CN107538500A - Bass playing robot - Google Patents

Abstract

The invention discloses a bass playing robot, which comprises a bass installation frame, four string pressing mechanisms and a string picking mechanism. The string pressing mechanism includes a string pressing assembly, a longitudinal translation assembly and a lateral translation assembly, and the string pressing assembly is arranged on the longitudinal translation assembly , the vertical translation assembly moves along the vertical direction of the string length and is arranged on the horizontal translation assembly, and the horizontal translation assembly moves and is installed on the linear guide rail; The string connecting rod, the string-plucking cylinder mounting bracket is arranged on the top of the string-plucking bracket, one end of the string-plucking rod is provided with a string-plucking cylinder connecting rod, the string-plucking cylinder is connected with the string-plucking cylinder connecting rod, and the string-plucking connecting rod is connected with the string-plucking rod, the string-plucking cylinder respectively String cylinder mount bracket connection. Compared with the prior art, the present invention drives the string-pressing assembly to move laterally by the horizontal translation assembly, and the longitudinal translation assembly and the air cylinder drive the string-pressing assembly to move longitudinally to complete the string-pressing action, and cooperates with the pizzicato mechanism to realize automatic performance, with reasonable structure and convenient operation.

Description

A bass playing robot

technical field

The invention relates to a bass playing robot.

Background technique

With the continuous development of science and technology, the field of robot technology application is gradually changing from the past industrial application to the public life. The latest survey shows that in the field of robots, entertainment robots have occupied as many as 30% of the market share. In general, the technical threshold of commercial machines is lower than that of industrial, medical, and public security robots, but higher than that of household and educational robots; the market demand is lower than that of industrial machines and educational robots, but higher than that of medical, public security, and household robots; market potential And the scale is lower than industrial robots, higher than household, education, medical, public security robots.

Entertainment robots have always been a hot topic of research in various countries. Among them, the music robot has won the favor of researchers for its better display and interaction effects. The musical instrument playing robot controls the mechanical structure through the electronic control device, and simulates the behavior of human playing a musical instrument to play a real musical instrument. It is a multidisciplinary interdisciplinary subject integrating machinery, computer, automation, electronics and music art. Currently, robots for stringed instruments are in urgent need of development.

Contents of the invention

In order to solve the above technical problems, the present invention provides a bass playing robot.

In order to achieve the above object, technical scheme of the present invention is as follows:

The invention provides a bass playing robot, comprising:

The bass installation frame includes a base and a bass support frame. The base is provided with a linear guide rail. The length direction of the linear guide rail is consistent with the length direction of the strings. The bass support frame is arranged at both ends of the base length direction;

Four string-pressing mechanisms, including a string-pressing assembly, a longitudinal translation assembly and a lateral translation assembly, the string pressing assembly is arranged on the longitudinal translation assembly, the longitudinal translation assembly moves along the vertical direction of the string length and is set on the horizontal translation assembly, and the horizontal translation assembly moves Set on the linear guide rail;

The string-plucking mechanism includes a string-plucking bracket, a string-plucking cylinder installation frame, a string-plucking cylinder, a rod and a string-plucking connecting rod. Rod, the plucked string cylinder is arranged on the plucked string cylinder mounting frame and its output end is connected with the plucked string cylinder connecting rod, and the plucked string connecting rod is connected with the driving rod and the plucked string cylinder mounting frame respectively.

Wherein, the above-mentioned string pressing assembly includes a bracket, a pressure rod, a cylinder, a cylinder mounting frame and a connecting rod, the bracket includes a mounting base and a support frame, the support frame is extended on the mounting base, and the pressure rod is rotatably arranged on the support frame and Its rear end is rotatably connected with the connecting rod, the bottom of the cylinder mounting frame is rotatably arranged on the mounting base, the cylinder is arranged on the cylinder mounting frame and its output end is connected with the connecting rod. The string pressing assembly amplifies the linear motion stroke of the cylinder through the lever, and converts it into the up and down motion of the string pressing end.

Compared with the prior art, the present invention drives the string-pressing assembly to move laterally by the horizontal translation assembly, and the longitudinal translation assembly and the air cylinder drive the string-pressing assembly to move longitudinally to complete the string-pressing action, and cooperates with the pizzicato mechanism to realize automatic performance, with reasonable structure and convenient operation.

On the basis of the above-mentioned technical scheme, the following improvements can also be made:

As a preferred solution, the connection point between the above-mentioned pressure rod and the support frame is point C, the connection point between the pressure rod and the connecting rod is point B, the connection point between the bottom of the cylinder mounting frame and the installation base is point A, and the length of AC is 86mm, the length of BC is 30mm, and the length of AB is 88-98mm under the stroke of the cylinder.

The front end of the pressing bar is provided with a downwardly inclined string pressing part, and a mounting groove is arranged on the string pressing part, and a silica gel pressing block is arranged in the mounting groove.

By adopting the above preferred solution, the string pressing part is provided with a silica gel pressing block to effectively protect the strings.

As a preferred solution, the above-mentioned longitudinal translation assembly includes a longitudinal translation base, a longitudinal translation slider, a crank, a longitudinal connecting rod and a steering gear, the longitudinal translation base is provided with a longitudinal linear guide rail, and the length direction of the longitudinal linear guide rail is the same as the length of the strings. The direction is vertical, the longitudinal translation slider is slidably set on the longitudinal linear guide rail, the installation base is set on the longitudinal translation slider, the steering gear is set on the longitudinal translation base, the output end of the steering gear is connected to the crank, and the crank is connected to the connecting rod. The longitudinal link is also connected with the longitudinal translation slider and is located on at least one side in the length direction of the longitudinal linear guide rail.

Among them, the connection point between the steering gear and the crank is point D, the connection point between the crank and the longitudinal link is point E, the connection point between the longitudinal link and the longitudinal translation slider is point F, and points D and F are in the vertical direction. The height is h, h is 35mm, and the stroke s of F in the horizontal direction is 60mm.

With the above-mentioned preferred solution, the steering gear drives the crank to rotate, the crank drives the longitudinal connecting rod to rotate around the connection point between the longitudinal connecting rod and the crank, and the longitudinal connecting rod drives the longitudinal translation slider to move back and forth on the longitudinal linear guide rail.

As a preferred solution, the above-mentioned lateral translation assembly includes a lateral translation base, a lateral translation slider, a synchronous belt, a shaft coupling and a motor, and the lateral translation base is provided with a horizontal linear guide rail, and the length direction of the lateral linear guide rail is the same as the length of the strings. The direction is the same, the horizontal translation slider is slidably set on the horizontal linear guide rail, the vertical translation base is set on the horizontal translation slider, the timing belt is set on the horizontal translation base and connected with the horizontal translation slider, the motor is set on the horizontal translation base and Its output end is connected with a coupling, which is also connected with a timing belt.

Wherein, the connection point between the top of the strum bracket and the string cylinder installation frame is point K, the connection point between the driving rod and the string cylinder connecting rod is point L, and the connection point between the driving rod and the string connecting rod is point M. The plucking part of the rod is the N point, the length of KL under the stroke of the plucking cylinder is 87-97mm, the length of KM is 87mm, the length of LM is 32mm, and the length of MN is 28mm.

Using the above preferred solution, the motor drives the synchronous belt to rotate, and the synchronous belt drives the horizontal translation slider to slide, thereby driving the longitudinal translation base to move, converting the rotational motion into linear motion, and realizing the lateral movement of the pressing string assembly.

As a preferred solution, the above-mentioned bass support frame includes a piano tail support frame and a piano head support frame. A positioning block is arranged on the side, a spring is arranged between the positioning block and the installation groove, and a piano head support plate is arranged on the top of the piano head support frame for rotation. Wherein, the positioning block is a curved surface structure.

With the above preferred solution, the positioning block has a curved surface structure, which can fit well on the side of the bass tail and effectively fix the bass.

As a preferred solution, a speed regulating assembly is also provided, and the speed regulating assembly is connected with the air inlet of the throttle valve of the cylinder to control the air flow of the cylinder.

By adopting the above-mentioned preferred solution, by adjusting the size of the air flow of the cylinder, the dynamics of picking the strings can be changed.

Description of drawings

Fig. 1 is a structural schematic diagram of the string pressing assembly of the present invention.

Fig. 2 is a structural schematic diagram of the pizzicato mechanism of the present invention.

Fig. 3 is a schematic diagram of the state structure of the string pressing assembly of the present invention.

Fig. 4 is a structural schematic diagram of another state of the string pressing assembly of the present invention.

Fig. 5 is a schematic diagram of the state structure of the longitudinal translation assembly of the present invention.

Fig. 6 is a structural schematic diagram of another state of the longitudinal translation assembly of the present invention.

Fig. 7 is a schematic diagram of the kinematic structure of the pizzicato mechanism of the present invention.

detailed description

Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

In order to achieve the purpose of the present invention, as shown in Figures 1 to 2, a bass player robot is provided in one embodiment of the present invention, including:

The bass installation frame includes a base and a bass support frame. The base is provided with a linear guide rail. The length direction of the linear guide rail is consistent with the length direction of the strings. The bass support frame is arranged at both ends of the base length direction;

Four string-pressing mechanisms, including a string-pressing assembly, a longitudinal translation assembly and a lateral translation assembly, the string pressing assembly is arranged on the longitudinal translation assembly, the longitudinal translation assembly moves along the vertical direction of the string length and is set on the horizontal translation assembly, and the horizontal translation assembly moves Set on the linear guide rail;

The plucked string mechanism comprises a plucked string support 20, a plucked string cylinder installation frame 21, a plucked string cylinder, a plucking rod 22 and a plucked string connecting rod 23, and the plucked string cylinder installation frame 21 is arranged on the top of the plucked string support 20, and the top of the plucked string cylinder 22 One end is provided with the string-plucking cylinder connecting rod, and the string-plucking cylinder is arranged on the string-plucking cylinder mounting bracket 21 and its output end is connected with the string-plucking cylinder connecting rod, and the string-plucking connecting rod 23 is connected with the lever 22 and the string-plucking cylinder mounting bracket 21 respectively. connect.

Wherein, the above-mentioned string pressing assembly includes a bracket 10, a pressing rod 11, a cylinder, a cylinder mounting frame 12 and a connecting rod 13, the bracket 10 includes a mounting base and a support frame, and the supporting frame is extended on the mounting base, and the pressing rod 11 rotates It is arranged on the support frame and its rear end is rotatably connected with the connecting rod 13. The bottom of the cylinder mounting frame 12 is rotatably disposed on the mounting base. The string pressing assembly amplifies the linear motion stroke of the cylinder through the lever, and converts it into the up and down motion of the string pressing end.

Compared with the prior art, this embodiment drives the string pressing assembly to move horizontally, the vertical translation assembly and the air cylinder drive the string pressing assembly to move longitudinally to complete the string pressing action, and cooperates with the pizzicato mechanism to realize automatic performance. The structure is reasonable and the operation is convenient. .

As shown in Figures 3 to 4, in order to further optimize the implementation effect of the present invention, in another embodiment of the present invention, on the basis of the foregoing content, the connection point between the above-mentioned pressure rod and the support frame is point C , the connection point between the compression rod and the connecting rod is point B, the connection point between the bottom of the cylinder mounting bracket and the installation base is point A, the length of AC is 86mm, the length of BC is 30mm, and the length of AB under the stroke of the cylinder is 88-98mm, the maximum movement range of the pressure rod is between 20°-25°.

According to the law of cosines,

Δθ = θ _MAX - θ _MAX = 96.13° - 75.3° = 20.83°.

The front end of the pressing bar is provided with a downwardly inclined string pressing part, and a mounting groove is arranged on the string pressing part, and a silica gel pressing block is arranged in the mounting groove.

By adopting the above preferred solution, the string pressing part is provided with a silica gel pressing block to effectively protect the strings.

In order to further optimize the implementation effect of the present invention, in another embodiment of the present invention, on the basis of the foregoing, the above-mentioned longitudinal translation assembly includes a longitudinal translation base, a longitudinal translation slider, a crank, a longitudinal connecting rod and a rudder machine, the longitudinal translation base is provided with a longitudinal linear guide rail, the length direction of the longitudinal linear guide rail is perpendicular to the length direction of the strings, the longitudinal translation slider is slidably arranged on the longitudinal linear guide rail, the installation base is arranged on the longitudinal translation slider, and the rudder The steering gear is arranged on the longitudinal translation base, the output end of the steering gear is connected to the crank, the crank is connected to the connecting rod, and the longitudinal connecting rod is also connected to the longitudinal translation slider and is located on at least one side of the length direction of the longitudinal linear guide rail.

As shown in Figures 5 to 6, the connection point between the steering gear and the crank is point D, the connection point between the crank and the longitudinal link is point E, the connection point between the longitudinal link and the longitudinal translation slider is point F, point D and The height of point F in the vertical direction is h, h is 35mm, and the stroke s of F in the horizontal direction is 60mm.

According to the geometric relationship, the following equations can be obtained:

Solving the system of equations gives:

With the above-mentioned preferred solution, the steering gear drives the crank to rotate, the crank drives the longitudinal connecting rod to rotate around the connection point between the longitudinal connecting rod and the crank, and the longitudinal connecting rod drives the longitudinal translation slider to move back and forth on the longitudinal linear guide rail.

In order to further optimize the implementation effect of the present invention, in another embodiment of the present invention, on the basis of the foregoing, the above-mentioned lateral translation assembly includes a lateral translation base, a lateral translation slider, a synchronous belt, a coupling and The motor is provided with a horizontal linear guide rail on the horizontal translation base. The length direction of the horizontal linear guide rail is consistent with the length direction of the strings. The belt is arranged on the transverse translation base and connected with the transverse translation slider, the motor is arranged on the transverse translation base and its output end is connected with the coupling, and the coupling is also connected with the synchronous belt.

As shown in Figure 7, the connection point between the top of the strum bracket and the string cylinder installation frame is point K, the connection point between the strum bar and the string cylinder connecting rod is point L, and the connection point between the strum bar and the string strum connecting rod is M Point, the picking part of the lever is N point, the length of KL under the stroke of the picking cylinder is 87-97mm, the length of KM is 87mm, the length of LM is 32mm, and the length of MN is 28mm.

From the law of cosines we know:

Bring in the data to get:

Taking K as the origin and setting the coordinate system shown in the figure, it can be calculated:

N=(75.97, 58.98)

N ^/ ＝(69.32, 53.23)

ΔN=NN ^/ =(6.65, 5.75).

Using the above preferred solution, the motor drives the synchronous belt to rotate, and the synchronous belt drives the horizontal translation slider to slide, thereby driving the longitudinal translation base to move, converting the rotational motion into linear motion, and realizing the lateral movement of the pressing string assembly.

In order to further optimize the implementation effect of the present invention, in another embodiment of the present invention, on the basis of the foregoing, the above-mentioned bass support frame includes a tail support frame and a piano head support frame, and the top of the tail support frame There is a piano tail mounting seat, a mounting groove is provided on the piano tail mounting seat, a positioning block is provided on the opposite side of the mounting groove, a spring is provided between the positioning block and the mounting groove, and the top of the piano head supporting frame is rotated. There is a headstock support plate. Wherein, the positioning block is a curved surface structure.

With the above preferred solution, the positioning block has a curved surface structure, which can fit well on the side of the bass tail and effectively fix the bass.

In order to further optimize the implementation effect of the present invention, in another embodiment of the present invention, on the basis of the foregoing content, a speed regulating assembly is also provided, and the speed regulating assembly is connected with the air intake port of the throttle valve of the cylinder for It is used to control the air flow of the cylinder.

By adopting the above-mentioned preferred solution, by adjusting the size of the air flow of the cylinder, the dynamics of picking the strings can be changed.

What has been described above is only a preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, some modifications and improvements can be made without departing from the inventive concept of the present invention, and these all belong to the present invention. protection scope of the invention.

Claims (10)

1. A bass playing robot, is characterized in that, comprises: The bass installation frame includes a base and a bass support frame. The base is provided with a linear guide rail. The length direction of the linear guide rail is consistent with the length direction of the strings. The bass support frame is arranged at both ends of the base length direction; Four string-pressing mechanisms, including a string-pressing assembly, a longitudinal translation assembly and a lateral translation assembly, the string pressing assembly is arranged on the longitudinal translation assembly, the longitudinal translation assembly moves along the vertical direction of the string length and is set on the horizontal translation assembly, and the horizontal translation assembly moves Set on the linear guide rail; The string-plucking mechanism includes a string-plucking bracket, a string-plucking cylinder installation frame, a string-plucking cylinder, a rod and a string-plucking connecting rod. Rod, the plucked string cylinder is arranged on the plucked string cylinder mounting frame and its output end is connected with the plucked string cylinder connecting rod, and the plucked string connecting rod is connected with the driving rod and the plucked string cylinder mounting frame respectively. 2. The bass playing robot according to claim 1, wherein the string pressing assembly comprises a support, a depression rod, a cylinder, a cylinder mounting frame and a connecting rod, the support comprises a mounting base and a support frame, and the support frame is extended to be installed on the On the base, the pressure rod is rotatably set on the support frame and its rear end is rotatably connected with the connecting rod. The bottom of the cylinder mounting frame is rotatably set on the mounting base. rod connection. 3. bass playing robot according to claim 2, it is characterized in that, the connection point of depression bar and support frame is C point, the connection point of depression bar and connecting rod is B point, the bottom of cylinder mounting frame and installation base The connecting point is point A, the length of AC is 86mm, the length of BC is 30mm, and the length of AB under the stroke of the cylinder is 88-98mm. 4. The bass playing robot according to claim 3, characterized in that, the front end of the pressure rod is provided with a downward-sloping string-pressing part, the string-pressing part is provided with a mounting groove, and a silica gel pressing block is arranged in the mounting groove . 5. The bass playing robot according to claim 4, wherein the longitudinal translation assembly comprises a longitudinal translation base, a longitudinal translation slide block, a crank, a longitudinal connecting rod and a steering gear, the longitudinal translation base is provided with a longitudinal linear guide rail, and the longitudinal translation The length direction of the linear guide rail is perpendicular to the length direction of the strings, the longitudinal translation slider is slidably arranged on the longitudinal linear guide rail, the installation base is arranged on the longitudinal translation slider, the steering gear is arranged on the longitudinal translation base, and the output end of the steering gear It is connected with the crank, the crank is connected with the connecting rod, and the longitudinal connecting rod is also connected with the longitudinal translation slider and is located at least one side in the length direction of the longitudinal linear guide rail. 6. bass playing robot according to claim 5, it is characterized in that, the connection point of steering gear and crank is D point, the connection point of crank and longitudinal link is E point, the connection of longitudinal link and longitudinal translation slide block Point is point F, the height of point D and point F in the vertical direction is h, h is 35mm, and the stroke s of F in the horizontal direction is 60mm. 7. The bass playing robot according to claim 6, wherein the lateral translation assembly comprises a lateral translation base, a lateral translation slide block, a synchronous belt, a shaft coupling and a motor, and the lateral translation base is provided with a horizontal linear guide rail, and the lateral translation The length direction of the linear guide rail is consistent with the length direction of the strings. The horizontal translation slider is slidably arranged on the horizontal linear guide rail. Connection, the motor is arranged on the base for lateral translation and its output end is connected with the shaft coupling, and the shaft coupling is also connected with the synchronous belt. 8. bass playing robot according to claim 7, it is characterized in that, the connection point of the top of the plucked string support and the plucked string cylinder installation frame is the K point, the connection point of the shift lever and the plucked string cylinder connecting rod is the L point, The connection point between the lever and the string connecting rod is point M, the string picking part of the lever is point N, the length of KL under the stroke of the string cylinder is 87-97mm, the length of KM is 87mm, and the length of LM is 32mm , the length of MN is 28mm. 9. bass performance robot according to claim 1, is characterized in that, bass support frame comprises piano tail support frame and piano head support frame, and the top of piano tail support frame is provided with piano tail mounting seat, and piano tail mounting seat is provided with There is a mounting groove, a positioning block is arranged on the opposite side of the mounting groove, and a spring is arranged between the positioning block and the mounting groove. 10. The bass playing robot according to claim 9, characterized in that, a speed regulating assembly is also provided, and the speed regulating assembly is connected with the air inlet of the throttle valve of the cylinder for controlling the air flow of the cylinder.