CN205799537U - A kind of robotic's structure playing dulcimer - Google Patents
A kind of robotic's structure playing dulcimer Download PDFInfo
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- CN205799537U CN205799537U CN201620722661.XU CN201620722661U CN205799537U CN 205799537 U CN205799537 U CN 205799537U CN 201620722661 U CN201620722661 U CN 201620722661U CN 205799537 U CN205799537 U CN 205799537U
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- shoulder
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- pedestal
- dulcimer
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Abstract
This utility model relates to a kind of robotic's structure playing dulcimer, is provided with forearm that the left and right sides is symmetrically installed, large arm, carpal joint, elbow joint, shoulder joint, waist motor, waist decelerator and transposition gear mesh；Percussion structure at the qin bamboo composition wrist of carpal wrist pedestal, wrist steering wheel, qin bamboo deck and dulcimer, is driven the motion of qin bamboo by wrist servo driving qin bamboo deck, it is achieved tap the performance action of dulcimer key；The ancon pedestal of elbow joint is connected with homonymy large arm through sheet metal component, and elbow rest frame is connected with homonymy forearm through sheet metal component, and ancon steering wheel rotarily drives forearm and rotates；Being provided with shoulder motor and shoulder decelerator on the shoulder support frame of shoulder joint, shoulder electric machine rotation drives homonymy large arm to rotate；Homonymy waist motor drives shoulder pedestal to rotate by waist decelerator and through transposition gear mesh；Robot frame for movement outward appearance is anthropomorphic, easy to control, and range of movement is big, and noise is little, and playing quality is good.
Description
Technical field
This utility model relates to a kind of robotic's structure playing dulcimer.Relate generally to one and can simulate staff percussion
Play dulcimer revolute robot's frame for movement.
Background technology
Music robot is the applied science of music and discipline intersection field, and at home and abroad music robot has had necessarily
Power of influence, music robot belongs to performance class specialized robot, abroad to the research of music robot with keyboard instrument chord
Musical instrument is in the majority, also without reference to the correlational study of the automatic Playing robot to Chinese Traditional Instruments dulcimer.The most domestic
The robot of playing known only has the dulcimer designed by the sincere scientific & technical corporation of Zigong City to play robot, and it is with mechanical arm band dynamic air cylinder
Motion realizes the performance of dulcimer, but exists and play the shortcomings such as poor stability, beating position poor accuracy, noise are big.Therefore having must
Develop multiple joints of a kind of new upper part of the body that can simulate people and two mechanical arms, can simulate that staff is stable, accurately drill
Play, the robotic's structure playing dulcimer that noise is little simultaneously.
Summary of the invention
The purpose of this utility model is to solve the deficiencies in the prior art, and provides the one can be in conjunction with dulcimer artistic performance
Form, plays that noise is little, range of movement wide, and simultaneously closer to the shoulder of the mankind, elbow, carpal joint in external form, waist, arm are tied
Structure, has more robotic's structure that a kind of dulcimer of the structure that personalizes is played.
For achieving the above object, the technical solution adopted in the utility model is: provide a kind of machine playing dulcimer man-machine
Tool structure, forearm that and the left and right sides identical including structure is symmetrically installed, large arm, carpal joint, elbow joint, shoulder joint, waist
Portion's motor, waist decelerator and transposition gear mesh；Described carpal joint is provided with wrist pedestal and wrist steering wheel；Wrist pedestal passes through
Sheet metal component is connected with forearm lower end, and homonymy wrist pedestal is connected with wrist steering wheel, and qin bamboo deck is fixed on the output of wrist steering wheel
On axle, the qin bamboo of dulcimer is arranged in qin bamboo deck；
Described elbow joint is provided with ancon pedestal, elbow rest frame and ancon steering wheel, and each ancon pedestal passes through sheet metal component
Being connected with homonymy large arm lower end, ancon pedestal is connected with homonymy elbow rest frame, and elbow rest frame is little with homonymy by sheet metal component
Arm upper end is connected, ancon servo driving homonymy elbow rest frame drive forearm to rotate；
Described shoulder joint is provided with shoulder pedestal, shoulder motor, shoulder decelerator and shoulder support frame, and each shoulder slows down
Device is arranged on ipsilateral shoulder pedestal, and both sides shoulder motor is connected with ipsilateral shoulder decelerator respectively, shoulder reducer output shaft
Being connected with ipsilateral shoulder bracing frame, shoulder motor is rotated by shoulder decelerator rear drive shoulder support frame, drives and is connected in shoulder
Homonymy large arm on portion's bracing frame rotates；
Described both sides waist power transmission shaft is all arranged in upper backup pad and lower support plate by two bearings, upper backup pad
Together with being bolted on lower supporting plate, waist power transmission shaft upper end connects ipsilateral shoulder pedestal, institute by flat key and bolt
The every side transposition gear mesh stated has two identical and intermeshing transposition gears, a transposition gear in transposition gear mesh
Being arranged on homonymy waist power transmission shaft by flat key, another transposition gear is arranged on homonymy waist decelerator by flat key and exports
On axle；
Described homonymy waist motor drives ipsilateral shoulder pedestal to rotate by waist decelerator and through transposition gear mesh, enters
And driving homonymy mechanical arm entirety to move in a circle with waist power transmission shaft for axle center, shoulder motor drives homonymy large arm the most flat
Move in a circle with shoulder support frame for the center of circle in face, ancon servo driving homonymy forearm in perpendicular with elbow rest frame
Move in a circle for the center of circle, it is achieved the qin bamboo beating point in qin bamboo deck is in predetermined three dimensions inner position；
Two waist motors, two shoulders motors and two ancon steering wheels during performance, these three driver part coordinates collaborative
Action, after moving to qin bamboo specify beating position, the existing hammer action of wrist servo driving qin Caryopsis Bambusae, make dulcimer sounding play.
Described qin bamboo deck and qin bamboo use interference fit, it is to avoid qin bamboo reciprocal tap during string both it
Between occur loosen.
Leave space between the two shoulders motors that the described left and right sides is symmetrically installed, be used for preventing from passing at two waists
Moving axis drives two shoulders motors to occur when rotating interfering respectively.
Described transposition gear mesh is the same modulus two identical transposition gears with the number of teeth, for by waist motor
Installation site be adjusted to the position closer to robotic's structure axis.
The joint type dulcimer of the present invention plays robot in playing procedure, when needs tap distance machine on dulcimer qin face
During the farthest beating point of people's frame for movement, the mechanical arm that large arm and forearm are constituted is in elongation state, and now large arm and forearm can
Straighten to straight line；When needing the beating point that on percussion dulcimer qin face, distance robotic's structure is nearest, at mechanical arm
In contraction state, now the large arm of mechanical arm is at an acute angle with perpendicular, and large arm is also acute angle with the angle of forearm.
When installing the joint type dulcimer performance robot of the present invention, owing to mechanical arm must be above dulcimer qin face, institute
With when large arm vertical sagging time, need ensure ancon installation site more than dulcimer qin face.
Robotic's structure of performance dulcimer of the present utility model has the advantage, that compared with prior art
(1), this utility model make use of three revolute pairs to have motion as the driving detent mechanism of robot, this mechanism
The features such as scope is big, flexible movements, compact conformation, make robotic's structural style moderate, can meet dulcimer machine well
Device people taps the demand of key on a large scale.
, this utility model have employed the multiarticulate design personalized on surface structure, make the fortune of two mechanical arms
Dynamic very flexible, compared to the performance dulcimer robot of other type of drive, robot frame for movement hammer action is vivider, control
System is simpler, and when working, noise is little simultaneously, does not interferes with normal playing effect, it is ensured that tap the tone color of dulcimer.
, robotic's structure of the present utility model there is certain versatility, can apply it to follow-up other
In the music robot architecture of form, design offer mentality of designing for subsequent robot simultaneously, be also the robot of other forms
Exploitation and design provide the foundation and reference.
Accompanying drawing explanation
Fig. 1 is robotic's structure overall structure schematic diagram of performance dulcimer of the present utility model.
Fig. 2 is mechanical arm telescopic location schematic diagram of the present utility model.
Fig. 3 is the structural representation of waist power transmission shaft of the present utility model.
In above-mentioned figure: 1 qin bamboo；2 qin bamboo decks；3 wrist pedestals；4 forearms；5 elbow rest framves；6 elbows
Portion's pedestal；7 large arm；8 lower supporting plates；9 upper backup pads；10 shoulder decelerators；11 shoulder motors；12 shoulder bases
Seat；13 shoulder support framves；14 transposition gears；15 waist decelerators；16 waist motors；17 ancon steering wheels；18—
Sheet metal component；19 wrist steering wheels；20 waist power transmission shafts；21 flat keys；22 spaces.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in further detail, but enforcement of the present utility model is not limited to
This.
Embodiment 1: this utility model provides a kind of robotic's structure playing dulcimer, and its structure is as shown in Figure 1, 2.
It is provided with structure is identical and the left and right sides is symmetrically installed forearm 4, large arm 7, carpal joint, shoulder joint, elbow joint, waist motor
16, waist decelerator 15, waist power transmission shaft 20 and transposition gear mesh 14.
Described carpal joint is provided with wrist pedestal and wrist steering wheel；Wrist pedestal 3 side is connected to little by sheet metal component 18
On arm 4, homonymy wrist pedestal 3 is connected with wrist steering wheel 19, and qin bamboo deck 2 is fixed on the output shaft of wrist steering wheel 19, qin bamboo 1
It is arranged in qin bamboo deck 2.
Described elbow joint is provided with ancon pedestal 6, elbow rest frame 5 and ancon steering wheel 17, and each ancon pedestal 6 passes through metal plate
Gold part 18 is connected on the downside of homonymy large arm, and homonymy ancon pedestal 6 is connected with elbow rest frame, and elbow rest frame passes through sheet metal component 18
It is connected with homonymy forearm 4 upper end, ancon servo driving elbow rest frame drives homonymy forearm to rotate around elbow rest frame 5.
Described shoulder joint is provided with shoulder pedestal 12, shoulder motor 11, shoulder decelerator 10 and shoulder support frame 13, homonymy
Shoulder motor and shoulder decelerator 10 be connected and be connected with shoulder pedestal 12 by bolt afterwards, shoulder support frame passes through with large arm
Panel beating is connected, and shoulder motor 11 drives shoulder decelerator to rotate and driven shoulder support frame by reducer output shaft by flat key again,
The large arm 7 driving homonymy does the rotary motion around shoulder decelerator.
The structure of waist power transmission shaft 20 sees Fig. 3.Waist power transmission shaft is arranged on upper backup pad 9 and lower by two bearings
On board 8, together with upper backup pad is bolted on lower supporting plate, waist power transmission shaft upper end is by flat key 21 and bolt even
Connecing ipsilateral shoulder pedestal 12, described every side transposition gear mesh 14 has two identical and intermeshing transposition gears, transposition
A transposition gear in gear mesh is arranged on homonymy waist power transmission shaft 20 by flat key, and another transposition gear passes through flat key
Being arranged on homonymy waist decelerator 14 output shaft, transposition gear mesh 14 is two the identical transpositions with the number of teeth of the same modulus
Gear, for being adjusted to the position closer to robot axis by the installation site of waist motor, it is to avoid robot arm exists
Motor process interferes phenomenon with waist motor.
Leave space 22 between the described two shoulders motors being symmetrically installed, be used for preventing two shoulders motors at two
There is interference when being rotated respectively in waist power transmission shaft.
Described homonymy waist motor 16 drives ipsilateral shoulder pedestal 12 by waist decelerator and through transposition gear mesh 14
Rotate；And then driving homonymy mechanical arm entirety to move in a circle with waist power transmission shaft for axle center, described shoulder motor 11 drives
Homonymy large arm 7 moves in a circle with shoulder support frame 13 for the center of circle in perpendicular, and ancon steering wheel 17 drives homonymy forearm 4 to exist
Move in a circle with elbow rest frame 5 for the center of circle in perpendicular, it is achieved the qin bamboo beating point in qin bamboo deck is predetermined three
Dimension space inner position.
11, two ancon steering wheels 17 of two waist motor 16, two shoulders motors during performance, these three driver part coordinates
Co-operating, moves to specify beating position by qin bamboo, and the existing hammer action of wrist servo driving qin Caryopsis Bambusae, makes dulcimer sounding afterwards
Play.
This utility model needs the range of movement of qin bamboo 1 end of dulcimer can cover on whole dulcimer qin face when playing
Needing the key point position tapped, when playing dulcimer robot and needing to tap from robot point furthest position, now machine is man-machine
The large arm 7 of tool structure and forearm 4 can in line, attitude as shown in Tu2Zhong dulcimer robot left arm；When playing dulcimer robot
Needing to tap when the point that robot is nearest, now the large arm 7 in robotic's structure is around the shoulder support frame 13 of shoulder joint
Rotating after one's death to robot, forearm 4 rotates after robot shoulder around the elbow rest frame 5 of elbow joint, until tapping recently
Till Dian, as shown in Fig. 2 dulcimer robot right arm, for tapping attitude during closest approach.
This utility model plays the simple in construction of dulcimer robotic's structure, and debugging is convenient, is easily controlled, each joint and
Two manipulator motions are directly perceived flexibly, and range of movement is wide, and during performance, noise is little, accurate positioning, and playing effect is good.
Claims (4)
1. play robotic's structure of dulcimer, forearm that and the left and right sides identical including structure is symmetrically installed,
Large arm, carpal joint, elbow joint, shoulder joint, waist motor, waist decelerator and transposition gear mesh；It is characterized in that: described wrist
Joint is provided with wrist pedestal and wrist steering wheel；Wrist pedestal is connected with forearm lower end by sheet metal component, homonymy wrist pedestal and hands
Wrist steering wheel connects, and qin bamboo deck is fixed on the output shaft of wrist steering wheel, and the qin bamboo of dulcimer is arranged in qin bamboo deck；
Described elbow joint is provided with ancon pedestal, elbow rest frame and ancon steering wheel, and each ancon pedestal passes through sheet metal component with same
Large arm lower end, side connects, and ancon pedestal is connected with homonymy elbow rest frame, and elbow rest frame is by sheet metal component and homonymy forearm
End is connected, ancon servo driving homonymy elbow rest frame drive forearm to rotate；
Described shoulder joint is provided with shoulder pedestal, shoulder motor, shoulder decelerator and shoulder support frame, and each shoulder decelerator is pacified
Being contained on ipsilateral shoulder pedestal, both sides shoulder motor is connected with ipsilateral shoulder decelerator respectively, and shoulder reducer output shaft is with same
Side shoulder support frame is connected, and shoulder motor is rotated by shoulder decelerator rear drive shoulder support frame, and drive is connected in shoulder and props up
Homonymy large arm on support rotates；
Described both sides waist power transmission shaft is all arranged in upper backup pad and lower support plate by two bearings, upper backup pad and under
Gripper shoe is bolted on together, and waist power transmission shaft upper end connects ipsilateral shoulder pedestal by flat key and bolt, described
Every side transposition gear mesh has two identical and intermeshing transposition gears, and a transposition gear in transposition gear mesh passes through
Flat key is arranged on homonymy waist power transmission shaft, and another transposition gear is arranged on homonymy waist reducer output shaft by flat key
On；
Described homonymy waist motor drives ipsilateral shoulder pedestal to rotate by waist decelerator and through transposition gear mesh, and then band
Dynamic homonymy mechanical arm entirety moves in a circle with waist power transmission shaft for axle center, and shoulder motor drives homonymy large arm in perpendicular
Move in a circle with shoulder support frame for the center of circle, ancon servo driving homonymy forearm in perpendicular with elbow rest frame as circle
The heart moves in a circle, it is achieved the qin bamboo beating point in qin bamboo deck is in predetermined three dimensions inner position；
Two waist motors, two shoulders motors and two ancon steering wheels during performance, these three driver part coordinates co-operating,
After moving to qin bamboo specify beating position, the existing hammer action of wrist servo driving qin Caryopsis Bambusae, make dulcimer sounding play.
2. according to the robotic's structure playing dulcimer described in claim 1, it is characterised in that: described qin bamboo deck
Interference fit is used, it is to avoid qin bamboo occurs loosening during reciprocal percussion string between the two with qin bamboo.
3. according to the robotic's structure playing dulcimer described in claim 1, it is characterised in that: the described left and right sides
Leave space between the two shoulders motors being symmetrically installed, be used for preventing from driving two shoulders electricity respectively at two waist power transmission shafts
Occur when machine rotates interfering.
4. according to the robotic's structure playing dulcimer described in claim 1, it is characterised in that: described transposition gear
To for same modulus with two identical transposition gears of the number of teeth, for the installation site of waist motor is adjusted to closer to
The position of robotic's structure axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620722661.XU CN205799537U (en) | 2016-07-11 | 2016-07-11 | A kind of robotic's structure playing dulcimer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620722661.XU CN205799537U (en) | 2016-07-11 | 2016-07-11 | A kind of robotic's structure playing dulcimer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799537U true CN205799537U (en) | 2016-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620722661.XU Expired - Fee Related CN205799537U (en) | 2016-07-11 | 2016-07-11 | A kind of robotic's structure playing dulcimer |
Country Status (1)
| Country | Link |
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| CN (1) | CN205799537U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945968A (en) * | 2016-07-11 | 2016-09-21 | 中国地质大学（武汉） | Joint type dulcimer playing robot |
| CN106985146A (en) * | 2017-05-02 | 2017-07-28 | 上海未来伙伴机器人有限公司 | The human-like shoulder device of robot and robot |
| CN107253200A (en) * | 2017-06-07 | 2017-10-17 | 东北大学 | A kind of robot for being used to play frame drum |
| CN107767730A (en) * | 2017-11-17 | 2018-03-06 | 温州大学瓯江学院 | A kind of more fingering Zither playing devices for playing smoothness |
-
2016
- 2016-07-11 CN CN201620722661.XU patent/CN205799537U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945968A (en) * | 2016-07-11 | 2016-09-21 | 中国地质大学（武汉） | Joint type dulcimer playing robot |
| CN105945968B (en) * | 2016-07-11 | 2018-02-27 | 中国地质大学（武汉） | A kind of joint type dulcimer plays robot |
| CN106985146A (en) * | 2017-05-02 | 2017-07-28 | 上海未来伙伴机器人有限公司 | The human-like shoulder device of robot and robot |
| CN107253200A (en) * | 2017-06-07 | 2017-10-17 | 东北大学 | A kind of robot for being used to play frame drum |
| CN107253200B (en) * | 2017-06-07 | 2019-05-10 | 东北大学 | It is a kind of for playing the robot of frame drum |
| CN107767730A (en) * | 2017-11-17 | 2018-03-06 | 温州大学瓯江学院 | A kind of more fingering Zither playing devices for playing smoothness |
| CN107767730B (en) * | 2017-11-17 | 2021-07-02 | 温州大学瓯江学院 | Multi-fingering-method Chinese zither playing device capable of playing smoothly |
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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: 20161214 Termination date: 20170711 |
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| CF01 | Termination of patent right due to non-payment of annual fee |