor push head 61 is in driving connection with the driving shaft 63 of the linear motor 6, the electric push head 61 is provided with an installation groove, the tail ends of the index finger framework 11, the middle finger framework 21 and the ring finger framework 31 can be inserted into the installation groove, both sides of the installation groove are provided with through holes, the through holes and the movement shaft installation holes 6211 are on the same axis, the finger movement shaft 611 simultaneously passes through the through holes on the motor push head 61 and the movement shaft installation holes 6211, and therefore the motor push head 61 is respectively connected with the rotating shafts of the index finger framework 11, the middle finger framework 21 and the ring finger framework 31. The linear motor 6 can drive the motor push head 61 to move forwards and backwards to link the forefinger framework 11, the middle finger framework 21 and the ring finger framework 31 to rotate, so that the flute hole 91 is pressed.

In order to fix the index finger skeleton 11, the middle finger skeleton 21 and the ring finger skeleton 31 and prevent them from rotating excessively, as shown in fig. 2 and 3, a finger fixing frame 62 is further included, and the finger fixing frame 62 is also installed on the palm rest 7.

As shown in fig. 3, the finger holder 62 is a three-dimensional L-shaped structure, and has an installation groove therein, the driving shaft 63 of the linear motor 6 is inserted into the installation groove and is in driving connection with the elastic finger, the index finger frame 11, the middle finger frame 21 and the ring finger frame 31 have fixing shaft installation holes 6111, the fixing shaft installation holes 6111 are on the same axis with the installation holes of the finger holder 62, and the finger fixing shaft 621 simultaneously passes through the installation holes of the finger holder 62 and the fixing shaft installation holes 6111, so that the finger holder 62 is respectively connected with the rotating shafts of the index finger frame 11, the middle finger frame 21 and the ring finger frame 31, and the rotating shafts are connected to mainly play a role in fixing and prevent the index finger frame 11, the middle finger frame 21 and the ring finger frame 31 from rotating excessively.

The connection principle of the index finger skeleton 11, the middle finger skeleton 21 and the ring finger skeleton 31 and the linear motor 6 is a lever principle, the finger fixing shaft 621 is used as a fixing point, the finger moving shaft 611 and the finger pressing piece 8 at the tail end of the elastic finger are used as rotating points, and under the condition that the angular velocity provided by the linear motor 6 is the same, the larger the diameter is (the length of the index finger skeleton 11, the middle finger skeleton 21 and the ring finger skeleton 31), the higher the linear velocity is, namely the pressing velocity of the index finger skeleton 11, the middle finger skeleton 21 and the finger pressing piece 8 at the tail end of the ring finger skeleton 31 is amplified, and the playing effect is improved.

As shown in fig. 2, the finger fixing frame 62 is located at one end of the palm support plate 7, a motor mounting plate 71 is arranged at the opposite end of the palm support plate 7, the motor mounting plate 71 is perpendicular to the palm support plate 7, and the non-driving end of the linear motor 6 is mounted on the motor mounting plate 71.

Specifically, the non-driving end of the linear motor 6 and the motor mounting plate 71 are realized by a radial ball bearing 73, a bearing fixing seat 72 is arranged between the radial ball bearing 73 and the motor mounting plate 71, and the radial ball bearing 73 can be prevented from being separated from the motor mounting plate 71 by the bearing fixing seat 72.

The finger fixing shaft 621, the finger moving shaft 611 and the radial ball bearing 73 of the present invention define a triangle, the triangle has stability, when the linear motor 6 drives the finger moving shaft 611 to rotate, the finger moving shaft 611 will slightly displace, at this time the radial ball bearing 73 will also slightly displace, to prevent the linear motor 6 from being stuck, in order to realize the function, the radial ball bearing 73 can be replaced by a hinge.

Besides the above functions, the radial ball bearing 73 can drive the linear motor 6 to rotate when the linear motor 6 is installed, so that the linear motor 6 can obtain an optimal installation position and then be fixed, and the installation convenience is improved.

In order to adapt the playing mechanism to different bamboo flute 9, that is, the distance between adjacent fingers of the playing mechanism can be adjusted, as shown in fig. 6, a long slot 74 is provided on the palm support plate 7, the finger fixing frame 62 is installed through the long slot 74, a long slot 74 is provided on the motor mounting plate 71, and the bearing fixing seat 72 is installed through the long slot 74, that is, the invention utilizes the long slot 74 to adjust the distance between the fingers.

Specifically, when a playing mechanism with different flute holes 91 is encountered, the finger fixing frame 62 and the bearing fixing seat 72 are manually moved, and the linear motor 6, the index finger frame 11, the middle finger frame 21 or the ring finger frame 31 are displaced accordingly, so that the purpose of adjusting the distance between fingers is achieved, and the bamboo flute is suitable for different bamboo flutes 9.

As shown in fig. 1 and 2, the palm rest 7 is further provided with a thumb framework 41 and a pinky framework 51, the thumb framework 41 is installed on the back surface of the palm rest 7, the pinky framework 51 is installed on the side end of the palm rest 7, the thumb framework 41 can be provided with a bamboo flute 9 fixing ring 411, the pinky framework 51 can also be provided with the bamboo flute 9 fixing ring 411, and the invention is not limited thereto.

Furthermore, the forefinger framework 11, the middle finger framework 21, the ring finger framework 31, the thumb framework 41 and the little finger framework 51 are all sleeved with the silica gel sleeve 10, and the silica gel sleeve 10 is made of a human skin-imitated material, is soft in hardness and good in air tightness.

The above description is only for the specific embodiment 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 all 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 appended claims.

Claims (10)

1. The utility model provides an imitative mankind bamboo flute mechanism of playing, including drive element and with the drive element drive finger of being connected, its characterized in that, drive element establishes to linear electric motor, linear electric motor includes threely, play the finger include with linear electric motor one-to-one and with linear electric motor drive swivelling joint's forefinger skeleton, middle finger skeleton and ring finger skeleton.

2. The anthropomorphic bamboo flute playing mechanism as recited in claim 1, characterized in that the index finger skeleton, the middle finger skeleton and the ring finger skeleton are all set to be bent, the bending direction is toward the bamboo flute to be played, and the end parts are all provided with a fixed shaft mounting hole and a moving shaft mounting hole.

3. The humanoid bamboo flute playing mechanism as recited in claim 2, wherein a motor pusher is arranged at a driving end of the linear motor, and the motor pusher is respectively connected with the index finger skeleton, the middle finger skeleton and the ring finger skeleton via rotating shafts.

4. The humanoid bamboo flute playing mechanism of claim 3, characterized in that the motor pushing head is provided with a mounting groove, the tail ends of the index finger skeleton, the middle finger skeleton and the ring finger skeleton are all inserted into the mounting groove, and the finger moving shaft passes through the through hole on the motor pushing head and the moving shaft mounting hole simultaneously.

5. The anthropomorphic bamboo flute playing mechanism as recited in claim 2, further comprising a finger fixing frame for fixing the index finger skeleton, the middle finger skeleton and the ring finger skeleton, wherein the index finger skeleton, the middle finger skeleton and the ring finger skeleton are all connected with the finger fixing frame through a rotating shaft.

6. The humanoid bamboo flute playing mechanism as recited in claim 5, wherein said finger holder is mounted on a palm rest, said finger holder is located at one end of said palm rest, an opposite end of said palm rest is provided with a motor mounting plate perpendicular to said palm rest, and a non-driving end of said linear motor is mounted on said motor mounting plate.

7. The humanoid bamboo flute playing mechanism as recited in claim 6, wherein said palm support plate is provided with a slotted hole, and said finger holder is mounted through said slotted hole.

8. The humanoid bamboo flute playing mechanism as recited in claim 6, wherein a radial ball bearing is arranged at a non-driving end of the linear motor, a bearing fixing seat is arranged between the radial ball bearing and the motor mounting plate, a slotted hole is formed in the motor mounting plate, and the bearing fixing seat is installed through the slotted hole.

9. The humanoid bamboo flute playing mechanism of any one of claims 6 to 8, wherein a thumb skeleton and a little finger skeleton are further mounted on the palm support plate, the thumb skeleton is mounted on the back surface of the palm support plate, the little finger skeleton is mounted on the side end of the palm support plate, and a bamboo flute fixing ring is arranged on the thumb skeleton and/or the little finger skeleton.

10. The humanoid bamboo flute playing mechanism of claim 9, characterized in that silica gel sleeves are respectively sleeved on the index finger skeleton, the middle finger skeleton, the ring finger skeleton, the thumb skeleton and the little finger skeleton.

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