CN220179340U - Double-robot musical instrument playing mechanism - Google Patents

Abstract

The utility model discloses a double-robot musical instrument playing mechanism, which comprises a piano and two groups of robots, wherein the two groups of robots are arranged on the front side of the piano side by side, and the front end of an arm of each robot is provided with a finger mechanism for pressing keys; the piano is characterized in that a linear motor matched with four groups of movers is arranged between the piano and the robot through a support, the joint of each group of arms of the robot and the finger mechanism arranged at the front end of the arms of the robot is fixed on the corresponding mover of the linear motor through a corresponding connecting plate, and the arms of the robot and the finger mechanism are driven to move through the linear motor, so that the piano is played. According to the utility model, arms and fingers can move along with music on keys, the head of the robot can swing along with the music and eyes can change with the beat of the music to different lamplight, so that the overall harmony and aesthetic feeling of the robot during playing are improved; the finger for pressing the key is driven by the air cylinder, and the structure is simple and the cost is low.

Description

Double-robot musical instrument playing mechanism

Technical Field

The utility model belongs to the field of playing robots, and particularly relates to a double-robot playing mechanism.

Background

With the development of technology, robotics have played an increasingly important role in industry and life. Current robots are used in industrial production to replace people to implement fixed programmed actions. How to develop a robot that can be used to carry out the performance of high degree of difficulty piano for it not only can simulate various actions of people, truly strike the piano key, accomplish a first perfect piano song, but also can be applied to various occasions such as teaching institutions, science and technology venues, amusement places, high-grade market, also can ceramic public's intelligence operation when demonstrate high-tech technology, builds artistic atmosphere, and this becomes the hotspot direction of research in industry.

At present, the existing robot for playing the piano adopts an industrial robot as a body, a manipulator is arranged at the tail end of the industrial robot, the action of a physical key is realized through the movement of the industrial robot and the knocking of the manipulator, and generally, the robot needs two identical robots to be mutually matched so as to achieve a better playing effect. However, such robots are expensive and bulky, and in some of them, a cylinder or an electromagnet is installed at each key or part of the keys to press the corresponding key, thereby making different sounds. The mode is simple in structure, but the robot is equivalent to two independent modules, and the arm of the robot cannot move along with music on the keys, so that the whole robot is not inconsistent.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model aims to provide a double-robot musical instrument playing mechanism so as to realize that a robot arm and a finger can move along with music on a key and improve the overall harmony and aesthetic feeling.

In order to achieve the technical purposes and effects, the utility model is realized by the following technical scheme:

the double-robot piano-playing mechanism comprises a piano and two groups of robots, wherein the two groups of robots are arranged on the front side of the piano side by side, and the front end of each arm of each robot is provided with a finger mechanism for pressing a key; the piano is characterized in that a linear motor matched with four groups of movers is arranged between the piano and the robot through a support, the joint of each group of arms of the robot and the finger mechanism arranged at the front end of the arms of the robot is fixed on the corresponding mover of the linear motor through a corresponding connecting plate, and the arms of the robot and the finger mechanism are driven to move through the linear motor, so that the piano is played.

Further, the arm on the robot and the finger mechanism arranged at the front end of the arm are both fixed on the corresponding connecting plate.

Further, the finger mechanism comprises a fixed plate, five groups of fingers for pressing the piano keys are arranged above the fixed plate side by side, a pin shaft is arranged in the middle of each finger in a penetrating manner, and two ends of each pin shaft are fixed at the upper end of the fixed plate through supporting seats respectively; the rear ends of the fingers are respectively hinged with a driving unit, the fingers can rotate around the pin shafts through driving of the driving units, and the driving units are fixed on the fixing plates.

Furthermore, the front end of the finger is sleeved with a rubber sleeve.

Further, the driving unit adopts an air cylinder; the cylinder is vertically fixed on the lower end face of the fixed plate through the body of the cylinder; and after the piston rod of the air cylinder penetrates out of the upper end face of the fixing plate, the front end of the piston rod of the air cylinder is hinged with the rear end of the finger.

Further, the finger positioned in the middle protrudes out of the other four groups of fingers.

Further, the arm of the robot comprises a front arm, a rear arm and a hand backboard; the forearm is connected with the rear arm through a rotating shaft, and the forearm is connected with the back hand plate through a bearing assembly.

Further, the two groups of robots are located side by side on the front side of the piano through seats.

Further, the head of the robot can swing.

Further, the eyes of the robot are provided with variable light.

The beneficial effects of the utility model are as follows:

1. according to the utility model, by arranging the linear motor, the arm and the finger can move on the key along with music, the head of the robot can swing along with the music and the eyes can change with the beat of the music to different lights, so that the integral coordination and aesthetic feeling of the robot during playing are improved.

2. The finger for pressing the key is driven by the air cylinder, and has simple structure and low cost.

The foregoing description is only an overview of the present utility model, and is intended to provide a better understanding of the present utility model, as it is embodied in the following description, with reference to the preferred embodiments of the present utility model and the accompanying drawings. Specific embodiments of the present utility model are given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

FIG. 1 is a schematic diagram of the overall structure of the mechanism of the present utility model;

FIG. 2 is a side view of the mechanism of the present utility model;

FIG. 3 is an enlarged view of the utility model at A in FIG. 2;

FIG. 4 is a schematic view of a finger mechanism according to the present utility model;

fig. 5 is a top view of the finger mechanism of the present utility model.

The reference numerals in the figures illustrate: 1. a piano; 2. a robot; 3. a seat; 4. a finger mechanism; 5. a linear motor; 6. a bracket; 7. a connecting plate; 21. a forearm; 22. a rear arm; 24. a rotating shaft; 25. a bearing assembly; 41. a fixing plate; 42. a finger; 43. a pin shaft; 44. a support base; 45. a driving unit; 46. and (5) a rubber sleeve.

Detailed Description

The utility model will be described in detail below with reference to the drawings in combination with embodiments.

It should be noted that all directional indicators (such as up, down, left, right, front, back, upper, lower, top, bottom … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicators are correspondingly changed.

Referring to fig. 1-3, a dual robot playing mechanism comprises a piano 1 and two groups of robots 2, wherein the two groups of robots 2 are arranged on the front side of the piano 1 side by side, in the embodiment, the two groups of robots 2 are located on the front side of the piano 1 side by side through a seat 3, and the front ends of arms of the robots 2 are provided with finger mechanisms 4 for pressing keys; the piano 1 with be provided with a linear motor 5 that matches four groups of movers through support 6 between the robot 2, every group arm of robot 2 and its arm front end setting finger mechanism 4 junction all is fixed through corresponding connecting plate 7 on the corresponding mover of linear motor 5, through linear motor 5 drive robot 2 arm with finger mechanism 4 removes, realizes playing to piano 1.

Further, referring to fig. 3, the arm on the robot 2 and the finger mechanism 4 disposed at the front end of the arm are both fixed to the corresponding connection plate 7; specifically, in this embodiment, the connection plate 7 is L-shaped, a transverse connection plate of the connection plate 7 is connected with a corresponding mover of the linear motor 5, the finger mechanism 4 is fixed on a front end surface of a vertical connection plate of the connection plate 7, and a front end of an arm on the robot 2 is fixed on an upper end surface of the vertical connection plate of the connection plate 7.

Further, referring to fig. 4-5, the finger mechanism 4 includes a fixing plate 41, five groups of fingers 42 for pressing the piano 1 key are arranged above the fixing plate 41 side by side, a pin 43 is penetrated in the middle of the fingers 42, and two ends of the pin 43 are respectively fixed at the upper end of the fixing plate 41 through a supporting seat 44; the rear ends of the fingers 42 are respectively hinged with a driving unit 45, the fingers 42 can rotate around the pin shafts 43 through driving of the driving units 45, the front ends of the fingers 42 can press keys, and accordingly playing of the piano 1 is achieved, and the driving units 45 are fixed on the fixed plates 41; in this embodiment, the driving unit 45 employs a cylinder vertically fixed to the lower end surface of the fixing plate 41 through its body; after the piston rod of the air cylinder penetrates out from the upper end face of the fixing plate 41, the front end of the piston rod of the air cylinder is hinged with the rear end of the finger 42; of course, the driving unit 45 is only one embodiment, and is not limited to the scope of the present utility model, and other driving methods, such as a motor, may be used, as long as the finger 42 can be driven to rotate around the pin 43.

Further, as shown in fig. 4-5, the front end of the finger 42 is sleeved with a rubber sleeve 46, and the rubber sleeve 46 has a main function of preventing the front end of the finger 42 from damaging the key during the process of pressing the key.

Further, referring to fig. 5, the finger 42 located in the middle protrudes from the other four sets of the fingers 42; during the playing, the fingers 42 protruding therefrom are used for playing the half keys of the keys, and the remaining four sets of fingers 42 are used for playing the full keys of the keys.

Further, referring to fig. 2-3, the arm of the robot 2 includes a front arm 21, a rear arm 22, and a back plate 23, when connected, the rear arm 22 is hinged with the robot 2 body, and the back plate 23 is fixedly connected with the connecting plate 7; the front arm 21 and the rear arm 22 are connected through a rotating shaft 24, and the front arm 21 and the rear arm 22 can rotate through the rotating shaft 24; the front arm 21 and the back plate 23 are connected by a bearing assembly 25, and the front arm 21 is rotatable between the back plate 23 and the bearing assembly 25.

Further, the head of the robot 2 can swing; and the eyes of the robot 2 are provided with variable light; that is, while playing, the head of the robot 2 may swing with music and the eyes may change with the beat of the music by different lights.

The working principle of the utility model is as follows:

during playing, along with the beat of music, the linear motor 5 drives the four groups of arms on the two groups of robots 2 and the finger mechanisms 4 corresponding to the arms to move along the key arrangement direction, and at the same time, the corresponding driving units 45 drive the fingers 42 hinged with the arms to press keys, so that the music is played; at this time, the head of the robot 2 swings with music and the eyes change with the beat of the music to light differently.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. The utility model provides a two robot play organ mechanism, includes piano (1) and two sets of robots (2), its characterized in that: the two groups of robots (2) are arranged on the front side of the piano (1) side by side, and the front ends of the arms of the robots (2) are provided with finger mechanisms (4) for pressing keys; the piano is characterized in that a linear motor (5) matched with four groups of movers is arranged between the piano (1) and the robot (2) through a support (6), the joint of each group of arms of the robot (2) and the finger mechanism (4) arranged at the front end of the arms of the robot is fixed on the corresponding mover of the linear motor (5) through a corresponding connecting plate (7), and the robot (2) arms and the finger mechanism (4) are driven to move through the linear motor (5), so that the piano (1) is played.

2. The dual robot playing mechanism of claim 1, wherein: the arm on the robot (2) and the finger mechanism (4) arranged at the front end of the arm are both fixed on the corresponding connecting plate (7).

3. The dual robot playing mechanism according to claim 1 or 2, characterized in that: the finger mechanism (4) comprises a fixed plate (41), five groups of fingers (42) for pressing keys of the piano (1) are arranged above the fixed plate (41) side by side, a pin shaft (43) is arranged in the middle of each finger (42) in a penetrating mode, and two ends of each pin shaft (43) are fixed to the upper end of the fixed plate (41) through supporting seats (44) respectively; the rear ends of the fingers (42) are respectively hinged with a driving unit (45), the fingers (42) can rotate around the pin shafts (43) through driving of the driving units (45), and the driving units (45) are fixed on the fixing plates (41).

4. A dual robot playing mechanism as claimed in claim 3, wherein: the front end of the finger (42) is sleeved with a rubber sleeve (46).

5. A dual robot playing mechanism as claimed in claim 3, wherein: the driving unit (45) adopts an air cylinder.

6. A dual robot playing mechanism as claimed in claim 3, wherein: the finger (42) located in the middle protrudes from the other four groups of fingers (42).

7. The dual robot playing mechanism according to claim 1 or 2, characterized in that: the arm of the robot (2) comprises a front arm (21), a rear arm (22) and a back plate (23); the front arm (21) and the rear arm (22) are connected through a rotating shaft (24), and the front arm (21) and the back hand plate (23) are connected through a bearing assembly (25).

8. The dual robot playing mechanism of claim 1, wherein: the two groups of robots (2) are located on the front side of the piano (1) side by side through seats (3).

9. The dual robot playing mechanism of claim 1, wherein: the head of the robot (2) can swing.

10. The dual robot playing mechanism of claim 1, wherein: the eyes of the robot (2) are provided with variable light.