CN107225582B - Robot structure that dulcimer intelligence was played - Google Patents
Robot structure that dulcimer intelligence was played Download PDFInfo
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- CN107225582B CN107225582B CN201710487796.1A CN201710487796A CN107225582B CN 107225582 B CN107225582 B CN 107225582B CN 201710487796 A CN201710487796 A CN 201710487796A CN 107225582 B CN107225582 B CN 107225582B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W90/00—Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation
- Y02W90/10—Bio-packaging, e.g. packing containers made from renewable resources or bio-plastics
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Abstract
The invention discloses a robot structure for intelligent playing of dulcimer, which comprises a wrist, a mechanical arm, a shoulder and a waist; the wrist is driven by two digital steering engines, one digital steering engine is used for adjusting the levelness of the bamboo and the dulcimer surface, the bamboo is ensured to be parallel to the surface as much as possible during knocking, the other digital steering engine is used for controlling the knocking motion of the bamboo, the rotating motion of the mechanical arm is divided into two independent parts, the two independent parts are respectively controlled, the stepping motor is used for driving the rotating motion of the rear end of the forearm around the forearm switching mechanism, the shoulder servo motor is used for driving the rotating motion of the rear end of the big arm to be controlled, and the rotating motion of the shoulder is controlled by the waist servo motor, so that the control is stable and the playing quality is good; and the robot has the advantages of anthropomorphic appearance, convenient control, large movement range and low noise.
Description
Technical Field
The invention relates to the field of robots, in particular to a joint type robot structure capable of simulating a human hand to strike an intelligent playing dulcimer.
Background
The music robot is an application science in the field of music and science intersection, has a certain influence at home and abroad, belongs to a performance special robot, and is mainly researched by keyboard instruments and chord instruments abroad. In the related art, a mechanical arm of a robot drives a cylinder to move to realize the performance of the dulcimer, but the performance has poor stability and poor knocking position accuracy.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a robot structure capable of simulating a stable and accurate intelligent performance of dulcimer by a human hand.
In order to solve the technical problems, the embodiment of the invention provides a robot structure for intelligent performance of dulcimer, which comprises a wrist, a mechanical arm, a shoulder and a waist; the wrist is connected with the mechanical arm, the mechanical arm is connected with the shoulder, and the shoulder is connected with the waist; the wrist comprises a wrist base, a first digital steering engine and a bamboo, wherein the first digital steering engine drives the bamboo to move; the mechanical arm comprises a small arm front end, a small arm switching mechanism, a large arm front end, a large arm rear end, a small arm transmission connecting rod and a small arm transmission eccentric wheel, wherein the small arm front end is connected with the wrist base, the small arm front end is connected with the small arm switching mechanism, the small arm switching mechanism is connected with the large arm front end, the large arm front end is connected with the large arm rear end, the upper end of the small arm transmission connecting rod is connected with the small arm transmission eccentric wheel, and the lower end of the small arm transmission connecting rod is connected with the small arm switching mechanism; the shoulder comprises a shoulder seat side plate, a shoulder speed reducer, a shoulder seat bottom plate and a shoulder servo motor; the shoulder seat bottom plate is connected with the shoulder seat side plate, the shoulder speed reducer is arranged on the shoulder seat side plate, the shoulder servo motor is connected with the shoulder speed reducer, the shaft of the shoulder speed reducer is fixedly connected with the rear end of the big arm, and the shoulder servo motor drives the front end of the big arm to rotate through the shoulder speed reducer; the waist comprises a waist servo motor, a waist speed reducer, a middle plate and a waist coupler, wherein the waist servo motor is connected with the waist speed reducer, the waist speed reducer is fixed on the middle plate, the waist speed reducer is connected with the waist coupler, the waist coupler is fixedly connected with the shoulder base bottom plate, and the waist servo motor drives the shoulder base bottom plate to rotate through the waist speed reducer.
Further, the wrist further comprises a second digital steering engine, a first small U-shaped plate, a second small U-shaped plate, a notch U-shaped plate, a large U-shaped plate, a bamboo fixing plate and a bamboo baffle, the wrist base is connected with a second main steering wheel and a second auxiliary steering wheel of the second digital steering engine, the second digital steering engine and the first digital steering engine are sequentially connected through the first small U-shaped plate and the second small U-shaped plate, and the second small U-shaped plate is connected with a shell of the first digital steering engine 38; the output shaft of the first digital steering engine is fixedly provided with the large U-shaped plate, the bamboo is fixed on the large U-shaped plate through the bamboo fixing plate, the second small U-shaped plate is fixedly provided with the notch U-shaped plate, one end of the bamboo baffle is fixedly provided with the notch U-shaped plate, and the other end of the bamboo baffle is located below the bamboo.
Further, the mechanical arm further comprises a small arm rear end, a small arm switching mechanism cover, a large arm baffle, a large synchronous wheel, a synchronous belt, a small synchronous wheel, a small arm switching mechanism bearing, a small arm transmission connecting rod bearing, a large synchronous wheel bearing and a large arm front end bearing; the lower end of the small arm transmission connecting rod is connected with the small arm switching mechanism through the small arm switching mechanism bearing, the small arm switching mechanism is connected with the large arm front end through the small arm switching mechanism cover and the large arm front end bearing, and the large arm rear end is fixed on the shaft of the shoulder speed reducer through the large arm baffle and the key.
Further, the mechanical arm further comprises a limiting pin, one end of the limiting pin penetrates through the shoulder seat side plate, and the other end of the limiting pin is located on the outer side of the synchronous belt.
Further, the mechanical arm further comprises a U-shaped plate connecting seat, the U-shaped plate connecting seat is fixed to the top end of the front end of the small arm through screws, and the wrist base is connected with the U-shaped plate connecting seat.
Further, the shoulder includes shoulder seat curb plate, preceding shoulder bar, back shoulder bar, step motor speed reducer, step motor, shoulder seat curb plate, preceding shoulder bar, back shoulder bar all are located on the shoulder seat bottom plate, the shoulder speed reducer is installed the lower extreme of shoulder seat curb plate, the shoulder speed reducer output shaft with big synchro pulley bearing, big arm rear end and big arm baffle link to each other, the shoulder servo motor passes through shoulder speed reducer drive big arm front end rotation, the step motor speed reducer is installed the upper end of shoulder seat curb plate, the step motor with the step motor speed reducer links to each other, the step motor speed reducer output shaft through the key with little synchro pulley is connected.
Further, the shoulder part further comprises a photoelectric switch shading sheet, a zero photoelectric switch, a first limit position photoelectric switch and a second limit position photoelectric switch, wherein the photoelectric switch shading sheet is positioned above the shoulder seat bottom plate and is fixed on one end face of the shoulder seat bottom plate, and the zero photoelectric switch, the first limit position photoelectric switch and the second limit position photoelectric switch are arranged on the middle plate; the zero photoelectric switch is positioned at the first limit position photoelectric switch and the second limit position photoelectric switch, and the first limit position photoelectric switch and the second limit position photoelectric switch are respectively positioned at two ends of the shoulder base bottom plate.
Further, the shoulder seat bottom plate is connected with the shoulder seat side plate and the front and back shoulder plate ribs through screws.
Further, the waist portion further comprises an intermediate plate bearing, the intermediate plate bearing is located on the intermediate plate, and the waist portion coupler is connected with the intermediate plate bearing.
Further, a Z-shaped plate is fixed on the middle plate, and a camera is fixedly installed on the Z-shaped plate.
The base comprises an adjusting screw, a bottom plate fixing plate, a base large flange, a base circular tube and a base small flange; the three adjusting screws are respectively fixed on three base plates with 120-degree angles, the three base plates are fixed on the base plate fixing plate through screws, the base large flange plate is connected with the base plate fixing plate through screws, the base round tube is respectively connected with the base large flange plate and the base small flange plate through screws, and the base small flange plate is fixed on the middle plate through screws.
Compared with the related art, the technical scheme provided by the embodiment of the invention has the following beneficial effects: according to the robot structure for automatic playing of dulcimer, the first digital steering engine of the wrist drives the bamboo to move, the bamboo is played on the dulcimer, the mechanical arm is formed into a parallelogram structure by the small arm transmission eccentric wheel, the large arm front end, the large arm rear end, the small arm switching mechanism and the small arm transmission connecting rod, during the playing of the dulcimer, the waist servo motor drives the shoulder seat bottom plate to rotate so as to drive the shoulder to move, the shoulder servo motor drives the large arm front end to rotate through the shoulder speed reducer, namely, the mechanical arm of the parallelogram structure is driven to rotate, the rigidity of the mechanical arm is better, the movement is more flexible, namely, the space movement position of the bamboo is more flexible and accurate, and the stability is good.
Drawings
Fig. 1 is a schematic view of a robot structure for intelligent performance of dulcimer according to an embodiment of the present invention;
fig. 2 is a partial structural elevation view of a robot structure for intelligent playing of dulcimer according to an embodiment of the present invention;
fig. 3 is a partial structural rear view of a robot structure for intelligent performance of dulcimer according to an embodiment of the present invention;
fig. 4 is a diagram showing a wrist structure of a robot structure for intelligent performance of dulcimer according to an embodiment of the present invention;
fig. 5 is an exploded view of a wrist structure of a robot structure for intelligent performance of dulcimer according to an embodiment of the present invention;
fig. 6 is an exploded view of a robot arm structure of a dulcimer intelligent playing robot according to an embodiment of the present invention;
fig. 7 is an exploded view of a shoulder structure of a robot structure for intelligent performance of dulcimer according to an embodiment of the present invention;
fig. 8 is an exploded view of the waist structure of the robot structure for intelligent performance of dulcimer according to the embodiment of the present invention.
Wherein: 1-an adjusting screw; 2-a bottom plate; 3-a bottom plate fixing plate; 4, a large base flange plate; 5-a base round tube; 6-forearm front; 7-the rear end of the forearm; 8-a forearm switching mechanism; 9-a forearm switching cover; 10-front end of big arm; 11-a waist servo motor; 12-a waist speed reducer; 13-the rear end of the big arm; 14-forearm transfer link; 15-a large arm baffle; 16-small arm driving eccentric wheel; 17-large synchronizing wheel; 18-a synchronous belt; 19—a small synchronizing wheel; 20-shoulder seat side panels; 21-first shoulder bar; 22-a stepping motor speed reducer; 23-shoulder speed reducer; 24-a stepper motor; 25-a shoulder seat bottom plate; 26-shoulder servo motor; 27-a first limit position photoelectric switch; 28-Z-shaped plate; 29-a camera; 30-an intermediate plate; 31-U-shaped plate connecting seats; 32-a wrist base; 33-a second main steering wheel; 34-a second digital steering engine; 35-a second auxiliary steering wheel; 36-a first small U-shaped plate; 37-a second small U-shaped plate; 38-a first digital steering engine; 39-notched U-shaped plates; 40-large U-shaped plate; 41-a bamboo fixing plate; 42-bamboo; 43-a bamboo baffle; 44—a first auxiliary rudder disk; 45-a first main steering wheel; 46-forearm adapter bearing; 47-forearm drive link bearing; 48-large synchronous belt bearing; 49-lumbar coupling; 50-second shoulder bar; 51-a photoelectric switch shading sheet; 52-zero photoelectric switch; 53-a second pole position photoelectric switch; 54—a mid-plate bearing; 55-a big arm front end bearing; 56-a small base flange; 57-limit pins; 100-wrist; 200-mechanical arms; 300-waist; 400-shoulder.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, 2 and 3, a robot structure for intelligent performance of dulcimer includes a wrist 100, a robot arm 200, a waist 300 and a shoulder 400; the wrist 100 is connected with the mechanical arm 200, the mechanical arm 200 is connected with the shoulder 400, and the shoulder 400 is connected with the waist 300; the wrist 100 comprises a wrist base 32, a first digital steering engine 38 and a bamboo 42, wherein the first digital steering engine 38 drives the bamboo 42 to move, and in the playing process, the first digital steering engine 38 drives the bamboo 42 to move so as to realize the knocking playing of the bamboo 42 on the dulcimer; the mechanical arm 200 comprises a forearm front end 6, a forearm switching mechanism 8, a forearm front end 10, a forearm rear end 13, a forearm transmission connecting rod 14 and a forearm transmission eccentric wheel 16, wherein the forearm front end 6 is connected with the wrist base 32, the forearm front end 6 is connected with the forearm switching mechanism 8, the forearm switching mechanism 8 is connected with the forearm front end 10, the forearm front end 10 is connected with the forearm rear end 13, the upper end of the forearm transmission connecting rod 14 is connected with the forearm transmission eccentric wheel 16, and the lower end of the forearm transmission connecting rod is connected with the forearm switching mechanism 8; the small arm transmission eccentric wheel 16, the large arm front end 10, the large arm rear end 13, the small arm switching mechanism 8 and the small arm transmission connecting rod 14 form a parallelogram structure, so that the mechanical arm 200 has better rigidity and more flexible movement in the playing process, and the bamboo 42 can be knocked on the dulcimer stably and accurately; the shoulder 400 comprises a shoulder seat side plate 20, a shoulder speed reducer 23, a shoulder seat bottom plate 25 and a shoulder servo motor 26; the shoulder seat side plate 20 is connected with the shoulder seat bottom plate 25, the shoulder speed reducer 23 is mounted on the shoulder seat side plate 20, the shoulder servo motor 26 is connected with the shoulder speed reducer 23, the shaft of the shoulder speed reducer 23 is fixedly connected with the rear end 13 of the big arm, and the shoulder servo motor 26 drives the front end 10 of the big arm to rotate through the shoulder speed reducer 23; the waist 300 comprises a waist servo motor 11, a waist speed reducer 12, a middle plate 30 and a waist coupler 49, wherein the waist servo motor 11 is connected with the waist speed reducer 12, the waist speed reducer 12 is positioned below the middle plate 30, the waist speed reducer 12 is connected with the waist coupler 49, the waist coupler 49 is fixedly connected with the shoulder base bottom plate 25, and the waist servo motor 11 drives the shoulder base bottom plate 25 to rotate through the waist speed reducer 12. The shoulder 400 is connected with the middle plate 30 of the waist 300, the waist 300 is fixed, the waist servo motor 11 drives the shoulder seat bottom plate 25 to rotate through the waist speed reducer 12, and the shoulder servo motor 26 drives the big arm front end 10 to rotate through the shoulder speed reducer 23, namely, the shoulder 400 and the mechanical arm 200 can simultaneously rotate and move, so that the stability and accuracy of playing are further ensured.
Preferably, the wrist 100, the arm 200 and the shoulder 400 are symmetrically disposed in two parts, and the waist 300 is symmetrically disposed in two parts except the middle plate 30.
Preferably, referring to fig. 4 and 5, the wrist 100 further includes a second digital steering engine 34, a first small U-shaped board 36, a second small U-shaped board 37, a notch U-shaped board 39, a large U-shaped board 40, a bamboo fixing board 41 and a bamboo baffle 43, the wrist base 32 is connected with a second main steering wheel 33 and a second auxiliary steering wheel 35 of the second digital steering engine 34, the second digital steering engine 34 and the first digital steering engine 38 are sequentially connected through the first small U-shaped board 36 and the second small U-shaped board 37, and the second small U-shaped board 37 is connected with the housing of the first digital steering engine 38; the output shaft of the first digital steering engine 38 is fixed with the large U-shaped plate 40, the bamboo 42 is fixed on the large U-shaped plate 40 through the bamboo fixing plate 41, the second small U-shaped plate 37 is fixed with the notch U-shaped plate 39, the notch U-shaped plate 39 is fixed with one end of the bamboo baffle 43, the other end of the bamboo baffle 43 is located below the bamboo 42, and the bamboo 42 is supported, so that the stability of the bamboo 42 during knocking on a dulcimer is guaranteed. The wrist 100 is driven by the first digital steering engine 38 and the second digital steering engine 34 to realize movement, the first digital steering engine 34 drives the bamboo 42 to realize knocking action on the dulcimer, and the second digital steering engine 34 is used for adjusting levelness of the bamboo 42 and the dulcimer surface, so that the bamboo 42 is ensured to be parallel to the surface as much as possible during knocking.
Preferably, referring to fig. 6 and 7, the mechanical arm 200 further includes a rear arm end 7, a small arm switching cover 9, a large arm baffle 15, a large synchronizing wheel 17, a synchronous belt 18, a small synchronizing wheel 19, a small arm switching bearing 46, a small arm transmission link bearing 47, a large synchronizing wheel bearing 48, and a large arm front end bearing 55; the small arm front end 6 is fixed on the small arm rear end 7 through a screw, the small arm rear end 7 is fixed on the small arm switching mechanism 8 through a screw, the small synchronous wheel 19 drives the large synchronous wheel 17 to rotate through the synchronous belt 18, the small arm transmission eccentric wheel 16 is fixed on the large synchronous wheel 17, the top end of the small arm transmission eccentric wheel 16 is connected with the upper end of the small arm transmission connecting rod 14 through the small arm transmission connecting rod bearing 47, the lower end of the small arm transmission connecting rod 14 is connected with the small arm switching mechanism 8 through the small arm switching mechanism bearing 46, the small arm switching mechanism 8 is connected with the large arm front end 10 through the small arm switching cover 9 and the large arm front end bearing 55, and the large arm rear end 13 is fixed on the shaft of the shoulder speed reducer 23 through the large arm baffle 15 and a key.
Preferably, referring to fig. 6, the mechanical arm 200 further includes a U-shaped board connecting seat 31, the U-shaped board connecting seat 31 is fixed at the top end of the forearm front end 6 by a screw, and the wrist base 32 is connected with the U-shaped board connecting seat 31. The wrist 100 is connected to the robot arm 200.
Preferably, referring to fig. 7, the mechanical arm 200 further includes a limiting pin 57, one end of the limiting pin 57 passes through the shoulder seat side plate 20, and the other end is located at the outer side of the synchronous belt 18, so as to ensure that the position of the synchronous belt 18 is not deviated during the rotation process.
Preferably, referring to fig. 7 and 8, the shoulder 400 includes a front shoulder bar 21, a rear shoulder bar 50, a step motor reducer 22, and a step motor 24, the front shoulder bar 21 and the rear shoulder bar 50 are both located on the shoulder base plate 25, the shoulder reducer 23 is mounted on the lower end of the shoulder base side plate 20, the output shaft of the shoulder reducer 23 is connected with the large synchronous wheel bearing 48, the large arm rear end 13 and the large arm baffle 15, the shoulder servo motor 26 drives the large arm front end 6 to rotate after passing through the shoulder reducer 23, the step motor reducer 22 is mounted on the upper end of the shoulder base side plate 20, the step motor 24 is connected with the step motor reducer 22, and the output shaft of the step motor reducer 22 is connected with the small synchronous wheel 19 through a key.
The step motor 24 drives the step motor reducer 22 to move, the step motor reducer 22 drives the small synchronous wheel 19 to rotate through a key, the small synchronous wheel 19 drives the large synchronous wheel 17 to move through the synchronous belt 18, the large synchronous wheel 17 and the small arm transmission eccentric wheel 16 are fixedly connected together through screws, so that the large synchronous wheel 17 rotates to drive the small arm transmission eccentric wheel 16 to rotate, the small arm transmission eccentric wheel 16 is connected through the small arm transfer bearing 46 to drive the small arm transmission connecting rod 14 to move, the small arm transmission connecting rod 14 is connected through the large arm front end bearing 55 to drive the small arm transfer mechanism 8 to move, and the small arm transfer mechanism 8 is connected through screws to drive the small arm rear end 7 to rotate.
The shoulder servo motor 26 drives the shoulder speed reducer 23 to rotate, the large synchronous wheel 17 is fixed on the shoulder speed reducer 23 through a large synchronous wheel bearing 48, the outer ring of the bearing is in interference fit with the inner ring of the large synchronous wheel 17, and the inner ring of the bearing is in interference fit with the shaft of the shoulder speed reducer 23. Therefore, the shoulder speed reducer 23 rotates and does not drive the large synchronizing wheel 17 to rotate, the top end of the shoulder speed reducer 23 is fixedly connected with the large arm rear end 13 through the key and the large arm baffle 15, so that the shoulder servo motor 26 rotates to drive the large arm rear end 13 to rotate and drive the large arm front end 10 to correspondingly move, namely, the large arm front end 10 and the large arm rear end 13 are mutually independent from the small arm front end 6 and the small arm rear end 7.
Preferably, the shoulder seat bottom plate 25 is connected to the shoulder seat side plate 20, the front shoulder bead 21 and the rear shoulder bead 50 by screws.
Preferably, referring to fig. 8, the shoulder 400 further includes a photoelectric switch light shielding plate 51, a zero photoelectric switch 52, a first limit position photoelectric switch 27 and a second limit position photoelectric switch 53, wherein the photoelectric switch light shielding plate 51 is located above the shoulder base plate 25 and is fixed on one end surface of the shoulder base plate 25, and the zero photoelectric switch 52, the first limit position photoelectric switch 27 and the second limit position photoelectric switch 53 are mounted on the middle plate 30; the zero photoelectric switch 52 is located between the first limit position photoelectric switch 27 and the second limit position photoelectric switch 53, and the first limit position photoelectric switch 27 and the second limit position photoelectric switch 53 are respectively located at two ends of the shoulder base plate 25. The photoelectric switch shading sheet 51 and the zero photoelectric switch 52 are used for determining the initial position of the shoulder 400 before playing, and the first limit position photoelectric switch 27 and the second limit position photoelectric switch 53 are used for determining the limit positions of the shoulder 400 rotating in the front-back direction; when the shoulder 300 moves to the front and rear limit position or the initial position, the photoelectric switch light shielding sheet 51 is just positioned in the middle of the U-shaped groove of the zero photoelectric switch 52, the first limit position photoelectric switch 27 or the second limit position photoelectric switch 53, and the zero photoelectric switch 52, the first limit position photoelectric switch 27 or the second limit position photoelectric switch 53 feeds back a light shielding signal to the control system, so as to control the shoulder base plate 25 to perform a rotary motion within a certain angle range.
Preferably, referring to fig. 8, the waist portion 300 further includes a middle plate bearing 54, the middle plate bearing 54 is located on the middle plate 30, and the waist coupling 49 is connected with the middle plate bearing 54. The waist servo motor 11 drives the shoulder seat bottom plate 25 to rotate through the waist speed reducer 12.
Preferably, referring to fig. 8, a Z-shaped plate 28 is further fixed on the middle plate 30, and a camera 29 is fixedly mounted on the Z-shaped plate 28. The camera 29 takes pictures of dulcimer spectra and transmits the pictures to the control system, and the control system identifies the dulcimer spectra, so that the robot can make corresponding movements, and different tracks can be played intelligently by the robot.
Preferably, referring to fig. 1, the base 500 further comprises a base 500, wherein the base 500 comprises an adjusting screw 1, a bottom plate 2, a bottom plate fixing plate 3, a base large flange 4, a base circular tube 5 and a base small flange 56; the three adjusting screws 1 are respectively fixed on three base plates 2 with 120-degree angles, the three base plates 2 are fixed on the base plate fixing plate 3 through screws, the base large flange 4 is connected with the base plate fixing plate 3 through screws, the base round tube 5 is respectively connected with the base large flange 4 and the base small flange 56 through screws, and the base small flange 56 is fixed on the middle plate 30 through screws. The base 500 supports the intermediate plate 30, so that the robot according to the embodiment of the present invention can stably rotate and play dulcimer.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the protection sought herein.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict. The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. Robot structure that dulcimer intelligence was played, characterized by: comprises a wrist, a mechanical arm, a shoulder and a waist; the wrist is connected with the mechanical arm, the mechanical arm is connected with the shoulder, and the shoulder is connected with the waist; the wrist comprises a wrist base, a first digital steering engine and a bamboo, wherein the first digital steering engine drives the bamboo to move, the wrist further comprises a second digital steering engine, a first small U-shaped plate, a second small U-shaped plate, a notch U-shaped plate, a large U-shaped plate, a bamboo fixing plate and a bamboo baffle, the wrist base is connected with a second main steering wheel and a second auxiliary steering wheel of the second digital steering engine, the second digital steering engine and the first digital steering engine are sequentially connected through the first small U-shaped plate and the second small U-shaped plate, and the second small U-shaped plate is connected with a shell of the first digital steering engine; the output shaft of the first digital steering engine is fixed with the large U-shaped plate, the bamboo is fixed on the large U-shaped plate through the bamboo fixing plate, the second small U-shaped plate is fixed with the notch U-shaped plate, one end of the bamboo baffle is fixed on the notch U-shaped plate, and the other end of the bamboo baffle is positioned below the bamboo; the mechanical arm comprises a small arm front end, a small arm switching mechanism, a large arm front end, a large arm rear end, a small arm transmission connecting rod and a small arm transmission eccentric wheel, wherein the small arm front end is connected with the wrist base, the small arm front end is connected with the small arm switching mechanism, the small arm switching mechanism is connected with the large arm front end, the large arm front end is connected with the large arm rear end, the upper end of the small arm transmission connecting rod is connected with the small arm transmission eccentric wheel, and the lower end of the small arm transmission connecting rod is connected with the small arm switching mechanism; the shoulder comprises a shoulder seat side plate, a shoulder speed reducer, a shoulder seat bottom plate and a shoulder servo motor; the shoulder seat bottom plate is connected with the shoulder seat side plate, the shoulder speed reducer is arranged on the shoulder seat side plate, the shoulder servo motor is connected with the shoulder speed reducer, the shaft of the shoulder speed reducer is fixedly connected with the rear end of the big arm, and the shoulder servo motor drives the front end of the big arm to rotate through the shoulder speed reducer; the waist comprises a waist servo motor, a waist speed reducer, a middle plate and a waist coupler, wherein the waist servo motor is connected with the waist speed reducer, the waist speed reducer is fixed on the middle plate, the waist speed reducer is connected with the waist coupler, the waist coupler is fixedly connected with the shoulder seat bottom plate, and the waist servo motor drives the shoulder seat bottom plate to rotate through the waist speed reducer; the wrist, the mechanical arm and the shoulder are symmetrically provided with two parts respectively, and the waist except the middle plate is symmetrically provided with two parts.
2. The robot structure for intelligent playing of dulcimer according to claim 1, wherein: the mechanical arm further comprises a U-shaped plate connecting seat, the U-shaped plate connecting seat is fixed to the top end of the front end of the forearm through screws, and the wrist base is connected with the U-shaped plate connecting seat.
3. The robot structure for intelligent playing of dulcimer according to claim 1, wherein:
the mechanical arm further comprises a small arm rear end, a small arm switching mechanism cover, a large arm baffle, a large synchronous wheel, a synchronous belt, a small synchronous wheel, a small arm switching mechanism bearing, a small arm transmission connecting rod bearing, a large synchronous wheel bearing and a large arm front end bearing; the lower end of the small arm transmission connecting rod is connected with the small arm switching mechanism through the small arm switching mechanism bearing, the small arm switching mechanism is connected with the large arm front end through the small arm switching mechanism cover and the large arm front end bearing, and the large arm rear end is fixed on the shaft of the shoulder speed reducer through the large arm baffle and the key.
4. A robot structure for intelligent playing of dulcimer according to claim 3, characterized in that: the mechanical arm further comprises a limiting pin, one end of the limiting pin penetrates through the shoulder seat side plate, and the other end of the limiting pin is located on the outer side of the synchronous belt.
5. A robot structure for intelligent playing of dulcimer according to claim 3, characterized in that:
the shoulder comprises a shoulder seat side plate, a front shoulder plate rib, a rear shoulder plate rib, a stepping motor speed reducer and a stepping motor, wherein the shoulder seat side plate, the front shoulder plate rib and the rear shoulder plate rib are all positioned on a shoulder seat bottom plate, the shoulder speed reducer is installed at the lower end of the shoulder seat side plate, an output shaft of the shoulder speed reducer is connected with a large synchronous wheel bearing, the rear end of a large arm and a large arm baffle, the shoulder servo motor drives the front end of the large arm to rotate through the shoulder speed reducer, the stepping motor speed reducer is installed at the upper end of the shoulder seat side plate, the stepping motor is connected with the stepping motor speed reducer, and an output shaft of the stepping motor speed reducer is connected with a small synchronous wheel through a key.
6. The robot structure for intelligent playing of dulcimer according to claim 1, wherein:
the shoulder part further comprises a photoelectric switch shading sheet, a zero photoelectric switch, a first limit position photoelectric switch and a second limit position photoelectric switch, wherein the photoelectric switch shading sheet is positioned above the shoulder part base plate and fixed on one end face of the shoulder part base plate, and the zero photoelectric switch, the first limit position photoelectric switch and the second limit position photoelectric switch are arranged on the middle plate; the zero photoelectric switch is positioned at the first limit position photoelectric switch and the second limit position photoelectric switch, and the first limit position photoelectric switch and the second limit position photoelectric switch are respectively positioned at two ends of the shoulder base bottom plate.
7. The robot structure for intelligent playing of dulcimer according to claim 1, wherein:
the waist portion still includes the intermediate plate bearing, the intermediate plate bearing is located on the intermediate plate, the waist shaft coupling with the intermediate plate bearing is connected.
8. The robot structure for intelligent playing of dulcimer according to claim 1, wherein:
the middle plate is also fixedly provided with a Z-shaped plate, and the Z-shaped plate is fixedly provided with a camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710487796.1A CN107225582B (en) | 2017-06-23 | 2017-06-23 | Robot structure that dulcimer intelligence was played |
Applications Claiming Priority (1)
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| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN202049666U (en) * | 2011-01-23 | 2011-11-23 | 北京联合大学生物化学工程学院 | Teaching instrument of arm transmission structure of robot |
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| CN105945968A (en) * | 2016-07-11 | 2016-09-21 | 中国地质大学（武汉） | Joint type dulcimer playing robot |
| CN206998939U (en) * | 2017-06-23 | 2018-02-13 | 中国地质大学（武汉） | The robot architecture that a kind of dulcimer is intelligently played |
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| CN202049666U (en) * | 2011-01-23 | 2011-11-23 | 北京联合大学生物化学工程学院 | Teaching instrument of arm transmission structure of robot |
| CN105773634A (en) * | 2016-04-15 | 2016-07-20 | 中国地质大学（武汉） | Wrist knocking control method for dulcimer robot and knocking device |
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