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.