200846064 九、發明說明： 【發明所屬之技術領域】 本發明係觀人形齡提琴顧人，200846064 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a watchmaking person,
全自動化演奏提琴的擬人形機械人。 s J 【先前技術】 按，提琴是-種以弓拉弦的擦弦樂器，是現代弦樂 ^位之樂器’包括有小提琴、t提琴、大提琴和低音提-琴多種重 二二小提琴較錄姐目。愤琴魏代 重要 =旋:優美、音域寬廣，_ 得演奏者可以發揮高度的演奏技巧，又能充分表現音 此，小七琴不但適合運用於弦樂團或交響樂團中演奏弘 鋼琴或其他伴奏樂器，成為理相的獨奏樂器。、 备久17*世紀以來，小提琴-直在西方音樂中扮演重要的角 色。、了數百年的演進，在許錄琴家的改良 :最=触之_完善，成為所有交響樂、管弦樂及= I 縣㈣色在於音域絲、表現力豐 田，不仁可以次奏持績的長音，也可以利用弓的任一部位進行小 距離的快雜㈤奏，甚至可以糊則、頓— 生極短促的料。勤各觀巧，提琴林但可贿_奏出ί 情、浪漫的旋律，又能強有力的表現出熱情、活潑的曲風抒 小提琴之域圖如第—騎心琴身1G •蚊㈣多塊 的木片組成’琴頭11為旋渦狀，配有四個錐形弦栓U 調 整四根琴弦13的鬆緊度。琴㈣與琴頸㈣制-塊木= 成，琴頸Η上方固定—·形指板15。琴弦13 —端固 4 200846064 牙出7.頭11，通過指板15上方，跨過琴橋Μ，再與後弦枕 17接合。指板15前端較窄，可讓演奏者的左手手指在其上按壓 琴弦以二以控制音調。指板15末端變寬，使跨過琴橋16的琴弦 13有較寬間㈣，再配合琴橋丨㈣孤面設計，方便第二圖所示的 琴弓20在拉奏區18運動，而不致碰觸到其他的琴弦η。琴弦 13 一共有四根’從細到粗依次是E弦，A弦，D弦，與g弦，每 根二弦之間相差五個全音。藉由指板15按壓位置的改變，每根 ，弦13~都能奏出完整的兩個八度音。其中，E弦的頻率最高' 5用來演奏高昂的_ ’或用以模擬女高音的聲調。G弦的J調 最低’特點是音質豐滿’相來表現渾厚的男低音。奏者藉由 熟練的技巧，通常可以自在地·音階，或使用各猶飾音，曰配 合適當的節奏’表現出單音、雙音，甚至三個音以上的和弦樂。 另’在琴身10接近底端處設有一贼19，供演奏 作夾持住琴身1〇的作用動作。 伋罪以 提琴的發音方式姐運用琴3 2〇雜琴弦13，且摩 置必須限制在指板15尾端到琴橋16之間的部分琴 、 弓20的構造如第二圖所示，包含木質弓桿21及"7弓毛22。二; 21設計成Π字形，尾端設有螺旋紐23，可以控制弓止2位: 弓手22又稱馬尾，一端固定於弓尖25,另一端固定於弓止i 使用前’可依演奏者的需求旋轉該螺旋叙23，藉以調整 ^ 的鬆緊度。琴弓2G與琴弦13的摩擦運動，狄了演所 運弓的技巧包含基本弓法、頓弓、換弦、跳弓、抛弓等，=用 於演奏各式樂曲上。運弓的部位、力道與速度，种可== 量的大小，也影響音色的展現。因此，演奏者-般將左手 匠’右手視為藝術家。亦即，左手專司按弦，崩精準的指^變 200846064 換與綿密的揉弦技巧來美化音頻；同時利用右手揮弓，藉由從 容、瀟灑的速度變化，配合展現適時、合宜的力道，可以完全控 制樂曲的行進，並充分展現曲風。 詳析小提琴的演奏技巧可分類為「按弦控制」與「弓法控 制」兩大類。其中，按弦控制必須考慮兩個重點，第一個重點 為音準的控制，第二個重點則在於音色的控制。在音準控制方 面，小提琴的指板15為一種弧形且前窄後寬的曲面結構。其俯 視圖如第三圖所示，在第三圖中，以G、D小E代表四條弦的 名稱，（0M22)代表每條弦上的音階，㊉代表按指的位置。在 單-條弦上從⑻變化到(22)，-共可包含兩個人度音階。如第 三圖可知，若僅考慮G、D、A等三條弦，且分別自卿' d(〇) 依序變化到A⑶’則可取得—組標準人度音的音階（亦即 G(5)=D〇 > D(〇)=Re . D(2)=Mi ^ D(3)=Fa ^ D(5)=Sol > A(0)=La ^A person-like robot who fully plays the violin. s J [Prior Art] Press, the violin is a kind of stringed instrument with a bow string. It is a modern string music instrument. It includes a violin, a t-fi, a cello and a bass. Head. Anxious Wei Wei important = rotation: beautiful, wide range, _ players can play a high degree of playing skills, but also fully express the sound, Xiaoqiqin is not only suitable for use in string or symphony orchestra playing Hong piano or other accompaniment Musical instrument, becoming a solo instrument of reason. For the long time since the 17th century, the violin has played an important role in Western music. Hundreds of years of evolution, in the improvement of Xu recorded the piano: the most = touch _ perfect, become all symphony, orchestral and = I County (four) color in the sound of the wire, expressive Toyota, inferior can play the second long sound, also You can use any part of the bow to make a small (five) play of a small distance, or even a paste, a short-lived material. Diligent and diligent, but the violin can be bribed _ play the emotional, romantic melody, and can strongly express the enthusiasm, lively style, the violin's domain map as the first - riding the heart body 1G • mosquitoes (four) The wood piece of the block is composed of 'the head 11 is a spiral shape, and four tapered stringers U are provided to adjust the tightness of the four strings 13. Qin (4) and neck (four) system - block wood = into, the neck above the neck is fixed - fingerboard 15. String 13 - End Solid 4 200846064 The tooth is out of the head 11 and passes over the fingerboard 15 across the bridge and then engages the rear pillow 17. The front end of the fingerboard 15 is narrower, allowing the player's left hand finger to press the strings thereon to control the tone. The end of the fingerboard 15 is widened so that the strings 13 spanning the bridge 16 have a wider space (four), and then the solitary design of the bridge (four) is used to facilitate the movement of the bow 20 shown in the second figure in the pull zone 18. Do not touch other strings η. The strings 13 have a total of four 'from the thin to the thick, E, A, D, and g, each of which has five full tones. By the change of the pressing position of the fingerboard 15, each of the strings 13~ can play the complete two octaves. Among them, the frequency of the E string is the highest '5 is used to play the high _ ' or to simulate the tone of the soprano. The G-string's J-lowest feature is a full-fledged bass. The musicians are able to express monophonic, two-tone, or even three-tone chords by skillful techniques, usually at a free scale, or with a variety of voicing sounds, with appropriate rhythms. Further, a thief 19 is provided near the bottom end of the body 10 for playing the action of holding the body 1 。. The sin is based on the pronunciation of the violin. The sister uses the piano 3 2 琴 琴 弦 弦 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , Contains wooden bow 21 and "7 bows 22. 21; 21 is designed in a zigzag shape, with a spiral button 23 at the end, which can control the bow 2: The archer 22 is also called the pony tail, one end is fixed at the bow tip 25, and the other end is fixed at the bow stop i before use. The demand rotates the spiral 23 to adjust the tightness of ^. The frictional movement of the 2G and the string 13 of the bow, the skill of the bow is the basic bow, the bow, the string, the bow, the bow, etc. = used for playing various music. The position, force and speed of the bow, the size of the == amount, also affects the appearance of the tone. Therefore, the performer generally regards the left hander as the artist. That is to say, the left-handed special division presses the string, the accurate deviation refers to the change of the 200846064 and the dense chord technique to beautify the audio; at the same time, the right hand swings the bow, and with the calm and chic speed change, it can display the timely and appropriate force. Fully control the march of the music and fully demonstrate the style. A detailed analysis of the playing skills of the violin can be classified into two categories: "choose control" and "bow control". Among them, the chord control must consider two key points, the first one is the control of the pitch, and the second one is the control of the timbre. In the pitch control, the fingerboard 15 of the violin is a curved and curved structure with a front narrow and a wide rear. The top view is shown in the third figure. In the third figure, the small E of G and D represents the name of the four strings, (0M22) represents the scale on each string, and ten represents the position of the finger. From (8) to (22) on a single-string, a total of two human scales can be included. As can be seen from the third figure, if only three strings of G, D, and A are considered, and the changes from Qing 'd(〇) to A(3)' are respectively obtained, the scale of the standard human voice can be obtained (that is, G (5). )=D〇> D(〇)=Re . D(2)=Mi ^ D(3)=Fa ^ D(5)=Sol > A(0)=La ^
A(2)=Si、A⑶，。其間’ G⑹為〇〇#(升半音)，⑽為响降 半曰）’ 1)(4)為Fa#(升半音），以此類推。 當真人(即演奏者)演奏小提琴時，係運用左手四個手指在第 (〇)至第（7)排位置上按弦，驢矣楚4 y £上_稱為弟—把位。此時，左手手腕靠近 ⑷排^曰游動於第⑴與第⑵排的位置，中指負責第⑶與第 改變，按第⑸排’小指咖⑻與第⑺排。當音階 時，即^ 度而有= 音階的位置常隨著樂曲的複雜 同。一τ簡易的曲子，音調起伏平緩，音階的變化 6 200846064 大約落於第一把位的範圍内。但是，較為複雜的演奏用的曲目， 曰P白的羞化往往超越兩個八度音階，高音位置亦超過E⑺，必 須採用其他把位的方式按弦。因為人類的手部具有多個自由 度，所以手指可以輕易的變換位置。一個技巧熟練提琴家更是 能夠快速準麵移動左手手腕，使手指依照樂譜的節奏速度而 按到正確位置。—般而言，節奏的掌握與音準的拿捏，常常是A(2)=Si, A(3),. In the meantime, 'G(6) is 〇〇# (semi-sonic), (10) is slamming, and 11) (4) is Fa# (semi-sonic), and so on. When a real person (ie, a performer) plays the violin, the four fingers of the left hand are used to press the string at the position from the (〇) to the (7)th row, and the 4 4 4 称为 称为 称为 称为 称为 称为 。 。 。 。 。 。 。 。 At this time, the wrist of the left hand is close to (4) the position of the row (1) and the row (2), the middle finger is responsible for the (3) and the third, and the row (5) is the row of the small finger coffee (8) and the seventh (7). When the scale is used, that is, the position of the = scale is often the same as the composition of the music. A simple tunes, the pitch is gentle, and the scale changes. 6 200846064 It is about the range of the first position. However, for more complex performances, the shading of 曰P white often exceeds two octaves, and the treble position exceeds E(7). Strings must be used in other ways. Because the human hand has multiple degrees of freedom, the finger can easily change position. A skillful violinist is able to move the left wrist quickly and quickly, so that the finger is pressed to the correct position according to the rhythm of the score. In general, the mastery of the rhythm and the pinch of the pitch are often
演奏成功的必要條件。 按健制的第二個重點在於控制音色^常用的方法，稱為 揉^々奏者首先要財指緊按琴弦，再靠著手腕的擺盈帶動 手指’使手指在按錄置上微幅擺動，藉由這種技巧，提琴會 產生决速的抖θ ’其絲在於柔緩縣的純音，並可使聲音表 現的較為優美。 包含5弓H方面’小提琴的弓軸#繁複，運弓的技巧 ί ^Ιί 〇=換頓弓、跳弓、拋弓等。所謂基本弓法，意 速度與接觸部位。在連續的樂音中，更;^^運？的力道、 =住：===演奏者係以右手拇指與中指 手肩部用力，手腕要輕二==在兩邊，時，右 條直線上運動外，遇到上、下 & ^ ’除了要確保弓在— 週運動，以利弓的運動順暢。’必須運用手腕進行圓 制相當重要。尤其在弓尖恤奏二在運^的過財，對力道的控 確保音質的穩定。當樂曲的立您v二更需注意食指的運用，方能 曰…須由不同的弦來產生時，就必 7 200846064 須進行換弦的動作。第四圖所示為琴弓在G、D、A、e等四條弦 j動的角度。由圖可知，假若運弓的角度稍有偏差，則可能同 %摩擦到不_弦，形成不必要的干涉並發出雜音。當弓自一條 2到另—條弦時，亦可能產生碰撞、敲料現象。因此，如何 ，，，’習至1保^弦時弓的運動順暢，即為演奏小提琴的基本弓法。 祕不但需要高度的技巧，更魏表雜感。一位優 、J=!賦予提琴生命’並藉由小提琴來唱出人類的思 各籍減/、提琴的赫能深獲全世界料人的喜愛，連帶地’ 3也皆深受注目及重視。本發明人本身即深愛並專 a'处以奏，同時也專#於機__研究及設計 =::=一部可以全自動化演奏提琴的機械人，使其具 ^弦”運弓專技巧；並能運用程式來控制弓法的力道 奏情感，將是—個相當具有挑戰性的發明二 十士此種使〒’本發明人前已完成096刪08 工蓺姑:研^鑛供一觀人形的演奏提琴機械人，使此種 ☆技術及裝置可達更高境界。 【發明内容】 緣是’本發狄主要目的’即錢供-_人職奏提 械人，以遂行使-擬人形機械人之裝置配合程式之控制，而二 致她人類姿態與情感並全自動化演奏提琴之作用功效。月b 由ίϊΐ 上述目的’本發明為一種擬人形演奏提琴機械人，係 由-碩_部，一餘錢，—揮弓线及― 】 间組成，其中，該頭頸肩部可區分成一頭部、1:二戶邻、 一肩塾及-立架，該立_立，上方_卩為_、頸^和 200846064 頭部之組成，該肩墊設於該肩部前方，藉—軸 並可於選定角度時予以旋緊固定，該肩塾上設有左、 f間之空間供提琴琴身尾端置人，以受到婦之作用，再頭 =降=由左職靠住琴身頂面的赌，以_提琴；該按弦乂系 、祕以-立架站立於該頭頸肩部的一侧，於該立架上接咬一^ i置其支撑架’該支撐架上設有—組陣列式氣壓疋 以供提琴的琴馳靠在該托架上；該揮 弓^細-立雜立於铜麵部㈣-側，勤紐焉達押 =連桿而可夾持琴弓作出揮弓之動作，使琴弓在琴弦上擦弦^ 二’該電腦控制系統將所演奏樂曲的指法與弓法等樂譜資料轉為、 =時序命令，電腦介面技術控制該按弦系統與揮弓c 的動作，以進行全自動提琴演奏。 〃…、 在上述發财，敝_式裝 依照提琴各_音·置錄蛛上而構成式減 檢測;部的一 提琴該頭頸肩部輸配置-具收音器，供檢測 哭^日f中’該揮弓系統夾持琴弓之部位設置有一力感測 為，以感測琴弓的反作用力。 【實施方式】 關於本發明為達成上述目的，所採用之技術手段及可達致 之功效’⑵細下較佳可行實施例配合關詳述於后，俾利完 全瞭解。 故實際適用的 因為本發㈣—機人軸麵琴機械人， 200846064 領域會合括小提琴、中提琴、大提琴和低音提琴等之提琴類群 族。惟為方便作說明’本發明實施例絲運用則、提琴演奏為 例’相信任何熟知此項技#之人士，皆清楚瞭解在相同技術領 域及構造組成’以及__顧下，本拥之㈣實質及精 神當然可推及於各種提琴同樣適用，謹先陳明。 #第五_示，本發明實施_係—擬人频奏提琴機械 人3 ’構造組成上可區分成頭頸肩部3G、按弦系統4〇及揮弓系 統5〇三大部分。接著，請配合參閱第六圖所示，該頭頸肩部30 包括：一頭部別、一頸部32、一肩部33、一肩塾34及一立架 35 ’其中’該立架35係可站立著，上方依序即為肩部％、頸部 32和頭部31之組成，在該肩部33前方接設一可轉動的肩㈣ 其係插設於-軸心331上故可轉動，並可於任意選定之角度時， 予以旋緊固定，使之不再轉動；該雜34上係設有左、右定位 #塊34卜342 ’其間之空間即供小提琴的琴身10尾端置入，以受 到夹持之作用’然後藉由該頸部32的偏轉使該頭㈣逐漸下 ^而終至頭部31社麻靠_琴身1G上的峨19，如此 猎由該等左、右定位塊34卜342與頭部31左聪共同夹持使 小提琴受到固定（如第五、六圖所示）。 在該頭部31的右侧設有-CO)，用來檢測琴弓與琴弦的接 觸位置，另在頭部左側配置-具收音器，供檢测小提琴的聲音 200846064 該立架35的左前方設置該按弦系統4〇，請配合參閲第五、 七圖所示，在-立架41上依序接設第—連桿42及第二連 桿43 ’而共同形成―懸臂，在該第二連桿妨的尾端—細設一 支撑架44，該支撐架44上設有-組陣列式氣壓裝置45，其係 由多數單動式氣壓缸(規格以4mm者為宜）i照小提琴各弦的 音階位置安裝_-面板上而構成；另，在該等_式氣壓裝 置f下方有一托架46存在，使用時，小提琴1〇的琴頸μ即 抵靠在該托架n小鮮1Q各琴弦13的音階位置分騎 正該等氣綠’故安裝時必須預紐對好各氣壓缸與小提琴ι〇 之指板15的相對位置及距離，即可確保氣壓紅下降時按弦的音 準。因為該等由第-連桿42、第二連桿43所構成的懸臂及支二 架44均為固定位置，故只需校正該等氣壓虹之位置及控制其下 降距離之正確，即可達成正確按弦之作用。 本發明實施例中的揮弓系統採用二種機構設計，第一種請 配合參閱第五、八圖所示，該揮弓系统5〇由一立架51站立於 該立架35的右側，該立架51上由—第—馬達犯控制—結合塊 521的昇降動作，該結合塊521的前端則枢接一第一連桿$別， 並由-第二馬達53控制該第一連桿531的上下揚擺動作，及由 -第二馬達54控制該第-連桿531的左右搖擺動作；該第一連 桿531的前端端頭復樞接一第二連桿551，並由一第四馬達昶 控制該第二連桿551的左右搖擺動作；該第二連桿55ι的前端 200846064 端頭處則樞接一夾持塊56卜並可 祕ςβί λα上 弟五馬達56控制該夾持 塊561的左右搖擺動作。請 子 阳可由該第五馬達56調整耳左1置圖斤顯不，該失持塊 登耳左右位置’以與第二連桿551共The necessary conditions for successful performance. The second key point of the system is to control the tone ^ commonly used method, called 揉 ^ 々 者 首先 首先 首先 首先 首先 首先 首先 首先 首先 首先 首先 々 々 々 々 々 々 々 々 々 々 々 々 紧 紧 紧 紧 紧 紧 紧 紧 紧 紧 紧 紧 紧 紧 紧 紧Swing, with this technique, the violin will produce a constant speed of shaking θ 'the silk lies in the pure tone of the county, and can make the sound more beautiful. Contains 5 bows in the aspect of the 'violin bow shaft # complex, the skill of the bow ί ^ Ι 〇 换 = change the bow, jump bow, throw bow and so on. The so-called basic bowing method, meaning speed and contact parts. In continuous music, more; ^^ shipped? Force, = live: === The player uses the right thumb and middle finger to force the shoulder, the wrist to be lighter === on both sides, when the right line moves on the line, encounter up, down & ^ ' except Make sure the bow moves in the week to make the bow move smoothly. It is important to use the wrist to carry out the rounding. Especially in the bow-tip dress, the second is in the fortune of the game, and the control of the force ensures the stability of the sound quality. When the music is set up, you need to pay attention to the use of the index finger. Only when it is necessary to be produced by different strings, it is necessary to change the string. The fourth figure shows the angle of the four axes of G, D, A, and e. As can be seen from the figure, if the angle of the bow is slightly deviated, it may rub against the _ string, forming unnecessary interference and making noise. When the bow is from one to the other, it may also cause collision and knocking. Therefore, how, ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, The secret not only requires a high degree of skill, but also a sense of Wei. One is excellent, J=! Gives violin life' and sings human beings by violin. The Heineng of the violin and the violin are deeply loved by the world, and the 3's are also highly regarded and valued. . The inventor himself loves and specializes in a's playing, and also specializes in the machine__ research and design =::= a robot that can fully play the violin, making it a special skill And can use the program to control the strength of the bowing method, will be a rather challenging invention of the 20th such a 〒 本 'The inventor has completed 096 deleted 08 work 蓺 :: research ^ mine for a view The humanoid playing violin robot makes this ☆ technology and device reach a higher level. [Inventive content] The edge is 'the main purpose of the original hair', that is, the money supply - the person's professional role in the reinforcement, exercise The humanoid robot's device is controlled by the program, and the second is her human gesture and emotion, and the effect of fully playing the violin. Month b by ϊΐ ϊΐ The above purpose 'The present invention is a humanoid playing violin robot, by - Shuo_ Ministry, a sum of money, the bow line and the ― 】, the head and neck can be divided into a head, 1: two neighbors, a shoulder and a stand, the stand _ stand, above _ 卩For the composition of the head of _, neck ^ and 200846064, the shoulder pad is placed in front of the shoulder, borrowed - The shaft can be screwed and fixed at the selected angle. The shoulder is provided with a space between the left and the f for the end of the violin body to be used by the woman, and then the head = down = by the left position The gambling on the top of the body is _ _ 琴; the chord, the secret - stand stands on the side of the head and neck, on the stand to bite a ^ i set its support frame 'the support frame There is a set of array type air pressure 疋 for the violin of the piano to rest on the bracket; the swing bow is fine-standing on the copper face (four)-side, diligently 焉 焉 = link and can be clipped The bow is made to swing the bow, so that the bow is rubbed on the strings. 2. The computer control system converts the fingering and bowing data of the played music into a sequence command, and the computer interface technology controls the press. The string system and the swinging c action for the fully automatic violin performance. 〃..., in the above-mentioned fortune, 敝 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Neck and shoulder transport configuration - with a sound receiver for detecting crying ^ day f 'The swing bow system grips the part of the bow to set a force sense to sense the bow [Embodiment] With regard to the above-mentioned objects, the technical means adopted by the present invention and the efficacies that can be achieved are as follows: (2) After the details of the preferred and feasible embodiments are detailed, the profit is fully understood. Applicable because of this (4) - machine shaft spindle robot, 200846064 field will include violin, viola, cello and double bass. The only part of the violin, viola, cello and double bass. For example, anyone who knows this technology is well aware of the same technical field and structural composition, and __Guo, the essence of this (4) essence and spirit can of course be applied to all kinds of violins. #五_示, The invention is implemented _ system - anthropomorphic frequency violin robot 3 'structural composition can be divided into head and neck shoulder 3G, chord system 4 〇 and swing bow system 5 〇 three major parts. Next, as shown in the sixth figure, the head and shoulders 30 include: a head, a neck 32, a shoulder 33, a shoulder 34 and a stand 35 'where the stand 35 Standable, the upper part is the composition of the shoulder %, the neck 32 and the head 31, and a rotatable shoulder (4) is connected in front of the shoulder 33. The thread is inserted on the shaft 331 so that it can be rotated. And can be screwed and fixed at any selected angle so that it no longer rotates; the miscellaneous 34 is provided with left and right positioning #块34卜342' the space between them is the end of the violin body 10 Inserted to be subjected to the gripping effect' and then the head (4) is gradually lowered by the deflection of the neck portion 32, and finally the head 31 is numb to the 峨19 on the body 1G, so hunting by the left The right positioning block 34 342 is clamped together with the head 31 Zuo Cong to fix the violin (as shown in Figures 5 and 6). -CO is provided on the right side of the head 31 for detecting the contact position of the bow with the strings, and the left side of the head is provided with a sounder for detecting the sound of the violin 200846064. The chord system 4 设置 is arranged in front, please refer to the fifth and seventh figures, and the first link 42 and the second link 43 ′ are sequentially connected to the vertical frame 41 to form a “cantilever”. The rear end of the second link is provided with a support frame 44, and the support frame 44 is provided with a group array type air pressure device 45, which is composed of a plurality of single-action air cylinders (the size is preferably 4 mm) i It is constructed by mounting the _-panel on the scale position of each string of the violin; in addition, a bracket 46 exists under the _-type air pressure device f, and in use, the neck μ of the violin 1 抵 abuts against the bracket n The scale position of the small fresh 1Q strings 13 is exactly the same as the green one. Therefore, the relative position and distance of each pneumatic cylinder and the violin ι〇 fingerboard 15 must be pre-installed to ensure the pressure red drop. Press the pitch of the string. Because the cantilever and the support frame 44 formed by the first link 42 and the second link 43 are all fixed positions, it is only necessary to correct the position of the air pressure rainbow and control the drop distance thereof. Correctly press the role of the string. The swinging bow system in the embodiment of the present invention adopts two kinds of mechanism designs. The first type is matched with the fifth and eighth figures. The swinging bow system 5 is stood by a stand 51 on the right side of the stand 35. The first frame 531 is pivotally connected to the first link 539 by the second motor 53. The first link 531 is controlled by the second motor 53. Up and down swinging motion, and controlling the left and right swinging motion of the first link 531 by the second motor 54; the front end end of the first link 531 is pivotally connected to a second link 551, and is a fourth The motor 昶 controls the left and right swinging motion of the second link 551; the front end of the second connecting rod 55 ι is pivotally connected to a clamping block 56 at the end of the second link 55 512 and can be controlled by the β λ α The left and right swinging motion of 561. The child can be adjusted by the fifth motor 56 to the left of the ear, and the left and right positions of the missing block are the same as the second link 551.
二低=弓2〇 ’然後可由該第一馬達52調整該結合塊521 的尚低位置’以及_二馬達53調整該第-連桿531的上下 揚擺角度’同咖第爾54調辑—雜531的左右位 置’再由該細馬達55控制調魏第二連桿551的左右位置。 如此多重調整啊連動下，可使該琴弓很適當地跨於琴弦13 上，並可_錢_去針對敎的隸13作接麟弦並即時 換弦改交之’亦即該揮弓系統5()可以帶動琴弓卽作三度空間 内的立體移動，㈣僅在-平面畴動耐。若進—步分析， 則係由馬達52、53配合鋪，以執行換弦動作與調整對琴弓 的施力’在此種設計下’則更可在失持塊561與第二連桿551 樞接軸上設置-力感測器57，以_琴弓2q的反個力，憑以 調整該等馬達52、53的動作；脚由該等馬達54、55、56共 同執行揮；的動作’其係使該琴㈣料在_直線上行走。 揮弓系統」的第二種機構料如第九@所示，其揮弓系 、先50同樣由-第—馬達52’與_第二馬達％，共同配合控制一 結合塊521，與樞接紅型連桿531，執行換弦動作與調整對琴弓 2〇的施力’而該L型連桿別’前端則設置一線性驅動器54，以 作線性式刖後移動；在該線性驅動$ 54‘的前端則設有一組平行 12 200846064 連才干機構55’，該平行連桿機構5S，於一侧可供夹持琴弓，並 可由第二馬達56’控制其微調進退動作，以此達成進行短弓運 動^控制。另，揮弓系統5,在平行連桿機構55，上裝設兩組力感 測的57 ’以感測琴弓2〇的反作用力，以作伺服性調整控制， 使琴弓20揮$時的姿勢及力道能保持在最適宜狀態。 本發明整體的魏使用即如第五圖所示，該揮弓系統5〇與 • 按料統4G分位__部3G的二侧，_編部3G和按弦 系統4〇共同穩固夾持住小提琴1〇，而揮弓系統％則失持住琴 弓20,亚使琴弓2〇斜向越過小提琴⑺上方，其姿態與真人演 、又疋王相同然後該按弦系統4〇和揮弓系、统％(或训)二者 的動作都由一電腦控制系統所控制。 本發明實施例整體的使肢控制流程即如第十圖所示。首 =’本發明必須分析樂譜’並職法與弓料樂譜資料轉為控 •-序命令，再以前所述及的⑽、收音器與力細器57或 7等之《魏為顯’設計職於❹彳簡的鋪法則，並 =用電腦介面技術控制揮弓系統5〇或5〇，與按弦系統4〇的動 ^而在進行控制動作(即演奏)之同時，本發日月即藉由該咖 的實測，及藉純音器的收音，以及轉域 57或π，的 感測’可將訊號賴給該電腦控制錢，藉以迅速比對運曾以 =按弦祕40及揮弓系統5㈣，的動作，使達成優^演 务品質。 13 200846064 由以上韻可知’本發縣由蝴料π、按弦系統奶 及揮弓糸統5〇共同組成擬人形演奏提琴之機械人3，再結 腦麵統的配合，即可進行全自動演奏小提琴的演奏動作 綜上所述’本發明以擬人形演奏提琴機械人而完全達成 麵自動、提琴的發_的。而在相隨_域及作用 ^里下，本發明的擬人形演奏提琴機械人當然同樣可對不同的 ❿ 提抑物·梭琴、大提琴及低音提科）騎自動化演奏， 所以本發__制及於提琴類之樂器，實為毋庸置疑。、本 毛月擬场决奏提琴機械人完全*曾見諸昔時且深具實用價 值及產業利用性，所以完全符合成立發明專利之要件，妥請依 法准予發明專利，實為德便。 【圖式簡單說明】 第一圖所示係小提琴之構造示意圖 第二圖所示係琴弓之構造示意圖 第三圖所示係小提琴指板的音階位置示意圖 第四圖所示係小提琴揮弓時琴弓與琴弦的關係示意圖 第五圖所示係本發明實施例整體組成構造示意圖 第六圖所示係本發明實施例中頭頸肩部的構造示意圖 第七圖所示係本發明實施例中按弦系統的構造示意圖 第八圖所示係本發明實施例中第一種揮弓系統的構造示意圖 第九圖所示係本發明實施例中第二種揮弓系統的構造示意圖 第十圖所示係本發明實施例整體之使用及控制流程方塊圖 200846064 【主要元件符號說明】 10—琴身 11—琴頭 12—弦检 13-一琴弦 14—琴頸 15—指板 16一-琴橋 17---弦枕 18—拉奏區 19—脆托 20---琴弓 21---弓桿 22—弓毛 23---螺旋鈕 24—弓止 25—-弓尖 3 —擬人形演奏提琴機械人 30—-頭頸肩部 31—頭部 3 2-一頸部 33—肩部 331—轴心 34—肩塾 341—左定位塊 342—右定位塊 35—立架 40---按弦系統 41---立架 42——第一連 43—第二連桿 44—支撐架 45一-陣列式氣壓裝置 46-一托架 50、50’---揮弓系統 51—立架 52、 52’---第一馬達 521、521’---結合塊 53、 53’-一第二馬達531 ---第一連桿 54—-第三馬達 • 55-—第四馬達 551 第二連桿 56—-第五馬達 561—夾持塊 57、57’—力感測器531’—L型連桿 54’---線性驅動器 55’一-平行連桿機構 56’-一第三馬達 15Two low = bow 2 〇 ' Then the first motor 52 can adjust the low position ' of the joint block 521 ' and the _ two motor 53 adjusts the up and down swing angle of the first link 531 ' with the gaiter 54 - The left and right positions of the miscellaneous 531 ' are further controlled by the fine motor 55 to adjust the left and right positions of the second link 551. With such multiple adjustments, the bow can be properly placed across the strings 13 and can be used to make a chord for the 1313 of the 敎 and change the string immediately. System 5 () can drive the bow to make a three-dimensional movement in the three-dimensional space, (4) only in the - plane domain dynamic resistance. If further analysis is performed, the motor 52, 53 is used to perform the function of changing the string and adjusting the force applied to the bow. Under this design, the missing block 561 and the second link 551 are more likely. The force sensor 57 is disposed on the pivot shaft, and the action of the motors 52 and 53 is adjusted by the opposing force of the _ 2q; the movement of the foot by the motors 54, 55, 56 is performed together; 'The system makes the piano (4) feed on the _ line. The second mechanism material of the swinging bow system is as shown in the ninth @, and the swinging bow system and the first 50 are also controlled by the -first motor 52' and the second motor % together to control a joint block 521 and pivotally The red link 531 performs a string changing action and adjusts the force applied to the bow 2', and the L-shaped link is provided with a linear actuator 54 for linear rearward movement; the linear drive is $54. The front end of 'there is a set of parallel 12 200846064 connecting mechanism 55'. The parallel link mechanism 5S can be used to hold the bow on one side, and can be controlled by the second motor 56' to fine-tune the forward and backward movements. Short bow movement ^ control. In addition, the swinging bow system 5 is provided with two sets of force sensing 57' on the parallel link mechanism 55 to sense the reaction force of the bow 2〇 for servo adjustment control, so that the bow 20 is spent at a time The posture and strength can be maintained at the optimum state. The overall use of the invention is as shown in the fifth figure, and the swinging system 5〇 and the two sides of the 4G __ part 3G, the _ section 3G and the chord system 4 〇 are firmly clamped together. Live the violin 1 〇, while the % of the bowing system loses the bow 20, and the ambassed bow 2 slanted over the violin (7), the posture is the same as the real person, and the singer is the same. The actions of both the bow system and the system (or training) are controlled by a computer control system. The overall limb control flow of the embodiment of the present invention is as shown in the tenth figure. First = 'The invention must analyze the scores' and the lyrics and bow data are converted into control--order commands, and then (10), the radio and the force device 57 or 7 "Wei Weixian" design work ❹彳 的 的 , , , = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = From the actual measurement of the coffee, and the sound of the pure tone, and the sensing of the domain 57 or π, the signal can be given to the computer to control the money, so that the comparison can be quickly compared with the singer 40 and the bowing system 5 (four), the action, so that the quality of the excellent ^ performance. 13 200846064 It can be seen from the above rhyme that 'the hair of the county is composed of the butterfly material π, the string system milk and the swaying stone system 5 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 , , , , , , 机械 机械 机械 机械 机械 机械The playing action of playing the violin is as follows: 'The present invention fully realizes the face automatic and the violin's hair in the anthropomorphic form of the violin robot. In the following _ domain and role ^, the anthropomorphic playing violin robot of the present invention can of course also ride on different ❿ 抑 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 It is undoubted that the instrument is made in the violin. This month's finale of the violinist is completely *has seen in the past and has practical value and industrial utilization, so it is fully in line with the requirements for the establishment of invention patents, and it is necessary to grant invention patents according to law. [Simple diagram of the diagram] The first diagram shows the structure of the violin. The second diagram shows the structure of the bow. The third diagram shows the scale position of the violin fingerboard. The fourth picture shows the violin bow. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 5 is a schematic view showing the overall configuration of the embodiment of the present invention. FIG. 6 is a schematic view showing the structure of the head and neck shoulders in the embodiment of the present invention. FIG. 8 is a schematic view showing the structure of the first type of swinging bow system in the embodiment of the present invention. FIG. 9 is a schematic view showing the structure of the second swinging bow system according to the embodiment of the present invention. Block diagram of the overall use and control flow of the embodiment of the present invention 200846064 [Description of main component symbols] 10 - body 11 - head 12 - string inspection 13 - one string 14 - neck 15 - fingerboard 16 - bridge 17---String Pillow 18 - Pulling Area 19 - Crisp Holder 20 - - Bow 21 - Bowing 22 - Bow Hair 23 - Sprite Button - Bowing 25 - Bow Tip 3 - Anthropomorphic Playing the violin robot 30 - head and neck shoulder 31 - head 3 2 - a neck 33 - shoulder 331 - axis 34 - shoulder 341 - left positioning block 342 - right positioning block 35 - stand 40 - press string system 41 - - stand 42 - first link 43 - second link 44 - support frame 45 - array type pneumatic device 46 - a bracket 50, 50' - swinging system 51 - stand 52, 52' - first motor 521, 521 '- - Combination block 53, 53' - a second motor 531 --- first link 54 - third motor 55 - - fourth motor 551 second link 56 - fifth motor 561 - clamping block 57, 57'-force sensor 531'-L-link 54'---linear actuator 55'-parallel link mechanism 56'-a third motor 15