CN212887625U - Bamboo flute playing robot - Google Patents

Abstract

The utility model provides a bamboo flute playing robot, include: the intelligent learning system is used for reading the electronic music score to be played and generating a control instruction for playing the bamboo flute; the motion control system is used for generating a bottom layer control level signal according to the control instruction; and the structure execution system comprises an execution mechanism with a plurality of freedom degrees of movement and is used for executing corresponding playing and dancing actions according to the underlying control level signals. The utility model provides a technical scheme is owing to have the actuating mechanism of a plurality of degrees of freedom of motion for the robot more has expressive force at the performance in-process, can imitate the action that human combination moved out complicacy, and the action of having solved the performance robot is very dull, does not possess the problem of complicated limb action performance. Further, due to the air flow fine adjustment subsystem, accurate air flow adjustment and control can be provided for bamboo flute playing, the tone color and the tone accuracy of bamboo flute playing are better, and various skill playing needing to be matched with air flow control can be realized.

Description

Bamboo flute playing robot

Technical Field

The utility model relates to an artificial intelligence technical field, concretely relates to robot is played to bamboo flute.

Background

Robots capable of replacing humans to perform repetitive physical labor, or those that are dangerous and exceed human limits, have been commonly used in industrial manufacturing, medical care, national defense, emergency rescue, home service. In recent years, along with the cross fusion of science and technology and art and the growth of people on cultural consumption, performance robots are in the spotlight, and robots in forms such as dancing robots, unmanned aerial vehicle formation performance and robot bands appear.

At present, some robots for playing musical instrument performance are known, which mainly play western musical instruments such as trumpets, flute, scotch flute and the like, the artistic style is western metal wind, but no robot can play Chinese national musical instruments such as bamboo flute and the like, and no robot is designed according to Chinese artistic elements. The traditional playing robot only provides the capabilities of blowing and fingering pressing, can only play western musical instruments, does not have the capabilities of airflow precise adjustment control, intelligent spectrum recognition and execution, and complex and rich body action representation, and can not play Chinese national musical instruments such as bamboo flute only by the prior art.

This is because, compared with the western musical instrument, the performance of chinese national musical instruments such as bamboo flute has many skills, such as single spit, double spit, garland and the like. In order to be more expressive in playing, the limbs of the bamboo flute playing robot must have abundant freedom of movement and can imitate the complex actions of human combined motion.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at overcoming the not enough of prior art, provide a robot is played to bamboo flute to solve among the prior art and play the robot's action very monotonous, do not possess the problem that complicated limb action performance.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a bamboo flute playing robot comprising:

the intelligent learning system is used for reading the electronic music score to be played and generating a control instruction for playing the bamboo flute;

the motion control system is used for generating a bottom layer control level signal according to the control instruction;

and the structure execution system comprises an execution mechanism with a plurality of freedom degrees of movement and is used for executing corresponding playing and dancing actions according to the bottom layer control level signals.

Preferably, the structure execution system further includes:

and the airflow fine adjustment subsystem is used for providing accurate airflow adjustment and control for bamboo flute playing.

Preferably, the motion control system comprises:

the processor is used for generating level signals required by each actuating mechanism according to the control instructions generated by the intelligent learning system so as to drive each actuating mechanism to execute corresponding playing actions;

the serial port control module is connected with the processor and is used for data communication between the processor and the intelligent learning system;

the steering engine control board is connected with the processor and used for controlling the steering engine of the executing mechanism to move;

the stepping motor driver is connected with the processor and used for providing a driving signal for the stepping motor of the actuating mechanism;

the voltage follower is connected with the processor and is used for driving the proportional valve of the airflow fine adjustment subsystem to provide analog fine adjustment of airflow and pressure intensity for the airflow flowing through;

and the relay is connected with the processor and is used for controlling the opening and closing of the electromagnetic valve of the airflow fine adjustment subsystem.

Preferably, the structure execution system includes:

the head executing mechanism is used for executing mechanical actions of three degrees of freedom of head rotation, side sway and pitching under the control of the motion control system;

the waist and trunk executing mechanism is used for executing mechanical actions with three degrees of freedom of rotation, lateral swinging and pitching of the waist and the trunk under the control of the motion control system;

the upper limb execution mechanism is used for executing mechanical actions of lifting or putting down one degree of freedom by the arm and pressing six degrees of freedom of the flute hole of the bamboo flute by six fingers under the control of the motion control system;

and the lower limb actuating mechanism is used for supporting the head actuating mechanism, the waist and trunk actuating mechanisms and the upper limb actuating mechanism, and has no active degree of freedom.

Preferably, the head actuator comprises: head, neck and shoulders, wherein,

the head comprises a face and a back head, the head is arranged on a first head steering engine for providing rotary power through a steering engine base, and the first head steering engine is arranged on the neck through a steering engine support;

a bidirectional bearing is arranged below the steering engine supporting platform, and the neck is arranged on the shoulder and used for supporting the bidirectional bearing; a second head steering engine is arranged on the shoulder, is connected with the bidirectional bearing through a fisheye bearing and is used for providing side swinging power for the head;

a third head steering engine is further arranged on the shoulder, is connected with the bidirectional bearing through a worm and a worm block and is used for providing pitching power for the head; a steering engine base fixedly connected with the third head steering engine is arranged on the neck, and the steering engine base and the neck can rotate relatively; the rudder engine base is fixedly connected with the worm, and the worm block does linear motion along the worm on one hand and rotates relative to the bidirectional bearing on the other hand.

Preferably, the waist and torso actuator comprises: a waist portion, and a torso connecting the waist portion and the shoulders, wherein,

the waist gear disc is arranged on a large gear which is meshed with a small gear, the large gear and the small gear are arranged in a gear box, and the small gear is arranged on an output shaft of a first waist steering engine through a steering engine seat; the first waist steering engine is used for providing rotary power for the waist and the trunk;

the waist part comprises a front waist part supporting piece and a rear waist part supporting piece, a front worm block supporting table and a rear worm block supporting table are correspondingly arranged above the front waist part supporting piece and the rear waist part supporting piece, a gas spring is arranged between the front waist part supporting piece and the front worm block supporting table, and a gas spring is also arranged between the rear waist part supporting piece and the rear worm block supporting table;

a second waist steering engine is arranged in the waist, a first worm is arranged on an output shaft of the second waist steering engine, a first worm block is arranged on the first worm, and the first worm block can convert the rotation of the first worm into linear motion; the front worm block supporting platform and the rear worm block supporting platform are used for supporting the first worm block to rotate on the front side and the rear side of the robot body respectively; the second waist steering engine is used for providing side swinging power for the trunk and the waist;

a spine is arranged in the trunk, the top end of the spine is fixedly connected with the shoulders, and the bottom end of the spine is connected with the rear worm block supporting platform through a revolute pair and can rotate relative to the rear worm block supporting platform; the rear worm block supporting platform is also provided with a rudder base, and the rudder base is connected with the rear worm block supporting platform through another revolute pair; the steering wheel seat is provided with a third waist steering wheel, an output shaft of the third waist steering wheel is provided with a second worm, the second worm is provided with a second worm block, the second worm block can convert the rotation of the second worm into linear motion, and the third waist steering wheel is used for providing pitching power for the trunk and the waist.

Preferably, the upper limb actuator comprises: left arm, right arm, left hand, right hand, wherein,

the left arm comprises a left upper arm and a left lower arm, the top end of the left upper arm is connected to the left end of the shoulder through a universal bearing, the tail end of the left upper arm is connected to the top end of the left lower arm through a revolute pair, and the tail end of the left lower arm is connected with the left hand through another universal bearing; the left hand is arranged on a flute support for supporting the bamboo flute, and the flute support is arranged on a cantilever extending out of the spine;

the right arm comprises a right big arm and a right small arm, the top end of the right big arm is connected to the right end of the shoulder through a universal bearing, the tail end of the right big arm is connected to the top end of the right small arm through a revolute pair, and the tail end of the right small arm is connected with the right hand through another universal bearing; the right hand is arranged on the flute support;

the middle part of the spine is provided with a stepping motor and a speed reducer, and the cantilever is arranged on an output shaft of the speed reducer; the stepping motor rotates to lift or put down the flute support together with the left hand and the right hand, and the two arms move together to lift or put down.

Preferably, the left hand and the right hand are identical in structure and both comprise three fingers;

each finger includes: the finger pressing device comprises a finger root, a finger tip and a finger tip joint for connecting the finger tip with an air cylinder, wherein the air cylinder pushes or pulls the finger tip to realize pressing through reciprocating linear motion; the cylinder and the finger tip are respectively arranged on the finger root through respective revolute pairs.

Preferably, the lower limb actuator comprises:

a cross leg mounted below the waist, and a cross foot mounted at the end of the cross leg;

the periphery of the cross-shaped leg is wrapped with a decorative nail sheet;

the decorative armor plate is installed on the top surface of the cross-shaped leg through a hinge.

Preferably, the airflow fine adjustment subsystem comprises:

the air pump is connected with the processor through a relay and is used for providing an air source;

the pressure reducing valve is connected with the air pump through an air pipe and is used for reducing the pressure of the air flow pumped by the air pump to a preset pressure value;

the proportional valve is connected with the pressure reducing valve through an air pipe and is used for performing simulated fine adjustment on the air flow and the pressure of the flowing air flow;

and the electromagnetic valve is connected with the proportional valve through an air pipe and is used for controlling whether the air flow finely adjusted by the proportional valve is introduced into the bamboo flute.

The utility model adopts the above technical scheme, possess following beneficial effect at least:

because the structure execution system comprises the execution mechanisms with a plurality of freedom degrees of motion, each execution mechanism can execute corresponding playing actions according to the bottom layer control level signal generated by the motion control system, the robot has more expressive force in the playing process, can simulate complex actions of human combined motion, and solves the problems that the playing robot in the prior art has monotonous actions and does not have complex limb action expression.

Furthermore, due to the fact that the structure execution system further comprises the air flow fine adjustment subsystem, accurate air flow adjustment and control can be provided for bamboo flute playing, the tone and the tone accuracy of the bamboo flute playing are better, and various skill playing needing to be matched with air flow control can be achieved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a system functional architecture diagram of a bamboo flute playing robot according to an embodiment of the present invention;

fig. 2 is a schematic circuit diagram of a motion control system of a bamboo flute playing robot according to an embodiment of the present invention;

fig. 3 is a left side view of the bamboo flute playing robot according to an embodiment of the present invention;

fig. 4 is a front view of a bamboo flute playing robot according to an embodiment of the present invention;

fig. 5 is a top view of a bamboo flute playing robot according to an embodiment of the present invention;

fig. 6 is an overall structural view of a head actuator according to an embodiment of the present invention;

fig. 7 is a mechanical structure of the head rotational freedom according to an embodiment of the present invention;

fig. 8 is a mechanical structure of the head side-swing degree of freedom according to an embodiment of the present invention;

fig. 9 is a schematic diagram illustrating a front view and a rear view of a head actuator in a pitch degree of freedom according to an embodiment of the present invention;

fig. 10 is an overall structural view of a waist and torso actuator according to an embodiment of the present invention;

fig. 11 is a schematic diagram comparing a front view, a left view, and a top view of a waist and torso actuator provided in an embodiment of the present invention in rotational freedom;

fig. 12 is a schematic diagram comparing a front view and a right view of a waist and a trunk actuator provided in an embodiment of the present invention when the waist and trunk actuator is in a side-swing degree of freedom;

fig. 13 is a schematic diagram illustrating a front view and a left view of a waist and torso actuator in a pitch degree of freedom according to an embodiment of the present invention;

fig. 14 is an overall structural view of an upper limb actuator according to an embodiment of the present invention;

fig. 15 is a schematic structural view of an arm of the bamboo flute playing robot according to an embodiment of the present invention;

fig. 16 is a schematic structural view of fingers of a bamboo flute playing robot according to an embodiment of the present invention;

fig. 17 is an overall structural view of a lower limb actuator according to an embodiment of the present invention;

fig. 18 is a schematic circuit diagram of a fine airflow adjustment subsystem according to an embodiment of the present invention;

fig. 19 is a flowchart illustrating an operation of the intelligent learning system of the bamboo flute playing robot according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The technical solution of the present invention is further described in detail by the accompanying drawings and examples.

Referring to fig. 1, an embodiment of the present invention provides a bamboo flute playing robot, including:

the intelligent learning system 1 is used for reading an electronic music score to be played and generating a control instruction of bamboo flute playing;

the motion control system 2 is used for generating a bottom layer control level signal according to the control instruction;

and the structure execution system 3 comprises an execution mechanism with a plurality of freedom degrees of movement and is used for executing corresponding playing and dancing actions according to the bottom layer control level signals.

It can be understood that, in the technical solution provided by this embodiment, because the structure execution system includes the execution mechanisms with multiple degrees of freedom of motion, each execution mechanism can execute a corresponding performance action according to the underlying control level signal generated by the motion control system, so that the robot has more expressive power during the performance process, and can simulate human combined motion to generate complex actions, thereby solving the problem that the performance robot in the prior art has quite monotonous actions and no complex limb action performance.

Preferably, the structure execution system 3 further includes:

and the airflow fine adjustment subsystem 31 is used for providing accurate airflow adjustment and control for the bamboo flute playing.

Referring to fig. 2, preferably, the motion control system 2 includes:

the processor is used for generating level signals required by each actuating mechanism according to the control instructions generated by the intelligent learning system so as to drive each actuating mechanism to execute corresponding playing actions;

the serial port control module 22 is connected with the processor and is used for data communication between the processor and the intelligent learning system;

the steering engine control panel 23 is connected with the processor and is used for controlling the steering engine of the executing mechanism to move;

a stepping motor driver 24 connected to the processor for providing a driving signal to the stepping motor of the actuator;

a voltage follower 25 connected to the processor for driving the proportional valve of the airflow fine adjustment subsystem to provide analog fine adjustment of airflow and pressure to the airflow passing through;

and the relay 26 is connected with the processor and is used for controlling the opening and closing of the air flow fine adjustment subsystem electromagnetic valve.

It should be noted that the processor is preferably a single chip 21.

In specific practice, the processor may also employ components such as a PLC controller, a DSP chip, and an FPGA.

It can be understood that the motion control system 2 is mainly used for receiving the control command generated by the intelligent learning system, and the control circuit generates the level signal required by each actuator to drive each actuator to operate.

The processor mainly works as follows:

1) allocating a control address: in the processor, distributing input and output register addresses for each output control signal by a software programming method;

2) analyzing the control command: the processor software analyzes the control instruction input by the intelligent learning system to obtain the logic and numerical time sequence of the addresses of the input and output registers;

3) generating a control electrical signal: the processor generates 5V switch level, PWM wave and analog signal at corresponding pins according to the signal time sequence of each input/output address, and further amplifies the signals into control electric signals required by driving each actuating mechanism through a relay or a voltage follower.

Referring to fig. 3, 4 and 5, preferably, the structure implementing system 3 includes:

a head actuator 32 for executing mechanical motions of three degrees of freedom of head rotation, yaw and pitch under the control of the motion control system;

a waist and trunk actuator 33 for executing mechanical motions of three degrees of freedom of waist and trunk rotation, yaw, and pitch under the control of the motion control system;

the upper limb execution mechanism 34 is used for executing mechanical actions of lifting or putting down one degree of freedom of an arm and pressing six degrees of freedom of a flute hole of the bamboo flute by six fingers under the control of the motion control system;

a lower limb actuator 35 for supporting the head actuator, the waist and torso actuators, and the upper limb actuator without active degrees of freedom.

In particular practice, the head actuator 32 may be 3D printed from a resin material; the waist and torso actuator 33 may be 3D printed from nylon material; the upper limb actuator 34 can be manufactured by combining 3D printing of resin materials and processing of aluminum alloy; the lower limb actuators 35 may all be made by engraving with hardwood.

Referring to fig. 6, preferably, the head actuator 32 includes: a head 321, a neck 322, and shoulders 323, wherein,

referring to fig. 7, the head 321 includes a face and a back head 3211, the head 321 is mounted on a first head steering gear 325 for providing rotation power through a steering gear base 324, and the first head steering gear 325 is mounted on the neck 322 through a steering gear saddle 326;

referring to fig. 8, a bidirectional bearing 327 is arranged below the steering engine saddle 326, and the neck 322 is mounted on the shoulder 323 and used for supporting the bidirectional bearing 327; a second head steering engine 328 is arranged on the shoulder 323, is connected with the bidirectional bearing 327 through a fisheye bearing 329, and is used for providing side swinging power for the head 321;

referring to fig. 9, a third head steering gear 332 is further disposed on the shoulder 323, and is connected to the bidirectional bearing 327 through a worm 330 and a worm 331, so as to provide a pitching power for the head 321; a steering engine seat 333 fixedly connected with the third head steering engine 332 is mounted on the neck 322, and the steering engine seat 333 and the neck 322 can rotate relatively; the rudder base 333 is fixedly connected with the worm 330, and the worm 331 moves linearly along the worm 330 and rotates relative to the bidirectional bearing 327.

It can be understood that fig. 7 shows a mechanical structure of the head rotation freedom, and in fig. 7, the robot head is directly mounted on the first head steering engine, and the rotation of the first head steering engine directly drives the rotation of the head.

Fig. 8 shows a mechanical structure of the head side-sway degree of freedom, fig. 8 shows that a second head steering engine is mounted on the shoulder of the robot, the second head steering engine is connected to the head through a fisheye bearing, power is provided by rotation of the second head steering engine, and transmission is performed through movement of the fisheye bearing.

It can be understood that the bidirectional bearing in fig. 8 is fixedly connected with the steering engine saddle, and has two rotational degrees of freedom, so that the head can rotate around two shafts (up-down rotation and left-right rotation) on the neck; the fisheye bearing can transmit the power of the steering engine to the bidirectional bearing.

Fig. 9 shows a mechanical structure of head pitching freedom, and fig. 9 shows that a third head steering gear is arranged on a shoulder of the robot, and the third head steering gear is connected with a bidirectional bearing through a worm and a worm block and used for providing pitching power for the head. The third head steering engine rotates to provide power, the worm block moves linearly upwards along the worm to realize the head raising of the robot, and the worm block moves linearly downwards along the worm to realize the head raising of the robot.

Referring to fig. 10, preferably, the waist and torso actuator 33 includes: a waist 3301, and a torso 3302 connecting the waist 3301 and the shoulders 323, wherein,

referring to fig. 11, the trunk 3302 and the waist 3301 are fixed on a waist gear disc 3303, the waist gear disc 3303 is arranged on a large gear 3304, the large gear 3304 is engaged with a small gear 3305, the large gear 3304 and the small gear 3305 are arranged in a gear box 3306, the small gear 3305 is arranged on an output shaft of a first waist steering engine 3308 through a steering engine base 3307; the first waist steering engine 3308 is used for providing rotary power for the waist 3301 and the trunk 3302;

referring to fig. 12, the waist 3301 includes a front waist support 3309 and a rear waist support 3310, a front worm mount 3311 and a rear worm mount 3312 are correspondingly disposed above the front waist support 3309 and the rear waist support 3310, a gas spring 3313 is disposed between the front waist support 3309 and the front worm mount 3311, and a gas spring 3313 is also disposed between the rear waist support 3310 and the rear worm mount 3312;

a second waist steering gear 3314 is arranged in the waist 3301, a first worm 3315 is arranged on an output shaft of the second waist steering gear 3314, a first worm 3316 is arranged on the first worm 3315, and the first worm 3316 can convert the rotation of the first worm 3315 into linear motion; the front worm block support 3311 and the rear worm block support 3312 are used for supporting the first worm block 3316 to rotate thereon at the front side and the rear side of the robot body, respectively; the second waist steering engine 3314 is used for providing side swing power for the trunk and the waist;

referring to fig. 13, a spine 3317 is provided in the trunk 3302, the top of the spine 3317 is fixedly connected to the shoulders 323, and the bottom of the spine 3317 is connected to the rear worm mount 3312 via a rotation pair, so as to rotate relative to the rear worm mount 3312; a rudder base 3318 is further arranged on the rear worm block support 3312, and the rudder base 3318 is connected with the rear worm block support 3312 through another revolute pair; be equipped with third waist steering wheel 3319 on the steering wheel seat 3318, be equipped with second worm 3320 on the output shaft of third waist steering wheel 3319, be equipped with second worm 3321 on the second worm 3320, second worm 3321 can convert second worm 3320's rotation into linear motion, third waist steering wheel 3319 is used for doing truck and waist provide every single move power.

It can be understood that fig. 11 shows a mechanical structure of the waist and the trunk rotational degree of freedom, fig. 11 shows that the trunk and the rest of the waist of the robot are connected to a big gear, a first waist steering gear is used for driving a small gear in a rotating manner, and the small gear drives the big gear and the trunk fixedly connected with the big gear to move through meshing transmission, so that the rotation is realized.

Fig. 12 shows a mechanical structure of the side-swinging degree of freedom of the waist and the trunk, in fig. 12, a second waist steering engine is fixedly connected with a worm, and a worm block on the second waist steering engine is enabled to translate through the rotation of the worm, so that one side of the waist is pushed to ascend or descend, and the side swinging of the waist is realized.

Fig. 13 shows a mechanical structure of the pitch degree of freedom of the waist and the trunk, and in fig. 13, a third waist steering engine is fixedly connected with a worm, and a worm block on the worm is made to translate through rotation of the worm, so that the back of the spine is pushed to ascend or descend, and the pitch movement of the waist is realized.

Referring to fig. 14, preferably, the upper limb actuator 34 includes: left arm, right arm, left hand, right hand, wherein,

referring to fig. 15, the left arm comprises a left upper arm 3401 and a left lower arm 3402, the top end of the left upper arm 3401 is connected to the left end of the shoulder 323 through a universal bearing, the tail end of the left upper arm 3401 is connected to the top end of the left lower arm 3402 through a revolute pair, and the tail end of the left lower arm 3402 is connected with a left hand 3403 through another universal bearing; the left hand 3403 is mounted on a flute support 3404 for supporting a bamboo flute, the flute support 3404 is mounted on a cantilever 3405 extending from a spine 3317;

the right arm comprises a right big arm 3406 and a right small arm 3407, the top end of the right big arm 3406 is connected to the right end of the shoulder 323 through a universal bearing, the tail end of the right big arm is connected to the top end of the right small arm 3407 through a revolute pair, and the tail end of the right small arm 3407 is connected with the right hand 3408 through another universal bearing; the right hand 3408 is mounted on a flute support 3404;

a stepping motor and a speed reducer 3409 are installed in the middle of the spine 3317, and the cantilever 3405 is arranged on an output shaft of the speed reducer 3409; the stepper motor rotates to lift or lower the flute support 3404 together with the left and right hands 3403, 3408, and the arms are brought together to perform a lifting or lowering motion.

Referring to fig. 15, the robot has both hands mounted on a flute mount mounted on a cantilever extending from the spine. The flute support and the two hands are lifted up or put down through the rotation of the stepping motor on the spine, and the two arms are connected with each other to move up or put down.

Referring to fig. 16, the left hand 3403 and the right hand 3408 are preferably identical in structure and each includes three fingers;

each finger includes: finger root 3410, finger tip 3411, and finger tip joint 3412 connecting finger tip 3411 with a cylinder 3413, said cylinder 3413 performing pressing by pushing or pulling back finger tip 3411 through reciprocating linear motion; cylinder 3413 and finger tip 3411 are mounted on finger root 3410 through respective pairs of rotation.

Referring to fig. 16, fingers 1-6 of the left hand and the right hand are sequentially arranged on the flute support, and the finger cylinders push the fingertips to press the flute holes. Each fingertip is arranged on the base of the finger through a revolute pair, one end of the fingertip is connected with the air cylinder, and the fingertip is pushed or pulled back by the air cylinder, so that the flute hole can be pressed.

Referring to fig. 17, preferably, the lower limb actuator 35 includes:

a cross-shaped leg 3501 mounted below the waist, and a cross-shaped foot 3502 mounted at the end of the cross-shaped leg 3501;

a decorative armor sheet 3503 is wrapped around the periphery of the cross-shaped leg 3501;

the decorative armor 3503 is mounted on the top surface of the cross-shaped leg 3501 by a hinge.

Preferably, the decorative armor plates are 3, are uniformly wrapped on the periphery of the cross-shaped leg, are arranged on the top surface of the leg through hinges and can move; the rest of the structure will not move.

Referring to fig. 18, preferably, the airflow fine adjustment subsystem 31 includes:

an air pump 3101 connected to the processor through a relay for providing an air source;

the pressure reducing valve 3102 is connected with the air pump through an air pipe and is used for reducing the pressure of the air flow pumped by the air pump to a preset pressure value;

a proportional valve 3103, which is connected with the pressure reducing valve through an air pipe and is used for performing simulated fine adjustment on the air flow and the pressure of the flowing air flow;

and the electromagnetic valve 3104 is connected with the proportional valve through an air pipe and is used for controlling whether the air flow finely adjusted by the proportional valve is introduced into the bamboo flute.

It will be appreciated that in fig. 18, the on-off control signal for the gas supply, the analog control signal for the proportional valve, and the on-off control signal for the solenoid valve are generated by the processor.

It can be understood that, because the structure execution system also comprises the airflow fine adjustment subsystem, the accurate air volume adjustment and control can be provided for the bamboo flute playing, so that the tone and the tone accuracy of the bamboo flute playing are better, and various skill performances needing to be matched with the airflow control can be realized.

Finally, it should be noted that the intelligent learning system in the present application is configured to read an electronic music score to be played and generate a control command for playing the bamboo flute. The intelligent learning system has the main functions of intelligently reading and understanding the electronic music book, generating the control codes played by the bamboo flute robot, learning the playing technology of a human player, optimizing and finally outputting the playing control codes. Referring to fig. 19, the work flow of the intelligent learning system is as follows:

1. and (4) table lookup: and extracting note codes of the music score and corresponding time length from the electronic music score by searching a standard electronic music score note table.

2. Filling in a form: mapping the extracted music score note codes and the corresponding time lengths thereof into music arrays. The mapping rules and meanings are shown in table one.

Watch 1

3. Checking a template:

searching a program template, wherein the specific meaning is as follows:

1)delay(Time00)

for the array content (0,0, Time00) generated in step 2, the Time00 milliseconds are delayed, during which no playing is performed.

2)NoteCtrl(Range,Note,Time)

And (3) for the array contents (scale, singing name and Time) generated in the step 2, when the scale is not 0, filling the function, wherein Range is the scale, Note is the singing name, and Time is the Time (ms), and the function is used for controlling the fingers of the bamboo flute playing robot to make corresponding fingering and simultaneously providing corresponding gas flow and pressure.

4. Filling procedure: and filling the music array generated in the step 2 into a control program code segment according to the program template to generate a control program code.

5. Comparing with expert experience: the expert knowledge is abstracted into control functions and parameters by learning the playing skills and experience knowledge of the human player. For example, for the spitting at the beginning of the music, the Time of the function delay can be reduced, and the reduced Time is distributed to a "spitting" control function nomagnoectrl (Range, Note, Time), so that fingering, pressure and air volume are adjusted in place in advance, and when a Note needs to be played, a valve is opened to ventilate, and a "spitting" control effect is formed.

6. Rewriting the code: and rewriting and optimizing the control codes according to the parameterized expert experience to generate a final optimized control program for playing the bamboo flute by the robot.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims. The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.

Claims (10)

1. A bamboo flute playing robot, comprising:

the intelligent learning system is used for reading the electronic music score to be played and generating a control instruction for playing the bamboo flute;

the motion control system is used for generating a bottom layer control level signal according to the control instruction;

and the structure execution system comprises an execution mechanism with a plurality of freedom degrees of movement and is used for executing corresponding playing and dancing actions according to the bottom layer control level signals.

2. The bamboo flute playing robot as claimed in claim 1, wherein the structure executing system further comprises:

and the airflow fine adjustment subsystem is used for providing accurate airflow adjustment and control for bamboo flute playing.

3. The bamboo flute playing robot as claimed in claim 2, wherein the motion control system comprises:

the processor is used for generating level signals required by each actuating mechanism according to the control instructions generated by the intelligent learning system so as to drive each actuating mechanism to execute corresponding playing actions;

the serial port control module is connected with the processor and is used for data communication between the processor and the intelligent learning system;

the steering engine control board is connected with the processor and used for controlling the steering engine of the executing mechanism to move;

the stepping motor driver is connected with the processor and used for providing a driving signal for the stepping motor of the actuating mechanism;

the voltage follower is connected with the processor and is used for driving the proportional valve of the airflow fine adjustment subsystem to provide analog fine adjustment of airflow and pressure intensity for the airflow flowing through;

and the relay is connected with the processor and is used for controlling the opening and closing of the electromagnetic valve of the airflow fine adjustment subsystem.

4. The bamboo flute playing robot as claimed in claim 1, wherein the structure executing system comprises:

the head executing mechanism is used for executing mechanical actions of three degrees of freedom of head rotation, side sway and pitching under the control of the motion control system;

the waist and trunk executing mechanism is used for executing mechanical actions with three degrees of freedom of rotation, lateral swinging and pitching of the waist and the trunk under the control of the motion control system;

the upper limb execution mechanism is used for executing mechanical actions of lifting or putting down one degree of freedom by the arm and pressing six degrees of freedom of the flute hole of the bamboo flute by six fingers under the control of the motion control system;

and the lower limb actuating mechanism is used for supporting the head actuating mechanism, the waist and trunk actuating mechanisms and the upper limb actuating mechanism, and has no active degree of freedom.

5. The bamboo flute playing robot as claimed in claim 4, wherein the head actuator comprises: head, neck and shoulders, wherein,

the head comprises a face and a back head, the head is arranged on a first head steering engine for providing rotary power through a steering engine base, and the first head steering engine is arranged on the neck through a steering engine support;

a bidirectional bearing is arranged below the steering engine supporting platform, and the neck is arranged on the shoulder and used for supporting the bidirectional bearing; a second head steering engine is arranged on the shoulder, is connected with the bidirectional bearing through a fisheye bearing and is used for providing side swinging power for the head;

a third head steering engine is further arranged on the shoulder, is connected with the bidirectional bearing through a worm and a worm block and is used for providing pitching power for the head; a steering engine base fixedly connected with the third head steering engine is arranged on the neck, and the steering engine base and the neck can rotate relatively; the rudder engine base is fixedly connected with the worm, and the worm block does linear motion along the worm on one hand and rotates relative to the bidirectional bearing on the other hand.

6. The bamboo flute playing robot as claimed in claim 5, wherein the waist and trunk actuator comprises: a waist portion, and a torso connecting the waist portion and the shoulders, wherein,

the waist gear disc is arranged on a large gear which is meshed with a small gear, the large gear and the small gear are arranged in a gear box, and the small gear is arranged on an output shaft of a first waist steering engine through a steering engine seat; the first waist steering engine is used for providing rotary power for the waist and the trunk;

the waist part comprises a front waist part supporting piece and a rear waist part supporting piece, a front worm block supporting table and a rear worm block supporting table are correspondingly arranged above the front waist part supporting piece and the rear waist part supporting piece, a gas spring is arranged between the front waist part supporting piece and the front worm block supporting table, and a gas spring is also arranged between the rear waist part supporting piece and the rear worm block supporting table;

a second waist steering engine is arranged in the waist, a first worm is arranged on an output shaft of the second waist steering engine, a first worm block is arranged on the first worm, and the first worm block can convert the rotation of the first worm into linear motion; the front worm block supporting platform and the rear worm block supporting platform are used for supporting the first worm block to rotate on the front side and the rear side of the robot body respectively; the second waist steering engine is used for providing side swinging power for the trunk and the waist;

a spine is arranged in the trunk, the top end of the spine is fixedly connected with the shoulders, and the bottom end of the spine is connected with the rear worm block supporting platform through a revolute pair and can rotate relative to the rear worm block supporting platform; the rear worm block supporting platform is also provided with a rudder base, and the rudder base is connected with the rear worm block supporting platform through another revolute pair; the steering wheel seat is provided with a third waist steering wheel, an output shaft of the third waist steering wheel is provided with a second worm, the second worm is provided with a second worm block, the second worm block can convert the rotation of the second worm into linear motion, and the third waist steering wheel is used for providing pitching power for the trunk and the waist.

7. The bamboo flute playing robot as claimed in claim 6, wherein the upper limb actuator comprises: left arm, right arm, left hand, right hand, wherein,

the left arm comprises a left upper arm and a left lower arm, the top end of the left upper arm is connected to the left end of the shoulder through a universal bearing, the tail end of the left upper arm is connected to the top end of the left lower arm through a revolute pair, and the tail end of the left lower arm is connected with the left hand through another universal bearing; the left hand is arranged on a flute support for supporting the bamboo flute, and the flute support is arranged on a cantilever extending out of the spine;

the right arm comprises a right big arm and a right small arm, the top end of the right big arm is connected to the right end of the shoulder through a universal bearing, the tail end of the right big arm is connected to the top end of the right small arm through a revolute pair, and the tail end of the right small arm is connected with the right hand through another universal bearing; the right hand is arranged on the flute support;

the middle part of the spine is provided with a stepping motor and a speed reducer, and the cantilever is arranged on an output shaft of the speed reducer; the stepping motor rotates to lift or put down the flute support together with the left hand and the right hand, and the two arms move together to lift or put down.

8. The bamboo flute playing robot as set forth in claim 7,

the left hand and the right hand have the same structure and comprise three fingers;

each finger includes: the finger pressing device comprises a finger root, a finger tip and a finger tip joint for connecting the finger tip with an air cylinder, wherein the air cylinder pushes or pulls the finger tip to realize pressing through reciprocating linear motion; the cylinder and the finger tip are respectively arranged on the finger root through respective revolute pairs.

9. The bamboo flute playing robot as claimed in claim 6, wherein the lower limb actuator comprises:

a cross leg mounted below the waist, and a cross foot mounted at the end of the cross leg;

the periphery of the cross-shaped leg is wrapped with a decorative nail sheet;

the decorative armor plate is installed on the top surface of the cross-shaped leg through a hinge.

10. The bamboo flute playing robot as claimed in claim 3, wherein the airflow fine adjustment subsystem comprises:

the air pump is connected with the processor through a relay and is used for providing an air source;

the pressure reducing valve is connected with the air pump through an air pipe and is used for reducing the pressure of the air flow pumped by the air pump to a preset pressure value;

the proportional valve is connected with the pressure reducing valve through an air pipe and is used for performing simulated fine adjustment on the air flow and the pressure of the flowing air flow;

and the electromagnetic valve is connected with the proportional valve through an air pipe and is used for controlling whether the air flow finely adjusted by the proportional valve is introduced into the bamboo flute.

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