CN205386822U - Xylophone of numbered musical notation can be discerned and robot is played - Google Patents
Xylophone of numbered musical notation can be discerned and robot is played Download PDFInfo
- Publication number
- CN205386822U CN205386822U CN201620072437.0U CN201620072437U CN205386822U CN 205386822 U CN205386822 U CN 205386822U CN 201620072437 U CN201620072437 U CN 201620072437U CN 205386822 U CN205386822 U CN 205386822U
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- China
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- xylophone
- musical notation
- numbered musical
- acquisition module
- robot
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Abstract
The utility model discloses a xylophone of numbered musical notation can be discerned and robot is played, a serial communication port, include: the arm that power, two bases, control body and waiting carried out, control body has numbered musical notation collection module, xylophone information collection module and singlechip, numbered musical notation collection module xylophone information acquisition module with the singlechip all with the power electricity is connected, the arm is double crank five -bar linkage structure, the both ends of frame are fixed in correspondingly respectively the base. The utility model provides a xylophone of numbered musical notation can be discerned and robot is played uses multichannel step motor to realize the motion of base and beaing of drum -stick, the design of double crank five -bar linkage arm simultaneously for the drum -stick has the wider scope of beaing, has avoided the removal repeatedly of base, has the characteristics of simple structure and high flexibility, and the mechanical device who uses plays the robot still less than conventional design's xylophone, therefore the cost is lower, and machine human reliability also obtains improving simultaneously.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of xylophone being capable of identify that numbered musical notation and plays robot.
Background technology
Due to modern artificial intelligence, computer science, sensor science rapid progress, robot is also not limited to the simplification of programmable operations and performs, the design of robot is also not only limited in the Demand Design of industrial environment, and expand to the every field of human lives, occur in that such as various different robots such as amusement, guides.
Existing music robot adopts servosystem one to one mostly, has that machinery is many, control system complex, shortcoming that cost is high, greatly limit its development space.
Utility model content
For above-mentioned music robot Problems existing, robot played by a kind of xylophone of existing offer, it is intended to realizes low cost, carry out xylophone performance high flexibility.
Concrete scheme is as follows:
Robot played by a kind of xylophone being capable of identify that numbered musical notation, has the feature that, including:
Power supply, two bases, control main body and pending mechanical arm；
Control main body and there is numbered musical notation acquisition module, xylophone information acquisition module and single-chip microcomputer, numbered musical notation acquisition module is for gathering the numbered musical notation information of corresponding melody, xylophone information acquisition module is for gathering xylophone and the azimuth information of corresponding key thereof, single-chip microcomputer is in order to identify and to store numbered musical notation acquisition module and the relevant information of xylophone information acquisition module collection, further, the action of the mechanical arm that Single-chip Controlling is pending；
Numbered musical notation acquisition module, xylophone information acquisition module and single-chip microcomputer all electrically connect with power supply, and mechanical arm is be provided with double-crank five bar linkage structure that a frame, two side links and two rotations are secondary, and the two ends of frame are individually fixed in respective seat, and single-chip microcomputer is installed on a base.
Robot played by the above-mentioned xylophone being capable of identify that numbered musical notation, also has the feature that, corner, the bottom place of two bases is additionally provided with the first motor for driving base motions, and every first motor all electrically connects with single-chip microcomputer.
Robot played by the above-mentioned xylophone being capable of identify that numbered musical notation, also having the feature that, mechanical arm also includes two the second motors in order to drive frame left-right rotation, and every second motor is fixed in a base, further, every second motor electrically connects with single-chip microcomputer.
Robot played by the above-mentioned xylophone being capable of identify that numbered musical notation, also has the feature that, mechanical arm also includes two the 3rd motors in order to drive two rotation pairs to rotate upwardly and downwardly, and two rotation pairs are connected to side link each through corresponding 3rd motor.
Robot played by the above-mentioned xylophone being capable of identify that numbered musical notation, also has the feature that, mechanical arm also includes a drumstick, and drumstick is arranged at the junction that two rotations are secondary.
The beneficial effect of technique scheme:
What this utility model provided is capable of identify that robot played by the xylophone of numbered musical notation, multi-path stepping motor is used to realize the motion of base and beaing of drumstick, double-crank five connecting rod mechanical arm design simultaneously, drumstick is had and wider array of beats scope, avoid moving repeatedly of base, there is the feature of simple in construction and high flexibility, and the xylophone of the more conventional design of machinery used to play robot less, thus lower in cost, machine human reriability also obtains bigger raising simultaneously.
Accompanying drawing explanation
Fig. 1 plays the structural representation of robot for the xylophone being capable of identify that numbered musical notation that embodiment of the present utility model provides.
In accompanying drawing: 1. power supply；2. base；3. numbered musical notation acquisition module；4. xylophone information acquisition module；5. single-chip microcomputer；6. mechanical arm；61. frame；62. side link；63. rotation is secondary；7. the first motor；8. the second motor；9. the 3rd motor；10. drumstick
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model, rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art obtain under the premise not making creative work, broadly fall into the scope of this utility model protection.
It should be noted that when not conflicting, the embodiment in this utility model and the feature in embodiment can be mutually combined.
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail, but not as restriction of the present utility model.
Fig. 1 plays the structural representation of robot for the xylophone being capable of identify that numbered musical notation that embodiment of the present utility model provides.nullAs shown in Figure 1，What the present embodiment provided is capable of identify that robot played by the xylophone of numbered musical notation，Including: power supply 1、Two bases 2、By numbered musical notation acquisition module 3、The control main body that xylophone information acquisition module 4 and single-chip microcomputer 5 are constituted，And pending mechanical arm 6，Numbered musical notation acquisition module 3 is for gathering the numbered musical notation information of corresponding melody，Xylophone information acquisition module 4 is for gathering xylophone and the azimuth information of corresponding key thereof，Single-chip microcomputer 5 is in order to identify and to store numbered musical notation acquisition module 3 and the relevant information of xylophone information acquisition module 4 collection，And，Control the action of pending mechanical arm 6，Numbered musical notation acquisition module 3、Xylophone information acquisition module 4 and main control module all electrically connect with power supply 1，Mechanical arm 6 is for being provided with a frame 61、Double-crank five bar linkage structure of two side links 62 and two rotation pairs 63，The two ends of frame 61 are individually fixed in respective seat 2，Single-chip microcomputer 5 is installed on a base 2.
Concrete, corner, the bottom place of two bases 2 is additionally provided with the first motor 7 for driving base 2 to move, and, every first motor 7 all electrically connects with single-chip microcomputer 5, mechanical arm 6 also includes two the second motors 8 in order to drive frame 61 left-right rotation, every second motor 8 is fixed on a base 2, and, two the second motors 8 all electrically connect with single-chip microcomputer 5, mechanical arm 6 also includes two the 3rd motors 9 in order to drive two rotation pairs 63 to rotate upwardly and downwardly, two rotation pairs 63 are connected to side link 62 each through corresponding 3rd motor 9, mechanical arm 6 also includes a drumstick 10, drumstick 10 is arranged at the junction of two rotation pairs 63.
In technique scheme, further, numbered musical notation acquisition module 3 first intercepts the image in numbered musical notation video flowing and obtains corresponding still image picture, again still image picture is carried out black white binarization process, making to only have the digit symbol representing note on numbered musical notation image is black, and automatically obtain the extraneous rectangle of each digit symbol in image, it is divided into the region of several equal sizes, the number ratio that black pixel point in each region accounts for all pixels is added up, it can be used as a stack features numerical value, compare with the standard feature numerical value of each digit symbol, take the number being namely judged as on image corresponding to this digit symbol that error is minimum, thus drawing on image the note corresponding to this digit symbol.
Operation principle of the present utility model is: numbered musical notation acquisition module gathers numbered musical notation information, xylophone information acquisition module gathers xylophone and key azimuth information thereof, the relevant information gathered sends single-chip microcomputer to, after single-chip microcomputer processes, drive corresponding first motor in base, base motions is made to arrive suitable position, and respective drive the second motor, drumstick is made to move to suitable position, and respective drive the 3rd motor, drumstick is made to complete to beat action, repeat above action, until playing complete.
These are only this utility model preferred embodiment; not thereby embodiment of the present utility model and protection domain are limited; to those skilled in the art; the equivalent replacement done by all utilization this utility model description and diagramatic content and the obtained scheme of apparent change should be can appreciate that, all should be included in protection domain of the present utility model.
Claims (5)
1. robot played by the xylophone being capable of identify that numbered musical notation, it is characterised in that including:
Power supply, two bases, control main body and pending mechanical arm；
Described control main body has numbered musical notation acquisition module, xylophone information acquisition module and single-chip microcomputer, described numbered musical notation acquisition module is for gathering the numbered musical notation information of corresponding melody, described xylophone information acquisition module is for gathering xylophone and the azimuth information of corresponding key thereof, described single-chip microcomputer is in order to identify and to store described numbered musical notation acquisition module and the relevant information of described xylophone information acquisition module collection, further, the action of the described mechanical arm that described Single-chip Controlling is pending；
Described numbered musical notation acquisition module, described xylophone information acquisition module and described single-chip microcomputer all electrically connect with described power supply, described mechanical arm is be provided with double-crank five bar linkage structure that a frame, two side links and two rotations are secondary, the two ends of described frame are individually fixed in corresponding described base, and described single-chip microcomputer is installed on base described in.
2. robot played by the xylophone being capable of identify that numbered musical notation according to claim 1, it is characterized in that, corner, the bottom place of two described bases is additionally provided with the first motor for driving described base motions, and every described first motor all electrically connects with described single-chip microcomputer.
3. robot played by the xylophone being capable of identify that numbered musical notation according to claim 1, it is characterised in that described mechanical arm also includes two the second motors in order to drive described frame left-right rotation, and every described second motor is fixed on base described in.
4. robot played by the xylophone being capable of identify that numbered musical notation according to claim 1, it is characterized in that, described mechanical arm also includes two the 3rd motors in order to drive two described rotation pairs to rotate upwardly and downwardly, and two described rotation pairs are connected to described side link each through described 3rd motor accordingly.
5. robot played by the xylophone being capable of identify that numbered musical notation according to claim 1, it is characterised in that described mechanical arm also includes a drumstick, and described drumstick is arranged at the junction that two described rotations are secondary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620072437.0U CN205386822U (en) | 2016-01-25 | 2016-01-25 | Xylophone of numbered musical notation can be discerned and robot is played |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620072437.0U CN205386822U (en) | 2016-01-25 | 2016-01-25 | Xylophone of numbered musical notation can be discerned and robot is played |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205386822U true CN205386822U (en) | 2016-07-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620072437.0U Expired - Fee Related CN205386822U (en) | 2016-01-25 | 2016-01-25 | Xylophone of numbered musical notation can be discerned and robot is played |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205386822U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110070846A (en) * | 2019-03-14 | 2019-07-30 | 合肥磐石自动化科技有限公司 | A kind of the play music identification of spectrogram of robot of vibraphone is played music method |
| CN112133270A (en) * | 2020-08-31 | 2020-12-25 | 广东工业大学 | Automatic playing method of stringed instrument |
-
2016
- 2016-01-25 CN CN201620072437.0U patent/CN205386822U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110070846A (en) * | 2019-03-14 | 2019-07-30 | 合肥磐石自动化科技有限公司 | A kind of the play music identification of spectrogram of robot of vibraphone is played music method |
| CN112133270A (en) * | 2020-08-31 | 2020-12-25 | 广东工业大学 | Automatic playing method of stringed instrument |
| CN112133270B (en) * | 2020-08-31 | 2023-09-19 | 广东工业大学 | Automatic playing method of stringed instrument |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160720 Termination date: 20170125 |