CN210998752U - Robot is played to piano - Google Patents
Robot is played to piano Download PDFInfo
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- CN210998752U CN210998752U CN202020490548.XU CN202020490548U CN210998752U CN 210998752 U CN210998752 U CN 210998752U CN 202020490548 U CN202020490548 U CN 202020490548U CN 210998752 U CN210998752 U CN 210998752U
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Abstract
The utility model discloses a robot is played to piano relates to the bionic robot field. The robot comprises a head, a neck, a trunk, an abdomen, a waist and a walking mechanism; the head is connected with the trunk through the neck, and the trunk is connected with the walking mechanism through the abdomen and the waist; the waist is provided with a central processor. The trunk comprises a shoulder joint, two arms, two palms and fingers, wherein each arm comprises a big arm and a small arm; the big arm and the small arm are connected through an elbow joint, and the small arm and the palm are connected through a wrist joint. The head comprises shell and left and right eye vision sensor, and two vision sensor discernment and gather about the relative position of finger and key, transmit to central treater, and the action of the data of playing and truck is fed back out in the central treater feedback, and control shoulder drives arm and finger and accomplishes the button. The utility model discloses reduce the degree of freedom as far as when can realize playing the task.
Description
Technical Field
The utility model relates to a bionical robot field specifically is a robot is played to piano.
Background
The present stage bionic piano playing robot has two main components: firstly, a micro cylinder is used as a main execution element to drive each part to complete the action; secondly, a power supply control system, a servo motor control system and a control system of a pneumatic executive element are combined with a sensor to feed back the running state to the system; however, the complicated design results in a low degree of freedom when the robot plays the piano, and thus low accuracy.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the utility model provides a piano playing robot, which has the overall shape similar to the human body structure, and comprises a head, a body, upper limbs and lower limbs; the piano playing is completed through the identification of the head vision sensor and the fingers, the design is simple, the degree of freedom is high, and the accuracy is improved.
The piano playing robot comprises: head, neck, torso, abdomen, waist and running gear; the head is connected with the trunk through the neck, and the trunk is connected with the walking mechanism through the abdomen and the waist; the waist is provided with a central processor.
The trunk comprises a shoulder joint, two arms, two palms and fingers, wherein each arm comprises a big arm and a small arm; the big arm and the small arm are connected through an elbow joint, and the small arm and the palm are connected through a wrist joint.
The head comprises shell and left and right eye vision sensor, and two vision sensor discernment and gather about the relative position of finger and key, transmit to central treater, and the action of the data of playing and truck is fed back out in the central treater feedback, and control shoulder drives arm and finger and accomplishes the button.
The concrete structure is as follows:
the shoulder joint is designed as a moving pair, the driving motor arranged in the abdomen drives the large arm to translate back and forth, and the whole large arm is always vertical to the keys; the elbow joint comprises a gear to form a revolute pair, and the elbow joint is driven to use the elbow as a central point through another driving motor arranged in the abdomen to drive the forearm to horizontally swing left and right. When the forearm horizontally swings left and right, the gear at the wrist joint drives the palm to rotate by the same angle, but the palm and the fingers always keep forward, are all positioned right above the keys and are parallel to the keys.
The finger motion is silk drive mechanism, and through installing the steering wheel drive finger of inside in the palm about accomplishing the button action, the finger part of every hand all includes 3 main fingers and 4 vice fingers, and the parallel staggered connection of main and vice finger is on the palm, and 3 main fingers respectively have a finger joint, and vice finger does not have finger joint, and main finger and vice finger pass through palm joint connection palm, accomplish through luffing motion and press the key.
The lifting moving mechanism is arranged between the abdomen and the waist in the vertical direction and comprises a guide supporting rod, a driving rod and a small motor.
The waist part is a flat plate extending backwards, and two guide support rods and a drive rod are arranged above the front end of the flat plate; a three-wheel moving platform is arranged below the base as a walking mechanism; a power supply control module is vertically arranged above the rear end of the flat plate, and a small motor is arranged below the flat plate.
Two direction bracing pieces are located both sides respectively, connect the small motor below the actuating lever in the middle of, and the robot belly is connected to the higher authority, and climbing and decline of small motor control actuating lever drive the first half health of robot and rise and descend to adjust the perpendicular distance between finger and the key.
The utility model has the advantages that:
a robot for playing piano has only two drive motors, one for horizontal rotation of elbow and one for translation motion of shoulder, and features that the control and speed of playing and the reliability of motion are considered, so playing task can be realized while the freedom of motion is reduced.
Drawings
Fig. 1 is a main schematic view of the overall structure of the piano playing robot of the present invention;
fig. 2 is a left schematic view of the overall structure of the piano playing robot of the present invention;
fig. 3 is a rear schematic view of the overall structure of the piano playing robot of the present invention;
fig. 4 is a schematic view of the overall structure of the piano playing robot of the present invention;
fig. 5 is a side view of the head of the robot for playing piano of the present invention;
fig. 6 is a head orthographic view of the piano playing robot of the present invention;
fig. 7 is a schematic view of the motion of the elbow joint of the piano playing robot of the present invention;
fig. 8 shows the resultant motion of the hand at the elbow of the robot for playing piano of the present invention;
fig. 9 is a schematic view of the palm and fingers of the piano playing robot of the present invention;
fig. 10 is a waist lifting module of the piano playing robot of the present invention;
fig. 11 shows the traveling mechanism of the piano playing robot of the present invention.
1-a head; 2-big arm; 3-elbow joint; 4-forearm; 5-palm and fingers; 6, a lifting moving mechanism; 7-front wheels; 8-rear wheel; 9-a power supply control module; 10-shoulder joint; 11-small motor.
Detailed Description
To facilitate understanding and practicing the invention for those skilled in the art, the invention is described in further detail and with reference to the accompanying drawings.
The utility model discloses a robot is played to piano, as shown in fig. 1, include: head, neck, torso, abdomen, waist and running gear; the head is connected with the trunk through the neck, and the trunk is connected with the walking mechanism through the abdomen and the waist; the waist is provided with a central processor.
As shown in fig. 2, 3 and 4, the torso includes a shoulder joint 10, two arms, two palms and fingers 5, each arm including a large arm 2 and a small arm 4, respectively; the large arm 2 and the small arm 4 are connected through an elbow joint 3, the small arm 4 and the palm 5 are connected through a wrist joint, and the palm and the fingers are connected through a palm joint.
As shown in fig. 5 and 6, the head 1 can approach the key directly above through a long neck, which is advantageous for collecting accurate and reliable position data. The head part 1 comprises a shell, a left-eye vision sensor, a right-eye vision sensor and other parts, wherein the left-eye vision sensor is connected with a left palm, and the right-eye vision sensor is connected with a right palm; two vision sensor discernment and location finger 5's position, the relative position of monitoring play in-process finger and key, with accurate reliable position data transmission to central treater, central treater carries out the recognition processing and produces the feedback again for control system carries out real time control: the motor drives and controls the shoulder joint 10 and the elbow joint 3 to perform two-degree-of-freedom motion, one revolute pair and one moving pair drive the large arm 2 and the small arm 4 to complete the motion, and then the arms and the palm 5 are driven to perform corresponding motion requirements.
The method specifically comprises the following steps:
the shoulder joint 10 is designed as a moving pair, a driving motor for driving the large arm 2 to move is arranged in the chest position of the robot, the motor drives the belt wheel mechanism to operate to drive the large arm 2 to translate back and forth, and the whole large arm 2 is always vertical to the keys; the elbow joint 3 comprises a gear to form a revolute pair, and the elbow drives the elbow joint 3 to drive the small arm 4 to horizontally swing left and right by taking the elbow as a central point through another driving motor in the chest position of the robot. The left and right translation ranges of the small arm 4 are respectively 30 degrees at the left and right of the central line of the parallel shoulder, and the opening range of the whole small arm 4 is 60 degrees;
as shown in fig. 7, the elbow joint 3, the forearm 4 and the wrist joint are designed as a parallel motion mechanism (which can be implemented by a link mechanism, a gear mechanism or a pulley mechanism), so that when the elbow joint 3 drives the forearm 4 to horizontally translate in a left-right range, the gear at the wrist joint drives the palm to rotate by the same angle, and the fingers can always keep forward, and are all located right above the keys and parallel to the keys.
As shown in fig. 8, although the finger 5 and the keys can be kept parallel, the moving track of the hand is a curve, and the keys are arranged in a straight line, so that the moving track of the hand is required to be a straight line parallel to the piano, the linearity is not high, and the motion of the shoulder and the elbow is required to be synthesized into the straight moving track of the hand. The shoulder and the elbow need to be controlled by a controller accurately, so that the fingers can move horizontally and linearly above the keys finally, and the fast movement can be realized by less degrees of freedom.
As shown in fig. 9, the finger 5 is designed specially and is a mechanical finger specially adapted for playing a piano, the finger movement is a wire transmission mechanism, and the finger is driven by a steering engine installed inside the palm to complete the up-down key pressing action.
The finger part of each hand comprises 3 main fingers and 4 auxiliary fingers, the main fingers are longer than the auxiliary fingers, the length of the auxiliary fingers is preferably half of that of the main fingers or the length of the auxiliary fingers reaches the finger joints of the main fingers, and the main fingers and the auxiliary fingers are parallelly and crossly connected on the palm of the hand. The main finger outside of palm both sides respectively has an auxiliary finger, and the main finger left and right sides in centre respectively one auxiliary finger, and 3 main fingers respectively have a finger joint, and the auxiliary finger does not have a finger joint, and main finger and auxiliary finger all connect in the palm through the palm joint, guarantee that the auxiliary finger is whole can, accomplish through the luffing motion and press the key, the main finger corresponds black key, and the auxiliary finger corresponds white key, and the width of palm equals the width of 4 white keys.
After the relative position of the fingers and the keys is determined by the vision sensor, the relative position of the fingers and the keys is transmitted to the central processor, the central processor feeds back data of the keys to be played and actions required by the arms and the fingers, and the two driving motors arranged in the chest of the robot and the steering engine in the palm respectively drive the shoulder belt wheel mechanism, the elbow rotating small arm and the fingers to press the keys up and down.
As shown in fig. 10, a vertically-oriented up-down moving mechanism 6 is provided between the belly and the waist for adjusting the vertical distance between the fingers and the keys before playing. The lifting moving mechanism 6 comprises a guide supporting rod, a driving rod and a small motor 11.
The waist part is a flat plate extending backwards, and two guide support rods and a drive rod are arranged above the front end of the flat plate; a three-wheel moving platform is arranged below the base as a walking mechanism; the power control module 9 is vertically arranged above the rear end of the flat plate, and the small motor 11 is arranged below the flat plate.
As shown in fig. 11, the two front wheels 7 of the three-wheel mobile platform are symmetrical, the supporting frame is made into a special-shaped structure similar to the lower limbs of a person, and the rear wheels 8 are used for supporting and steering and are perpendicular to the rear extension plate.
When the robot starts to work, firstly, the left eye and right eye vision sensors on the head identify the distance between the hand and the key, the distance is converted into data and is transmitted to the central processor of the waist for data analysis, then feedback is generated, and required actions are completed through two driving motors and a small motor, such as a lifting moving system for driving the waist, a belt wheel mechanism on the shoulder and a gear mechanism on the elbow, so that the whole arm is at a preset basic distance with the key, and the initial distance adjustment work of the robot is completed.
Then, inputting music score data required to be played, performing second-stage work by the robot, judging finger and piano key position data through a head sensor, wherein the corresponding position data is corresponding key tones, the sensor receives the data and transmits the data to a central processor for processing, a driving motor respectively drives a lifting moving system of a waist, a belt wheel mechanism of a shoulder and a gear mechanism of an elbow to enable a palm to reach the key positions, then a steering engine drives the fingers to press the keys, and a plurality of auxiliary fingers and a main finger can be driven simultaneously, so that smooth performance of the music is achieved, and a performance task is finally completed.
The utility model discloses divide into the triplex: a head vision system, a two-arm playing system and a bottom moving system. The general degree of freedom of the robot represents the flexible scale of the robot action, the more the degree of freedom is, the closer to the action function of a human hand is, the better the universality is, the flexibility of the system is correspondingly increased, and the functions are correspondingly increased. However, as the degree of freedom increases, the more complicated the control and the more complicated the debugging, the more potential mechanical resonance points of the system, the more difficult the precision control, and the higher the cost required for achieving the same precision.
Claims (6)
1. A robot for playing a piano, comprising: head, neck, torso, abdomen, waist and running gear; the head is connected with the trunk through the neck, and the trunk is connected with the walking mechanism through the abdomen and the waist; the waist is provided with a central processor;
the trunk comprises a shoulder joint, two arms, two palms and fingers, wherein each arm comprises a big arm and a small arm; the big arm and the small arm are connected through an elbow joint, and the small arm and the palm are connected through a wrist joint;
the head part consists of a shell and left and right eye vision sensors, the two vision sensors identify and acquire the relative positions of left and right fingers and keys and transmit the relative positions to the central processor, and the central processor feeds back performance data and the action of a trunk and controls shoulders to drive arms and fingers to complete key pressing;
the concrete structure is as follows:
the shoulder joint is designed as a moving pair, the driving motor arranged in the abdomen drives the large arm to translate back and forth, and the whole large arm is always vertical to the keys; the elbow joint comprises a gear to form a revolute pair, and the elbow joint is driven by another driving motor arranged in the abdomen to drive the forearm to horizontally swing left and right by taking the elbow as a central point; when the small arm horizontally swings left and right, the gear at the wrist joint drives the palm to rotate by the same angle, but the palm and the fingers always keep forward and are all positioned right above the keys and parallel to the keys;
the motion of the fingers is a wire transmission mechanism, the fingers are driven by a steering engine arranged in the palm to complete the action of pressing keys up and down, the finger part of each hand comprises 3 main fingers and 4 auxiliary fingers, the main fingers and the auxiliary fingers are connected to the palm in parallel in a staggered manner, each of the 3 main fingers is provided with a finger joint, the auxiliary fingers are not provided with finger joints, the main fingers and the auxiliary fingers are connected with the palm through the palm joints, and the key pressing is completed through the up-and-down swinging;
a lifting moving mechanism in the vertical direction is arranged between the abdomen and the waist and comprises a guide supporting rod, a driving rod and a small motor;
the waist part is a flat plate extending backwards, and two guide support rods and a drive rod are arranged above the front end of the flat plate; a three-wheel moving platform is arranged below the base as a walking mechanism; a power supply control module is vertically arranged above the rear end of the flat plate, and a small motor is arranged below the flat plate;
two direction bracing pieces are located both sides respectively, connect the small motor below the actuating lever in the middle of, and the robot belly is connected to the higher authority, and climbing and decline of small motor control actuating lever drive the first half health of robot and rise and descend to adjust the perpendicular distance between finger and the key.
2. A robot for playing a piano as recited in claim 1, wherein said three-wheel moving platform is formed with front two wheels being symmetrical, and a supporting frame being formed in a shape of a special-shaped structure similar to a lower limb of a human being, and rear wheels being supported and turned perpendicularly to a rear extension plate.
3. A robot for playing a piano as recited in claim 1, wherein said arm is laterally shifted in a range of 30 ° to the left and right of a center line of the parallel shoulder, respectively, and the entire arm is opened in a range of 60 °.
4. A robot for playing on a piano as recited in claim 1, wherein said elbow joint, said forearm and said wrist joint are designed as a parallel kinematic mechanism by a link mechanism, a gear mechanism or a pulley mechanism.
5. A robot for playing a piano as recited in claim 1, wherein said main finger is longer than said sub finger.
6. A robot for playing on a piano as recited in claim 1, wherein said palm has a width equal to that of 4 white keys.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020490548.XU CN210998752U (en) | 2020-04-07 | 2020-04-07 | Robot is played to piano |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020490548.XU CN210998752U (en) | 2020-04-07 | 2020-04-07 | Robot is played to piano |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210998752U true CN210998752U (en) | 2020-07-14 |
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ID=71468332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020490548.XU Expired - Fee Related CN210998752U (en) | 2020-04-07 | 2020-04-07 | Robot is played to piano |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210998752U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116394277A (en) * | 2023-06-08 | 2023-07-07 | 之江实验室 | Robot is played to imitative people piano |
-
2020
- 2020-04-07 CN CN202020490548.XU patent/CN210998752U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116394277A (en) * | 2023-06-08 | 2023-07-07 | 之江实验室 | Robot is played to imitative people piano |
| CN116394277B (en) * | 2023-06-08 | 2023-08-25 | 之江实验室 | Robot is played to imitative people piano |
| WO2024008217A1 (en) * | 2023-06-08 | 2024-01-11 | 之江实验室 | Humanoid piano playing robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| 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: 20200714 Termination date: 20210407 |