JP2006159295A - Percussion instrument playing manipulator and robot provided with the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a manipulator capable of suitably executing single drumming and rolling regardless of performance of an actuator, and a robot provided with the same. <P>SOLUTION: The manipulator for playing percussion instruments is provided with a stick, a supporting member freely rotatably supporting the stick, an energizing means for imparting torque on the side, where the tip of the stick is directed to the drumming face of the percussion instrument, to the stick, a stopper, which regulates rotational limit of the stick by being brought into contact with the stick and is arranged to the supporting member, and the actuator for moving the supporting member. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a manipulator that plays a percussion instrument and a robot equipped with the manipulator.

  Robots that play percussion instruments play an active role in attractions such as theme parks. This robot is provided with a manipulator having a stick, and the manipulator is operated in accordance with the musical piece to be played, so that the tip of the stick is lowered onto the percussion surface of the percussion instrument.

Patent Document 1 discloses a performance robot including a manipulator. This robot plays a percussion instrument by controlling a swing-down start timing, a swing-down speed, and a swing-up start timing of the manipulator with a stick.
JP 2004-177686 A

According to the technique described in Patent Document 1, the timing for generating a sound from a percussion instrument and the volume of the generated sound can be freely controlled. Therefore, it is possible to make the robot perform in a desired pattern.
However, the above technique leaves room for further improvement.

In a robot that plays percussion instruments, it is desired to be able to perform a roll performance as well as a single performance. In this specification, “single hit” means that the percussion surface of the percussion instrument is hit once. “Roll” refers to continuously hitting the percussion surface of a percussion instrument.
When performing a roll performance with the robot described in Patent Document 1, the actuator is driven to repeatedly move the arm tip up and down, and the stick tip is repeatedly collided with the hitting surface. In this case, the speed of the roll performance depends on the speed at which the actuator moves the arm tip up and down. As used herein, “roll performance speed” refers to the number of strokes per unit time when performing a roll performance. The speed at which the actuator moves the arm tip up and down greatly depends on the response characteristics of the actuator. Therefore, the speed of roll performance is limited by the performance of the actuator that controls the movement of the armtip.

  In the case of a mobile robot, the actuator mounted on the robot is preferably small and light. When the arm tip is moved up and down using a small and lightweight actuator, the response characteristics are limited, and it is difficult to perform a roll performance at a desired speed. As a result of the tests conducted by the present inventors, in the roll performance using a general servo motor as an actuator, about 5 strokes per second was the limit.

  If the speed of the roll performance is slow, the patterns that the robot can perform are limited. In order to allow a robot to perform freely, a technique capable of realizing faster roll performance regardless of the performance of the actuator is desired.

  The present invention solves the above problems. The present invention provides a manipulator capable of performing both single-stroke performance and high-speed roll performance regardless of the performance of the actuator, and a robot including the manipulator.

  The manipulator of the present invention is a manipulator that plays a percussion instrument, and applies a stick, a support member that freely supports the stick, and rotational force on the side where the tip of the stick faces the percussion surface of the percussion instrument. An urging unit to be placed, a rotation limit of the stick by being brought into contact with the stick, a stopper disposed on the support member, and an actuator for moving the support member are provided.

  The above manipulator moves the support member by driving the actuator, and hits the percussion instrument from the percussion instrument by causing the tip of the stick, which is pressed against the stopper by the biasing means and cannot rotate any more, to collide with the percussion surface of the percussion instrument. Is generated. The tip of the stick that collides with the percussion surface of the percussion instrument is bounced up by the striking surface, and the stick is separated from the stopper by rotating against the rotational force applied by the urging means. The stick that rotates due to the repulsive force from the striking surface (note that the rotational direction at that time is opposite to the rotational force applied by the urging means) will eventually be caused by the rotational force applied from the urging means. The direction of rotation is reversed, and after that, it rotates in the direction toward the hitting surface. The rotational force applied from the urging means accelerates the rotation of the tip of the stick toward the hitting surface, and the tip of the stick collides with the hitting surface again. By repeating the above, the stick and the hitting surface repeatedly collide, and roll performance is realized.

When performing a single-stroke performance using the manipulator described above, the actuator is driven to strike the support member between the time when the tip of the stick collides with the percussion surface of the percussion instrument and jumps up to the impact surface. Just move it away from the surface. If it does in this way, before the tip of a stick collides with the hitting surface of a percussion instrument again, a stick will collide with a stopper and the further rotation will be controlled and the tip of a stick will not reach the hitting surface of a percussion instrument.
By using the manipulator described above, it is possible to select single performance or roll performance.

  The inventors made a prototype of the manipulator and performed a drum performance. As a result, it was possible to realize a suitable performance for both a single performance and a roll performance. In particular, with regard to roll performance, it was confirmed that high-speed roll performance of 16 strokes per second can be realized. In addition, the said numerical value is an illustration and does not demarcate a right range.

  The present invention is also embodied in a robot that plays percussion instruments. The robot of the present invention includes the above-described manipulator and means for driving the actuator so that the tip of the stick in contact with the stopper collides with the percussion surface of the percussion instrument.

By using the manipulator of the present invention, it is possible to perform both single hit performance and high speed roll performance regardless of the performance of the actuator.
By using the robot of the present invention, a percussion instrument can be played with a desired performance pattern.

Hereinafter, embodiments embodying the present invention will be described with reference to the drawings. First, the main features of the embodiment are listed.
(Embodiment 1) The urging means for applying a rotational force to the stick is an elastic body that contacts the stick at a position away from the rotation axis, and is an elastic body that presses the stick against the stopper by its restoring force. preferable.
The rotational moment applied to the stick by the restoring force of the elastic body increases as the distance from the contact point between the stick and the elastic body to the rotation axis increases. The speed of the roll performance can be adjusted by changing the position of the elastic body.
(Embodiment 2) The urging means applies a rotational force that maximizes the speed of the roll performance within a range where the single performance is possible.

(First embodiment)
Hereinafter, embodiments embodying the present invention will be described with reference to the drawings.
A robot according to the present invention will be described with reference to the drawings. FIG. 3 shows a front view of the robot 10. The robot 10 can be said to be a humanoid robot imitating a human.

The robot 10 advances itself by rotating the wheels 22 and 22. The robot 10 plays the drum 60 while moving so that a human plays (hits) the drum 60 while marching.
The body part 70 has a substantially rectangular parallelepiped shape. The body unit 70 houses a control unit 90 that comprehensively controls the operation of the robot 10.

Arms (arms) 30 a and 30 b are connected to the body portion 70. Hereinafter, the arm 30a is referred to as a right arm, and the arm 30b is referred to as a left arm. The right arm 30a has an upper arm portion 32a, a lower arm portion 34a, and a palm portion 130a.
One end of the upper arm portion 32 a is swingably attached to the body portion 70. One end of the lower arm portion 34a is connected to the other end of the upper arm portion 32a by a joint 38a. The lower arm portion 34a can swing around the joint 38a as a fulcrum. This joint 38a corresponds to a human elbow joint. An actuator 35a (for example, a solenoid or a motor) that swings the lower arm portion 34a is provided inside the upper arm portion 32a. The actuator 35a is driven based on a control signal output from the control unit 90.
The palm 130a is connected to the other end of the lower arm 34a by a joint 132a. The palm 130a can swing with the joint 132a as a fulcrum. This joint 132a corresponds to a human wrist joint. An actuator 135a (for example, a solenoid or a motor) that swings the palm 130a is provided inside the lower arm 34a. The actuator 135a is driven based on a control signal output from the control unit 90. A stick 36a for hitting the drum 60 is supported on the palm portion 130a. Details of the support of the stick 36a by the palm 130a will be described later.

  The left arm 30b has the same configuration as the right arm 30a. That is, the left arm 30b includes an upper arm portion 32b, a lower arm portion 34b, and a palm portion 130b. The lower arm portion 34b can swing around the elbow joint 38b as a fulcrum. The palm 130b can swing around the wrist joint 132b. A stick 36b for hitting the drum 60 is held on the palm portion 130b. An actuator 35b that swings the lower arm 34b is provided in the upper arm 32b. An actuator 135b that swings the palm 130b is provided in the lower arm 34b.

FIG. 1 is a diagram showing the details of part A of FIG. 3, and shows how the stick 36a is supported by the palm part 130a. The stick 36a is rotatably connected to the palm 130a by a rotating shaft 136a. The stick 36a is rotatable about the rotation shaft 136a.
A coil spring 140a is inserted in a compressed state between the stick 36a and the palm 130a. The coil spring 140a applies a biasing force in the clockwise direction to the stick 36a. When the stick 36a rotates in the clockwise direction, the tip 37a of the stick rotates downward. That is, the coil spring 140a applies a rotational force to the stick 36a on the side where the tip 37a of the stick 36a faces the percussion surface 62 of the percussion instrument 60. One end of the compression spring 140a is coupled to the spring coupling portion 134a of the stick 36a, and the other end is coupled to the spring holding portion 142a of the palm portion 130a.
The palm portion 130a is provided with a resin stopper 138a that restricts the rotation of the stick 36a. The stopper 138a restricts the tip 37a of the stick 36a from rotating further in the direction toward the striking surface 62 of the drum 60 (the clockwise direction in FIG. 1). The direction in which the tip 37a of the stick 36a faces the striking surface 62 of the drum 60 is also the direction in which the stick 36a approaches the stopper 138a.
The spring 140a is adjusted so as to be compressed even when the stick 36a comes into contact with the stopper 138a. Therefore, when the performance is not performed, the stick 36a is supported while being pressed against the stopper 138a by the restoring force of the spring 140a.

The robot 10 according to the present embodiment performs a performance operation including a single stroke performance of the drum 60 and a roll performance.
Below, the case where the robot 10 of a present Example performs a roll performance is demonstrated.
When performing the roll performance, the control device 90 drives the actuator 135a to rotate the palm portion 130a in the direction in which the stick 36a is swung down (the clockwise direction in FIG. 1), so that the stick 36a faces the drum 60. Shake down. The stick 36a collides with the drum 60, and the drum 60 generates a hitting sound.
FIG. 2 shows a state in which the tip 37a of the stick 36a is flipped up by the collision with the striking surface 62 of the drum 60. FIG. 2 shows a case where the palm portion 130a is further rotated and driven deeply into the drum 60 before the tip 37a of the stick 36a is flipped up. By the collision with the hitting surface 62, the tip 37a of the stick 36a is flipped up. The stick 36a moves away from the stopper 138a and rotates in the direction away from the striking surface 62 (counterclockwise direction in FIG. 2) with the rotary shaft 136a as a fulcrum against the restoring force from the spring 140a. Due to the restoring force acting from the spring 140a, the rotation of the stick 36a gradually attenuates, and eventually the direction of rotation of the stick 36a reverses and rotates in the direction toward the striking face 62 (the clockwise direction in FIG. 2). To do.
The rotation of the stick 36a toward the striking surface 62 is urged by the spring 140a in the direction toward the striking surface 62, and the tip 37a of the stick 36a is accelerated and collides with the striking surface 62 again. Due to the collision with the hitting surface 62, the tip 37a of the stick 36a jumps up again.
The control device 90 fixes the position of the palm 130a while performing the roll performance. During this time, the stick 36a and the striking surface 62 repeatedly collide, and the drum 60 repeats the generation of sound. As described above, the robot 10 performs a roll performance.

  When finishing the roll performance, the control device 90 rotates the palm portion 130a in the direction in which the stick 36a is swung up (counterclockwise direction in FIG. 2), and swings up the stick 36a. When the tip portion 37a of the stick 36a and the striking surface 62 collide and before it collides again, if the palm portion 130a is rotated and the stick 36a is swung up, the stick 36a stops in the middle of the rotation toward the striking surface 62. Colliding with 138a, the tip 37a does not reach the striking surface 62. The stick 36a is reduced in momentum by the collision with the stopper 138a, and then stops rotating in a state where it abuts against the stopper 138a.

  The speed of the above-described roll performance varies depending on the rigidity of the spring 140a, the contraction amount given in advance, the moment of inertia of the stick 36a, the relative speed at the time of collision between the stick 36a and the hitting surface 62, and the like. Therefore, roll performance at a desired speed can be realized by adjusting in advance the rigidity and contraction amount of the spring 140a, the moment of inertia of the stick 36a, and the like.

The speed of the roll performance can be adjusted during the performance operation.
For example, if the palm portion 130a is further rotated in the direction in which the stick 36a is swung down (the clockwise direction in FIG. 2) during roll performance to increase the contraction amount of the spring 140a, the restoring force biased by the stick 36a is increased. The time from when the stick 36a jumps up to when it collides again is shortened. That is, the speed of roll performance can be increased. On the other hand, when the palm portion 130a is rotated in the direction in which the stick 36a is swung up (counterclockwise direction in FIG. 2) during the roll performance to reduce the contraction amount of the spring 140a, the restoring force biased by the stick 36a. Decreases and the time from when the tip 37a of the stick 36a jumps up to when it collides again is extended. That is, the speed of roll performance can be reduced.
Further, a mechanism for moving the holding position of the drum 60 up and down is provided in the body portion 70 of FIG. 3, and the speed of the roll performance can also be adjusted by moving the holding position of the drum 60 up and down during the roll performance. Can do. For example, by raising the holding position of the drum 60 during a roll performance, the time from when the tip 37a of the stick 36a of FIG. That is, the speed of roll performance can be increased. Conversely, by lowering the holding position of the drum 60 during roll performance, the speed of roll performance can be reduced.

Next, a case where the robot 10 performs a single shot will be described.
The control device 90 of FIG. 3 drives the actuator 135 a to rotate the palm 130 a and swing the stick 36 a toward the drum 60. When the stick 36a is swung down and the tip 37a of the stick 36a collides with the striking surface 62 of the drum 60 as shown in FIG. 2, the drum 60 generates sound.
Due to the collision with the hitting surface 62, the tip of the stick 36a is flipped up. The stick 36a rotates in the direction away from the striking face 62 (counterclockwise direction in FIG. 2) against the restoring force from the spring 140a with the rotating shaft 136a as a fulcrum. Due to the restoring force acting from the spring 140a, the rotation of the stick 36a gradually attenuates, and eventually the direction of rotation of the stick 36a reverses and rotates in the direction toward the striking face 62 (the clockwise direction in FIG. 2). To do.
The control device 90 in FIG. 3 rotates the palm portion 130a and swings up the stick 36a between the time when the tip of the stick 36a is flipped up and the time when it collides with the hitting surface 62 again. The stick 36 a collides with the stopper 138 a during the rotation of the tip 37 a toward the hitting surface 62, and the tip 37 a does not reach the hitting surface 62. The stick 36a has its rotational momentum reduced by the collision with the stopper 138a, and then stops rotating while in contact with the stopper 138a.
As described above, the robot 10 can make a single shot.

  The single-stroke operation of the robot 10 described above is performed between the time when the tip 37a of the stick 36a is bounced up from the striking surface 62 until it collides with the striking surface 62 again to drive the palm portion 130a with the stick 36a. It can be realized by slightly rotating in the swinging-up direction. Driving the actuator 135a in this way is a performance required for the actuator 135a, as compared to the case where the stick 36a is fixed to the palm 130a and the roll performance is performed by continuously switching the rotation direction of the palm 130a. Is not so severe.

  When a single shot is performed as described above, the stick 36 a is separated from the hitting surface 62 immediately after hitting the hitting surface 62. Therefore, the vibration of the striking surface 62 is not hindered and a beautiful sound can be produced from the drum 60.

  The inventors made a prototype of the above robot and performed a drum. As a result, it was possible to realize a suitable performance for both a single performance and a roll performance. In particular, with regard to roll performance, it was confirmed that high-speed roll performance of 16 strokes per second can be realized. The speed of the above-mentioned roll performance is applied to the stick 36a by the spring 140a with a rotational force that maximizes the speed of the roll performance within a range where a single stroke performance is possible when a general servo motor is used as the actuator 135a. Is the case.

In the above-described embodiment, the example in which the spring 140a is used as means for biasing the rotation of the stick 36a has been described. In addition to this, the means for urging the rotation of the stick 36a can be realized by various configurations. For example, instead of the spring 140a, the stick 36a and the palm portion 130a are connected by the rotation shaft 136a, and the tip 37a of the stick 36a applies a rotational force in the direction toward the striking face 62 in a state where the stick 36a is in contact with the stopper 138a. A torsion spring may be used.
Further, by applying a torque around the rotary shaft 136a to the stick 36a using a small motor and urging the tip 37a of the stick 36a toward the striking surface 62, roll performance and A single performance can be realized.

  In the above embodiment, the example in which the drum 60 is used as a percussion instrument has been described. In addition, the percussion instrument may be, for example, an electronic drum that detects vibration of the film surface with a sensor, transmits the vibration of the film surface as a signal, and generates sound with another sound source.

  In the above embodiment, an example in which a drum is used as a percussion instrument has been described, but the percussion instrument is not limited thereto. For example, membrane percussion instruments such as bass drums, melodic toms, floor toms, timpani, Japanese drums, and somatic percussion instruments such as cymbals, triangles, gongs, bells, and wooden fishes may be used. Furthermore, keyboard percussion instruments such as xylophone including xylophone and marimba, and iron koto including glackenspiel and vibraphone may be used.

As mentioned above, although embodiment of this invention was described in detail, these are only illustrations and do not limit a claim. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.
In addition, the technical elements described in the present specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology illustrated in the present specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

FIG. 1 is a diagram schematically showing a manipulator of the present invention. FIG. 2 is a diagram showing how the stick collides with the hitting surface. FIG. 3 is a diagram schematically showing the robot of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Robot 22 ... Wheel 30a ... Right arm 32a ... Upper arm part 34a ... Lower arm part 35a ... Actuator 36a ... Stick 37a ... Tip 38a ... Joint 40... Head 60... Drum 62 .. hitting surface 70 .. trunk portion 90... Control unit 130 a. ..Actuator 136a ... Rotating shaft 138a ... Stopper 140a ... Spring 142a ... Spring holding part

Claims (2)

A manipulator that plays percussion instruments,
Stick and
A support member that freely supports the stick, and
A biasing means for imparting to the stick a rotational force on the side where the tip of the stick faces the percussion surface of the percussion instrument;
A stopper that is disposed on the support member while restricting the rotation limit of the stick by contacting the stick;
An actuator for moving the support member;
A manipulator comprising: A robot that plays percussion instruments,
A manipulator according to claim 1;
Means for driving the actuator so that the tip of the stick in contact with the stopper collides with the percussion surface of the percussion instrument;
Robot equipped with.

Images