Robot capable of playing musical instruments and provided with bionic respiratory system

Abstract

The invention relates to the technical field of robots, in particular to a robot capable of playing musical instruments and provided with a bionic breathing system, which comprises a rack, a robot head is fixedly mounted at the top of the rack, and a bionic breathing mechanism is fixedly mounted at the rear end of the rack and located below the robot head. Two groups of hand simulation mechanisms are fixedly mounted at the front end of the rack, and a control panel is fixedly mounted on the back surface of the rack; the bionic breathing mechanism comprises a mounting frame fixedly mounted at the rear end of the rack and located below the robot head, a breathing cylinder is fixedly mounted at the top of the mounting frame, an air pipe is mounted between the breathing cylinder and the robot head, and a lifting toothed bar is slidably connected to the bottom end of the front face of the mounting frame. Through the design, the robot can better simulate the playing action and the breathing rhythm of a human musician, and the expressive force and the infectivity of playing music are improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a robot with a bionic breathing system that can play musical instruments. Background Technology

[0002] In today's world where technology and art are constantly merging, robot performances and robot bands have become highly attractive exhibits at various influential international exhibitions or robot expos. With the continuous development of robot technology, all kinds of robots have emerged on the market, including many that can play musical instruments. These robots, with their unique playing abilities, bring novel experiences to the audience and, to a certain extent, promote the application and development of robot technology in the cultural and entertainment fields.

[0003] For example, Chinese Patent Publication No. CN110154062B discloses a suona playing robot, including a head and a suona shell. The inner wall of the head is fixedly installed with a bionic intermittent drive mechanism and a bionic swing mechanism. The suona shell is fixedly installed with a bionic pressing mechanism inside the shell. The bionic swing mechanism includes a disc and a rotating shaft. The rotating shaft is rotatably connected to the inner wall of the head and is driven to rotate by the bionic intermittent drive mechanism. The disc is rotatably connected to the inner wall of the head. The right end of the suona shell is fixedly connected to the disc. The shaft arm of the rotating shaft is fixedly connected to a transmission arm. The end of the transmission arm away from the rotating shaft is hinged to a linkage arm. The back side of the linkage arm near its lower end is hinged to a first sliding block.

[0004] This invention, through the cooperation of the aforementioned structures, enables robots to play the suona more vividly and dynamically. However, this playing robot, and most such robots, still have significant shortcomings. They can only perform playing actions unilaterally. In actual performance, human musicians not only rely on playing actions to produce sound, but also use their hands to precisely press the keys and tone holes of the instrument to change the pitch, timbre, and other performance effects. At the same time, breathing frequency also plays a crucial role in the performance. Different breathing frequencies, the strength and speed of the breath, etc., will greatly affect the volume, timbre, and emotional expression of the instrument. However, existing wind instrument playing robots often lack a high degree of simulation of hand movements and the respiratory system. They cannot accurately simulate the subtle movements of human musicians' fingers and the coordination between different fingers. In terms of breathing frequency simulation, it is also difficult to accurately adjust the breath output according to the rhythm and emotion of the music, resulting in the music lacking emotional fluctuations and changes. These shortcomings cannot bring the audience an immersive musical experience and, to a certain extent, limit the further development and application of robots in the field of music performance.

[0005] Therefore, it is of great importance to design a robot with a bionic breathing system that can play musical instruments in order to solve the above-mentioned defects. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention designs a robot with a biomimetic breathing system that can play wind instruments. This robot aims to solve the technical problems of existing wind instrument playing robots lacking a high degree of simulation of hand movements and breathing systems, making it difficult to accurately simulate the subtle finger movements, coordination, and breath output adjustment according to musical rhythm and emotion of human musicians, thus affecting the emotional expression of musical performance and the audience experience.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A robot with a biomimetic breathing system that can play musical instruments includes a frame, a robot head fixedly mounted on the top of the frame, a biomimetic breathing mechanism fixedly mounted at the rear end of the frame and below the robot head, two sets of hand simulation mechanisms fixedly mounted at the front end of the frame, and a control panel fixedly mounted on the back of the frame.

[0009] The bionic breathing mechanism includes a mounting frame fixedly installed at the rear end of the frame and located below the robot's head. A breathing cylinder is fixedly installed on the top of the mounting frame, and an air tube is installed between the breathing cylinder and the robot's head. A lifting gear is slidably connected to the bottom of the front of the mounting frame. A first motor is fixedly installed on the left side of the mounting frame. A drive gear is fixedly installed on the drive end of the first motor, and the drive gear meshes with the lifting gear. A movable rod is fixedly connected to the top of the lifting gear, and the top end of the movable rod is slidably connected to the breathing cylinder through a sealing seat.

[0010] The hand simulation mechanism includes two sets of lead screw linear modules fixedly installed on the top of the frame. An electric push rod is fixedly installed on the top of each of the two sets of first lead screw linear modules. A second motor is fixedly installed on the output end of each of the two sets of electric push rods. A simulated robotic hand is fixedly installed on the drive end of each of the two sets of second motors.

[0011] As a preferred embodiment of the present invention, a sealing cover is fixedly installed on the top of the breathing cylinder, a silicone blowing sleeve is embedded at the connection between the robot head and the air tube, and the two ends of the air tube are respectively threadedly connected to the silicone blowing sleeve and the sealing cover.

[0012] As a preferred embodiment of the present invention, a mounting base is fixedly installed at the bottom of the breathing cylinder, and the movable rod is slidably connected to the mounting base. A locking sleeve is fixedly installed on the outer side of the bottom end of the mounting base. A first rubber sealing ring is fitted at both the upper and lower ends of the breathing cylinder and inside the sealing cover and the mounting base. Two sets of second rubber sealing rings are fitted on the outer side of the sealing base.

[0013] As a preferred embodiment of the present invention, guide plates are welded to the front of the mounting frame and on both the left and right sides of the lifting gear, and the lifting gear is slidably connected between the two sets of guide plates.

[0014] As a preferred embodiment of the present invention, the simulated robotic hand consists of a palm, multiple sets of first movable joints, multiple sets of second movable joints, a third movable joint, and a fourth movable joint. The multiple sets of first movable joints and third movable joints are all installed at the front end of the palm, the multiple sets of second movable joints are all hinged to the end of the first movable joint away from the palm, and the fourth movable joint is hinged to the end of the third movable joint away from the palm.

[0015] In a preferred embodiment of the present invention, a connecting sleeve is fixedly installed inside the palm and behind each of the multiple sets of first movable joints. A threaded shaft is rotatably connected to the inner side of the connecting sleeve. A first micro motor is fixedly installed inside the palm and at the rear end of the connecting sleeve. A first micro gear is fixedly installed on the drive end of the first micro motor. The rear end of the threaded shaft meshes with the first micro gear through a second micro gear. A telescopic rod is slidably connected to the front end of the connecting sleeve. The rear end of the telescopic rod is threadedly connected to the threaded shaft. The front end of the telescopic rod is hinged to the rear end of the second movable joint through three sets of transmission components, and the three sets of transmission components are hinged to each other.

[0016] As a preferred embodiment of the present invention, the left and right sides of the rear end of the first movable joint are hinged with first linkage rods, and the rear ends of the first movable joint and the two sets of first linkage rods are hinged to the front end of the palm through a first connector. The front end of the first movable joint is hinged to the second movable joint through a connecting shaft, and a torsion spring is sleeved on the outer side of the connecting shaft.

[0017] As a preferred embodiment of the present invention, a movable shaft is fixedly installed inside the palm and at the rear end of the third movable joint, and a movable sleeve is rotatably connected to the outside of the movable shaft. A second micro motor is fixedly installed inside the palm and at the outside of the movable sleeve, and a third micro gear is fixedly installed on the drive end of the second micro motor. The outside of the movable sleeve meshes with the third micro gear through a transmission gear ring.

[0018] As a preferred embodiment of the present invention, a second connector is fixedly connected to the outer side of the movable sleeve, the rear end of the fourth movable joint is rotatably connected to the second connector, a third micro motor is fixedly installed inside the fourth movable joint, a fourth micro gear is fixedly installed on the drive end of the third micro motor, and a transmission gear is rotatably connected inside the second connector, and the transmission gear meshes with the fourth micro gear.

[0019] As a preferred embodiment of the present invention, the left and right sides of the rear end of the fourth movable joint are both hinged with second linkage rods, and the rear ends of the two sets of second linkage rods are both hinged to the second connector.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. In this invention, through the coordinated design of the frame, robot head, and bionic breathing mechanism, when the robot needs to play a musical instrument, the instrument is first placed between two sets of hand simulation mechanisms. The simulated robotic arm is adjusted and fixed by the lead screw linear module and electric push rod, and the air inlet of the instrument is connected to the silicone playing sleeve on the robot head. The operator starts the robot through the control panel. The controller inside the control panel sends a start signal to the first motor. The first motor drives the drive gear to rotate, which drives the lifting rack to move up and down, thereby causing the movable rod to slide the sealing seat in the breathing cylinder. When the movable rod moves upward, the air in the breathing cylinder enters the instrument through the air pipe and the silicone playing sleeve, realizing the playing action. When the movable rod moves downward, the air enters the breathing cylinder from the silicone playing sleeve through the air pipe, preparing for the next playing. Through the control of the force and the synergistic effect of the hand simulation mechanism, the playing of the instrument can be effectively realized, which can better simulate the breathing rhythm of human musicians, making the robot more vivid and dynamic when playing the instrument, and improving the expressiveness and appeal of the music.

[0022] 2. In this invention, through the design of the hand simulation mechanism, during the playing process, the simulated robotic hand in the hand simulation mechanism drives different joint movements through multiple sets of motors to realize the grasping, releasing and playing operations of the instrument. Among them, the first micro motor drives the first and second movable joints, the second micro motor drives the third movable joint and connected structure, and the third micro motor drives the fourth movable joint. This increases the freedom of thumb movement, improves the flexibility of the simulated robotic hand, and, together with the bionic breathing mechanism, effectively realizes the playing of the instrument, enabling the robot to better simulate the playing movements of human musicians and enhance the expressiveness and appeal of the music played. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the internal structure of the biomimetic breathing mechanism of the present invention;

[0025] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0026] Figure 4 This is a schematic diagram of the simulated robotic arm structure of the present invention;

[0027] Figure 5This is a schematic diagram of the bottom structure of the simulated robotic arm of the present invention;

[0028] Figure 6 This is a schematic diagram of the internal structure of the simulated robotic arm of the present invention;

[0029] Figure 7 This is a schematic diagram of the internal structure of the connecting sleeve of the present invention.

[0030] In the diagram: 1. Frame; 2. Robot head; 3. Bionic breathing mechanism; 301. Mounting frame; 302. Breathing cylinder; 303. Trachea; 304. Lifting rack; 305. First motor; 306. Drive gear; 307. Movable rod; 308. Sealing seat; 309. Sealing cover; 310. Silicone blow sleeve; 311. Mounting seat; 312. Locking sleeve; 313. First rubber sealing ring; 314. Second rubber sealing ring; 315. Guide plate; 4. Hand simulation mechanism; 401. Lead screw linear module; 402. Electric push rod; 403. Second motor; 404. Simulated robotic hand; 405. Hand; 406. First movable joint; 407. Second movable joint Section; 408, Third movable joint; 409, Fourth movable joint; 410, Connecting sleeve; 411, Threaded shaft; 412, First micro motor; 413, First micro gear; 414, Second micro gear; 415, Telescopic rod; 416, Transmission component; 417, First linkage rod; 418, First connector; 419, Connecting shaft; 420, Torsion spring; 421, Movable shaft; 422, Movable sleeve; 423, Second micro motor; 424, Third micro gear; 425, Transmission gear ring; 426, Second connector; 427, Third micro motor; 428, Fourth micro gear; 429, Transmission gear plate; 430, Second linkage rod; 5, Control panel. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] Example: Please refer to Figures 1-7 The present invention provides a technical solution:

[0033] A robot with a biomimetic breathing system that can play musical instruments includes a frame 1, a robot head 2 fixedly mounted on the top of the frame 1, a biomimetic breathing mechanism 3 fixedly mounted at the rear end of the frame 1 and below the robot head 2, two sets of hand simulation mechanisms 4 fixedly mounted at the front end of the frame 1, and a control panel 5 fixedly mounted on the back of the frame 1.

[0034] First, in this embodiment, the specific structure of the bionic breathing mechanism 3 is as follows:

[0035] The bionic breathing mechanism 3 includes a mounting frame 301 fixedly installed at the rear end of the frame 1 and below the robot head 2. The mounting frame 301 is fixed to the frame 1 by screws or welding. A breathing cylinder 302 is fixedly installed on the top of the mounting frame 301. An air pipe 303 is installed between the breathing cylinder 302 and the robot head 2. A lifting gear 304 is slidably connected to the bottom end of the front of the mounting frame 301. A first motor 305 is fixedly installed on the left side of the mounting frame 301. A drive gear 306 is fixedly installed on the drive end of the first motor 305. The drive gear 306 is fixed to the drive end of the first motor 305 by screws or welding, and the drive gear 306 meshes with the lifting gear 304. A movable rod 307 is fixedly connected to the top of the lowering gear 304. The top of the movable rod 307 is slidably connected to the breathing cylinder 302 via a sealing seat 308. When the robot needs to play a musical instrument, the instrument is first placed between the two sets of hand simulation mechanisms 4 and fixed, and the air inlet of the instrument is connected to the robot head 2. Then, the operator starts the robot through the control panel 5. After receiving the start command, the controller inside the control panel 5 sends a start signal to the first motor 305. After the first motor 305 starts, the drive gear 306 fixedly installed on its drive end begins to rotate. Since the drive gear 306 meshes with the lifting gear 304, the rotation of the drive gear 306 will drive the lifting gear 302 to rotate. The lowering rod 304 moves up and down at the bottom of the front of the mounting bracket 301. As the rod moves up and down, it drives the movable rod 307 fixedly connected to its top. The top of the movable rod 307 is slidably connected to the breathing cylinder 302 via a sealing seat 308. When the movable rod 307 moves upward, the sealing seat 308 moves upward as well, expelling air from the breathing cylinder 302. The air enters the robot head 2 through the air pipe 303, and then enters the musical instrument, thus enabling the playing of the instrument. When the movable rod 307 moves downward, the connection between the instrument and the robot head 2 is canceled, and air is drawn in through the connection between the air pipe 303 and the robot head 2, preparing for the next playing. During the entire playing process, the operator can also send commands to the controller through the operation interface on the control panel 5. The controller adjusts parameters such as the speed of the first motor 305 according to the commands, and then adjusts the lifting speed and amplitude of the lifting rack 304, thereby controlling the amount and speed of air expelled and inhaled in the breathing cylinder 302, realizing the control of the blowing and sucking force. Through the control of the force and the coordinated action of the hand simulation mechanism 4, the playing of the instrument can be effectively realized. Compared with existing wind instrument playing robots, this robot can better simulate the playing actions and breathing rhythm of human musicians, making the robot more vivid and dynamic when playing the instrument, and improving the expressiveness and appeal of the music.

[0036] Furthermore, a sealing cover 309 is fixedly installed on the top of the breathing cylinder 302. A silicone blowing sleeve 310 is embedded at the connection between the robot head 2 and the air pipe 303. The two ends of the air pipe 303 are threadedly connected to the silicone blowing sleeve 310 and the sealing cover 309, respectively. A mounting base 311 is fixedly installed on the bottom of the breathing cylinder 302, and the movable rod 307 is slidably connected to the mounting base 311. A locking sleeve 312 is fixedly installed on the outer side of the bottom end of the mounting base 311. A first rubber sealing ring 313 is fitted on both the upper and lower ends of the breathing cylinder 302 and inside the sealing cover 309 and the mounting base 311. Two sets of second rubber sealing rings 314 are fitted on the outer side of the sealing seat 308. When the movable rod 307 moves the sealing seat 308 up and down, air passes through the air pipe 302. 03. The breathing cylinder 302 stores and releases air. When playing, air enters the robot head 2 from the breathing cylinder 302 through the air tube 303, and then enters the instrument through the silicone playing sleeve 310. When inhaling, air enters the air tube 303 from the silicone playing sleeve 310 and finally enters the breathing cylinder 302. The silicone playing sleeve 310 is embedded at the connection between the robot head 2 and the air tube 303. With the first rubber sealing ring 313 and the second rubber sealing ring 314, it can effectively prevent air leakage, ensure directional air transmission during playing, maintain stable breath pressure, and avoid volume fluctuations or tone distortion caused by air leakage. At the same time, the plasticity of the silicone playing sleeve 310 can fill the gap between the connection with the instrument, improving connection compatibility and durability.

[0037] Then, guide plates 315 are welded to the front of the mounting bracket 301 and on both sides of the lifting rack 304. The lifting rack 304 is slidably connected between the two sets of guide plates 315. The presence of the guide plates 315 ensures the stability and accuracy of the movement of the lifting rack 304, and prevents the lifting rack 304 from deviating or shaking during the movement. This allows the movable rod 307 to stably drive the sealing seat 308 to slide up and down in the breathing cylinder 302, thereby stably controlling the exhaust and intake of air in the breathing cylinder 302, and ensuring the stability and continuity of the wind instrument playing.

[0038] Furthermore, the hand simulation mechanism 4 includes two sets of lead screw linear modules 401 fixedly installed on the top of the frame 1. Electric push rods 402 are fixedly installed on the top of each of the two sets of lead screw linear modules 401. Second motors 403 are fixedly installed on the output ends of each of the two sets of electric push rods 402. Simulated robotic arms 404 are fixedly installed on the drive ends of each of the two sets of second motors 403. The operator sends commands through the control panel 5, and the controller controls the lead screw linear modules 401 to work, causing them to move the electric push rods 402 horizontally. After reaching the appropriate position, the controller then controls the extension and retraction of the output ends of the electric push rods 402. The simulated robotic arm 404 is moved vertically to adjust its position, placing the musical instrument between the two sets of hand simulation mechanisms 4 for fixation. The combination of the lead screw linear module 401 and the electric push rod 402 allows the simulated robotic arm 404 to flexibly adjust its position in both horizontal and vertical directions, facilitating the grasping and fixing of musical instruments of different sizes, shapes, and positions. At the same time, the second motor 403 can also rotate the simulated robotic arm 404, thereby improving the flexibility and adaptability of the robot's hand simulation mechanism 4, meeting the performance needs of various musical instruments, and expanding the application range of the robot.

[0039] The simulated robotic hand 404 comprises a palm 405, multiple sets of first movable joints 406, multiple sets of second movable joints 407, a third movable joint 408, and a fourth movable joint 409. The multiple sets of first movable joints 406 and third movable joints 408 are mounted on the front end of the palm 405. The multiple sets of second movable joints 407 are hinged to the ends of the first movable joints 406 away from the palm 405. The fourth movable joint 409 is hinged to the end of the third movable joint 408 away from the palm 405. Connecting sleeves 410 are fixedly installed inside the palm 405 and behind the multiple sets of first movable joints 406. A threaded shaft 411 is rotatably connected to the inner side of the connecting sleeve 410. A first micro motor 412 is fixedly installed inside the palm 405 and at the rear end of the connecting sleeve 410. A first micro gear 413 is fixedly installed on the drive end of the first micro motor 412. The rear end of the threaded shaft 411 meshes with the first micro gear 413 through a second micro gear 414. A telescopic rod 415 is slidably connected to the front end of the connecting sleeve 410. The rear end of the telescopic rod 415 is threadedly connected to the threaded shaft 411. The front end of the telescopic rod 415 is hinged to the rear end of the second movable joint 407 through three sets of transmission components 416. The moving parts 416 are hinged to each other. The left and right sides of the rear end of the first movable joint 406 are hinged with first linkage rods 417. The rear ends of the first movable joint 406 and the two sets of first linkage rods 417 are hinged to the front end of the palm 405 via a first connector 418. The front end of the first movable joint 406 is hinged to the second movable joint 407 via a connecting shaft 419. A torsion spring 420 is sleeved on the outer side of the connecting shaft 419. When the simulated robotic arm 404 needs to be controlled, the first micro motor 412 starts, and the first micro gear 413 at its drive end rotates, meshing with the second micro gear 414. The threaded shaft 411 rotates within the connecting sleeve 410. When the threaded shaft 411 rotates, the telescopic rod 415, which is threadedly connected to it, slides at the front end of the connecting sleeve 410. The front end of the telescopic rod 415 drives the second movable joint 407 to move through three sets of mutually hinged transmission components 416. At the same time, the rear ends of the first movable joint 406 and the first linkage rod 417 are both hinged to the front end of the palm 405 through the first connector 418. The first connector 418 and the palm 405 are integrated. The connecting shaft 419 and the torsion spring 420 play a buffering and resetting role during the movement, realizing various movements of the simulated manipulator 404.

[0040] Secondly, a movable shaft 421 is fixedly installed inside the palm 405 and at the rear end of the third movable joint 408. The movable shaft 421 is threadedly connected to the inside of the palm 405. A movable sleeve 422 is rotatably connected to the outside of the movable shaft 421. A second micro motor 423 is fixedly installed inside the palm 405 and at the outside of the movable sleeve 422. A third micro gear 424 is fixedly installed on the drive end of the second micro motor 423. The outside of the movable sleeve 422 meshes with the third micro gear 424 through a transmission gear ring 425. When it is necessary to control the movement of the third movable joint 408 and its connected structure, i.e., to simulate the thumb movement of the robotic hand 404, the second micro motor 423 is activated, and its drive end... The third micro gear 424 rotates and meshes with the transmission gear ring 425. The transmission gear ring 425 and the movable sleeve 422 are integrated, driving the movable sleeve 422 to rotate on the movable shaft 421. The second connecting head 426 on the outer side of the movable sleeve 422 rotates accordingly, thereby driving the fourth movable joint 409, which is rotatably connected to the second connecting head 426, to move. This enables the precise movement of the thumb part of the simulated robotic hand 404, improving the accuracy of the movement and meeting the high precision requirements of tasks such as grasping and placing musical instruments or operating in a side position. For example, when grasping and placing musical instruments, the finger position and force can be accurately adjusted to avoid damage to the instrument. When operating in a side position, the corresponding movements can also be completed accurately.

[0041] Finally, a second connector 426 is fixedly connected to the outer side of the movable sleeve 422. The rear end of the fourth movable joint 409 is rotatably connected to the second connector 426. A third micro motor 427 is fixedly installed inside the fourth movable joint 409. A fourth micro gear 428 is fixedly installed on the drive end of the third micro motor 427. A transmission gear 429 is rotatably connected inside the second connector 426, and the transmission gear 429 meshes with the fourth micro gear 428. Second linkage rods 430 are hinged to both sides of the rear end of the fourth movable joint 409, and the rear ends of both sets of second linkage rods 430 are hinged to the second connector 426. When further control of the movement of the fourth movable joint 409 is required, the third micro motor... When 427 is activated, the fourth micro gear 428 at its drive end rotates, meshing with the transmission gear 429 and driving the transmission gear 429 to rotate, thereby realizing the rotation of the fourth movable joint 409 relative to the second connector 426. At the same time, the second linkage rods 430 on the left and right sides of the rear end of the fourth movable joint 409 play a linkage and support role when the fourth movable joint 409 rotates, so that the thumb of the simulated manipulator 404 has multiple movable joints, increasing the degree of freedom of thumb movement, thereby improving the flexibility of the entire simulated manipulator 404. This allows the simulated manipulator 404 to adapt to diverse playing movements, better simulate the operation of human fingers, meet the needs of playing different instruments, and improve the playing effect.

[0042] In this embodiment, the specific implementation scenario is as follows: When the robot needs to play a musical instrument, the instrument is first placed between two sets of hand simulation mechanisms 4. The simulated robotic arm 404 is adjusted and fixed in position by the lead screw linear module 401 and the electric push rod 402. The air inlet of the instrument is then connected to the silicone playing sleeve 310 on the robot head 2. The operator starts the robot through the control panel 5. The controller inside the control panel 5 sends a start signal to the first motor 305. The first motor 305 drives the drive gear 306 to rotate, causing the lifting gear 304 to move up and down. This causes the movable rod 307 to move the sealing seat 308 within the breathing cylinder 302. When the movable rod 307 moves upward, the air in the breathing cylinder 302 enters the instrument through the air pipe 303 and the silicone playing sleeve 310, realizing the playing action. When the movable rod 307 moves downward... Air enters the breathing cylinder 302 from the silicone playing sleeve 310 via the trachea 303, preparing for the next playing. Simultaneously, the simulated robotic hand 404 in the hand simulation mechanism 4 uses multiple motors to drive different joint movements, enabling the grasping, releasing, and playing of the instrument. Specifically, the first micro motor 412 drives the first movable joint 406 and the second movable joint 407, the second micro motor 423 drives the third movable joint 408 and its connected structure, and the third micro motor 427 drives the fourth movable joint 409, increasing the freedom of thumb movement and enhancing the flexibility of the simulated robotic hand 404. Combined with the bionic breathing mechanism 3, this effectively enables the playing of the instrument. The entire operation process is simple and convenient. This invention, through its design, allows the robot to better simulate the playing movements and breathing rhythms of human musicians, enhancing the expressiveness and appeal of the music played.

[0043] Furthermore, the control method of the present invention is controlled by a controller, and the control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the art. Since the present invention is intended to protect mechanical devices, the control method and circuit connection will not be explained in detail.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot with a biomimetic breathing system capable of playing wind instruments, comprising a frame (1), characterized in that: A robot head (2) is fixedly installed on the top of the frame (1), a bionic breathing mechanism (3) is fixedly installed at the rear end of the frame (1) and below the robot head (2), two sets of hand simulation mechanisms (4) are fixedly installed at the front end of the frame (1), and a control panel (5) is fixedly installed on the back of the frame (1). The bionic breathing mechanism (3) includes a mounting frame (301) fixedly installed at the rear end of the frame (1) and located below the robot head (2). A breathing cylinder (302) is fixedly installed on the top of the mounting frame (301). An air tube (303) is installed between the breathing cylinder (302) and the robot head (2). A lifting gear (304) is slidably connected to the bottom end of the front of the mounting frame (301). A first motor (305) is fixedly installed on the left side of the mounting frame (301). A drive gear (306) is fixedly installed on the drive end of the first motor (305), and the drive gear (306) meshes with the lifting gear (304). A movable rod (307) is fixedly connected to the top of the lifting gear (304). The top end of the movable rod (307) is slidably connected to the breathing cylinder (302) through a sealing seat (308). The hand simulation mechanism (4) includes two sets of lead screw linear modules (401) fixedly installed on the top of the frame (1). Electric push rods (402) are fixedly installed on the top of the two sets of first lead screw linear modules (401). A second motor (403) is fixedly installed on the output end of the two sets of electric push rods (402). A simulated manipulator (404) is fixedly installed on the drive end of the two sets of second motors (403).

2. A robot with a bionic breathing system capable of playing wind instruments according to claim 1, characterized in that: A sealing cap (309) is fixedly installed on the top of the breathing cylinder (302). A silicone blowing sleeve (310) is embedded at the connection between the robot head (2) and the air tube (303). The two ends of the air tube (303) are threadedly connected to the silicone blowing sleeve (310) and the sealing cap (309) respectively.

3. A robot with a bionic breathing system capable of playing wind instruments according to claim 2, characterized in that: The bottom of the breathing cylinder (302) is fixedly installed with a mounting base (311), and the movable rod (307) is slidably connected to the mounting base (311). A locking sleeve (312) is fixedly installed on the outer side of the bottom end of the mounting base (311). The upper and lower ends of the breathing cylinder (302) and the interior of the sealing cover (309) and the mounting base (311) are both fitted with a first rubber sealing ring (313). The outer side of the sealing base (308) is fitted with two sets of second rubber sealing rings (314).

4. A robot with a bionic breathing system capable of playing wind instruments according to claim 1, characterized in that: Guide plates (315) are welded to the front of the mounting bracket (301) and on both sides of the lifting rack (304), and the lifting rack (304) is slidably connected between the two sets of guide plates (315).

5. A robot with a bionic breathing system capable of playing wind instruments according to claim 1, characterized in that: The simulated robotic hand (404) consists of a palm (405), multiple sets of first movable joints (406), multiple sets of second movable joints (407), a third movable joint (408), and a fourth movable joint (409). The multiple sets of first movable joints (406) and third movable joints (408) are mounted on the front end of the palm (405). The multiple sets of second movable joints (407) are all hinged to the end of the first movable joint (406) away from the palm (405). The fourth movable joint (409) is hinged to the end of the third movable joint (408) away from the palm (405).

6. A robot with a bionic breathing system capable of playing wind instruments according to claim 1, characterized in that: A connecting sleeve (410) is fixedly installed inside the palm (405) and behind multiple sets of first movable joints (406). A threaded shaft (411) is rotatably connected to the inner side of the connecting sleeve (410). A first micro motor (412) is fixedly installed inside the palm (405) and at the rear end of the connecting sleeve (410). A first micro gear (413) is fixedly installed on the drive end of the first micro motor (412). The rear end of the threaded shaft (411) meshes with the first micro gear (413) through a second micro gear (414). A telescopic rod (415) is slidably connected to the front end of the connecting sleeve (410). The rear end of the telescopic rod (415) is threadedly connected to the threaded shaft (411). The front end of the telescopic rod (415) is hinged to the rear end of the second movable joint (407) through three sets of transmission components (416), and the three sets of transmission components (416) are hinged to each other.

7. A robot with a bionic breathing system capable of playing wind instruments according to claim 5, characterized in that: The first movable joint (406) has first linkage rods (417) hinged to both the left and right sides of its rear end. The rear ends of the first movable joint (406) and the two sets of first linkage rods (417) are hinged to the front end of the palm (405) through a first connector (418). The front end of the first movable joint (406) is hinged to the second movable joint (407) through a connecting shaft (419). A torsion spring (420) is sleeved on the outer side of the connecting shaft (419).

8. A robot with a bionic breathing system capable of playing wind instruments according to claim 5, characterized in that: A movable shaft (421) is fixedly installed inside the palm (405) and at the rear end of the third movable joint (408). A movable sleeve (422) is rotatably connected to the outside of the movable shaft (421). A second micro motor (423) is fixedly installed inside the palm (405) and at the outside of the movable sleeve (422). A third micro gear (424) is fixedly installed on the drive end of the second micro motor (423). The outside of the movable sleeve (422) meshes with the third micro gear (424) through a transmission gear ring (425).

9. A robot with a bionic breathing system capable of playing wind instruments according to claim 8, characterized in that: The outer side of the movable sleeve (422) is fixedly connected to a second connector (426). The rear end of the fourth movable joint (409) is rotatably connected to the second connector (426). A third micro motor (427) is fixedly installed inside the fourth movable joint (409). A fourth micro gear (428) is fixedly installed on the drive end of the third micro motor (427). A transmission gear (429) is rotatably connected inside the second connector (426), and the transmission gear (429) meshes with the fourth micro gear (428).

10. A robot with a bionic breathing system capable of playing wind instruments according to claim 9, characterized in that: The fourth movable joint (409) has two second linkage rods (430) hinged to the left and right sides of its rear end, and the rear ends of the two sets of second linkage rods (430) are hinged to the second connector (426).

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