CN205827717U - Control device and piano demo system - Google Patents

Abstract

The utility model discloses a kind of control device that can be used for controlling mechanical arm piano, mechanical arm includes base, the arm body being movably connected on base and is arranged at the mechanical hand of arm body end.Control device and include the processor being connected with memorizer for the memorizer storing music score and the controller being connected with processor.Music score includes with the note of scheduled timing arrangement.Processor is for processing music score to produce the clock signal corresponding with scheduled timing and the position signalling corresponding with note.Controller for according to clock signal receiving position signal to control manipulator motion so that mechanical hand is according to the scheduled timing pressing position corresponding with note.It is beneficial to mechanical hand and plays the music score being stored in control device, to realize teaching or the purpose of amusement.The qin interest of child can be excited, can repeatedly demonstrate and play, convenient and interesting strong.The invention also discloses a kind of piano demo system.

Description

Control device and piano demo system

Technical field

This utility model relates to mechanical arm technology, controls device and piano demo system particularly to one.

Background technology

Existing Piano Teaching method be usually teacher to student one to one or one-to-many teaching, on the one hand cost is relatively Height is the most interesting inadequate, it is difficult to excite the qin interest of child of tender age.Additionally, after teacher's teaching terminates, if student loses Forget content, have to again look for teacher to consult, very inconvenient.

Utility model content

Embodiment of the present utility model is intended at least to solve one of technical problem present in prior art.To this end, this The embodiment of utility model needs to provide one to control device and piano demo system.

The control device of this utility model embodiment can be used for controlling mechanical arm piano, and described mechanical arm includes the end Seat, be movably connected on the arm body of described base and be arranged at the mechanical hand of described arm body end；

Described control device includes:

For storing the memorizer of music score, described music score includes with the note of scheduled timing arrangement；

The processor being connected with described memorizer, described processor is used for processing described music score to produce and described pre-timing Clock signal that ordered pair is answered and the position signalling corresponding with described note；

The controller being connected with described processor, described controller is for receiving described position letter according to described clock signal Number to control described manipulator motion so that described mechanical hand is according to the described scheduled timing pressing position corresponding with described note.

Use the control device of this utility model embodiment, mechanical hand can be beneficial to and play the pleasure being stored in control device Spectrum, to realize teaching or the purpose of amusement.Particularly, in the piano enlightenment teaching of child of tender age, child can be excited Qin interest, and can repeatedly demonstrate and play, convenient and interesting strong.Solve some problem of prior art.

In some embodiments, described arm body and described base are by being connected in the first rotating shaft that horizontal plane rotates； Described arm body is for rotating so that described mechanical hand moves left and right according to described position signalling.

In some embodiments, described arm body includes the postbrachium being flexibly connected with described base and is connected with described postbrachium Forearm in the second rotating shaft；Described second rotating shaft can be perpendicular to the rotation with in surface of horizontal plane；

Described controller is for controlling described second turn after described mechanical hand moves to the position corresponding with described note Axle rotates so that described mechanical hand moves down to press key.

In some embodiments, described control device includes the timing for recording the described mechanical hand pressing key time Module；Described controller is connected with described timing module, and for controlling after the described pressing key time reaches the scheduled time Described second axis of rotation is so that moving on described mechanical hand.

In some embodiments, described arm body includes the junction surface being flexibly connected with described base, and described junction surface leads to Cross the 3rd rotating shaft to be connected with described postbrachium；Described 3rd rotating shaft can be perpendicular to the rotation with in surface of horizontal plane；

Described controller is for controlling described second turn after described mechanical hand moves to the position corresponding with described note Axle and/or described 3rd axis of rotation are so that described mechanical hand moves down to press key.

In some embodiments, described memorizer storage has multiple described music score；

Described control device includes the first input module being connected with described processor, and described first input module is used for root The described music score of selection is inputted according to user；Described processor is for processing the described music score of selection.

In some embodiments, the second input module that device also includes being connected is controlled with described processor；Described Two input modules are for inputting setting tempo according to user；Described processor is for raw according to the described tempo set Become described clock signal.

In some embodiments, including controlling the 3rd input module that device also includes being connected with described memorizer；Institute State the 3rd input module for receiving the input of new music score and described new music score being stored in described memorizer.

In some embodiments, described control device also includes the display being connected with described memorizer, described display Device is used for showing described music score.

The invention also discloses a kind of piano demo system, it includes in piano, mechanical arm and above-mentioned embodiment Described control device.

In some embodiments, including fixed component；Described base and described piano are fixedly installed on described solid respectively Limiting-members.

In some embodiments, described piano includes toy piano.

The additional aspect of embodiment of the present utility model and advantage will part be given in the following description, and part will be from Explained below becomes obvious, or recognized by the practice of embodiment of the present utility model.

Accompanying drawing explanation

Above-mentioned and/or the additional aspect of embodiment of the present utility model and advantage are from combining accompanying drawings below to embodiment party The description of formula will be apparent from easy to understand, wherein:

Fig. 1 is piano demo system and the high-level schematic functional block diagram of control device of this utility model embodiment.

Fig. 2 is the playing principle schematic diagram of the mechanical arm of this utility model embodiment.

Fig. 3 is the music score schematic diagram of this utility model embodiment.

Fig. 4 is the schematic perspective view of the mechanical arm of this utility model embodiment.

Fig. 5 is piano demo system and the high-level schematic functional block diagram of control device of this utility model embodiment.

Fig. 6 is piano demo system and the high-level schematic functional block diagram of control device of this utility model embodiment.

Fig. 7 is piano demo system and the high-level schematic functional block diagram of control device of this utility model embodiment.

Fig. 8 is piano demo system and the high-level schematic functional block diagram of control device of this utility model embodiment.

Fig. 9 is the schematic diagram of the fixed component of the piano demo system of this utility model embodiment.

Detailed description of the invention

The embodiment of of the present utility model embodiment is described below in detail, and the example of embodiment is shown in the accompanying drawings Going out, the most same or similar label represents same or similar element or has the unit of same or like function Part.The embodiment described below with reference to accompanying drawing is exemplary, is only used for explaining embodiment of the present utility model, and It is not intended that the restriction to embodiment of the present utility model.

Refer to Fig. 1-4, the control device 100 of this utility model embodiment, can be used for controlling mechanical arm 200 and play steel The control device 100 of qin 300, and can be applicable to the piano demo system 1000 of this utility model embodiment, piano demonstration is System 1000 may also include piano 300 and mechanical arm 200.Wherein said mechanical arm 200 include base 240, be movably connected on described The arm body 210 of base 240 and be arranged at the mechanical hand 230 of described arm body 210 end.Control device 100 to include for storing pleasure The processor 120 that is connected with described memorizer 110 of memorizer 110 of spectrum 111 and the controller being connected with described processor 120 130。

Referring to Fig. 3, wherein, described music score 111 includes with the note 1111 of scheduled timing arrangement.Described processor 120 For processing described music score 111 to produce the clock signal corresponding with described scheduled timing and the position corresponding with described note 1111 Confidence number.Described controller 130 is transported to control described mechanical arm 200 for receiving described position signalling according to described clock signal It is dynamic so that described mechanical hand 230 presses the position corresponding with described note 1111 according to described scheduled timing.

It is to say, the effect controlling device 100 is movement instruction music score 111 " translation " being become mechanical arm 200, so that Mechanical arm 200 is played on piano 300 according to music score 111.Two key elements in music score 111 are rhythm and note 1111, wherein Rhythm determines first note 1111 and second note in the beat number between note 1111 and note 1111, such as Fig. 3 The interval 1/4 of 1111 is clapped, and the interval 1/2 of the 7th note 1111 and the 8th note 1111 is clapped, say, that second note 1111 time a length of first note 1111 twice, but concrete duration tempo to be seen.As a example by Fig. 3, if joint Clap speed be per minute 60 clap, then one clap be 1 second, first note 1111 time a length of 0.25 second, the 7th note 1111 Shi Changwei 0.5 second.Note 1111 represents pitch, determines mechanical arm 200 removes which key of bullet 310, say, that determine machine The target location that mechanical arm 200 moves.

It is to say, in the present embodiment, rhythm and tempo determine when mechanical arm 200 moves Dynamic, note 1111 determines where mechanical arm 200 moves to.Wherein rhythm is that music score 111 determines, tempo is permissible Determined by music score 111 such as some music score 111 can mark how many bats per second, it is also possible to provided acquiescence by processor 120 Tempo value, even can also is that and is inputted tempo by user.

Processor 120 generates clock signal according to the cadence information on music score 111, and according to note 1111 on music score 111 Information generates the position signalling corresponding with note 1111, and mechanical arm 200 can find the qin of note 1111 correspondence according to position signalling Key 310 is also pressed.Clock signal can be one section of clock signal corresponding with rhythm, such as, having the position of note 1111 for high Level, thus trigger controller 130 receiving position signal playing, be low level in the position without note 1111, so that control Device 130 not receiving position signal processed, now controller 130 can receive lift signal with control mechanical hand 230 lift from key 310 Rise.

Use control device 100 or the piano demo system 1000 of this utility model embodiment, mechanical hand 230 can be beneficial to Play and be stored in the music score 111 controlled in device 100, to realize teaching or the purpose of amusement.Particularly, for child of tender age Piano 300 enlightenment teaching in, the qin interest of child can be excited, and can repeatedly demonstrate and play, convenient and interesting strong.

Referring to Fig. 4, the mechanical arm 200 in this utility model embodiment can be a kind of desktop type minicomputer mechanical arm 200, it includes arm body 210, microcontroller 220, DC source (not shown).The wherein control in this utility model embodiment Device 130 can be realized by microcontroller 220.Mechanical arm 200 can be connected with personal computer 121.Microcontroller 220 is mechanical arm The primary control 130 of 200, is used for receiving the control signal of human body temperature type control device 100 and controlling mechanical arm 200 performing relevant Action.DC source can use 5V supply voltage to be powered microcontroller 220 with 5A supply current.This utility model is implemented The processor 120 of mode can be realized by personal computer 121.Personal computer 121 is led to by serial ports with microcontroller 220 Letter.The signal received is connected to personal computer 121 by keyboard, and corresponding signal is changed into tool by personal computer 121 The execution instruction of body passes to mechanical arm 200 by serial ports, and then control mechanical arm 200 moves.Personal computer 121 is easier to Carry out functions expanding, some music softwares are installed, music score 111 file of specific format can be processed and preview.Process Device 120 can also be realized by the intelligent chip of other expansions able to programme, such as single-chip microcomputer.

The mechanical hand 230 of this utility model embodiment can be disposed on the single mechanical finger of forearm 211 end, also It can be the mechanical hand 230 including multiple mechanical finger of simulation staff.Using single mechanical finger, simple in construction is easily real Existing, single note 1111 can be played, the demand that child of tender age is carried out enlightenment teaching can be met.

In some embodiments, described arm body 210 and described base 240 are by the first rotating shaft that can rotate at horizontal plane 214 connect.Described arm body 210 is for rotating so that described mechanical hand 230 moves left and right according to described position signalling.

So, when the first rotating shaft 214 rotates, mechanical hand 230 can move up right and left in the horizontal plane, thus Specific key 310 can be moved to.

In some embodiments, described arm body 210 can include the postbrachium 212 that is flexibly connected with described base 240 and with Described postbrachium 212 is connected to the forearm 211 of the second rotating shaft 215.Described second rotating shaft 215 can be in the plane being perpendicular to horizontal plane Rotate.Described controller 130 is for controlling institute after described mechanical hand 230 moves to the position corresponding with described note 1111 State the second rotating shaft 215 to rotate so that described mechanical hand 230 moves down to press key 310.

It is appreciated that when the second rotating shaft 215 rotates, forearm 211 meeting concomitant rotation, also will make to move on mechanical hand 230 Or move down.Controller 130 first control arm body 210 moves in the lateral direction, for example with controlling the of above-mentioned embodiment The mode that one rotating shaft 214 rotates, makes mechanical hand 230 move left and right, to find the position of the key 310 of correspondence.Again by controller 130 control the second rotating shaft 215 rotates so that mechanical hand 230 moves down to press key 310.So, complete to play note 1111 Process.

Referring to Fig. 5, in the present embodiment, described control device 100 may also include for recording described mechanical hand 230 The timing module 140 of pressing key 310 time.Described controller 130 is connected with described timing module 140, and for described Pressing key 310 time reach the scheduled time after control described second rotating shaft 215 rotate so that on described mechanical hand 230 move.

When playing the musical instrument, to lift in time after many times pressing key 310, in particular for the toy steel of child of tender age Qin, its key 310 long by rear sound can't diminuendo, can be more unpleasant to hear, therefore to unclamp key 310 in time.But some specific sound Symbol 1111, note 1111 as more in shared beat, need again to press the longer time.Therefore, can arrange timing module 140 with Record presses the time of each key 310, processor 120 process music score 111 with obtain each note 1111 required keep time Long, controller 130 control after pressing key 310 reaches this required duration kept of note 1,111 second rotating shaft 215 rotate with Driving mechanical hands 230 lifts.

The effect of the second rotating shaft 215 mainly controls forearm 211 and moves relative to postbrachium 212.In some embodiments, Described arm body 210 also includes the junction surface 213 being flexibly connected with described base 240, and described junction surface 213 is by the 3rd rotating shaft 216 are connected with described postbrachium 212.Described 3rd rotating shaft 216 can be perpendicular to the rotation with in surface of horizontal plane.Described controller 130 for control after described mechanical hand 230 moves to the position corresponding with described note 1111 described second rotating shaft 215 and/ Or described 3rd rotating shaft 216 rotates so that described mechanical hand 230 moves down to press key 310.

It is to say, postbrachium 212 is not to be directly connected to base 240, postbrachium 212 and junction surface 213 are by the 3rd Rotating shaft 216 connects, and junction surface 213 can be connected by the first rotating shaft 214 with base 240.So, when the 3rd rotating shaft 216 rotates, Owing to base 240 and junction surface 213 are relatively-stationary, postbrachium 212 can be perpendicular to the plane of horizontal plane around junction surface 213 Interior rotation, say, that postbrachium 212 can move up and down, and then drive forearm 211 and mechanical hand 230 to move up and down to press key 310 or unclamp key 310.

Actually the 3rd rotating shaft 216 is equivalent to the shoulder joint of people, and the second rotating shaft 215 is equivalent to the elbow joint of people.When people's The when that palm being wanted to move up and down, shoulder joint and elbow joint coaction often, action so can be made more smooth and easy and smart Standard, and flexible arm stretches out the distance of health with regulation palm.The arm body 210 of mechanical arm 200 is also similar, therefore exists In some embodiment of this utility model, controller 130 can control the second rotating shaft 215 and the 3rd rotating shaft 216 simultaneously so that machinery Hands 230 moves up and down, to realize regulating and controlling the position of mechanical hand 230 more accurately.

Referring to Fig. 4, in some embodiments, mechanical arm 200 can include four motors 260, is bottom motor respectively 261, left motor 263, right motor 265, end motor 267.Wherein bottom motor 261 is used for being positioned near base 240 The rotation of one rotating shaft 214, so that arm body 210 rotates relative to base 240, and then makes mechanical hand 230 that left and right directions to occur Movement.Arm body 210 can include forearm 211 and postbrachium 212, and forearm 211 is connected with mechanical hand 230, and postbrachium 212 is near base 240 are arranged.Left motor 263 can be used for driving the 3rd rotating shaft 216 so that postbrachium 212 around base 240 with horizontal plane Rotation with in surface.Right motor 265 can be used for driving the second rotating shaft 215, namely makes forearm 211, with postbrachium 212, phase occur To rotation, i.e. angle between regulation and control forearm 211 and postbrachium 212.End motor 267 may be disposed at forearm 211 end and machinery The junction of hands 230, is mainly used in driving mechanical hand 230 to rotate relative to forearm 211.

Referring to Fig. 6, in some embodiments, the storage of described memorizer 110 has multiple described music score 111.Described control Device 100 processed includes the first input module 150 being connected with described processor 120, and described first input module 150 is for basis User inputs the described music score 111 of selection.Described processor 120 is for processing the described music score 111 of selection.

It is to say, in order to make control device 100 can play many first songs by control arm, can store many in the memory 110 Individual music score 111, and input according to user and select corresponding music score 111 to process for processor 120 and controller 130 controls machinery Hands 230 is played.

So, function and the interest of control device 100 have been expanded.

Referring to Fig. 7, in some embodiments, control device 100 also includes the 3rd be connected with described memorizer 110 Input module 170.Described 3rd input module 170 is for receiving the input of new music score 111 and being stored in by described new music score 111 Described memorizer 110.

So, the music score 111 in memorizer 110 is not limited to the acquiescence music score 111 prestored, can be the most right Music score 111 in memorizer 110 supplements, and study is gone in the song that so can constantly give student new in piano 300 is imparted knowledge to students Solve, also enhance interest.

The mode of input can be connected by data wire with personal computer 121 or mobile phone, and user is at personal computer 121 Or hands hands-operation is transferred to control the memorizer of device 100 will be stored in the music score 111 in personal computer 121 or mobile phone In 110.

Referring to Fig. 8, in some embodiments, control device 100 also includes second be connected with described processor 120 Input module 160.Described second input module 160 is for inputting setting tempo according to user.Described processor 120 is used for Described clock signal is generated according to the described tempo set.

Tempo, refers to the beat number in the unit interval, 30 bats the most per minute or 60 bats per minute etc..Can manage Solve, tempo is the fastest, and the difficulty of study is the biggest, can beat the slowest, also can make song sound less smoothness, therefore can by with Family, according to self needing adjustment tempo, so can promote the Experience Degree of user, facilitate user learning to play the musical instrument.

In some embodiments, described control device 100 also includes the display (figure being connected with described memorizer 110 Do not show), described display is used for showing described music score 111.Further, the note 1111 can played with real-time identification, User so can be facilitated to compare spectrum learn, help user learning identification of spectrogram.

Referring to Fig. 1, the piano demo system 1000 of this utility model embodiment can include piano 300 and above-mentioned enforcement The control device 100 of mode.

Referring to Fig. 9, in some embodiments, piano demo system 1000 includes fixed component 400.Described base 240 are fixedly installed on described fixed component 400 respectively with described piano 300.So, the position of mechanical arm 200 and piano 300 can be made Put holding to be relatively fixed, from without before playing every time, piano 300 is put to suitable position.Fixed component 400 can be One piece of base plate 400, mechanical arm 200 base 240 and piano 300 are individually fixed in the two ends of base plate 400.

In some embodiments, described piano 300 can be toy piano.

Other parts not deployed in the piano demo system 1000 of this utility model embodiment, can join above embodiment party The corresponding part controlling device 100 of formula, is no longer developed in details at this.

In the description of embodiment of the present utility model, it is to be understood that term " " center ", " longitudinally ", " laterally ", " length ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end ", The orientation of the instruction such as " interior ", " outward ", " clockwise ", " counterclockwise " or position relationship are to close based on orientation shown in the drawings or position System, is for only for ease of and describes embodiment of the present utility model and simplify description rather than instruction or the device of hint indication Or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to of the present utility model The restriction of embodiment.Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint phase To importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", " second " feature permissible Express or implicitly include one or more described features.In the description of embodiment of the present utility model, " many Individual " it is meant that two or more, unless otherwise expressly limited specifically.

In the description of embodiment of the present utility model, it should be noted that unless otherwise clearly defined and limited, Term " is installed ", " being connected ", " connection " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, Or be integrally connected；Can be mechanically connected, it is also possible to be electrical connection or can mutually communication；Can be to be joined directly together, it is possible to To be indirectly connected to by intermediary, can be connection or the interaction relationship of two elements of two element internals.For For those of ordinary skill in the art, can understand that above-mentioned term is in embodiment of the present utility model as the case may be Concrete meaning.

In embodiment of the present utility model, unless otherwise clearly defined and limited, fisrt feature is in second feature It " on " or D score can include that the first and second features directly contact, it is also possible to include that the first and second features are not direct Contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " includes that fisrt feature directly over second feature and oblique upper, or is merely representative of fisrt feature level height higher than second Feature.Fisrt feature second feature " under ", " lower section " and " below " include that fisrt feature is directly over second feature and tiltedly Top, or it is merely representative of fisrt feature level height less than second feature.

Following disclosure provides many different embodiments or example for realizing embodiment of the present utility model Different structure.In order to simplify the disclosure of embodiment of the present utility model, hereinafter to the parts of specific examples and arrange into Line description.Certainly, they are the most merely illustrative, and are not intended to limit this utility model.Additionally, enforcement of the present utility model Mode can in different examples repeat reference numerals and/or reference letter, this repetition is for purposes of simplicity and clarity, Relation between itself not indicating discussed various embodiment and/or arranging.Additionally, embodiment of the present utility model carries The various specific technique supplied and the example of material, but those of ordinary skill in the art it can be appreciated that other techniques should With and/or the use of other materials.

In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implement Mode ", " example ", the description of " concrete example " or " some examples " etc. mean to combine described embodiment or example describes tool Body characteristics, structure, material or feature are contained at least one embodiment of the present utility model or example.In this specification In, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example.And, the concrete spy of description Levy, structure, material or feature can combine in any one or more embodiments or example in an appropriate manner.

In flow chart or at this, any process described otherwise above or method description are construed as, and expression includes One or more is for realizing the module of code, fragment or the portion of the executable instruction of the step of specific logical function or process Divide, and the scope of preferred implementation of the present utility model includes other realization, wherein can not be by shown or discussion Order, including according to involved function by basic mode simultaneously or in the opposite order, perform function, this should be by this The embodiment person of ordinary skill in the field of utility model is understood.

Represent in flow charts or the logic described otherwise above at this and/or step, for example, it is possible to be considered as to use In the sequencing list of the executable instruction realizing logic function, may be embodied in any computer-readable medium, for Instruction execution system, device or equipment (system such as computer based system, including processor or other can hold from instruction Row system, device or equipment instruction fetch also perform the system instructed) use, or combine these instruction execution systems, device or set Standby and use.For the purpose of this specification, " computer-readable medium " can be any can to comprise, store, communicate, propagate or pass Defeated program is for instruction execution system, device or equipment or combines these instruction execution systems, device or equipment and the dress that uses Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following: have the electricity of one or more wiring Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read only memory (ROM), erasable read only memory (EPROM or flash memory), the fiber device edited, and portable optic disk is read-only deposits Reservoir (CDROM).It addition, computer-readable medium can even is that and can print the paper of described program thereon or other are suitable Medium, because then can carry out editing, interpreting or if desired with it such as by paper or other media are carried out optical scanning His suitable method is processed to electronically obtain described program, is then stored in computer storage.

Should be appreciated that each several part of embodiment of the present utility model can use hardware, software, firmware or combinations thereof Realize.In the above-described embodiment, multiple steps or method can be with storing in memory and by suitably instructing execution Software or firmware that system performs realize.Such as, if realized with hardware, with the most the same, available Any one or their combination in following technology well known in the art realize: have for data signal realizes logic merit The discrete logic of the logic gates of energy, has the special IC of suitable combination logic gate circuit, programmable gate Array (PGA), field programmable gate array (FPGA) etc..

Those skilled in the art are appreciated that and realize all or part of step that above-described embodiment method is carried Suddenly the program that can be by completes to instruct relevant hardware, and described program can be stored in a kind of computer-readable storage medium In matter, this program upon execution, including one or a combination set of the step of embodiment of the method.

Additionally, each functional unit in each embodiment of the present utility model can integrated in a processor, also Can be that unit is individually physically present, it is also possible to two or more unit are integrated in a module.Above-mentioned integrated Module both can realize to use the form of hardware, it would however also be possible to employ the form of software function module realizes.Described integrated mould If block is using the form realization of software function module and as independent production marketing or use, it is also possible to be stored in a meter In calculation machine read/write memory medium.

Storage medium mentioned above can be read only memory, disk or CD etc..

Although above it has been shown and described that embodiment of the present utility model, it is to be understood that above-described embodiment is Exemplary, it is impossible to it is interpreted as that those of ordinary skill in the art is in scope of the present utility model to restriction of the present utility model In above-described embodiment can be changed, revise, replace and modification.

Claims (12)

1. control a device, be used for controlling mechanical arm piano, it is characterised in that described mechanical arm includes base, activity It is connected to the arm body of described base and is arranged at the mechanical hand of described arm body end；

Described control device includes:

For storing the memorizer of music score, described music score includes with the note of scheduled timing arrangement；

The processor being connected with described memorizer, described processor is used for processing described music score to produce and described scheduled timing pair The clock signal answered and the position signalling corresponding with described note；

The controller being connected with described processor, described controller for according to described clock signal receive described position signalling with Control described manipulator motion so that described mechanical hand presses the position corresponding with described note according to described scheduled timing.

Control device the most as claimed in claim 1, it is characterised in that described arm body and described base are by turning at horizontal plane The first dynamic rotating shaft connects；Described arm body is for rotating so that described mechanical hand moves left and right according to described position signalling.

Control device the most as claimed in claim 1, it is characterised in that after described arm body includes being flexibly connected with described base Arm and be connected to the forearm of the second rotating shaft with described postbrachium；Described second rotating shaft can be perpendicular to the rotation with in surface of horizontal plane；

Described controller turns for controlling described second rotating shaft after described mechanical hand moves to the position corresponding with described note It is dynamic so that described mechanical hand moves down to press key.

Control device the most as claimed in claim 3, it is characterised in that described control device includes for recording described mechanical hand The timing module of pressing key time；Described controller is connected with described timing module, and in the described pressing key time Described second axis of rotation is controlled so that moving on described mechanical hand after reaching the scheduled time.

Control device the most as claimed in claim 3, it is characterised in that described arm body includes and connecing that described base is flexibly connected Conjunction portion, described junction surface is connected with described postbrachium by the 3rd rotating shaft；Described 3rd rotating shaft can be perpendicular to the plane of horizontal plane Interior rotation；

Described controller for control after described mechanical hand moves to the position corresponding with described note described second rotating shaft and/ Or described 3rd axis of rotation is so that described mechanical hand moves down to press key.

Control device the most as claimed in claim 5, it is characterised in that described memorizer storage has multiple described music score；

Described control device includes the first input module being connected with described processor, described first input module for according to Family input selects described music score；Described processor is for processing the described music score of selection.

Control device the most as claimed in claim 1, it is characterised in that control that device also includes being connected with described processor the Two input modules；Described second input module is for inputting setting tempo according to user；Described processor is for according to setting Fixed described tempo generates described clock signal.

Control device the most as claimed in claim 1, it is characterised in that include that controlling device also includes being connected with described memorizer The 3rd input module；Described 3rd input module is for receiving the input of new music score and depositing described in being stored in by described new music score Reservoir.

Control device the most as claimed in claim 1, it is characterised in that described control device also includes being connected with described memorizer Display, described display is used for showing described music score.

10. a piano demo system, it is characterised in that include piano, mechanical arm and the institute such as claim 1-8 any one State control device.

11. piano demo systems as claimed in claim 10, it is characterised in that include fixed component；Described base is with described Piano is fixedly installed on described fixed component respectively.

12. piano demo systems as claimed in claim 10, it is characterised in that described piano includes toy piano.