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A dulcimer robot wrist tapping control method and tapping device

A robot and wrist technology, which is applied in the field of dulcimer robot wrist percussion control, can solve the problems of troublesome debugging, serious mechanization, and inconvenient use, and achieve the effects of eliminating the sense of pause in vocalization, anthropomorphic vocalization, and avoiding mechanical sensation

Inactive Publication Date: 2018-11-27
CHINA UNIV OF GEOSCIENCES (WUHAN)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The structure of the dulcimer robot is complex, and the transmission requirements between the various parts are high. For the wrist percussion device that has been developed so far, it is controlled by air pressure, because the air pressure circuit needs to be independently designed and the air pressure system is only used for percussion, which not only makes the robot It is bulky and heavy, and it can only meet the basic action of tapping. The existing tapping devices are fixed and cannot be adjusted once installed, which is inconvenient to use and troublesome to debug.
For music performance, the fixed structure will make the quality of the music played is low, the mechanization is serious, and the anthropomorphic effect is poor

Method used

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  • A dulcimer robot wrist tapping control method and tapping device
  • A dulcimer robot wrist tapping control method and tapping device

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Embodiment Construction

[0026] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments, and the content of the present invention is not limited to the following embodiments.

[0027] The dulcimer robot wrist percussion control method provided by the invention comprises the following steps:

[0028] (1) Connect the bamboo with the rotating shaft of the rotating device. The bamboo is perpendicular to the rotating shaft of the rotating device. Limiting devices are installed on both sides of the bamboo. The rotating device can be a steering gear, or an iron core fixed on an iron A drive unit composed of a permanent magnet on the core and two coils on both sides of the permanent magnet;

[0029] (2) Pass positive current to the rotating device, the rotating shaft of the rotating device drives the bamboo to rotate, the bamboo rotates until it touches the limit device, the bamboo is damped to complete the percussion, and the energizing pulse of t...

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Abstract

The invention provides a wrist knocking control method for a dulcimer robot. A bamboo hammer is fixedly connected with a rotating shaft of a rotation device and is perpendicular to the rotating shaft. Limiting devices are installed on the two sides of the bamboo hammer. The rotation device is electrified with forward current. The rotating shaft of the rotation device drives the bamboo hammer to rotate, the bamboo hammer touches the limiting devices and completes knocking through low vibration, the knocking force of the bamboo hammer is changed by adjusting the electrifying pulse width of the rotation device according to a played music score, and the knocking point of the bamboo hammer is changed by adjusting the positions of the limiting devices. The rotation device is electrified with reverse current, and the bamboo hammer rotates reversely to the initial position. The invention further provides a knocking device comprising a driving unit and a knocking unit. The driving unit is composed of a shell, an iron core, a permanent magnet fixed to the iron core and two coils located on the two sides of the permanent magnet. The knocking unit comprises an installation plate, a positioning pin, a bamboo hammer sleeve, the bamboo hammer and two limiting rods. Electrodeless adjustment on the knocking force is achieved by controlling the input pulse width of the coils, the knocking angle can be adjusted, and personate knocking can be achieved.

Description

technical field [0001] The invention provides a dulcimer robot wrist tapping control method and a tapping device, which belong to the technical field of mechanical products. Background technique [0002] The structure of the dulcimer robot is complex, and the transmission requirements between the various parts are high. For the wrist percussion device that has been developed so far, it is controlled by air pressure, because the air pressure circuit needs to be independently designed and the air pressure system is only used for percussion, which not only makes the robot It is bulky and heavy, and it can only meet the basic action of tapping. The existing tapping devices are fixed and cannot be adjusted once installed, which is inconvenient to use and troublesome to debug. For music performance, the fixed structure will make the quality of the music played is low, the mechanization is serious, and the anthropomorphic effect is poor. Contents of the invention [0003] The ob...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B25J19/00
CPCB25J11/004B25J19/0016
Inventor 张伟民肖坤雷波周莉黄司祺张宁郑佳丽
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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