CN1188254C - Flute playing robot - Google Patents
Flute playing robot Download PDFInfo
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- CN1188254C CN1188254C CNB021510628A CN02151062A CN1188254C CN 1188254 C CN1188254 C CN 1188254C CN B021510628 A CNB021510628 A CN B021510628A CN 02151062 A CN02151062 A CN 02151062A CN 1188254 C CN1188254 C CN 1188254C
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- finger
- pressure regulator
- flute
- automatic pressure
- hand
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Abstract
The present invention relates to a flute playing robot. In the present invention, a main control device is connected to digital electromagnetic valves and an automatic pressure regulator respectively through DI/O and D/A; an air compressor is connected to a manual pressure regulating valve and is then connected to the digital electromagnetic valves and the automatic pressure regulator respectively; the six groups of digital electromagnetic valves respectively and correspondingly control six direct-acting miniature air cylinders which are arranged on smart hands, and the automatic pressure regulator is connected to a clarinet through a pressure reducing device and a flexible air bag. The present invention is implemented and controlled by the main control device and uses the air compressor as a power source, and the miniature air cylinders drive fingers on the smart hands to act in coordination with each other; thereby, hole sound control, mouth air control, play skills, etc. are realized when the flute playing robot plays, and the flute playing robot has recreation property, ornamental property and practicability.
Description
Technical field:
The present invention relates to a kind of flute playing robot, is a kind ofly can play wind instruments melody, the collection amusement, views and admires the electronic product with high-tech, belongs to the Robotics field.
Background technology:
Abroad, the research of relevant flute playing robot mainly concentrates on Japan.
The Japan Waseda University has developed WF series flute since nineteen ninety and has played robot automatically, in robot, developed can exhale, air-breathing artificial lung, and according to people's performance experience, play the certain relation between posture and the interval, work out the control method of wider range, function is progressively perfect, and playing effect is more and more true to nature.When playing flute, most basic part is a lung in the relation of flute and each organ of human body, thus in robot, at first developed can exhale, air-breathing artificial lung.For play the same with the people of energy, wishing to have identical lung capacity with the people, with reference to people's spirometric parameters, finally is designed to 5100ml.Need control flow velocity from the gas bundle that artificial lung is breathed out, so add the lip part again.According to people's performance experience, playing between posture and the interval has certain relation, as the control method of wider range, is conceived to change the distance of flute mouthpiece and lower lip, and Shu Changdu finely tunes to gas, and this is to utilize the performance posture that interval is replenished adjusting.Its hardware is the performance ability of posture control mechanism with X, Z, θ Three Degree Of Freedom, and it can be controlled length, angle, the off-centre of gas bundle and be called as the conditions such as gas bundle position of GAP.But the function that their research work only is confined in the laboratory realizes.
Japan Japan university also developed flute and played robot automatically.The operation principle of this robot: import compressed air with air compressor, through air dryer, filter, smog dividing plate, air receiver, when delivering to electric pneumatic proportioning valve and speed-sensitive switch, also deliver in each little inflator, be used for the switching of operating key by house steward.Little inflator is the double-lift pen type letter that internal diameter and traverse are 10mm, uses 10 altogether.Aspect the research of manipulator and finger design and robot body, employing be that vertical direction is simply moved, finger-hole sound control system function during anthropomorphic dummy's flute is not almost considered outward appearance, realizes flute on experiment frame.
Summary of the invention:
The objective of the invention is at the deficiencies in the prior art, provide a kind of can commercial novel flute playing robot, can solve robot and play wind instruments problems such as hole sound control system in the song, one's intention as revealed in what one says control and playing technique, simple in structure, control is convenient.
For realizing such purpose, one's intention as revealed in what one says is pointed and played wind instruments to the flute playing robot of the present invention's design by six activities of two Dextrous Hand of a main control computer (computer or single-chip microcomputer) control robot.The robot finger moves and adopts six little cylinders of six solenoid control, realizes the control of flute hole sound.Realize one's intention as revealed in what one says control by D/A output control automatic regulating valve.The control of hole sound must be coordinated mutually with one's intention as revealed in what one says control, especially plays wind instruments the switching between the note in the process at melody, can require to implement to coordinate control by main control computer according to difference.Entire machine people's source of the gas is provided by an air compressor.
The present invention specifically comprises main control computer, air compressor, manual and automatic pressure regulator, digital electric magnet valve and robot delicate, air compressor provides the power gas source of whole system, be connected to manual pressure regulating valve by gas circuit, wherein manual pressure regulating valve mainly plays systems stabilisation air pressure, the effect of control airflow humidity.Manual pressure regulating valve then provides power source to digital electric magnet valve and automatic pressure regulator respectively by gas circuit, wherein six groups of digital electric magnet valve correspondences are controlled six Direct Action Type minitype cylinders, and automatic pressure regulator provides to recorder by decompressor, buffer unit (flexible air-bag) and plays wind instruments air-flow.The control signal of digital electric magnet valve and automatic pressure regulator is provided by DI/O and D/A output by main control computer respectively.
During system works, at first system's source of the gas is transferred to the air pressure (low as far as possible under the prerequisite of steady operation) of system stability work, simultaneously airflow humidity is transferred to reasonable value by regulating manual pressure regulating valve.When playing wind instruments melody, main control computer is coordinated output DI/O amount and D/A amount (considering to coordinate the required time-delay of control) according to the music score of Chinese operas, and the switching of six groups of digital solenoid valve of DI/O output control realizes the corresponding actions that the gas shutoff cylinder is pressed in the flute hole, thereby realizes the control to the hole sound; The air-flow air pressure of D/A output control automatic Regulation, in conjunction with decompressor, buffer unit, that exports rationally that suitable recorder plays wind instruments plays wind instruments air-flow, promptly suitable air pressure, throughput.Wherein the physical location of cylinder is arranged the posture of playing wind instruments recorder with reference to the people, in system's design, six cylinders is divided into two groups, respectively corresponding people's two hands, left hand and the right hands.
Robot delicate of the present invention is made up of the back of the hand and five fingers of class peopleization, and thumb is used for supporting and fixing piccolo, the forefinger of left hand and right hand, middle finger and nameless six hole sound holes controlling flute respectively.Three miniature cylinders are installed in the back of the hand of left hand and right hand, are driven forefinger, middle finger and the third finger respectively.Miniature cylinder is installed on the wrist rest bar, and can rotate around support bar.Tracheae directly is connected on the cylinder.Except that thumb, clever hand finger and people's finger is the same, is made of three joints respectively.There is one to be connected sliding shoe between each finger and the cylinder, finger can crookedly be rotated.Can make finger effectively block the position in flute hole by regulating.The finger finger tip adopts silica gel to make, and is air tight when its flexibility can make finger push down the flute hole.When the cylinder electromagnetic valve switch, cylinder promotes finger and rotates, and realization silica gel finger tip is pushed down the flute hole.
The present invention implements control by main control computer, the employing air compressor is a power source, miniature cylinder drives the finger coordination of Dextrous Hand, solve robot and played wind instruments technical barrier in the song, realize the control (control of inflatable mouth air-flow) of hole sound control system (finger control), one's intention as revealed in what one says when flute playing robot is played wind instruments and playing technique etc., make flute playing robot have more recreational, sight and practicality.
Description of drawings:
Fig. 1 is that flute playing robot of the present invention system constitutes schematic diagram.
As shown in Figure 1, system host of the present invention adopts PC or single-chip microcomputer, is connected with automatic pressure regulator with the digital electric magnet valve with D/A by DI/O, and the output control signal is provided.Air compressor is a power gas source, be connected to manual pressure regulating valve by gas circuit, manual pressure regulating valve then connects digital magnetic valve and automatic pressure regulator respectively and power source is provided by gas circuit, the digital electric magnet valve has six groups, six Direct Action Type minitype cylinders that are installed on the Dextrous Hand of corresponding respectively control, automatic pressure regulator provides to recorder by decompressor, flexible air-bag and plays wind instruments air-flow.
Fig. 2 is the structural representation of robot delicate of the present invention.
Fig. 3 is the movable finger structure schematic diagram of Dextrous Hand.
Each parts is shown in Fig. 2 Fig. 3: gas circuit tracheae 1, the back of the hand 2, miniature cylinder 3, wrist rest bar 4 is connected sliding shoe 5 between the finger that is made of three joints 7,8,9, finger and cylinder, the finger finger tip 10 that sliding shoe support bar 6, silica gel are made, thumb 11.
The specific embodiment:
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
Robot system of the present invention as shown in Figure 1, main control computer is connected with automatic pressure regulator with the digital electric magnet valve respectively with D/A by DI/O, and the output control signal is provided.Air compressor is connected to manual pressure regulating valve by gas circuit, manual pressure regulating valve then connects digital magnetic valve and automatic pressure regulator respectively and power source is provided by gas circuit, the digital electric magnet valve has six groups, six Direct Action Type minitype cylinders that are installed on the Dextrous Hand of corresponding respectively control, automatic pressure regulator is connected to recorder by decompressor, flexible air-bag, provides to recorder and plays wind instruments air-flow.
Flute playing robot clever hands such as Fig. 2 are shown in Figure 3, are made of the back of the hand and five fingers, press coordinate system shown in the figure, increase progressively direction along y, are followed successively by little finger of toe, the third finger, middle finger, forefinger and thumb.
Adopt normally closed three common perfectly straight ejector half cylinders to finish conducting and disconnect and just can satisfy condition in the embodiments of the invention, the maximum working pressure of cylinder is 0.7Mpa, and the resistance to overturning of taking into account system and volume requirement have been selected the SY114-5M of SMC.
The present invention has realized hole sound control system, one's intention as revealed in what one says control and has played wind instruments skill.
The hole sound is exactly the fingering of flute scale correspondence, so sound control system reality in hole is exactly by selecting suitable simulation finger and reasonably finger movement design.The finger signal of note correspondence adopts computer port output, so just can directly utilize the hole sound of the every first song of computer control.Consider that the finger signal input is simultaneously, so the Computer signal way of output is and line output.
The one's intention as revealed in what one says control of flute playing robot has selected for use the ITV2030-212S automatic pressure reducing valve of SMC to realize.Its input signal is the DC voltage of 0～5V, be output as the air pressure of 0.005～0.1Mpa, and people's air blowing air pressure roughly is no more than 5000Pa, so comparison match.In addition at automatic pressure reducing valve to connecting flexible tracheae between the inflatable mouth in addition, and diameter is less, has depressurization.
At system's hole sound and two links of one's intention as revealed in what one says control, carrying out air pressure and tolerance regulates, can realize that the air-flow coordination is carried out in time-delay, unisonance is distinguished to relevant playing wind instruments, eliminate noise by isolating the method that increases buffered silica gel between gas port, magnetic valve and finger and the flute, realize that by regulating the one's intention as revealed in what one says mode melody skill mainly is the trial of trill.
Claims (2)
1, a kind of flute playing robot, it is characterized in that comprising main control computer, air compressor, manual and automatic pressure regulator, digital electric magnet valve and robot delicate, main control computer is connected with automatic pressure regulator with the digital electric magnet valve respectively with D/A by DI/O, air compressor is connected to manual pressure regulating valve by gas circuit, manual pressure regulating valve then connects digital magnetic valve and automatic pressure regulator respectively, six Direct Action Type minitype cylinders that are installed on the Dextrous Hand of six groups of corresponding respectively control of digital electric magnet valve, automatic pressure regulator is connected to recorder by decompressor, flexible air-bag.
2, as the said flute playing robot of claim 1, it is characterized in that Dextrous Hand is made of the back of the hand and five fingers, three the miniature cylinders (3) that can thorny wrist support bar (4) rotate are installed in the back of the hand, drive forefinger, middle finger and the third finger respectively, cylinder (3) one ends connect tracheae (1), the cylinder expansion link is continuous with corresponding finger by the sliding shoe (5) that is installed on the sliding shoe support bar (6), except that thumb (11), clever hand finger is made of three joints (7,8,9) respectively, and finger finger tip (10) is made by silica gel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021510628A CN1188254C (en) | 2002-12-05 | 2002-12-05 | Flute playing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021510628A CN1188254C (en) | 2002-12-05 | 2002-12-05 | Flute playing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1417005A CN1417005A (en) | 2003-05-14 |
| CN1188254C true CN1188254C (en) | 2005-02-09 |
Family
ID=4751900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021510628A Expired - Fee Related CN1188254C (en) | 2002-12-05 | 2002-12-05 | Flute playing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1188254C (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101190383B (en) * | 2006-11-22 | 2011-03-23 | 上海电气集团股份有限公司 | Robot woman music studio |
| CN101825896B (en) * | 2010-05-24 | 2012-04-04 | 上海电气集团股份有限公司 | Robot playing the dulcimer and control method |
| CN101847315A (en) * | 2010-05-24 | 2010-09-29 | 上海电气集团股份有限公司 | Device and method for acquiring simulated playing data from playing robot |
| CN101885181B (en) * | 2010-05-24 | 2011-08-10 | 上海电气集团股份有限公司 | Robot for playing cucurbit flute and control method thereof |
| CN102800305A (en) * | 2012-08-03 | 2012-11-28 | 中科英华湖州工程技术研究中心有限公司 | System and method for auxiliary process of music creation playing |
| CN104260099B (en) * | 2014-09-05 | 2016-01-20 | 哈尔滨工业大学深圳研究生院 | Based on the Western flute automatic Playing robot of MIDI decoding |
| CN105818150A (en) * | 2016-05-05 | 2016-08-03 | 安徽击尔智能科技有限公司 | Bamboo flute robot |
| CN105856249A (en) * | 2016-05-05 | 2016-08-17 | 安徽击尔智能科技有限公司 | Chinese vertical bamboo flute playing robot |
| CN112700756B (en) * | 2020-12-22 | 2024-06-07 | 杨澍 | Pneumatic bamboo flute playing machine and control method thereof |
-
2002
- 2002-12-05 CN CNB021510628A patent/CN1188254C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1417005A (en) | 2003-05-14 |
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