CN201429976Y - Robot capable of knocking jazz drum - Google Patents
Robot capable of knocking jazz drum Download PDFInfo
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- CN201429976Y CN201429976Y CN2009200811684U CN200920081168U CN201429976Y CN 201429976 Y CN201429976 Y CN 201429976Y CN 2009200811684 U CN2009200811684 U CN 2009200811684U CN 200920081168 U CN200920081168 U CN 200920081168U CN 201429976 Y CN201429976 Y CN 201429976Y
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- upper body
- skeleton
- robot
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- right arm
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Abstract
The utility model is applicable to the field of electric automation control and provides a robot capable of knocking a jazz drum. The upper body and the right arm of the robot is capable of accuratelyrotating under the drive of a servo motor along with the change of music so as to simulate the hands and feet of human beings to knock different drums and cymbals rhythmically, and the robot is alsocapable of making a participator randomly select the music through an on-demand system so as to add aesthetic enjoyment, entertainment and participation for the life of people.
Description
Technical field
The utility model belongs to electric automatization control field, relates in particular to the robot that jazz's drum is knocked in a kind of meeting.
Background technology
For the robot that plays an instrument, have at present can flute robot, the flute action that it can the anthropomorphic dummy with the flute hole that the direct switch of minitype cylinder is pushed flute with control flute playing robot Dextrous Hand, realizes flute hole sound; The robot that can play the musical instrument is also arranged, and it is to play piano with finger, and under program control effect, the action of pointing with instruction control according to the requirement of song changes; Also have can be enough saxophone's playing music purpose robot, it is the moving Guan Jian that press...withes one's finger, lip is played wind instruments air-flow, under the programmed control effect, control finger movement and play wind instruments variations in flow is realized playing song, but does not also have the robot that can beat a drum.
The utility model content
The purpose of this utility model is: provide a kind of meeting to knock the robot of jazz's drum, being intended to fill up does not also have this market vacancy of robot that can beat a drum in the prior art.
The purpose of this utility model is achieved in that
The robot of jazz's drum is knocked in a kind of meeting, comprise power supply, base (21), head skeleton (1), upper body skeleton (2), left hand (4), the right hand (5), right crus of diaphragm (6), left foot (14), electric controller (22), also comprise air compressor, aerodynamic force output mechanism, upper body rotation stationary shaft (12), right arm motion motor (16), right arm motion motor scrambler (17), upper body electric rotating machine (18), upper body electric rotating machine scrambler (19) and bench (20); Described bench (20) is fixed on the base (21), upper body rotation stationary shaft (12) is fixed on the bench (20), upper body skeleton (2) is connected with upper body rotation stationary shaft (12) by rotary sleeve, the arm skeleton of left hand (4), the right hand (5) is connected to the both sides of upper body skeleton (2), wherein left hand arm skeleton is connected with upper body skeleton (2) by interlock connecting rod (15), the leg skeleton of right crus of diaphragm (6), left foot (14) is fixed on the bench (20), and head skeleton (1) is installed in upper body skeleton (2) top; Described aerodynamic force output mechanism comprises successively pneumatic triple piece (7), electric Proportion valve (11), the electrical control valve (9) that connects by tracheae and is arranged on intercepting valve (10) on the electrical control valve 9, the input end of pneumatic triple piece (7) is connected with air compressor, and the output terminal of electrical control valve (9) is connected with cylinder on left hand (4), the right hand (5), right crus of diaphragm (6), the left foot (14); Described electric controller (22) and power supply, electric Proportion valve (11), electrical control valve (9), right arm motion motor (16), right arm motion motor scrambler (17), upper body electric rotating machine (18), upper body electric rotating machine scrambler (19) connects, comprise main control unit, and the trick pneumatic control unit that is connected with main control unit, the upper body servo control unit, the right arm servo control unit, and the D/A converting unit and the electrical control valve driver element that are connected with trick pneumatic control unit, and the upper body driven by servomotor unit and the upper body motor encoder detecting unit that are connected with the upper body servo control unit, and the right arm driven by servomotor unit and the right arm motor encoder detecting unit that are connected with the right arm servo control unit.
Described robot also comprise be arranged in the upper body skeleton (2), the head movement motor (3) of drive head skeleton (1) motion, described electric controller (22) also comprises the auxiliary movement control module of operation of control head motion motor (3) and direct current generator driver element and the position monitoring unit that is connected with the auxiliary movement control module.
Described electric controller (22) also comprises program request control module and the song selected cell and the song display unit that are connected with the program request control module.
Described electric controller (22) also comprises the upper body position detection unit that is connected with the upper body servo control unit, and the right arm position detection unit that is connected with the right arm servo control unit.
Described aerodynamic force output mechanism also comprises the sound suppressor (8) that reduces the cylinder exhaust noise, and described sound suppressor (8) is connected with electrical control valve (9) by tracheae.
Described robot also comprises upper body rotation fixed cover (13), described upper body rotation fixed cover (13) is enclosed within outside the upper body rotation stationary shaft (12), being connected with upper body rotation stationary shaft (12) by bearing, fixedlys connected with upper body skeleton (2), bench (20) respectively in the two ends of upper body rotation fixed cover (13).
Described aerodynamic force output mechanism is arranged in the base (21), described electric Proportion valve (11), electrical control valve (9) and intercepting valve (10) have two covers, are used for controlling respectively the cylinder moving on left hand (4) and left foot (14), the right hand (5) and the right crus of diaphragm (6).
Outstanding advantage of the present utility model is: the robot that the utility model provides can be along with the variation of melody, upper body, right arm be accurately rotation under the driving of servomotor, and anthropomorphic dummy's hand, pin knock different drums, small cymbals rhythmically, can also the person of letting on choose at random melody, can increase sight, recreational, property of participation for people's life by VOD system.
Description of drawings
Fig. 1 is the front view that the robot of jazz's drum is knocked in meeting that the utility model provides;
Fig. 2 is the side view that the robot of jazz's drum is knocked in meeting that the utility model provides;
Fig. 3 is the jazz's drum figure among above-mentioned Fig. 1 and Fig. 2;
Fig. 4 is the structural drawing that the electric controller in the robot of jazz's drum is knocked in meeting that the utility model provides;
Among the figure, 1, head skeleton; 2, upper body skeleton; 3, head movement motor; 4, left hand; 5, the right hand; 6, right crus of diaphragm; 7, pneumatic triple piece; 8, sound suppressor; 9, electrical control valve; 10, intercepting valve; 11, electric Proportion valve; 12, upper body rotation stationary shaft; 13, upper body rotation fixed cover; 14, left foot; 15, interlock connecting rod; 16, right arm motion motor; 17, right arm motion motor scrambler; 18, upper body electric rotating machine; 19, upper body electric rotating machine scrambler; 20, bench; 21, base; 22, electric controller; 23, hang small cymbals; 24, bucket drum; 25, auris dextra drum; 26, left eardrum; 27, big drum; 28, step on small cymbals.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer,, the utility model is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
The robot that jazz's drum is knocked in the meeting that the utility model provides is made of physical construction part and circuit part, and wherein, the physical construction part as shown in Figure 1, 2, 3.
Described physical construction part mainly is made up of head skeleton 1, upper body skeleton 2, left hand 4 and arm skeleton thereof, the right hand 5 and arm skeleton thereof, right crus of diaphragm 6 and leg skeleton thereof, air compressor, aerodynamic force output mechanism, upper body rotation stationary shaft 12, left foot 14 and leg skeleton thereof, interlock connecting rod 15, right arm motion motor 16, right arm motion motor scrambler 17, upper body electric rotating machine 18, upper body electric rotating machine scrambler 19, bench 20, base 21, electric controller 22.
Described base 21 is directly placed on the ground, bench 20 is fixed on the base 21 by modes such as welding, upper body rotation stationary shaft 12 is fixed on the bench 20, upper body skeleton 2 is connected with upper body rotation stationary shaft 12 by rotary sleeve, the arm skeleton of left hand 4, the right hand 5 is connected to the both sides of upper body skeleton 2, and wherein, the left arm skeleton is connected with upper body skeleton 2 by interlock connecting rod 15, the leg skeleton of right crus of diaphragm 6, left foot 14 is fixed on the bench 20, and head skeleton 1 is installed in upper body skeleton 2 tops.
Described aerodynamic force output mechanism is arranged in the base 21, comprise the pneumatic triple piece 7, electric Proportion valve 11, the electrical control valve 9 that connect by tracheae successively, and be arranged on intercepting valve 10 on the electrical control valve 9, the input end of pneumatic triple piece 7 is connected with air compressor, and the output terminal of electrical control valve 9 is connected with cylinder on left hand 4, the right hand 5, right crus of diaphragm 6, the left foot 14.The source of the gas that air compressor provides after pneumatic triple piece 7 processing and electric Proportion valve 11 gas flow modulation, exports corresponding cylinder to by electrical control valve 9 and intercepting valve 10 more respectively, thereby promotes cylinder moving.Under corresponding cylinder promotes, realize that left hand 4 knocks eardrum 26, the right hand 5 knocks and hangs small cymbals 23, bucket drum 24 or eardrum 25, and the hammer of stepping on that right crus of diaphragm 6 is stepped on big drum knocks big drum 27, and the pedal that left foot 14 is stepped on small cymbals knocks steps on small cymbals 28, the resetting by 9 commutations of electrical control valve of cylinder.
As optimal design of the present utility model, described physical construction part can also comprise head movement motor 3, sound suppressor 8, upper body rotation fixed cover 13.Described head movement motor 3 is arranged in the upper body skeleton 2.
Sound suppressor 8 is connected with electrical control valve 9 by tracheae, and the exhaust of cylinder is discharged to sound suppressor 8 by electrical control valve 9, discharges after sound suppressor 8 reduces noise.
As seen from the figure, design has two cover electric Proportion valve 11, electrical control valve 9 and intercepting valves 10 in the utility model, is used for controlling respectively the cylinder moving on left hand 4 and left foot 14, the right hand 5 and the right crus of diaphragm 6.
Upper body rotation fixed cover 13 is enclosed within outside the upper body rotation stationary shaft 12; and be connected by bearing and upper body rotation stationary shaft 12; then fixedlying connected with upper body skeleton 2, bench 20 respectively in the two ends of upper body rotation fixed cover 13, can support upper body skeleton 2 better, and protection upper body rotation stationary shaft 12.
The meeting that the utility model provides knock jazz drum robot circuit part as shown in Figure 4, these parts can be the unit of hardware or software and hardware combining.
Described circuit part is mainly by main control unit 410, and the trick pneumatic control unit 49, upper body servo control unit 411, the right arm servo control unit 412 that are connected with main control unit 410, and the D/A converting unit 45 and the electrical control valve driver element 46 that are connected with trick pneumatic control unit 49, and the upper body driven by servomotor unit 415 and the upper body motor encoder detecting unit 413 that are connected with upper body servo control unit 411, and right arm driven by servomotor unit 418 that is connected with right arm servo control unit 412 and right arm motor encoder detecting unit 416 compositions.
Trick pneumatic control unit 49 is controlled the variations in flow of electric Proportion valves 11 respectively by D/A converting unit 45 according to control signal, with the variation of final realization hand, pin motion dynamics, reach by electrical control valve driver element 46 control electrical control valves 9 and export source of the gas to corresponding cylinder.
Upper body servo control unit 411 drives 18 operations of upper body electric rotating machine according to control signal control upper body driven by servomotor unit 415, described upper body driven by servomotor unit 415 becomes angular displacement or angular velocity output on 18 of the upper body electric rotating machines with the electrical signal conversion of receiving, 18 of upper body electric rotating machines are according to this angular displacement or the motion of angular velocity drive machines upper part of human body skeleton 2 left rotation and right rotation, simultaneously, accurate localization is carried out in the rotation of 19 pairs of upper body skeletons 2 of upper body electric rotating machine scrambler, and this positioning signal is fed back to upper body servo control unit 411 in real time by upper body motor encoder detecting unit 413, upper body servo control unit 411 compares according to value of feedback and desired value, adjust the angle of rotor rotation, upper body electric rotating machine 18 is carried out accurate speed governing with this.
With the motion of upper body in like manner, right arm servo control unit 412 drives 16 operations of right arm motion motor according to control signal control right arm driven by servomotor unit 418, thereby drive the right arm rotation, accurate localization is carried out in the rotation of 17 pairs of right arms of right arm motion motor scrambler simultaneously, and feeds back to right arm servo control unit 412.
Under the common actions of upper body and right arm, drive moving of hand, hang small cymbals 23, bucket drum 24, eardrum 25 thereby can knock, reach musical sound and change.
Because the left arm skeleton links by interlock connecting rod 15 and upper body skeleton 2, the posture that left arm remains unchanged when making 2 rotations of upper body skeleton, thus can make left hand 4 knock eardrum 26 all the time.
As optimal design of the present utility model, described circuit part also includes program request control module 47, the auxiliary movement control module 48 that is connected with main control unit 410, and the song selected cell 41 and the song display unit 42 that are connected with program request control module 47, and the direct current generator driver element 44 and the position monitoring unit 43 that are connected with auxiliary movement control module 48, and the upper body position detection unit 414 that is connected with upper body servo control unit 411, and the right arm position detection unit 417 that is connected with right arm servo control unit 412.
The participant can operate selected songs according to the song that song display unit 42 shows, song selected cell 41 is sent corresponding trigger pip into program request control module 47,47 of program request control modules send instruction and give main control unit 410, main control unit 410 reads music data corresponding in the storer, and output control corresponding letter stream number is to the control corresponding unit.
Auxiliary movement control module 48 is controlled 3 operations of direct current generator driver element 44 drive head motion motors under the control of main control unit 410, with 1 motion of drive head skeleton, the motion of the 43 pairs of head skeletons 1 in position monitoring unit simultaneously positions monitoring and feeds back to auxiliary movement control module 48, so that 48 pairs of motions to head skeleton 1 of auxiliary movement control module are controlled accurately.
Described upper body position detection unit 414 and right arm position detection unit 417 are further accurately located servomotor in upper body and right arm rotary course respectively by photoelectric sensor, and in real time positioning result are fed back to upper body servo control unit 411 and right arm servo control unit 412.
The robot that the utility model provides has very human oriented design, can be along with the variation of melody, upper body, right arm be accurately rotation under the driving of servomotor, and anthropomorphic dummy's hand, pin knock different drums, small cymbals rhythmically, can also the person of letting on choose at random melody by VOD system, can increase sight, recreational, property of participation for people's life, realize bass robot playing music.
The above only is preferred embodiment of the present utility model; not in order to restriction the utility model; all any modifications of within spirit of the present utility model and principle, being done, be equal to and replace and improvement etc., all should be included within the protection domain of the present utility model.
Claims (7)
1, the robot of jazz's drum is knocked in a kind of meeting, comprise power supply, base (21), head skeleton (1), upper body skeleton (2), left hand (4), the right hand (5), right crus of diaphragm (6), left foot (14), electric controller (22), it is characterized in that, also comprise air compressor, aerodynamic force output mechanism, upper body rotation stationary shaft (12), right arm motion motor (16), right arm motion motor scrambler (17), upper body electric rotating machine (18), upper body electric rotating machine scrambler (19) and bench (20); Described bench (20) is fixed on the base (21), upper body rotation stationary shaft (12) is fixed on the bench (20), upper body skeleton (2) is connected with upper body rotation stationary shaft (12) by rotary sleeve, the arm skeleton of left hand (4), the right hand (5) is connected to the both sides of upper body skeleton (2), wherein left hand arm skeleton is connected with upper body skeleton (2) by interlock connecting rod (15), the leg skeleton of right crus of diaphragm (6), left foot (14) is fixed on the bench (20), and head skeleton (1) is installed in upper body skeleton (2) top; Described aerodynamic force output mechanism comprises successively pneumatic triple piece (7), electric Proportion valve (11), the electrical control valve (9) that connects by tracheae and is arranged on intercepting valve (10) on the electrical control valve (9), the input end of pneumatic triple piece (7) is connected with air compressor, and the output terminal of electrical control valve (9) is connected with cylinder on left hand (4), the right hand (5), right crus of diaphragm (6), the left foot (14); Described electric controller (22) and power supply, electric Proportion valve (11), electrical control valve (9), right arm motion motor (16), right arm motion motor scrambler (17), upper body electric rotating machine (18), upper body electric rotating machine scrambler (19) connects, comprise main control unit, and the trick pneumatic control unit that is connected with main control unit, the upper body servo control unit, the right arm servo control unit, and the D/A converting unit and the electrical control valve driver element that are connected with trick pneumatic control unit, and the upper body driven by servomotor unit and the upper body motor encoder detecting unit that are connected with the upper body servo control unit, and the right arm driven by servomotor unit and the right arm motor encoder detecting unit that are connected with the right arm servo control unit.
2, the robot of jazz's drum is knocked in meeting as claimed in claim 1, it is characterized in that, described robot also comprise be arranged in the upper body skeleton (2), the head movement motor (3) of drive head skeleton (1) motion, described electric controller (22) also comprises the auxiliary movement control module of operation of control head motion motor (3) and direct current generator driver element and the position monitoring unit that is connected with the auxiliary movement control module.
3, the robot of jazz's drum is knocked in meeting as claimed in claim 1, it is characterized in that, described electric controller (22) also comprises program request control module and the song selected cell and the song display unit that are connected with the program request control module.
4, the robot of jazz's drum is knocked in meeting as claimed in claim 1, it is characterized in that, described electric controller (22) also comprises the upper body position detection unit that is connected with the upper body servo control unit, and the right arm position detection unit that is connected with the right arm servo control unit.
5, the robot of jazz's drum is knocked in meeting as claimed in claim 1, it is characterized in that described aerodynamic force output mechanism also comprises the sound suppressor (8) that reduces the cylinder exhaust noise, and described sound suppressor (8) is connected with electrical control valve (9) by tracheae.
6, the robot of jazz's drum is knocked in meeting as claimed in claim 1, it is characterized in that, described robot also comprises upper body rotation fixed cover (13), described upper body rotation fixed cover (13) is enclosed within outside the upper body rotation stationary shaft (12), being connected with upper body rotation stationary shaft (12) by bearing, fixedlys connected with upper body skeleton (2), bench (20) respectively in the two ends of upper body rotation fixed cover (13).
7, the robot of jazz's drum is knocked in meeting as claimed in claim 1, it is characterized in that, described aerodynamic force output mechanism is arranged in the base (21), described electric Proportion valve (11), electrical control valve (9) and intercepting valve (10) have two covers, are used for controlling respectively the cylinder moving on left hand (4) and left foot (14), the right hand (5) and the right crus of diaphragm (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200811684U CN201429976Y (en) | 2009-05-26 | 2009-05-26 | Robot capable of knocking jazz drum |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200811684U CN201429976Y (en) | 2009-05-26 | 2009-05-26 | Robot capable of knocking jazz drum |
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| Publication Number | Publication Date |
|---|---|
| CN201429976Y true CN201429976Y (en) | 2010-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200811684U Expired - Lifetime CN201429976Y (en) | 2009-05-26 | 2009-05-26 | Robot capable of knocking jazz drum |
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| Country | Link |
|---|---|
| CN (1) | CN201429976Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102306017A (en) * | 2011-05-30 | 2012-01-04 | 王晨升 | Xylophone playing robot with humanoid structure |
| CN102873479A (en) * | 2012-09-26 | 2013-01-16 | 奇瑞汽车股份有限公司 | Water and gas supply unit of welding robot |
| CN102886630A (en) * | 2012-07-18 | 2013-01-23 | 奇瑞汽车股份有限公司 | Robot spot welding system and control method thereof |
| CN109291067A (en) * | 2018-11-26 | 2019-02-01 | 华南理工大学 | It is a kind of to impart knowledge to students, perform dual-purpose robot and its working method of beating a drum |
-
2009
- 2009-05-26 CN CN2009200811684U patent/CN201429976Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102306017A (en) * | 2011-05-30 | 2012-01-04 | 王晨升 | Xylophone playing robot with humanoid structure |
| CN102306017B (en) * | 2011-05-30 | 2013-07-24 | 王晨升 | Xylophone playing robot with humanoid structure |
| CN102886630A (en) * | 2012-07-18 | 2013-01-23 | 奇瑞汽车股份有限公司 | Robot spot welding system and control method thereof |
| CN102886630B (en) * | 2012-07-18 | 2014-10-01 | 奇瑞汽车股份有限公司 | Robot spot welding system and control method thereof |
| CN102873479A (en) * | 2012-09-26 | 2013-01-16 | 奇瑞汽车股份有限公司 | Water and gas supply unit of welding robot |
| CN102873479B (en) * | 2012-09-26 | 2015-07-15 | 奇瑞汽车股份有限公司 | Water and gas supply unit of welding robot |
| CN109291067A (en) * | 2018-11-26 | 2019-02-01 | 华南理工大学 | It is a kind of to impart knowledge to students, perform dual-purpose robot and its working method of beating a drum |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100324 |
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| CX01 | Expiry of patent term |