CN213034628U - Row drum playing robot - Google Patents

Abstract

The utility model relates to a drum-arranging playing robot, which comprises an intelligent analysis system, a control system and a control system, wherein the intelligent analysis system is used for acquiring an electronic music book to be played and generating a control instruction for drum-beating performance; the motion control system is used for generating a bottom layer control level signal according to the control instruction; 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; the utility model discloses a to improve and strike the frequency, reach the penetrating audio that row's drum struck, row's drum robot uses pneumatic actuator, has improved greatly and has struck the frequency, has guaranteed the performance effect, in addition in order to improve the learning ability of robot musician, row's drum playing robot has possessed the function of intelligent recognition of music score and execution; the limbs of the drum-row playing robot have rich freedom of movement, so that the drum-row playing robot is more expressive in playing, and the interaction feeling of a stage is enhanced through the exaggerated limb embodiment.

Description

Row drum playing robot

Technical Field

The utility model belongs to the technical field of artificial intelligence, concretely relates to arrange drum and play robot.

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, the existing robot of percussion instrument is mainly a jazz drum abroad. Percussion instrument class music robot generally comprises a plurality of steering wheel, and the degree of freedom is many, and the action is fast, and the performance is effectual, therefore also is the one direction of many researches. However, it is known in the published literature that the existing percussion robot is driven only by a motor, and only a western musical instrument can be played, and the frequency of percussion playing is not too high; and the intelligent recognition and execution capabilities are limited, and the complex and rich body motion representation capability is not provided. And a set of unified and universal music coding and decoding system is not provided, only a few selected songs are available, other songs need to be customized to a company, and flexible random song selection and playing can not be realized.

In summary, the existing robot has no intelligent spectrum recognition and execution capability. In addition, the motion of the robot is quite monotonous and does not have complex limb motion expression.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at overcoming the not enough of prior art, providing a arrange drum and play robot to it is monotonous to solve among the prior art when robot plays, does not possess the problem of intelligence recognition of score and executive ability.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a drum-in-line performance robot comprising:

the intelligent analysis system is used for acquiring an electronic music score to be played and generating a control instruction for drum beating performance;

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.

Further, the motion control system includes:

the single chip microcomputer is used for generating level signals required by each actuating mechanism according to the control instructions generated by the intelligent analysis system so as to drive each actuating mechanism to execute corresponding playing and dance actions;

the serial port control module is used for data communication between the single chip microcomputer and the intelligent analysis system;

the steering engine control board is used for controlling the steering engine of the actuating mechanism to move;

the electromagnetic valve assembly group is used for controlling the large air cylinder and the small air cylinder of the actuating mechanism to move;

the motor driver is used for providing a driving signal for the stepping motor;

the relay is used for amplifying the control level signal;

the serial port control module, the steering engine control panel, the motor driver, the electromagnetic valve assembly and the relay are respectively connected with the single chip microcomputer.

Further, the motion control system further includes:

the 24V power module is used for providing electric energy for the motor driver and the electromagnetic valve assembly;

and the 7V power supply module is used for providing electric energy for the single chip microcomputer and the steering engine control panel.

Further, the structure execution system includes:

the head actuating mechanism is used for connecting the bottom mechanism;

the upper limb execution mechanism is used for executing mechanical actions of one degree of freedom of shoulder rotation and three degrees of freedom of arm beating, elbow bending and arm lifting under the control of the motion control system;

and the lower limb executing mechanism is used for supporting the head executing mechanism, the upper limb executing mechanism and the lower limb executing mechanism and has no active degree of freedom.

Further, the head actuator comprises

Three long arcs, six short arcs and a nose;

the six short circular arcs are arranged in two rows and are symmetrical by taking the nose as a central axis;

the three long circular arcs, the six short circular arcs and the nose are all formed by 3D printing of resin materials.

Further, the upper limb actuator includes: the shoulder part is rigidly connected with the plurality of arms;

the shoulder steering engine is arranged on the shoulder and used for providing rotating power for the shoulder; the shoulder part is fixed on a gear disc, the gear disc is arranged on a large gear, the large gear 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 the shoulder steering engine through a shoulder steering engine base; the shoulder steering engine is used for providing rotary power for the shoulder.

Further, the arm includes: a large arm consisting of two large arm structural parts, a small arm consisting of two small arm structural parts and a wrist;

the large arm is provided with a stepping motor and a speed reducer, one large arm structural part of the large arm is arranged on an output shaft of the speed reducer, and the other large arm structural part is connected with one end, opposite to the output shaft of the speed reducer, of the large arm; the stepping motor rotates to provide power for lifting or lowering the large arm and carry out lifting or lowering actions on the arm;

the big arm is connected with the wrist through the small arm, a cross beam is arranged between two small arm structural members of the small arm and connected with a power output shaft of a big cylinder, the big cylinder realizes elbow bending action by pushing the cross beam between the two small arm structural members, the big cylinder is connected with the big arm through a big cylinder base, and the big cylinder base and the big arm rotate relatively;

the wrist is connected with the forearm at a certain angle and is used for effectively knocking the drumstick to the drumhead when the drumstick is knocked; the wrist is connected with one point of the drumstick, the other point of the drumstick is connected with a small cylinder, and the small cylinder is arranged between the two small arm structural members and used for providing driving force for the drumstick to hit the drum through reciprocating linear motion so as to realize drumstick knocking.

Further, the lower limb actuator comprises: thighs, calves and feet;

the thigh is connected with the shoulder through a waist supporting steel sheet, the waist supporting steel sheet is connected with the thigh through a crotch disc, and a waist base is arranged below the crotch disc and used for supporting the head, the shoulder and the arm;

the thighs, the shanks and the feet are all made of hardwood in a carving mode.

Furthermore, the speed reducer adopts a planetary gear speed reducer.

Further, the number of the arms is 4.

The utility model adopts the above technical scheme, the beneficial effect that can reach includes:

the utility model discloses a to improve and strike the frequency, reach the penetrating audio that row's drum struck, row's drum robot uses pneumatic actuator, has improved greatly and has struck the frequency, has guaranteed the performance effect, in addition in order to improve the learning ability of robot musician, row's drum playing robot has possessed the function of intelligent recognition of music score and execution; the limbs of the drum-row playing robot have rich freedom of movement, so that the drum-row playing robot is more expressive in playing, and the interaction feeling of a stage is enhanced through the exaggerated limb embodiment.

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 drum-in-drum playing robot according to an embodiment of the present invention;

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

fig. 3 is a front view of a drum-in-drum playing robot according to an embodiment of the present invention;

fig. 4 is a left side view of a drum-in-line playing robot according to an embodiment of the present invention;

fig. 5 is a top view of a drum arrangement 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 an overall structural view of a shoulder actuator according to an embodiment of the present invention;

fig. 8 is a mechanical structure diagram of the shoulder rotational degree of freedom according to an embodiment of the present invention;

fig. 9 is an overall structural view of an arm according to an embodiment of the present invention;

fig. 10 is a front view of a lower limb actuator according to an embodiment of the present invention;

fig. 11 is a left side view of a lower limb actuator according to an embodiment of the present invention;

fig. 12 is a top view of a lower limb actuator according to an embodiment of the present invention;

fig. 13 is a flowchart illustrating the operation of the intelligent learning system 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.

A specific drum-in-line playing robot provided in the embodiment of the present application will be described below with reference to the accompanying drawings.

As shown in fig. 1, the drum-in-line playing robot provided in the embodiment of the present application includes:

the intelligent analysis system 1 is used for acquiring an electronic music score to be played and generating a control instruction for drum beating performance;

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.

The operating principle of the drum-arranging playing robot is as follows: the intelligent analysis system 1 acquires an electronic music score to be played and generates a control instruction for drum beating performance; the motion control system 2 generates a bottom layer control level signal according to the control instruction; the structure executing system 3 is provided with a plurality of actuating mechanisms with movement freedom degrees and is used for executing corresponding playing and dancing actions according to the bottom layer control level signals. Specifically, the drum playing robot comprises 3 parts including an intelligent analysis system 1, a motion control system 2 and a structure execution system 3, wherein the three parts are equivalent to 'brain', 'cerebellum' and 'skeletal muscle' of the robot, the intelligent analysis system 1 makes a decision to generate a control command, the motion control system 2 generates a bottom layer control level signal, and the specific action of the structure execution system 3 finally realizes dance and playing of the robot.

In some embodiments, as shown in fig. 2, the motion control system 2 includes:

the singlechip 21 is used for generating level signals required by each actuating mechanism according to the control commands generated by the intelligent analysis system 1 so as to drive each actuating mechanism to execute corresponding playing and dancing actions;

the serial port control module 22 is used for data communication between the single chip microcomputer 21 and the intelligent analysis system 1;

the steering engine control board 23 is used for controlling the steering engine of the actuating mechanism to move;

the electromagnetic valve assembly group 24 is used for controlling the large air cylinder and the small air cylinder of the actuating mechanism to move;

a motor driver 25 for providing a driving signal to the stepping motor;

a relay 26 for amplifying the control level signal;

the serial port control module 22, the steering engine control panel 23, the motor driver 25, the electromagnetic valve assembly 24 and the relay 26 are respectively connected with the single chip microcomputer 21.

Preferably, the motion control system 2 further includes:

a 24V power module 27, configured to provide electric energy to the motor driver 25 and the solenoid valve assembly 24;

and the 7V power supply module 28 is used for providing electric energy for the singlechip 21 and the steering engine control panel 23.

Specifically, the motion control system 2 receives a control command sent by the intelligent learning system, and the control circuit generates level signals required by each actuator to drive the actuators to act. The control circuit has the following principle:

the single chip microcomputer 21: the core component of the motion control system 2 generates a required 5V control level signal at a corresponding output pin according to a control instruction; program downloading and debugging of the singlechip 21 by an external computer can be accepted;

the relay 26: amplifying the 5V switch control level signal into a 24V switch control level signal;

solenoid valve integrated group 24: the 24V switch level signal controls the movement of 8 air cylinders on the arm;

the serial port control module 22: the motion control system 2 is in serial port communication with an external system through the module;

steering engine control panel 23: generating a PWM square wave according to a control instruction, and controlling a steering engine; the steering gears referred to herein include all of the steering gears in the following embodiments.

The motor driver 25: the 4 stepping motor drivers 25 control the rotation of the 4 stepping motors of the shoulder;

24V power supply module 27: 24V direct current power supply is provided for the stepping motor and the electromagnetic valve assembly 24;

7V power module 28: and 7V direct-current power supplies are provided for the singlechip 21, the steering engine control panel 23 and the steering engine.

Specifically, the work flow of the motion control system 2 is as follows:

allocating a control address: in the singlechip 21, distributing input and output register addresses for each output control signal by a software programming method;

analyzing the control command: the software of the singlechip 21 analyzes the control instruction input by the intelligent learning system to obtain the logic and numerical time sequence of the address of each input/output register;

generating a control electrical signal: the single chip 21 generates 5V switching 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 electrical signals required for driving the actuator through the relay 26 or the voltage follower.

In some embodiments, as shown in fig. 3, 4 and 5, the structure implementing system 3 comprises:

a head actuator 31 for connecting to the base mechanism; the bottom mechanism comprises an upper limb mechanism and a lower limb actuating mechanism 33;

an upper limb actuator 32, which is used for executing mechanical actions of one degree of freedom of shoulder rotation and three degrees of freedom of arm beating, elbow bending and arm lifting under the control of the motion control system 2;

and a lower limb actuator 33 for supporting the head actuator 31, the upper limb actuator 32, and the lower limb actuator 33 without any degree of active freedom.

Specifically, the head actuator 31 can determine the front and back of the drum-in-line performance robot, and the head actuator 31 is connected to the upper limb actuator 32 and the lower limb actuator 33, the upper limb actuator 32 performs mechanical motions with one degree of freedom in shoulder rotation and three degrees of freedom in arm beating, elbow bending, and arm raising, and the lower limb actuator 33 supports the head actuator 31, the upper limb actuator 32, and the lower limb actuator 33 without any degree of freedom in movement. Thereby realizing the robot that can carry out the playing of beating the drum in this application.

Preferably, as shown in FIG. 6, the head actuator 31 includes

Three long arcs 311, six short arcs 312, and a nose 313;

the six short circular arcs 312 are arranged symmetrically in two rows by taking the nose 313 as a central axis;

the three long circular arcs 311, the six short circular arcs 312 and the nose 313 are all formed by 3D printing of resin materials.

Specifically, the head is formed by 3D printing of a resin material and is composed of 3 long circular arcs 311, 6 short circular arcs 312 and 1 nose 313, so that the head gives an aesthetic feeling to people.

In some embodiments, as shown in fig. 7, the upper limb actuator 32 includes: a shoulder 321 and a plurality of arms 322, wherein the shoulder 321 is rigidly connected with the plurality of arms 322;

as shown in fig. 8, the shoulder 322 is provided with a shoulder steering gear 323 for providing a rotation power for the shoulder 321; the shoulder 321 is fixed on a gear disc 324, the gear disc 324 is arranged on a large gear 325, the large gear 325 is meshed with a small gear 326, the large gear 325 and the small gear 326 are arranged in a gear box 328, and the small gear 326 is arranged on an output shaft of the shoulder steering engine 323 through a shoulder steering engine base 327; the shoulder steering gear 323 is used for providing rotary power for the shoulder 321.

Preferably, there are 4 arms 322.

Specifically, as shown in fig. 3, 4 and 5, in the application, there are 5 Chinese wind discharging drums 34, four arms 322 are uniformly distributed right in front of the shoulder 321, and the arms 322 are rigidly connected with the shoulder 321 and rotate together with the rotation of the shoulder 321; since the national wind discharging drum 34 is five drums, if the four arms 322 knock the drum, the rotation is certainly needed to ensure the normal rhythm, and the rotation of the shoulder 321 is driven by the shoulder steering gear 323. The mechanical structure of the rotational degree of freedom of the shoulder 321 and the arm 322 is shown in fig. 8, the robot arm 322 and the rest of the shoulder 321 are connected to a large gear 325, a steering gear 323 is used for rotationally driving a small gear 326, and the small gear 326 drives the large gear 325 and a shoulder 321 disc fixedly connected with the large gear 325 to move through meshing transmission, so that rotation is realized.

In some embodiments, as shown in fig. 9, the arm 322 includes: a large arm 3221 consisting of two large arm structural members, a small arm 3222 consisting of two small arm structural members and a wrist 3223;

a stepping motor 3224 and a speed reducer 3225 are mounted on the large arm 3221, one large arm structural member of the large arm 3221 is arranged on an output shaft of the speed reducer 3225, and the other large arm structural member is connected with one end, opposite to the output shaft of the speed reducer 3225; the stepping motor 3224 rotates to provide power for lifting or lowering the large arm 3221, and the arm 322 is connected with the power for lifting or lowering;

specifically, the two large arm structural members may rotate relative to each other, and the speed reducer 3225 may reduce the speed of the high-speed power output by the stepping motor 3224 by a certain ratio.

The big arm 3221 is connected with the wrist 3223 through the small arm 3222, a cross beam is arranged between two small arm structural members of the small arm 3222, the cross beam is connected with a power output shaft of the big cylinder 3226, the big cylinder 3226 realizes elbow bending action by pushing the cross beam between the two small arm structural members, the big cylinder 3226 is connected with the big arm 3221 through a base of the big cylinder 3226, and the base of the big cylinder 3226 and the big arm 3221 rotate relatively;

specifically, the big cylinder 3226 provides the power for bending elbow, and the base of the big cylinder 3226 is connected with the big arm 3221, and the base of the big cylinder 3226 and the big arm 3221 can rotate relatively. The large cylinder 3226 achieves the elbow flexion by pushing the cross beam between the two small arm structures.

The wrist 3223 is connected with the lower arm 3222 at an angle, and is used for the drumstick 3227 to effectively knock on the drumhead during knocking; the wrist 3223 is connected to one point of the drumstick 3227, the other point of the drumstick 3227 is connected to the small cylinder 3228, the small cylinder 3228 is arranged between the two arm structural members and used for providing driving force for the drumstick 3227 to hit a drum through reciprocating linear motion, and one end point of the two points of the drumstick 3227 opposite to the two points of the drumstick 3227 forms three points of a lever, so that the drumstick 3227 hits.

There are two points connected to the drumstick 3227, one point connected to the small cylinder 3228, the other point connected to the wrist 3223, and the two points forming three points of a lever with the leftmost end of the drumstick 3227, which form the beating action of the drumstick 3227. The wrist 3223 is rigidly attached to the lower arm 3222 and is angled to provide effective striking of the drumstick 3227 against the drumhead during a tap. The small cylinder 3228 provides driving force for the drumstick 3227 to hit the drum, and the small cylinder 3228 provides power to the drumstick 3227 by means of the linear reciprocating stroke through the principle of leverage.

Preferably, to ensure strength, the arms 322 are machined from aluminum alloy with 3 degrees of freedom of movement. Wherein the degree of freedom of the drumstick 3227 tap is driven by the small cylinder 3228; elbow bending freedom is driven by a large cylinder 3226; the degree of freedom of translation of the large arm 3221 is driven by a motor. The wrist 3223, the small arm 3222 and the large arm 3221 of the arm 322 adopt a double-support structure, so that the rigidity of the arm 322 can be improved, and the large-amplitude shaking during rotation can be avoided.

In some embodiments, as shown in fig. 10, 11 and 12, the lower limb actuator 33 includes: thigh 331, calf 332, and foot 333;

the thigh 331 is connected with the shoulder 321 through a lumbar support steel sheet 334, the lumbar support steel sheet 334 is connected with the thigh 331 through a crotch disc 335, and a lumbar base 336 is arranged below the crotch disc 335 and is used for supporting the head, the shoulder 321 and the arm 322;

the thigh 331, the calf 332 and the foot 333 are all made by carving with hardwood.

Specifically, the waist is formed by cutting and welding 6mm steel sheets, the legs and the feet are made by carving with hard wood, the freedom of movement is avoided, although the structures of the waist, the legs and the feet are all structures without freedom of movement, the designed structures are artistic, the waist supporting steel sheet 334 is made of steel, a simple hollow-like structure embodiment form is adopted, and the design is simplified as much as possible on the premise of ensuring the strength; the stepping disc is made of wood and is a connecting structure between the waist and the legs; the thigh 331 is wood and is connected with the shank 332, and a curved contour is added to increase the aesthetic feeling; the lower legs 332 are wooden, and the lower legs 332 are added with not only a curved profile, but also a decorative structure so that the whole body looks more vivid; the waist base 336 is made of wood, is used for supporting the whole body of the row drum robot and is used as an intermediate structure for connecting the body and the bottom plate; the feet 333 are wooden, and a decorative structure corresponding to the lower legs 332 is added, so that the whole body looks more complete.

Finally, it should be noted that the main role of the intelligent parsing system in the present application is to intelligently understand and analyze the electronic music score and generate the control codes for the drum-beating performance of the drum-arranging robot. The workflow of the intelligent analysis system is as follows,

1. intelligent analysis system

The intelligent analysis system has the main function of intelligently understanding and analyzing the electronic music score and generating control codes for drum-beating performance of the drum-arranging robot. The workflow of the intelligent parsing system is shown in fig. 13.

(1) Look-up table

The drum beating sequence number of the music score and the corresponding interval time length thereof are extracted from the electronic music score by looking up the drum number table shown in table 1.

TABLE 1

(2) Fill-in form

Mapping the extracted drum beating sequence number of the music score and the corresponding interval time length of the music score into a music array. The mapping rules and meanings are shown in table 2.

TABLE 2

(3) Checking template

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

1)ServoMotorCtrl(AngleRot,TimeRot)

since the drum-in-line performance robot has only 4 arms but needs to strike 5 drums, it is necessary to rotate the waist in due time in accordance with the combination of striking the drum-in-line, and it is impossible to strike drum No. 1 and drum No. 5 at the same time.

servoMotorCtrl (AngleRot, TimeRot) is a function controlling the rotation of the robot waist, wherein AngleRot is the rotation angle, and TimeRot is the sum of the rotation time and the dwell time. When the drum line playing robot switches from one tapping combination (e.g., the combination containing drum No. 1) to another (e.g., the combination containing drum No. 5), the function ServoMotorCtrl (AngleRot, TimeRot) will cause the waist of the drum line playing robot to rotate from anglerrot 1 to anglerrot 5 in the time of TimeRot min, and pause for the TimeRot-TimeRot min time.

2)WristBeat(Drum1,Drum2,Drum3,Drum4,TimeBeat)

Controlling the robot to beat the row drum with the wrist. The robot will tap Drum rows of Drum numbers Drum1, Drum2, Drum3 and Drum4, and then the TimeBeat time is passed for the next action. Drum1 through Drum4 are two-digit integer variables with 1 or 5 as the first digit, indicating that the strike combination contains Drum number 1 or Drum number 5, respectively. Drum1 must not be zero, but the remaining three Drum rows may be numbered zero. A non-zero time indicates that multiple drums are being tapped at the same time.

(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.

In summary, the utility model provides a drum arrangement playing robot, which aims to improve the knocking frequency and achieve the penetrating sound effect of drum arrangement striking, the drum arrangement playing robot uses a pneumatic executive device, thereby greatly improving the knocking frequency and ensuring the playing effect, and in addition, the drum arrangement playing robot has the functions of intelligent music score recognition and execution in order to improve the learning ability of the robot musicians; the limbs of the drum-row playing robot have rich freedom of movement, so that the drum-row playing robot is more expressive in playing, and the interaction feeling of a stage is enhanced through the exaggerated limb embodiment.

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.

Claims (10)

1. A drum-in-line performance robot, comprising:

the intelligent analysis system is used for acquiring an electronic music score to be played and generating a control instruction for drum beating performance;

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 drum set playing robot according to claim 1, wherein the motion control system comprises:

the single chip microcomputer is used for generating level signals required by each actuating mechanism according to the control instructions generated by the intelligent analysis system so as to drive each actuating mechanism to execute corresponding playing and dance actions;

the serial port control module is used for data communication between the single chip microcomputer and the intelligent analysis system;

the steering engine control board is used for controlling the steering engine of the actuating mechanism to move;

the electromagnetic valve assembly group is used for controlling the large air cylinder and the small air cylinder of the actuating mechanism to move;

the motor driver is used for providing a driving signal for the stepping motor;

the relay is used for amplifying the control level signal;

the serial port control module, the steering engine control panel, the motor driver, the electromagnetic valve assembly and the relay are respectively connected with the single chip microcomputer.

3. The drum set playing robot according to claim 2, wherein the motion control system further comprises:

the 24V power module is used for providing electric energy for the motor driver and the electromagnetic valve assembly;

and the 7V power supply module is used for providing electric energy for the single chip microcomputer and the steering engine control panel.

4. The drum set playing robot according to claim 1, wherein the structure executing system comprises:

the head actuating mechanism is used for connecting the bottom mechanism;

the upper limb execution mechanism is used for executing mechanical actions of one degree of freedom of shoulder rotation and three degrees of freedom of arm beating, elbow bending and arm lifting under the control of the motion control system;

and the lower limb executing mechanism is used for supporting the head executing mechanism, the upper limb executing mechanism and the lower limb executing mechanism and has no active degree of freedom.

5. The drum set playing robot according to claim 4, wherein the head actuator includes

Three long arcs, six short arcs and a nose;

the six short circular arcs are arranged in two rows and are symmetrical by taking the nose as a central axis;

the three long circular arcs, the six short circular arcs and the nose are all formed by 3D printing of resin materials.

6. The drum set playing robot according to claim 4, wherein the upper limb actuator comprises: the shoulder part is rigidly connected with the plurality of arms;

the shoulder steering engine is arranged on the shoulder and used for providing rotating power for the shoulder; the shoulder part is fixed on a gear disc, the gear disc is arranged on a large gear, the large gear 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 the shoulder steering engine through a shoulder steering engine base; the shoulder steering engine is used for providing rotary power for the shoulder.

7. The drum set playing robot according to claim 6, wherein the arm includes: a large arm consisting of two large arm structural parts, a small arm consisting of two small arm structural parts and a wrist;

the large arm is provided with a stepping motor and a speed reducer, one large arm structural part of the large arm is arranged on an output shaft of the speed reducer, and the other large arm structural part is connected with one end, opposite to the output shaft of the speed reducer, of the large arm; the stepping motor rotates to provide power for lifting or lowering the large arm and carry out lifting or lowering actions on the arm;

the big arm is connected with the wrist through the small arm, a cross beam is arranged between two small arm structural members of the small arm and connected with a power output shaft of a big cylinder, the big cylinder realizes elbow bending action by pushing the cross beam between the two small arm structural members, the big cylinder is connected with the big arm through a big cylinder base, and the big cylinder base and the big arm rotate relatively;

the wrist is connected with the forearm at a certain angle and is used for effectively knocking the drumstick to the drumhead when the drumstick is knocked; the wrist is connected with one point of the drumstick, the other point of the drumstick is connected with a small cylinder, and the small cylinder is arranged between the two small arm structural members and used for providing driving force for the drumstick to hit the drum through reciprocating linear motion so as to realize drumstick knocking.

8. The drum set playing robot according to claim 6, wherein the lower limb actuator comprises: thighs, calves and feet;

the thigh is connected with the shoulder through a waist supporting steel sheet, the waist supporting steel sheet is connected with the thigh through a crotch disc, and a waist base is arranged below the crotch disc and used for supporting the head, the shoulder and the arm;

the thighs, the shanks and the feet are all made of hardwood in a carving mode.

9. A drum set playing robot according to claim 7,

the speed reducer adopts a planetary gear speed reducer.

10. A drum set playing robot according to claim 6,

the number of the arms is 4.

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