CN114023285B - Quick-return type knocking method based on chime robot - Google Patents
Quick-return type knocking method based on chime robot Download PDFInfo
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- CN114023285B CN114023285B CN202111150905.3A CN202111150905A CN114023285B CN 114023285 B CN114023285 B CN 114023285B CN 202111150905 A CN202111150905 A CN 202111150905A CN 114023285 B CN114023285 B CN 114023285B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000004146 energy storage Methods 0.000 claims abstract description 61
- 230000009471 action Effects 0.000 claims abstract description 38
- 238000005452 bending Methods 0.000 claims abstract description 7
- 239000010985 leather Substances 0.000 claims description 6
- 238000010079 rubber tapping Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 9
- 230000002441 reversible effect Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 4
- 238000005381 potential energy Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 2
- 229910000906 Bronze Inorganic materials 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000010974 bronze Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- KUNSUQLRTQLHQQ-UHFFFAOYSA-N copper tin Chemical compound [Cu].[Sn] KUNSUQLRTQLHQQ-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10F—AUTOMATIC MUSICAL INSTRUMENTS
- G10F1/00—Automatic musical instruments
- G10F1/08—Percussion musical instruments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/004—Playing a music instrument
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10F—AUTOMATIC MUSICAL INSTRUMENTS
- G10F5/00—Details or accessories
- G10F5/02—Actions
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of automatic playing of musical instruments, and particularly relates to a quick-return type knocking method based on a chime-forming robot. The power source drives the knocking part to generate the swinging type knocking action until the knocking surface of the knocking part is close to the corresponding clock body surface of the chime bell, and the power source is braked and stopped; at the moment, the knocking part moves forwards under the action of inertia force and presses the energy storage part to generate a radial bending action until the knocking part contacts the surface of a corresponding clock body of the chime clock and knocks the clock body; when the energy storage part generates a radial bending action and generates a radial reset action under the action of the elastic reset force of the energy storage part, the power source simultaneously drives the knocking part to return, so that the quick return function is realized. The invention is based on the traditional automatic mechanical technology, thereby realizing the purpose of automatic chime playing and synchronously having the advantages of high playing precision, good reliability and good tone.
Description
Technical Field
The invention belongs to the technical field of automatic playing of musical instruments, and particularly relates to a quick-return type knocking method based on a chime-forming robot.
Background
The traditional chime is cast by bronze, and is arranged by different sizes of chimes according to the order of tone height, and is hung on a huge bell frame, and the copper bell is beaten by a wooden hammer and a bar respectively, so that different tones can be produced, and because the tones of each bell are different, the chime can be beaten according to the music score, and wonderful music can be played. Because the stability and accuracy of knocking are difficult to control manually, the knocking can hardly reach the same position every time during playing, the intonation synchronization can not be ensured, and the playing quality is unstable; meanwhile, one music piece relates to one-by-one continuous knocking of a great number of clocks, and strict examination is often provided for the labor capacity of a player due to excessive knocking times. In view of the popularization of automation technology, it is desirable to ensure automated striking of a chime using an automated robot, to ensure accuracy and stability of striking using a mechanical structure, and finally to ensure smooth music and high-quality online performance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a quick-return type knocking method based on a chime robot, which is based on the traditional automatic mechanical technology, so that the purpose of automatic chime playing is achieved, and the quick-return type knocking method synchronously has the advantages of high playing precision, good reliability and good tone.
In order to achieve the purpose, the invention adopts the following technical scheme:
a quick-return type knocking method based on a chime robot is characterized in that: the device comprises a knocking part for knocking the chime bell, wherein the knocking part is driven by a power source to generate a swinging type knocking action relative to the chime bell; an energy storage part is arranged between the knocking part and the power source, and the energy storage part has the following action steps when the knocking part generates knocking action:
1) the power source drives the knocking part to generate the swinging type knocking action until the knocking surface of the knocking part is close to the corresponding clock body surface of the chime bell, and the power source is braked and stopped; at the moment, the knocking part moves forwards under the action of inertia force and presses the energy storage part to generate a radial bending action until the knocking part contacts the surface of a corresponding clock body of the chime clock and knocks the clock body;
2) when the energy storage part generates a radial bending action and generates a radial reset action under the action of the elastic reset force of the energy storage part, the power source simultaneously drives the knocking part to return, and the quick return function is realized.
Preferably, the power source is a mechanical arm, so that the knocking part generates swinging knocking action under the swinging action of an arm body of the mechanical arm.
Preferably, the power source comprises a mechanical arm and a knocking cylinder positioned at the working end of the mechanical arm; the tail end of the energy storage part is hinged to the working end of the mechanical arm, so that the energy storage part and the knocking part have the function of hinging relative to the working end of the mechanical arm; the two ends of the knocking cylinder are respectively hinged to the working end and the tail end of the energy storage part, and the axes of the two hinged parts of the knocking cylinder and the axes of the hinged parts between the energy storage part and the working end are parallel to each other.
Preferably, the energy storage part is an elastic rod with a U-shaped appearance, the head end of the energy storage part is provided with a sliding sleeve for inserting and fixing the tail end of the knocking part, and the tail end of the energy storage part is matched with the working end; the opening direction of the U-shaped energy storage part and the knocking direction or the return direction of the knocking part are in the same direction.
Preferably, the energy storage part is further provided with a buffer cylinder for preventing the energy storage part from shaking, and two ends of the buffer cylinder are respectively hinged to two rod edges of the energy storage part.
Preferably, the knocking part is a knocking hammer.
Preferably, the two ends of the knocking part are respectively provided with a leather end for knocking the upper layer bell body and the middle layer bell body and a rubber end for knocking the bottom layer bell body; the working end of the mechanical arm is provided with a rotary table, and the tail end of the energy storage part is arranged on the rotary table; the rotary axis of the rotary table and the hammer handle axis of the knocking part are coaxial with each other.
The invention has the beneficial effects that:
1) the greatest technical shackle of the existing labor automatic chime playing robot is characterized in that the knocking part can continuously abut against the clock face for a short time when knocking action is generated every time, so that the vibration of the clock body is inhibited, and the sound effect is poor. When attempting to reduce the time for the striking portion to abut the clock face using a rapid return action of a power source such as a robotic arm, the success is extremely low, the root cause being: with the arm distance that sensitivity is the highest, the articulated motor is evenly distributed to each festival arm on one's body, strikes at every turn and all need articulated motor positive and negative action once with the return stroke, obviously articulated motor needs reaction time, causes to lean on the arm action alone and can't avoid above-mentioned condition. Therefore, the invention ingeniously provides the idea of the energy storage part, namely: adopt energy storage portion transition between power supply and the portion of strikeing, when the power supply throwed away the portion of strikeing, be about to contact the chime bell when the portion of strikeing, the power supply reverse action makes the portion of strikeing produce the trend of keeping away from the chime bell promptly. Under the action of inertia force, the energy storage part deforms, so that the knocking part still overcomes the trend and knocks the corresponding clock face of the chime bell. Then, the energy storage part stores full energy after generating the knocking action, so that the knocking part generates reset motion in the opposite direction, and the whole knocking part rapidly leaves the chime bell at double speed by combining the running direction of the power source, thereby realizing the quick return effect and enabling the chime bell to be not influenced.
In addition, another factor restricting the development of the chime robot is the stiffness of the automatic machine, and the strength can ensure the knocking accuracy and reliability, but cannot achieve the difference of the knocking degree of people. According to the invention, through the energy storage part, the knocking force can be distinguished by matching the running speed of the robot with the distance from the chime bell during reverse motion. When the hammer moves reversely and the distance from the chime bell is consistent, the speed determines the kinetic energy of the knocking part; the faster the speed, the larger the kinetic energy, the larger the elastic potential energy stored in the reverse direction, i.e. the larger the deformation, the larger the force of knocking, and the remarkable effect.
In conclusion, the invention ensures the independent vibration effect of the chime bell and the timbre of the chime bell, thereby realizing the purpose of automatic chime bell playing and synchronously having the advantages of high playing precision, good reliability and good timbre.
2) The power source can be a traditional hinged cylinder structure, even a power mechanism such as a crank rocker mechanism and the like which can generate a swing driving function; the present invention preferably employs a robotic arm to maximize the motion flexibility of the present invention and ensure the operational reliability and high responsiveness of the present invention. Meanwhile, the chime bell is formed by matching a plurality of bell bodies, and flexible playing of all the bell bodies can be realized by adopting fewer or even one group of mechanical arms, so that the integral volume and complexity can be obviously effectively reduced, and multiple purposes can be achieved. The knocking part is a knocking hammer and can generate knocking action by matching with the swinging action of the mechanical arm or the driving action of the knocking cylinder.
3) The energy storage part can be an energy storage spring, and also can be other elastic mechanisms capable of generating radial swinging deformation, even pneumatic rebound mechanisms or torsion spring seats with high energy storage and reset functions, and the like. The invention preferably adopts the U-shaped elastic rod, thereby utilizing the elastic energy storage effect to achieve the required purpose of the invention in a simplest way.
4) The energy storage part is designed to be capable of releasing energy and storing energy when the energy storage part returns to a stop state, so that reciprocating shaking is caused, and subsequent accurate knocking is not facilitated. In order to solve the problem, the invention is also provided with an anti-shaking buffer cylinder which can quickly offset the energy of the energy storage part and inhibit the redundant shaking.
5) The striking hammer of the invention is a dual-purpose hammer, and the dual-purpose hammer is realized by matching the rotation of a rotary table during working. The middle and upper layers of the clock bodies are knocked by sticking small wooden hammers to leather, and the sound is clear and crisp; the bottom layer bell body is knocked by adopting knocking sticks to wrap rubber, the sound is deep and continuous, the equipment is prevented from being complicated and the cost is high due to the fact that different tools are required to knock the bell body, and the use is flexible and reliable.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the striking state of the striking part relative to the upper-layer bell body;
FIG. 3 is a schematic view of the striking state of the striking portion relative to the bottom-layer bell.
The actual correspondence between each label and the part name of the invention is as follows:
a-chime a 1-upper layer clock body a 2-bottom layer clock body
10-knocking part 11-leather end 12-rubber end
20-energy storage part 21-sliding sleeve
30-mechanical arm 31-rotary table 40-buffer cylinder
Detailed Description
For ease of understanding, the specific structure and operation of the present invention is further described herein with reference to FIGS. 1-3:
before proceeding with the description, it is worth pointing out that the present invention is merely a hardware platform consisting of physical components connected together by a wire configuration. In use, the present invention can be used with software in the prior art to achieve its tapping objectives, but it must be noted that: the software that cooperates with the present invention is not an inventive part nor an integral part of the present invention. The protection of the present invention extends only to hardware networks made up of physical components and wires, and does not involve modification and protection of software.
Based on the above description, the specific structure of the present invention is shown in fig. 1-3, and the main structure of the present invention includes a chime a as a knocking main body, and a power source with an energy storage part and a knocking part 10 is arranged on the front side or both sides of the chime a; to ensure the flexibility and controllability of the stroke, the power source in fig. 1 is a conventional controllable robotic arm 30.
In practice, the striking part 10 of the present invention is a hammer for chime performance, i.e., the striking hammer described above, which has two purposes, so that both sides can strike under the action of the robot arm 30, as shown in fig. 2 to 3. The knocking hammer is integrally of a wood structure, and one end of the knocking hammer is bonded with leather to form a leather end 11 which is used for knocking the middle and upper layer bell a1 and the middle layer bell; the other end is wrapped with a rubber boot to form a rubber end 12 for striking the underlying bell a 2.
After the mechanical arm 30 drives the knocking hammer to knock the chime a, the chime a needs to be rapidly returned to avoid that the knocking hammer still abuts against the chime a after knocking so as to inhibit the vibration of the chime a and influence the sound output effect of the chime a. Thus, as shown in FIGS. 2-3, the present invention employs a transition of the energy storage portion 20 between the robotic arm 30 and the rapping hammer. Taking the embodiment shown in fig. 1 as an example, when the mechanical arm 30 moves to drive the knocking hammer to move in the direction of knocking the chime a, the knocking hammer is thrown out by the rotation of the fifth shaft of the rotary mechanical arm 30. When the knocking hammer is about to contact the chime a, the fifth shaft of the mechanical arm 30 is rapidly reversed, and the energy storage deformation area of the energy storage part 20 is deformed due to inertia until the knocking hammer is subjected to inertia knocking on the chime a. After knocking, the energy storage part 20 is full of energy, so that the knocking hammer can rapidly generate reset motion in the reverse direction, and the whole knocking hammer is accelerated to leave the chime a by combining the reverse action of the mechanical arm 30, so that the unfavorable condition of inhibiting the chime a from vibrating due to the fact that the knocking hammer is still abutted to the chime a after knocking can be well avoided, the actual sound output effect is ensured, and the field playing effect is excellent.
In addition, the robot is relatively stiff and consistent in strength when playing the musical instrument, so that the degree of the human knocking cannot be different; the invention can also realize the difference of knocking force by matching the running speed of the robot arm with the distance from the chime a in the reverse motion. When the distance from the chime bell a is consistent during reverse motion, the kinetic energy of the knocking hammer is determined by the speed, the faster the speed is, the larger the kinetic energy is, the larger the elastic potential energy is stored during reverse motion, namely, the larger the deformation is, and the larger the knocking force is. The energy storage 20 is simplified to a spring model, and then, at rest, the formula is implemented: kinetic energy + elastic potential energy, mv 2 /2＝kx 2 + w (inner), wherein m is the mass of the part (including the knocking hammer) above the energy storage deformation area, v is the running speed of the knocking hammer, k is the elastic coefficient, and x is the bending deformation of the energy storage deformation area; from the formula, the deformation amount x ═ sqr ((mv) 2 And/2-w (inner))/k) shows that the larger the speed is, the larger the corresponding deformation quantity is, and therefore, the control of the strength of the knocking can be realized through the speed change.
The energy storage part 20 is designed such that when returning to a stop, there is a cycle of energy release and storage, resulting in reciprocating shaking, which is not conducive to precise tapping, and therefore, as shown in fig. 2-3, a buffer cylinder 40 is hinged within the "U" shaped configuration of the energy storage part 20, so as to quickly offset the energy of the energy storage part 20 and suppress excessive shaking. In addition, in order to ensure the maximum energy storage effect of the U-shaped structure of the energy storage part 20, on one hand, the rotary table 31 can be arranged to ensure the orientation of the knocking part 10, so as to realize the function of knocking, namely energy storage; on the other hand, the sliding sleeve 21 ensures the reliable installation of the knocking portion 10, so that the knocking portion 10 and the energy storage portion 20 are in the same plane as shown in fig. 2 to 3.
It will, of course, be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the present invention may be embodied in other specific forms with the same or similar structures without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (6)
1. A quick-return type knocking method based on a chime robot is characterized in that: the chime bell comprises a knocking part (10) used for knocking the chime bell, wherein the knocking part (10) is driven by a power source to generate swinging knocking action relative to the chime bell; an energy storage part (20) is arranged between the knocking part (10) and the power source, and the energy storage part (20) has the following action steps when the knocking part (10) generates knocking action:
1) the power source drives the knocking part (10) to generate the swinging type knocking action until the knocking surface of the knocking part (10) is close to the surface of the corresponding bell of the chime bell, and the power source reversely acts; at the moment, the knocking part (10) moves forwards under the action of inertia force and presses the energy storage part (20) to generate a radial bending action until the knocking part (10) contacts the corresponding clock body surface of the chime bell and knocks the chime bell;
2) when the energy storage part (20) generates a radial bending action and generates a radial reset action under the action of the elastic reset force of the energy storage part, the quick return function is realized by combining the running direction of the power source.
2. The chime robot based quick-return type knocking method according to claim 1, characterized in that: the power source is a mechanical arm (30), so that the knocking part (10) generates swinging knocking action under the swinging action of the arm body of the mechanical arm (30).
3. The chime robot-based quick-return type tapping method according to claim 2, characterized in that: the energy storage part (20) is an elastic rod with a U-shaped appearance, a sliding sleeve (21) is arranged at the head end of the energy storage part (20) so that the tail end of the knocking part (10) can be inserted and fixed, and the tail end of the energy storage part (20) is matched with the working end of the mechanical arm (30); the opening direction of the U-shaped energy storage part (20) is the same as the knocking direction or the return direction of the knocking part (10).
4. The chime robot-based quick-return type tapping method according to claim 3, characterized in that: the energy storage part (20) is also provided with a buffer cylinder (40) for preventing the energy storage part (20) from shaking, and two ends of the buffer cylinder (40) are respectively hinged to two rod edges of the energy storage part (20).
5. The chime robot-based quick-return type tapping method according to claim 3, characterized in that: the knocking part (10) is a knocking hammer.
6. The chime robot-based quick-return type tapping method according to claim 5, characterized in that: leather ends (11) for knocking the upper-layer bell body and the middle-layer bell body and rubber ends (12) for knocking the bottom-layer bell body are respectively arranged at two ends of the knocking part (10); a rotary table (31) is arranged at the working end of the mechanical arm (30), and the tail end of the energy storage part (20) is arranged on the rotary table (31); the rotary axis of the rotary table (31) and the hammer handle axis of the knocking part (10) are coaxial with each other.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111150905.3A CN114023285B (en) | 2021-09-29 | 2021-09-29 | Quick-return type knocking method based on chime robot |
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| CN202111150905.3A CN114023285B (en) | 2021-09-29 | 2021-09-29 | Quick-return type knocking method based on chime robot |
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| CN114023285B true CN114023285B (en) | 2022-09-02 |
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