Joint type dulcimer playing robot

Abstract

The invention relates to a joint type dulcimer playing robot. The robot comprises shoulder joints, elbow joints, wrist joints, large arms, small arms, waist motors, waist speed reducers and transposition gear pairs, wherein the shoulder joints, the elbow joints and the wrist joints are symmetrically mounted on the left side and the right side; the waist motors on same sides drive shoulder bases to rotate by the aid of the waist speed reducers and the transposition gear pairs; the waist motors and the waist speed reducers are mounted on shoulder support frames on same sides; the waist motors rotate to drive the large arms on same sides to rotate; elbow bases of the elbow joints are connected with the large arms on same sides by the aid of sheet metal parts; elbow support frames are fixedly connected with the small arms on same sides by the aid of sheet metal parts; elbow steering engines rotate to drive the small arms to rotate; the small arms are connected with wrist bases of the wrist joints on same sides; bamboo hammer clamping seats are fixed on output shafts of wrist steering engines; dulcimer bamboo hammers are mounted in the bamboo hammer clamping seats; and the wrist steering engines drive the bamboo hammer clamping seats to drive the dulcimer bamboo hammers to reciprocate up and down so as to realize actions of playing and knocking dulcimer keys. The robot is personified in appearance, convenient to control, large in direct movement range, small in noise and good in playing quality.

Description

technical field [0001] The invention relates to a joint type dulcimer playing robot, in particular to a joint type mechanical structure for the dulcimer playing robot. Background technique [0002] At present, the development of domestic robots is very rapid. Musical robots are applied science in the interdisciplinary field of music and science, and have a certain influence at home and abroad. Musical robots are special performance robots. The research on musical robots abroad is mostly keyboard instruments and stringed instruments. , has not yet involved the relevant research on the automatic playing robot of the traditional Chinese musical instrument - dulcimer. Yangqin is an important part of traditional Chinese musical instruments, while the development of domestic playing robots is still in the initial stage of technology, and many key problems have not yet been resolved. Currently, the only known automatic playing robot is the Yangqin designed by Zigong City Chengzhi T...

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Problems solved by technology

[0002] At present, the development of domestic robots is very rapid. Musical robots are applied science in the interdisciplinary field of music and science, and have a certain influence at home and abroad. Musical robots are special performance robots. The research on musical robots abroad is mostly keyboard instruments and stringed instruments. , there is no related research on the automatic playing robot of the traditional Chinese musical instrument - dulcimer

Yangqin is an important part of traditional Chinese musical instruments, while the development of domestic playing robots is still in the initial stage of technology, and many key problems have not yet been resolved. Currently, the only known automatic playing robot is the Yangqin designed by Zigong City Chengzhi Technology Company Playing robot, which uses the mechanical arm to drive the cylinder movement to realize the performance of dulcimer, but there are disadvantages such as poor performance stability, poor accuracy of percussion position, and large noise

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