CN205660736U - Piano performance robot based on smart mobile phone - Google Patents
Piano performance robot based on smart mobile phone Download PDFInfo
- Publication number
- CN205660736U CN205660736U CN201620529909.0U CN201620529909U CN205660736U CN 205660736 U CN205660736 U CN 205660736U CN 201620529909 U CN201620529909 U CN 201620529909U CN 205660736 U CN205660736 U CN 205660736U
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- finger
- mobile phone
- mechanical arm
- timing belt
- smart mobile
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Abstract
The utility model discloses a the utility model relates to a piano performance robot based on smart mobile phone, it includes horizontal migration mechanism, install the arm in the horizontal migration mechanism, the manipulator is installed to the end of arm, clamping mechanism is installed to two ends of horizontal migration mechanism. This robot can overcome the not enough of traditional piano, and it supplies child to play with interaction entertainment's form, lets child learn the music in the amusement, develops independently the music latent energy of oneself.
Description
Technical field
This utility model relates to good-for-intelligence robot, refers specifically to a kind of piano based on smart mobile phone wireless remote control
Play robot.
Background technology
Nowadays, many heads of a family spend a large amount of financial resource and material resource for child's learning music, and traditional music teaching is dry as dust, child
Do not learn passion.
Tradition piano must be played in real time by staff, it is impossible to realizes playing from protagonist according to music score, it is impossible to plays intelligence hands
The man-machine interaction of machine and the function of memory storage.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of piano performance robot based on smart mobile phone, this
Robot can overcome the deficiency of tradition piano, and it is played for child with the form of interaction entertainment, allows child while amusement
Learning music, the music potential of independent development oneself.
In order to realize above-mentioned technical characteristic, the purpose of this utility model is achieved in that steel based on smart mobile phone
Robot played by qin, and it includes horizontal mobile mechanism, described horizontal mobile mechanism is provided with mechanical arm, the end of described mechanical arm
End is provided with mechanical hand, and two ends of described horizontal mobile mechanism are provided with clamp system.
Described horizontal mobile mechanism is made up of symmetrical two parts, and centre is connected by tie-beam；Tie-beam is fixed
Being arranged on the middle part of gripper shoe, the left distal end of gripper shoe is provided with motor, and motor is fixedly mounted on motor
On support, the output shaft of motor is provided with Timing Belt drivewheel, Timing Belt drivewheel by Timing Belt and Timing Belt from
Driving wheel engages, and Timing Belt driven pulley is fixedly mounted on driven pulley support, Timing Belt is fixedly connected with slide, and slide is in V-type
Line slideway composition is slidably matched, and described mechanical arm is fixedly mounted on slide, and the terminal position of described V-type line slideway is installed
There is touch switch.
The bracing frame of described mechanical arm is affixed with the slide in horizontal mobile mechanism；Connecting rod is connected formation mechanical arm with montant
Ancon joint, connecting rod can revolute pair on montant rotate under the chute constraint that semicircle connects sheet, when connecting rod and montant it
Between angle adjustment put in place after, available wing nut locks relative position between the two；Connecting rod is connected formation with U-shaped support
Mechanical arm wrist joint.
The palm connector of described mechanical hand is affixed with the U-shaped support in mechanical arm；Mechanical hand has five fingers, and finger
Each joint piece is connected by copper post；Steering wheel bolt is fastened in palm connector；Steering wheel drives steering wheel to rotate, and steering wheel is again by moulding
Material drawstring pulls finger-joint part four, finger-joint part four to have finger-joint part three, finger-joint part two and by copper is column articulated
Finger-joint part one, the end of finger-joint part one is fixed on the front end of palm connector.
The clamp arm of described clamp system is fixed in the gripper shoe of horizontal mobile mechanism；Nut bearing and location fixture block divide
It is not fixed by bolts on clamp arm；The pinching end of clamp arm determine together with the fixture block of location performance robot and piano key it
Between tram；Screw rod with handle and nut bearing form screw mechanism, the disk briquetting of the screw front end of band handle with
The pinching end of clamp arm is matched for clamping tightly fingerboard side plate.
Also include that system hardware equipment, described system hardware equipment include two step motor drive plates, steady
Die block, singlechip control panel, bluetooth module and lithium battery.
This utility model has the advantages that:
1, piano performance robot based on smart mobile phone by horizontal mobile mechanism, mechanical arm, mechanical hand, clamp system and
System hardware equipment is connected, and smart mobile phone, as human-computer interaction interface, selects corresponding melody, and then bluetooth is wireless to list
Sheet machine panel says the word, and melody played on piano by the mechanical hand controlling robot.
2, when touching figure key on smart mobile phone interface, said the word to singlechip control panel by the bluetooth of mobile phone, single
The order received is analyzed by sheet machine panel, and drives in two motors in horizontal mobile mechanism and mechanical hand
Five steering wheels.
3, described piano performance robot electric-control system energising, two, left and right mechanical hand is respectively to V-type line slideway eventually
The touch switch of end slides, and after encountering touch switch, manipulator finger can stop at above the key of first, the left and right sides, real
Existing original point position.
4, in described piano performance robot electric-control system, singlechip control panel sends out stated number to step motor drive plate
The pulse of amount, accurately controls motor rotational angle, determines the pressing position of piano key of finger and the distance of initial point.Single-chip microcomputer
Panel sends out pwm signal to steering wheel, controls the corner of steering wheel to determine the bending attitude of finger.
5, this utility model combines the application resource that piano performance robot is abundant with smart mobile phone,
By human-machine interface function and the data storage function of smart mobile phone, its added value can be increased, promote its interest.
Accompanying drawing explanation
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is overall structure schematic diagram of the present utility model.
Fig. 2 is horizontal mobile mechanism structural representation of the present utility model.
Fig. 3 is mechanical arm structural representation of the present utility model.
Fig. 4 is robot manipulator structure schematic diagram of the present utility model.
Fig. 5 is clamp system schematic diagram of the present utility model.
In figure: horizontal mobile mechanism 1, mechanical arm 2, mechanical hand 3, clamp system 4；
Motor 101, motor support 102, Timing Belt drivewheel 103, Timing Belt 104, Timing Belt driven pulley
105, driven pulley support 106, touch switch 107, V-type line slideway 108, slide 109, tie-beam 110 and gripper shoe 111；
Bracing frame 201, montant 202, semicircle connect sheet 203, wing nut 204, connect two joints connecting rod 205,
Support the U-shaped support 206 of mechanical hand；
Steering wheel 301, palm connector 302, steering wheel 303, plastic pull tie 304, finger-joint part 1, finger-joint part
2 306, finger-joint part 3 307, finger-joint part 4 308, copper post 309；
Clamp arm 401, disk briquetting 402, nut bearing 403, the screw rod 404 of band handle and location fixture block 405.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiment of the present utility model is described further.
As Figure 1-5, piano performance robot based on smart mobile phone, it includes horizontal mobile mechanism 1, described level
Being provided with mechanical arm 2 in travel mechanism 1, the end of described mechanical arm 2 is provided with mechanical hand 3, the two of described horizontal mobile mechanism 1
Individual end is provided with clamp system 4.
Further, described horizontal mobile mechanism 1 is made up of symmetrical two parts, and centre is connected by tie-beam 110
Connect；Tie-beam 110 is fixedly mounted on the middle part of gripper shoe 111, and the left distal end of gripper shoe 111 is provided with motor 101, step
Enter motor 101 to be fixedly mounted on motor support 102, the output shaft of motor 101 is provided with Timing Belt drivewheel
103, Timing Belt drivewheel 103 is engaged with Timing Belt driven pulley 105 by Timing Belt 104, and Timing Belt driven pulley 105 fixedly mounts
On driven pulley support 106, Timing Belt 104 being fixedly connected with slide 109, slide 109 constitutes sliding in V-type line slideway 108
Dynamic cooperation, described mechanical arm 2 is fixedly mounted on slide 109, and the terminal position of described V-type line slideway 108 is provided with shake-up
Switch 107.In work process, motor 101 is by Timing Belt drivewheel 103, Timing Belt 104 and Timing Belt driven pulley 105
Drive slide 109 to slide on V-type line slideway 108, and then drive the mechanical arm 2 being attached thereto to move.
Further, the bracing frame 201 of described mechanical arm 2 is affixed with the slide 109 in horizontal mobile mechanism 1；Connecting rod 205
Be connected formation mechanical arm 2 ancon joint with montant 202, connecting rod 205 can be around montant under the chute constraint that semicircle connects sheet 203
Revolute pair on 202 rotates, after the angle adjustment between connecting rod 205 and montant 202 puts in place, and available wing nut 204 two
Relative position locking between person；Connecting rod 205 is connected formation mechanical arm 2 wrist joint with U-shaped support 206.By mechanical arm 2 energy
Enough realize elbow joint and carpal action, and then realize the function of mechanical arm 2.
Further, the palm connector 302 of described mechanical hand 3 is affixed with the U-shaped support 206 in mechanical arm 2；Mechanical hand
3 have five fingers, and each joint piece of finger is connected by copper post 309；Steering wheel 301 bolt is fastened in palm connector 302；Rudder
Machine 301 drives steering wheel 303 to rotate, and steering wheel 303 pulls finger-joint part 4 308, finger-joint part four by plastic pull tie 304 again
308 are hinged with finger-joint part 3 307, finger-joint part 2 306 and finger-joint part 1, finger-joint by copper post 309
The end of part 1 is fixed on the front end of palm connector 302.
Further, the clamp arm 401 of described clamp system 4 is fixed in the gripper shoe 111 of horizontal mobile mechanism 1；Spiral shell
Female bearing 403 and location fixture block 405 are respectively bolted on clamp arm 401；The pinching end of clamp arm 401 and location fixture block
405 determine the tram played between robot and piano key together；Screw rod 404 with handle and nut bearing 403 groups
Becoming screw mechanism, the disk briquetting 402 of screw rod 404 front end of band handle is matched for clamping tightly piano key with the pinching end of clamp arm 401
Dish side plate.
Further, also include that system hardware equipment, described system hardware equipment include two motors
Drive plate, Voltage stabilizing module, singlechip control panel, bluetooth module and lithium battery.Whole robot can be controlled by hardware device
Action.
Specific works process of the present utility model and operation principle be:
Open smart mobile phone application program and be energized, when the bluetooth module of Bluetooth of mobile phone and electric-control system is joined to electric-control system
After successful connection, select corresponding melody by clicking on interface, and the music score of smart mobile phone memory storage is imported to machine
In the singlechip control panel of people's electric-control system, independently play realizing it.
Above-described embodiment is used for illustrating this utility model rather than limiting this utility model, in this practicality
In novel spirit and scope of the claims, any modifications and changes that this utility model is made, both fall within this reality
With novel protection domain.
Claims (5)
1. piano performance robot based on smart mobile phone, it is characterised in that: it includes horizontal mobile mechanism (1), described level
Being provided with mechanical arm (2) in travel mechanism (1), the end of described mechanical arm (2) is provided with mechanical hand (3), described in move horizontally
Two ends of mechanism (1) are provided with clamp system (4)；
Described horizontal mobile mechanism (1) is made up of symmetrical two parts, middle by tie-beam (110) connection；Tie-beam
(110) being fixedly mounted on the middle part of gripper shoe (111), the left distal end of gripper shoe (111) is provided with motor (101), step
Enter motor (101) to be fixedly mounted on motor support (102), the output shaft of motor (101) is provided with Timing Belt
Drivewheel (103), Timing Belt drivewheel (103) is engaged with Timing Belt driven pulley (105) by Timing Belt (104), Timing Belt from
Driving wheel (105) is fixedly mounted on driven pulley support (106), and Timing Belt (104) is fixedly connected with slide (109), slide
(109) being slidably matched in V-type line slideway (108) composition, described mechanical arm (2) is fixedly mounted on slide (109), described V
The terminal position of type line slideway (108) is provided with touch switch (107).
Piano performance robot based on smart mobile phone the most according to claim 1, it is characterised in that: described mechanical arm
(2) bracing frame (201) is affixed with the slide (109) in horizontal mobile mechanism (1)；Connecting rod (205) is connected shape with montant (202)
Becoming mechanical arm (2) ancon joint, connecting rod (205) can be on montant (202) under the chute constraint that semicircle connects sheet (203)
Revolute pair rotates, and after the angle adjustment between connecting rod (205) and montant (202) puts in place, available wing nut (204) is both
Between relative position locking；Connecting rod (205) is connected formation mechanical arm (2) wrist joint with U-shaped support (206).
Piano performance robot based on smart mobile phone the most according to claim 1, it is characterised in that: described mechanical hand
(3) palm connector (302) is affixed with the U-shaped support (206) in mechanical arm (2)；Mechanical hand (3) has five fingers, and hands
Refer to that each joint piece is connected by copper post (309)；Steering wheel (301) bolt is fastened in palm connector (302)；Steering wheel (301) carries
Dynamic steering wheel (303) rotates, and steering wheel (303) pulls finger-joint part four (308), finger-joint part by plastic pull tie (304) again
Four (308) are hinged with finger-joint part three (307), finger-joint part two (306) and finger-joint part one by copper post (309)
(305), the end of finger-joint part one (305) is fixed on the front end of palm connector (302).
Piano performance robot based on smart mobile phone the most according to claim 1, it is characterised in that: described clamp system
(4) clamp arm (401) is fixed in the gripper shoe (111) of horizontal mobile mechanism (1)；Nut bearing (403) and location fixture block
(405) it is respectively bolted on clamp arm (401)；The pinching end of clamp arm (401) determines together with location fixture block (405)
Play the tram between robot and piano key；Screw rod (404) with handle forms screw machine with nut bearing (403)
Structure, the disk briquetting (402) of screw rod (404) front end of band handle and the pinching end of clamp arm (401) are matched for clamping tightly fingerboard
Side plate.
Piano performance robot based on smart mobile phone the most according to claim 1, it is characterised in that: also include automatically controlled system
System hardware device, described system hardware equipment include two step motor drive plates, Voltage stabilizing module, singlechip control panel,
Bluetooth module and lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620529909.0U CN205660736U (en) | 2016-06-03 | 2016-06-03 | Piano performance robot based on smart mobile phone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620529909.0U CN205660736U (en) | 2016-06-03 | 2016-06-03 | Piano performance robot based on smart mobile phone |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205660736U true CN205660736U (en) | 2016-10-26 |
Family
ID=57157721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620529909.0U Expired - Fee Related CN205660736U (en) | 2016-06-03 | 2016-06-03 | Piano performance robot based on smart mobile phone |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205660736U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903704A (en) * | 2017-05-03 | 2017-06-30 | 合肥磐石自动化科技有限公司 | A kind of Novel piano plays robot system |
| CN107263504A (en) * | 2017-07-26 | 2017-10-20 | 东北大学 | A kind of mechanical device of playing piano |
| CN108735035A (en) * | 2018-05-29 | 2018-11-02 | 怀化学院 | A kind of Piano Teaching auxiliary device |
| CN117921640A (en) * | 2024-03-25 | 2024-04-26 | 烟台六好农业科技有限公司 | Manipulator adaptively adjusted by type of clamping object |
-
2016
- 2016-06-03 CN CN201620529909.0U patent/CN205660736U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903704A (en) * | 2017-05-03 | 2017-06-30 | 合肥磐石自动化科技有限公司 | A kind of Novel piano plays robot system |
| CN107263504A (en) * | 2017-07-26 | 2017-10-20 | 东北大学 | A kind of mechanical device of playing piano |
| CN107263504B (en) * | 2017-07-26 | 2019-07-12 | 东北大学 | A kind of mechanical device of playing piano |
| CN108735035A (en) * | 2018-05-29 | 2018-11-02 | 怀化学院 | A kind of Piano Teaching auxiliary device |
| CN117921640A (en) * | 2024-03-25 | 2024-04-26 | 烟台六好农业科技有限公司 | Manipulator adaptively adjusted by type of clamping object |
| CN117921640B (en) * | 2024-03-25 | 2024-06-07 | 烟台六好农业科技有限公司 | Manipulator adaptively adjusted by type of clamping object |
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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 |
Granted publication date: 20161026 Termination date: 20170603 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |