CN212265856U

CN212265856U - Non-humanoid violin robot

Info

Publication number: CN212265856U
Application number: CN202021082254.XU
Authority: CN
Inventors: 陈世纪; 孙建荣; 吴昊; 谢昌昊; 周童
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2020-06-12
Filing date: 2020-06-12
Publication date: 2021-01-01
Anticipated expiration: 2030-06-12

Abstract

The utility model provides a non-humanoid violin robot, which comprises a support plate, a headstock clamping device, a string pressing plate, a violin, a bow clamping device, a sliding device, a first power transmission mechanism, a bow, a first driving device, a tail clamping device, a second driving device, a second power transmission mechanism and a control unit; the head of the violin is connected with the supporting plate through the head clamping device, the tail of the violin is connected with the supporting plate through the tail clamping device, and the second driving device drives the tail clamping device to drive the violin to rotate through the second power transmission mechanism; the first driving device drives the sliding device to drive the bow to slide on the strings of the violin through the first power transmission mechanism; the string pressing plate is positioned right above the violin finger pressing plate and used for adjusting the position of a string; the utility model discloses a coordinated operation of several simple mechanisms of the control unit control realizes this action of playing violin, simplifies the mechanism complexity of imitative humanoid violin robot to reduce cost improves violin robot popularization degree.

Description

Non-humanoid violin robot

Technical Field

The utility model belongs to the technical field of service robot, especially, relate to a non-humanoid violin robot.

Background

The robotics began in the 50's of the 20 th century and although the development time was short, it has increasingly permeated into various areas of human life as people's understanding of the essence of their intelligence has deepened. From traditional 'handlers' and 'assemblers' to dexterous 'surgeons' and clever 'experimental operators', the robot is rapidly extending from traditional application fields of carrying, assembly and the like to fields of more intelligent and refined advanced manufacturing, medical health, life service and the like. Currently, the definition of a robot by the international organization for standardization is: a robot is a machine capable of performing tasks such as work or movement by programming and automatic control. And a machine for serving a human being by a program and automatically controlled may be regarded as a service robot.

In recent years, with the improvement of the living standard of people, people have more and more demands on the mental field such as music, and especially have more and more demands on a music robot capable of playing musical instruments. Taking a violin robot as an example, as early as 2007, japan toyota automobile company has successfully developed a humanoid violin robot having a "perceptual" function; in 2014, a utility model patent with the notice number of CN 104149094B about the violin robot is granted domestically. However, the two violin robots are both humanoid robots, and the degree of freedom of the human body is high, so the humanoid music robots usually need to be controlled by a plurality of stepping motors in a combined manner, which causes the defects of redundant degree of freedom, complex structure, difficult control, high manufacturing cost and the like of the humanoid music robots. The above disadvantages seriously hamper the popularization and spread of the violin robot, and therefore, it is difficult to see the violin robot on the market until today.

SUMMERY OF THE UTILITY MODEL

To the problem of prior art, the utility model provides a non-humanoid violin robot realizes this action of violin through the coordinated operation of several simple mechanisms of the control unit control, simplifies the mechanism complexity of humanoid violin robot greatly to reduce cost improves violin robot popularization degree.

The technical scheme of the utility model is that: a non-humanoid violin robot comprises a supporting plate, a violin head clamping device, a string pressing plate, a violin, a fiddle bow clamping device, a sliding device, a first power transmission mechanism, a fiddle bow, a first driving device, a fiddle tail clamping device, a second driving device, a second power transmission mechanism and a control unit;

the head of the violin is rotationally connected with the supporting plate through the head clamping device, the tail of the violin is rotationally connected with the supporting plate through the tail clamping device, the tail clamping device is connected with the second power transmission mechanism, the second power transmission mechanism is connected with the second driving device, the second driving device and the second power transmission mechanism are installed on the supporting plate, and the second driving device drives the tail clamping device to drive the violin to rotate through the second power transmission mechanism;

the violin bow is connected with the violin bow clamping device, the violin bow clamping device is connected with the sliding device, the sliding device is connected with the first power transmission mechanism, the first power transmission mechanism is connected with the first driving device, the sliding device, the first power transmission mechanism and the first driving device are arranged on the supporting plate, and the first driving device drives the sliding device to drive the violin bow to slide on strings of the violin through the first power transmission mechanism;

the string pressing plate is positioned right above the violin finger pressing plate and used for adjusting the position of a string to be pressed;

the control unit is respectively connected with the chord pressing plate, the first power transmission mechanism, the first driving device, the second driving device and the second power transmission mechanism.

In the above scheme, the headstock clamping device comprises a first headstock clamping block, a second headstock clamping block and a first rotating shaft; the violin head clamping block is characterized in that the violin head of the violin is arranged between the first violin head clamping block and the second violin head clamping block, the violin head is clamped between the first violin head clamping block and the second violin head clamping block through bolts, a first rotating shaft is arranged at one end of the first violin head clamping block, and the first rotating shaft is connected with the supporting plate through a bearing.

In the above scheme, the tail clamping device comprises a first tail clamping block, a second tail clamping block and a second rotating shaft; the violin tail clamping device is characterized in that the violin tail of the violin is arranged between the first violin tail clamping block and the second violin tail clamping block, the violin tail clamping block is screwed up through a bolt between the first violin tail clamping block and the second violin tail clamping block, a second rotating shaft is arranged on the first violin tail clamping block, and the second rotating shaft is connected with the supporting plate through a bearing.

In the above scheme, the sliding device comprises a connecting beam, a sliding block and a guide rail; the connecting beam is connected with the fiddle bow clamping device and the sliding block, the sliding block is connected with the guide rail in a sliding mode, and two ends of the guide rail are connected with the supporting plate respectively.

In the above scheme, the first power transmission mechanism comprises a driving wheel, a driven wheel and a synchronous belt;

the sliding device is connected with the synchronous belt, the two ends of the synchronous belt are respectively connected with the driving wheel and the driven wheel, the driving wheel and the driven wheel are respectively installed on the supporting plate and located on the two sides of the sliding device, and the first driving device is connected with the driving wheel.

In the above scheme, the second power transmission mechanism is a gear set; the gear set comprises a first gearwheel, a second gearwheel, a first pinion and a second pinion; and a second rotating shaft of the organ tail clamping device is connected with a first large gear, the first large gear is meshed with a first small gear, a rotating shaft of the first small gear is connected with a second large gear, the second large gear is meshed with a second small gear, and the second small gear is connected with an output shaft of a second driving device.

In the scheme, a plurality of electromagnets are arranged on the string pressing plate; the electromagnets respectively correspond to the finger pressing plates of the violin and are connected with the control unit.

Furthermore, twelve square grooves are arranged on the pressing plate, and each square groove is provided with an electromagnet.

In the scheme, the supporting plate comprises a front supporting plate, a right supporting plate, a rear supporting plate, a bottom plate and a left supporting plate; the front supporting plate, the right supporting plate, the rear supporting plate and the left supporting plate are respectively arranged on the bottom plate; the head of the violin is rotationally connected with the front support plate through the head clamping device, the tail of the violin is rotationally connected with the rear support plate through the tail clamping device, and the second driving device and the second power transmission mechanism are installed on the rear support plate; the sliding device and the first power transmission mechanism are installed on the right supporting plate and the left supporting plate, the first driving device is installed on the right supporting plate, and the bottom of the chord pressing plate is installed on the bottom plate.

In the above scheme, the control unit is a single chip microcomputer.

Compared with the prior art, the beneficial effects of the utility model are that: the operating speed of the first driving device of the control unit control is in order to control the action wheel, the movement speed from the driving wheel and the synchronous belt, thereby realizing the speed of controlling the reciprocating motion of the fiddle bow. Every time the second driving device rotates a circle, under the speed reduction effect of the gear set, the violin, the head clamping device and the tail clamping device rotate integrally, so that the adjacent strings in the strings at the working positions can be rotated to the working positions, the positions of the strings of the violin can be controlled as long as the number of the circles of the second driving device is controlled, and the string changing function of the violin robot is achieved. The control unit controls the electromagnet on the string pressing plate to be electrified and deenergized, so that the position of the string pressing plate is controlled, and the function of changing the pitch is realized. The utility model discloses a coordinated operation of several simple mechanisms of the control unit control realizes this action of playing violin, simplifies the mechanism complexity of imitative humanoid violin robot greatly to reduce cost improves violin robot popularization degree.

Drawings

Fig. 1 is an assembly diagram of a non-humanoid violin robot according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a headstock holding device 2 according to an embodiment of the present invention;

fig. 3 is a schematic top view of the headstock holding device 2 according to an embodiment of the present invention;

fig. 4 is a schematic structural view of the tail holding device 14 according to an embodiment of the present invention;

fig. 5 is an assembly diagram of the tail holding device 14, the gear set 15, the rear support plate 16 and the second driving device 17 according to an embodiment of the present invention;

fig. 6 is an assembly view of the bow holding device 5, the bridge 6, and the slider 7 according to the embodiment of the present invention;

fig. 7 is a schematic structural view of the pressing plate 3 according to an embodiment of the present invention.

In the figure, 1, a front supporting plate; 2. a headstock clamping device; 201. a first headstock clamping block; 202. a second headstock clamping block; 3. pressing the chord plate; 4. a violin; 5. a fiddle bow holding device; 6. a connecting beam; 7. a slider; 8. a fiddle bow; 9. a first driving device; 10. a right support plate; 11. a synchronous pulley; 12. a synchronous belt; 13. a guide rail; 14. a tail clamping device; 1401. a first tail clamping block; 1402. a second tail clamping block; 15. a gear set; 16. a rear support plate; 17. a second driving device; 18. a base plate; 19. a left support plate; 20. an electromagnet.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Fig. 1 shows that a preferred embodiment of non-humanoid violin robot, including backup pad, headstock clamping device 2, string pressing plate 3, violin 4, bow clamping device 5, slider, first power transmission mechanism, bow 8, first drive arrangement 9, tail clamping device 14, second drive arrangement 17, second power transmission mechanism and the control unit.

The headstock of violin 4 is rotated with the backup pad through headstock clamping device 2 and is connected, and the tail of violin 4 is rotated with the backup pad through tail clamping device 14 and is connected, and tail clamping device 14 is connected with second power transmission mechanism, and second power transmission mechanism is connected with second drive arrangement 17, and second drive arrangement 17 and second power transmission mechanism install in the backup pad, and second drive arrangement 17 drives the tail clamping device 14 through second power transmission mechanism and drives the violin 4 rotatory.

The piano bow 8 is connected with the piano bow clamping device 5, the piano bow clamping device 5 is connected with the sliding device, the sliding device is connected with the first power transmission mechanism, the first power transmission mechanism is connected with the first driving device 9, the sliding device, the first power transmission mechanism and the first driving device 9 are installed on the supporting plate, and the first driving device 9 drives the sliding device to drive the piano bow 8 to transversely slide on strings of the violin 4 through the first power transmission mechanism.

And the string pressing plate 3 is positioned right above the finger pressing plate of the violin 4 and used for adjusting the position of pressing a string.

The control unit is respectively connected with the string pressing plate 3, the first power transmission mechanism, the first driving device 9, the second driving device 17 and the second power transmission mechanism.

According to the present embodiment, it is preferable that the support plates include a front support plate 1, a right support plate 10, a rear support plate 16, a bottom plate 18, and a left support plate 19; the front support plate 1, the right support plate 10, the rear support plate 16 and the left support plate 19 are respectively mounted on the bottom plate 18. The front support plate 1 and the rear support plate 16 can be arranged on a boss on the bottom plate 18 in a bonding mode, and the left support plate 19 and the right support plate 10 are connected on the bottom plate 18 through threads;

the head of the violin 4 is rotatably connected with the front support plate 1 through the head clamping device 2, the tail of the violin 4 is rotatably connected with the rear support plate 16 through the tail clamping device 14, and the second driving device 17 and the second power transmission mechanism are installed on the rear support plate 16; the sliding device and the first power transmission mechanism are arranged on the right support plate 10 and the left support plate 19, the first driving device 9 is arranged on the right support plate 10, and the bottom of the chord 3 is arranged on the bottom plate 18.

Preferably, according to this embodiment, the control unit is a single chip microcomputer. The first driving device 9 and the second driving device 17 may be driving mechanisms such as a steering engine, a stepping motor, a coding motor or a servo motor.

As shown in fig. 2 and 3, the headstock clamping device 2 is used for clamping the headstock of the violin 4, and the headstock clamping device 2 includes a first headstock clamping block 201, a second headstock clamping block 202, and a first rotary shaft;

the headstock of violin 4 is arranged between first headstock clamping block 201 and second headstock clamping block 202, screws up the headstock clamping of violin 4 through the bolt between first headstock clamping block 201 and the second headstock clamping block 202, and the one end of first headstock clamping block 201 is equipped with first pivot, first pivot pass through the bearing with the backup pad is connected.

As shown in fig. 4, the tail holding device 14 is used for clamping the tail of the violin 4, and the tail holding device 14 includes a first tail holding block 1401, a second tail holding block 1402 and a second rotating shaft;

the violin tail of the violin 4 is arranged between the first violin tail clamping block 1401 and the second violin tail clamping block 1402, the violin tail of the violin 4 is clamped between the first violin tail clamping block 1401 and the second violin tail clamping block 1402 through screwing of bolts, a second rotating shaft is arranged on the first violin tail clamping block 1401, and the second rotating shaft is connected with the supporting plate through a bearing.

The first power transmission mechanism comprises a driving wheel 11, a driven wheel and a synchronous belt 12; the sliding device is connected with a synchronous belt 12, two ends of the synchronous belt 12 are respectively connected with a driving wheel 11 and a driven wheel, the driving wheel 11 and the driven wheel are respectively installed on a supporting plate and located on two sides of the sliding device, and a first driving device 9 is connected with the driving wheel 11.

As shown in fig. 6, the sliding means includes a connection beam 6, a slider 7, and a guide rail 13; the connecting beam 6 is connected with the fiddle bow clamping device 5 and the sliding block 7, the sliding block 7 is connected with the guide rail 13 in a sliding mode, and two ends of the guide rail 13 are connected with the supporting plate respectively.

Specifically, a second driving device 17 is bonded on a boss of the rear support plate 16; the two guide rails 13 are respectively fixed in corresponding round holes in the middle parts of the left support plate 19 and the right support plate 10; round holes at the upper ends of the left supporting plate 19 and the right supporting plate 10 are used for assembling a driving wheel 11 and a driven wheel, and a synchronous belt 12 is arranged on the driving wheel 11 and the driven wheel; a first driving device 9 is adhered to the upper end plane of the right support plate 10; the two guide rails 13 are respectively provided with a slide block 7, and the two slide blocks 7 are connected with the connecting beam 6 through bolts; the synchronous belt 13 penetrates through a gap between the sliding block 7 and the connecting beam 6; the other end of the bridge 6 is bolted to a bow holding device 5, which acts to clamp the bow 8.

As shown in fig. 5, the second power transmission mechanism is a gear set 15; the gear set 15 is mounted on the support plate and comprises a first gearwheel, a second gearwheel, a first pinion and a second pinion; the second rotating shaft of the tail clamping device 14 is connected with a first large gear, the first large gear is meshed with a first small gear, the rotating shaft of the first small gear is connected with a second large gear, the second large gear is meshed with a second small gear, and the second small gear is connected with an output shaft of a second driving device 17.

As shown in fig. 7, a plurality of electromagnets 20 are provided on the chord pressing plate 3; twelve square grooves are arranged on the string pressing plate 3, and each square groove is provided with an electromagnet 20. The electromagnets 20 respectively correspond to the finger pressing plates of the violin 4, and the electromagnets 20 are connected with the control unit. The control unit controls the power on and power off of the electromagnet 20, the iron core of the electromagnet 20 is magnetized and attracted with the steel sheet after being electrified, the spring is compressed, the finger pressing plate of the violin 4 is pressed downwards, the iron core is demagnetized after the power off, and the iron core is reset through the spring force and leaves the finger pressing plate, so that the string pressing position is controlled.

The control unit controls the working rotating speed of the first driving device 9 to control the moving speed of the driving wheel 11, the driven wheel and the synchronous belt 12, so that the back-and-forth reciprocating movement speed of the fiddle bow 8 is controlled. Every time the second driving device 17 rotates for one circle, under the speed reducing action of the gear set 15, the violin 4, the headstock clamping device 2 and the tail clamping device 14 integrally rotate, preferably can rotate for 16 degrees, so that the adjacent strings originally positioned at the strings at the working positions can rotate to the working positions, the positions of the strings of the violin 4 can be controlled as long as the number of the rotation circles of the second driving device 17 is controlled, and the string changing function of the violin robot is realized. The control unit controls the electromagnet on the pressing chord plate 3 to be electrified or deenergized, thereby controlling the position of the pressing chord and further realizing the function of pitch change.

It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.

The above detailed description is only for the purpose of illustrating the practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the technical spirit of the present invention are intended to be included within the scope of the present invention.

Claims

1. A non-humanoid violin robot is characterized by comprising a supporting plate, a headstock clamping device (2), a string pressing plate (3), a violin (4), a bow clamping device (5), a sliding device, a first power transmission mechanism, a bow (8), a first driving device (9), a tail clamping device (14), a second driving device (17), a second power transmission mechanism and a control unit;

the head of the violin (4) is rotatably connected with the supporting plate through the head clamping device (2), the tail of the violin (4) is rotatably connected with the supporting plate through the tail clamping device (14), the tail clamping device (14) is connected with the second power transmission mechanism, the second power transmission mechanism is connected with the second driving device (17), the second driving device (17) and the second power transmission mechanism are installed on the supporting plate, and the second driving device (17) drives the tail clamping device (14) to drive the violin (4) to rotate through the second power transmission mechanism;

the violin bow (8) is connected with the violin bow clamping device (5), the violin bow clamping device (5) is connected with the sliding device, the sliding device is connected with the first power transmission mechanism, the first power transmission mechanism is connected with the first driving device (9), the sliding device, the first power transmission mechanism and the first driving device (9) are installed on the supporting plate, and the first driving device (9) drives the sliding device to drive the violin bow (8) to slide on strings of the violin (4) through the first power transmission mechanism;

the string pressing plate (3) is positioned right above the finger pressing plate of the violin (4) and used for adjusting the string pressing position;

the control unit is respectively connected with the chord pressing plate (3), the first power transmission mechanism, the first driving device (9), the second driving device (17) and the second power transmission mechanism.

2. The non-humanoid violin robot as claimed in claim 1, wherein the headstock clamping device (2) comprises a first headstock clamping block (201), a second headstock clamping block (202), and a first spindle;

the violin head clamping structure is characterized in that the violin head of the violin (4) is arranged between the first violin head clamping block (201) and the second violin head clamping block (202), the violin head clamping block (201) and the second violin head clamping block (202) are screwed up through bolts to clamp the violin head of the violin (4), one end of the first violin head clamping block (201) is provided with a first rotating shaft, and the first rotating shaft is connected with the supporting plate through a bearing.

3. The non-humanoid violin robot of claim 1, wherein the tail clamp device (14) comprises a first tail clamp block (1401), a second tail clamp block (1402) and a second rotation shaft;

the violin tail clamping device is characterized in that the violin tail of the violin (4) is arranged between the first violin tail clamping block (1401) and the second violin tail clamping block (1402), the violin tail of the violin (4) is clamped between the first violin tail clamping block (1401) and the second violin tail clamping block (1402) through bolts in a screwing mode, a second rotating shaft is arranged on the first violin tail clamping block (1401), and the second rotating shaft is connected with the supporting plate through a bearing.

4. The non-humanoid violin robot as claimed in claim 1, characterized in that the sliding means comprise a connecting beam (6), a slider (7) and a guide rail (13);

the connecting beam (6) is connected with the bow clamping device (5) and the sliding block (7), the sliding block (7) is connected with the guide rail (13) in a sliding mode, and two ends of the guide rail (13) are connected with the supporting plate respectively.

5. The non-humanoid violin robot as claimed in claim 1, wherein the first power transmission mechanism includes a driving pulley (11), a driven pulley and a timing belt (12);

the sliding device is connected with a synchronous belt (12), two ends of the synchronous belt (12) are respectively connected with a driving wheel (11) and a driven wheel, the driving wheel (11) and the driven wheel are respectively installed on a supporting plate and located on two sides of the sliding device, and a first driving device (9) is connected with the driving wheel (11).

6. The non-humanoid violin robot as claimed in claim 2, wherein the second power transmission mechanism is a gear train (15); the gear set (15) comprises a first gearwheel, a second gearwheel, a first pinion and a second pinion;

a second rotating shaft of the organ tail clamping device (14) is connected with a first large gear, the first large gear is meshed with a first small gear, a rotating shaft of the first small gear is connected with a second large gear, the second large gear is meshed with a second small gear, and the second small gear is connected with an output shaft of a second driving device (17).

7. The non-humanoid violin robot as claimed in claim 1, wherein a plurality of electromagnets (20) are provided on the chord pressing plate (3);

the electromagnets (20) correspond to the finger pressing plates of the violin (4) respectively, and the electromagnets (20) are connected with the control unit.

8. The non-humanoid violin robot as claimed in claim 7, wherein twelve square grooves are provided on the tailpiece (3), each of which is provided with an electromagnet (20).

9. The non-humanoid violin robot as claimed in claim 1, characterized in that the support plates comprise a front support plate (1), a right support plate (10), a rear support plate (16), a bottom plate (18), and a left support plate (19);

the front support plate (1), the right support plate (10), the rear support plate (16) and the left support plate (19) are respectively arranged on the bottom plate (18); the head of the violin (4) is rotatably connected with the front support plate (1) through a head clamping device (2), the tail of the violin (4) is rotatably connected with the rear support plate (16) through a tail clamping device (14), and the second driving device (17) and the second power transmission mechanism are installed on the rear support plate (16); the sliding device and the first power transmission mechanism are arranged on a right supporting plate (10) and a left supporting plate (19), the first driving device (9) is arranged on the right supporting plate (10), and the bottom of the chord pressing plate (3) is arranged on a bottom plate (18).

10. The non-humanoid violin robot of claim 1, wherein the control unit is a single-chip microcomputer.