Piano pedal tread device

Abstract

The utility model relates to piano technical field, concretely relates to a piano pedal treading device, including treading drive module and connecting rod drive module, connecting rod drive module is connected between the output end of treading drive module and corresponding piano pedal, connecting rod drive module includes bottom plate and connecting rod mechanism set on bottom plate, and connecting rod mechanism includes transmission connecting rod and hinged support, and hinged support is connected on bottom plate, and the non -end of transmission connecting rod is hinged with hinged support, and one end of transmission connecting rod is connected with the output end of treading drive module, and the other end of transmission connecting rod is connected with corresponding piano pedal, treading drive module is used for driving transmission connecting rod to move up away from one end of piano pedal, so that transmission connecting rod and the one end of piano pedal connection drive corresponding piano pedal to move down, realize the treading of piano pedal, the utility model can be applicable to different types and models of piano, expand the application range.

Description

Technical Field

[0001] This utility model relates to the field of piano technology, specifically to a piano pedal treading device. Background Technology

[0002] The piano, as a historically significant and highly expressive keyboard instrument, holds a central position in classical music, popular music, and education due to its wide range, rich dynamic range, and ability to play both melody and harmony simultaneously. Its working principle is based on the "strike" mechanism: when the player presses a key, a series of precise lever linkages drive the hammers in the action mechanism to strike the strings, thus producing sound. By controlling the force and speed of the key presses, the player can precisely express the volume and subtle emotional nuances.

[0003] In the piano playing system, the pedals play a crucial role. They not only expand the piano's sonic expressiveness but also enhance the sustain, softness, and continuity of the music, making them an indispensable component for achieving complex musical expressions. Modern pianos typically have three pedals, from left to right: the soft pedal, the soft pedal (omitted on some pianos), and the sustain pedal. The sustain pedal is the most commonly used; when pressed, it lifts all dampers, allowing the strings to continue vibrating after the key is released, producing a long, resonant effect. In upright pianos, the soft pedal usually moves the hammers forward, reducing the distance between the hammers and the strings, thus lowering the volume and changing the timbre. In grand pianos, it shifts the entire action laterally, causing the hammers to strike only a portion of the strings, achieving more subtle tonal variations.

[0004] However, with the increasing prevalence of pianos in diverse settings such as home music education, music therapy, and special education, the limitations of traditional pedal design are becoming increasingly apparent. In home music education, learners range from children and teenagers to adults, with significant differences in height and leg length. Children and teenagers often struggle to comfortably reach pedals at a fixed height due to insufficient leg length, frequently requiring them to tiptoe or lean forward. This not only affects the correctness of their playing posture but can also cause fatigue and even potential musculoskeletal injuries. Adult players, on the other hand, may be unable to fully utilize the strength and flexibility of their feet due to pedals being positioned too low. Furthermore, in music therapy and special education, pianos are widely used to promote physical and mental health, emotional expression, and cognitive development. However, many users have needs such as mobility impairments, limited limb function, or specific sitting postures. Traditional fixed pedals cannot meet the operational requirements of these users, limiting their ability to achieve musical expression through pedals.

[0005] Based on this, existing technology (invention patent with authorization announcement number CN109859723B) proposes an adjustable-height piano pedal auxiliary device, including a base, a bracket, a pressing device, and a vertical lifting device. The pressing device includes an auxiliary pedal, a hammer, and a power transmission mechanism for transmitting the pressure received by the auxiliary pedal to the hammer and causing the hammer to move vertically to press the piano pedal. The pressing device also includes a linkage mechanism, which includes a first lead screw transmission mechanism, comprising a first lead screw and a first lead screw nut. The upper end of the first lead screw is mounted on the third transmission block, and the lower end extends vertically downward. The hammer has a clearance hole at the position where it contacts the first lead screw. The linkage mechanism also includes a synchronous drive structure for driving the first lead screw nut to rotate so that the first lead screw and the bracket move up and down synchronously. The piano pedal auxiliary device can adjust the pedal height to accommodate children of different heights.

[0006] However, the aforementioned existing technologies still have the following problems in actual use: they can only be applied to fixed types and models of pianos, and their application range is relatively small. Utility Model Content

[0007] The purpose of this utility model is to provide a piano pedal device that partially solves or alleviates the above-mentioned shortcomings in the prior art, and can be applied to different types and models of pianos, thus expanding the scope of application.

[0008] To solve the aforementioned technical problems, the present invention specifically adopts the following technical solution: A piano pedal operating device includes a pedal driving module and a linkage transmission module. The linkage transmission module is connected between the output end of the pedal driving module and a corresponding piano pedal. The linkage transmission module includes a base plate and a linkage mechanism disposed on the base plate. The linkage mechanism includes a transmission link and a hinge support. The hinge support is connected to the base plate. The non-end of the transmission link is hinged to the hinge support. One end of the transmission link is connected to the output end of the pedal driving module, and the other end of the transmission link is connected to the corresponding piano pedal. The pedal drive module is used to drive the end of the transmission link away from the piano pedal to move upward, so that the end of the transmission link connected to the piano pedal drives the corresponding piano pedal to move downward, thereby realizing the pedaling of the piano.

[0009] Preferably, as an improvement, the linkage transmission module further includes a shock-absorbing spring connected between the transmission linkage and the base plate.

[0010] Preferably, as an improvement, the pedal drive module includes a pedal motor, and the pedal motor is a linear motor, including a stator and a mover slidably inserted in the stator, and one end of the transmission link is drivenly connected to the mover.

[0011] Preferably, as an improvement, the stator is externally connected to an integrally die-cast housing, and the housing is provided with a heat dissipation duct. And / or, heat dissipation fins are provided inside the housing.

[0012] Preferably, as an improvement, the inner wall of the housing is provided with a damping material.

[0013] Preferably, as an improvement, the pedal drive module further includes a guide assembly, which includes a linear guide rod and a linear guide rail. One end of the linear guide rod is connected to the mover, and the other end of the linear guide rod is connected to the transmission link. The linear guide rail is connected to the housing, and the linear guide rod is connected to the slider of the linear guide rail.

[0014] Preferably, as an improvement, the guide assembly further includes a positioning flange connected to the housing, and the positioning flange has a positioning hole, the linear guide rod is slidably inserted into the positioning hole, and the diameter of the positioning hole matches the diameter of the linear guide rod.

[0015] Preferably, as an improvement, the pedal drive module further includes an additional position sensor, which is connected to the mover and is used to detect the movement distance of the mover; And / or, the pedal drive module further includes an added force feedback sensor, which is connected to the mover and is used to detect the force applied by the mover to the transmission link.

[0016] Preferably, as an improvement, one end of the transmission link is bolted to the linear guide rod, and the other end of the transmission link is bolted to the corresponding piano pedal; And / or, the cross-section of the transmission link is square, and the end of the linear guide rod away from the mover is connected to a flange plate. The flange plate has a square hole, the size of which matches the size of the transmission link. One end of the transmission link is inserted into the square hole and connected to the flange plate with bolts.

[0017] Preferably, as an improvement, it also includes an external pedal module and a data acquisition module. The external pedal module includes at least one external pedal, the data acquisition module is used to collect the pedaling data of the external pedal, and the pedaling drive module is used to drive the end of the transmission linkage away from the piano pedal to move upward according to the pedaling data. And / or, it also includes a height adjustment module, wherein the external pedal module is connected to the output end of the height adjustment module, and the height adjustment module is used to adjust the height of the external pedal module.

[0018] The beneficial technical effects of this utility model are as follows: This utility model provides a piano pedal operating device that, through modular design and mechatronic control, effectively solves the problems of poor adaptability, easy displacement and failure, inconvenient adjustment, and transmission jamming in existing pedal auxiliary devices, and has the following significant advantages: 1. High adaptability, suitable for various piano models: This device adopts a split structure design. The pedal drive module and the linkage transmission module are linked to the piano pedals via a detachable connection. The transmission linkage is directly fixed to the piano pedals using bolts and other universal connectors, eliminating the need for specific brackets or enclosed structures and avoiding encroachment on the original pedal space of the piano. Users can flexibly adjust the linkage length and installation position according to the pedal layout, spacing, and travel of different pianos, achieving "one machine for multiple uses," significantly improving the device's versatility and expanding its market applicability.

[0019] 2. Stable connection, reliable operation, and prevention of performance interruption: The two ends of the transmission linkage are rigidly connected to the pedal drive module and the piano pedal respectively (such as by bolts), forming a stable and reliable mechanical transmission chain. Compared with the existing technology that only relies on springs to press the bottom hammer structure, this solution can effectively prevent disengagement or displacement caused by external collisions or vibrations, ensuring continuous and accurate transmission of pedaling action during performance, avoiding performance interruption or pedal damage due to connection failure, and improving the safety and stability of the entire device.

[0020] 3. Optimized power transmission characteristics enhance pedal smoothness and "human-like" feel: This device indirectly transmits the output power of the linear motor to the piano pedals through a linkage transmission module, effectively buffering the instantaneous impact and jerking sensation during motor start-up, stopping, and speed changes. Compared to the method of directly driving the pedals with a motor, this solution uses a linkage mechanism combined with shock-absorbing springs to simulate the smooth transition characteristics of human foot pedaling, achieving a continuous and linear response from light touch to deep press. This makes the pedal action more natural and fluid, restoring the "human-like" feel of real performance, and significantly improving the continuity and artistic expression of the music.

[0021] 4. Utilizing a linear motor drive for rapid response and precise control: The pedal drive module uses a linear motor as its power source, comprising a stator and a sliding mover, directly outputting linear motion without the need for intermediate conversion mechanisms (such as lead screws, gears, and racks). This effectively simplifies the structure and reduces transmission errors. Furthermore, the linear motor offers fast response and high positioning accuracy, precisely simulating the force and stroke of manual pedaling, enabling delicate control of sustain and soft pedals, and enhancing musical expressiveness.

[0022] 5. Integrated guiding and positioning structure for smooth, unbiased movement: The device is equipped with a guiding assembly, including a linear guide rod, linear guide rail, and positioning flange, ensuring that the mover remains axially aligned during reciprocating motion, avoiding jamming or wear caused by lateral forces. Furthermore, the linear guide rod and transmission connecting rod are inserted and locked through square holes on the flange plate, achieving anti-rotation limiting and ensuring linear and stable power transmission. This not only guarantees the accuracy of piano pedal operation but also helps extend the service life.

[0023] 6. Supports intelligent sensing and closed-loop control: The pedal drive module integrates a position sensor and / or a force feedback sensor, which can detect the displacement and output force of the pedal in real time, enabling precise monitoring of pedal depth, speed, and force. Combined with the control unit, a closed-loop feedback system can be built to dynamically adjust drive parameters, ensuring that pedal action meets performance requirements and improving the level of intelligent control.

[0024] 7. Multi-mode pedal control to meet diverse usage scenarios: This device supports two working modes. First, based on user-preset or input performance data (such as MIDI commands), it automatically drives the transmission linkage to complete the corresponding piano pedal operation, suitable for automatic performance or teaching demonstrations. Second, through an external pedal module and a data acquisition module, it collects real-time user pedal input data (such as force, duration, frequency, etc.) and synchronously reproduces it on the original piano pedals by the pedal drive module, achieving human-machine collaborative control of "external input - internal execution." This dual-mode design can be used for assisted performance as well as in scenarios requiring alternative operating interfaces, such as music therapy and special education.

[0025] 8. Height adjustable and personalized adaptation capability: An optional height adjustment module can be equipped to adjust the installation height of the external pedal module to meet the needs of users with different heights, leg lengths or sitting postures, especially making it easier for children, the elderly and people with mobility impairments to operate comfortably, thus enhancing the device's personalized adaptation capability.

[0026] 9. Optimized structure, excellent heat dissipation and vibration damping performance: The linear motor housing adopts an integrated pressing molding process, ensuring high strength and dimensional stability; internal heat dissipation ducts and / or heat dissipation fins enhance heat dissipation capacity and ensure reliability during long-term operation; damping material is installed on the inner wall of the housing to effectively absorb vibration and noise, preventing interference with the piano body. The linkage transmission module also has shock-absorbing springs, which can effectively buffer the impact of pedaling, improving the smoothness of operation and preventing damage to the piano pedals from impacts.

[0027] In summary, this utility model, through its modular, electrified, sensor-based, and intelligent design concepts, achieves high adaptability, high reliability, and high expressiveness in piano pedal operation. It not only solves many shortcomings of traditional auxiliary devices but also expands their application potential in fields such as automatic playing, remote teaching, and rehabilitation training, demonstrating good practicality and social value. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0029] Figure 1 This is a three-dimensional structural diagram provided for Embodiment 1 of the present utility model; Figure 2 for Figure 1 The front view; Figure 3 for Figure 1 The right view; Figure 4 for Figure 1 Top view; Figure 5 A three-dimensional structural diagram of the external unit provided in Embodiment 1 of this utility model; Figure 6 for Figure 5 The front view; Figure 7 for Figure 5 The right view; Figure 8 A three-dimensional structural schematic diagram of the mounting unit provided in Embodiment 1 of this utility model; Figure 9 for Figure 8 The front view; Figure 10for Figure 8 A cross-sectional view of the pedal motor.

[0030] Summary of reference numerals in the attached drawings: External unit 1, External pedal module 11, Mounting plate 111, Mounting block 112, External left pedal 113, External middle pedal 114, External right pedal 115, Buffer spring 116, Height adjustment module 12, Base 121, Mounting slot 1211, Drive mechanism 122, Drive motor 1221, Drive gear 1222, Drive rack 1223, Support mechanism 123, Support rod 1231, Support plate 1232, Support guide rail 1233, Support slider 1234, Connecting plate 1235, Connecting block 1236, Weight reduction hole 1237. Guide mechanism 124, connecting seat 1241, guide rod 1242, guide block 1243, additional unit 2, pedal drive module 21, mounting bracket 211, pedal motor 212, stator 2121, mover 2122, housing 2123, heat dissipation duct 2124, connecting rod 213, guide assembly 214, linear guide rod 2141, linear guide rail 2142, positioning flange 2143, linkage transmission module 22, base plate 221, linkage mechanism 222, transmission link 2221, hinge support 2222, connecting bolt 2223, shock absorber spring 223, piano pedal 3. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0032] In this document, suffixes such as "module," "part," or "unit" used to denote elements are used only for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, "module," "part," or "unit" can be used interchangeably.

[0033] In this document, the terms "upper," "lower," "inner," "outer," "front," "rear," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In this document, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0036] In this article, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0037] As used in this specification, the term "about" typically means + / -5% of the value, more typically + / -4% of the value, more typically + / -3% of the value, more typically + / -2% of the value, even more typically + / -1% of the value, and even more typically + / -0.5% of the value.

[0038] In this specification, certain embodiments may be disclosed in a range-bound format. It should be understood that this "range-bound" description is merely for convenience and brevity and should not be construed as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered as having specifically disclosed all possible subranges and the individual numerical values ​​within those ranges. For example, a description of the range 1-6 should be considered as having specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., and the individual numbers within those ranges, such as 1, 2, 3, 4, 5, and 6. This rule applies regardless of the breadth of the range.

[0039] Example 1: This embodiment provides a piano pedal system, such as Figures 1 to 10 As shown, it includes an external unit 1, an additional unit 2, and a control unit. The external unit 1 is independently installed outside the piano, and the additional unit 2 is installed on the piano. Both the external unit 1 and the additional unit 2 are electrically connected to the control unit.

[0040] Specifically, the control unit uses a microcontroller unit (MCU), which can be set independently or integrated into external unit 1 or additional unit 2. In the entire piano pedal system, the microcontroller (MCU) acts as the control center, responsible for the following core functions: 1) controlling the start, stop, and direction of the drive motor 1221 to achieve automatic height adjustment of the external pedal module 11; 2) receiving signals from external position sensors and / or external force feedback sensors to determine the user's pedaling intention and force; 3) generating control commands based on the collected pedaling data to drive the pedal motor 212 (linear motor) to move precisely, simulating the real pedaling effect; 4) reading feedback signals from the height sensor and the additional position sensor and / or the additional force feedback sensor to achieve closed-loop control, ensuring the accuracy and safety of the movement.

[0041] The external unit 1 includes an external pedal module 11, a height adjustment module 12, and a data acquisition module. The external pedal module 11 includes at least one external pedal. The data acquisition module is used to collect the pedaling data of the external pedal. The control unit is used to control the height adjustment module 12 to adjust the height of the external pedal module 11 according to the height adjustment data input by the user. The control unit is also used to control the installation unit 2 to press the corresponding piano pedal 3 according to the pedaling data.

[0042] The external pedal module 11 also includes a mounting plate 111 and a mounting block 112 fixedly connected to the top of the mounting plate 111. The external pedals include an external left pedal 113, an external middle pedal 114, and an external right pedal 115, which are hinged side by side to one side of the mounting block 112. Each of the external left pedal 113, external middle pedal 114, and external right pedal 115 is fixedly connected to the mounting plate 111 with a buffer spring 116. The buffer spring 116 can not only buffer the user's stepping force on the external pedals and prevent the external pedals from colliding with the mounting plate 111, but also help the external pedals return to their original position after the user releases the stepping force.

[0043] The height adjustment module 12 includes a base 121, a drive mechanism 122 and two support mechanisms 123 mounted on the base 121. The drive mechanism 122 includes a drive motor 1221, a drive gear 1222, and two drive racks 1223. The drive motor 1221 is electrically connected to the control unit. In this embodiment, the bottom of the base 121 has a mounting groove 1211, and the center of the top of the base 121 has a mounting hole that communicates with the mounting groove 1211. The drive motor 1221 is vertically fixedly connected in the mounting groove 1211, and the output shaft of the drive motor 1221 is rotatably inserted into the mounting hole. The top of the output shaft of the drive motor 1221 protrudes from the mounting hole and is coaxially fixedly connected to the drive gear 1222. Both drive racks 1223 mesh with the drive gear 1222, and the two drive racks 1223 are arranged parallel to each other on both sides of the drive gear 1222.

[0044] The support mechanism 123 and the drive rack 1223 are arranged one-to-one. In this embodiment, the two support mechanisms 123 are symmetrically arranged with respect to the axis of the drive gear 1222, which can improve the positional stability of the external pedal module 11 during height adjustment. The support mechanism 123 includes a support rod 1231 and a support plate 1232. The bottom end of the support rod 1231 is slidably hinged to the top of the base 121, and the bottom end of the support rod 1231 is connected to the corresponding drive rack 1223 for transmission and is driven to move by the drive rack 1223. The top end of the support rod 1231 is hinged to the middle of the support plate 1232. The bottom end of the support plate 1232 is hinged to the base 121, and the top end of the support plate 1232 is slidably hinged to the external pedal module 11.

[0045] In some embodiments, the top ends of the two support plates 1232 are slidably hinged to the diagonal of the external pedal module 11 to further improve the positional stability of the external pedal module 11 during height adjustment.

[0046] Specifically, the support mechanism 123 also includes a support guide rail 1233 and a support slider 1234. The support guide rail 1233 is fixedly connected to the top of the base 121, and is located on the side of the drive rack 1223 away from the drive gear 1222, and is arranged parallel to the drive rack 1223. The support slider 1234 is slidably connected to the top of the support guide rail 1233, the drive rack 1223 is fixedly connected to the side of the support slider 1234 near the drive gear 1222, and the bottom end of the support rod 1231 is hinged to the top of the support slider 1234. In this way, the bottom end of the support rod 1231 can be slidably hinged to the base 121, and the bottom end of the support rod 1231 can be driven to the drive rack 1223.

[0047] Top connecting shafts are fixedly connected to both sides of the top of the support plate 1232. Two connecting plates 1235 are fixedly connected to the bottom of the mounting plate 111, corresponding to the top sides of the support plate 1232. The two connecting plates 1235 are arranged parallel to each other. A slot is formed on each connecting plate 1235 corresponding to the position of the top connecting shaft. The length direction of the slot is the same as the movement direction of the top of the support plate 1232. The top connecting shaft rotatably inserts into the corresponding slot and can slide within it. This allows for a sliding hinge connection between the top of the support plate 1232 and the external pedal module 11.

[0048] Bottom connecting shafts are fixedly connected to both sides of the bottom end of the support plate 1232. Two connecting blocks 1236 are fixedly connected to the top of the base 121 corresponding to the two sides of the bottom end of the support plate 1232. The two connecting blocks 1236 are arranged parallel to each other, and connecting holes are opened on the connecting blocks 1236 at positions corresponding to the bottom connecting shafts. The bottom connecting shafts are rotatably inserted into the connecting holes. In this way, the bottom end of the support plate 1232 and the base 121 can be hinged.

[0049] In this embodiment, a single drive mechanism 122 synchronously drives two support mechanisms 123. The extension and retraction of the two support mechanisms 123 achieves height adjustment of the external pedal module 11. Compared to a method where two drive mechanisms 122 drive two support mechanisms 123 separately, this embodiment simplifies the structure of the entire external unit 1 and achieves weight reduction. In this embodiment, two weight-reduction holes 1237 are provided on the support plate 1232 to reduce the weight of the height adjustment module 12, further contributing to the weight reduction of the entire external unit 1.

[0050] In some embodiments, the height adjustment module 12 further includes a guide mechanism 124, which is configured one-to-one with the support mechanism 123, and is located on the side of the support slider 1234 away from the drive rack 1223. The guide mechanism 124 includes a guide rod 1242, a guide block 1243, and two connecting seats 1241. The two connecting seats 1241 are fixedly connected to the top of the base 121 and are arranged in parallel. The guide rod 1242 is fixedly connected between the two connecting seats 1241, and the axis of the guide rod 1242 is parallel to the support guide rail 1233. The guide block 1243 is slidably connected to the guide rod 1242. Specifically, the guide block 1243 has a guide hole along the axial direction of the guide rod 1242, and the guide rod 1242 is slidably inserted into the guide hole. The guide block 1243 is fixedly connected to the support slider 1234.

[0051] In some embodiments, the height adjustment module 12 further includes a height sensor electrically connected to the control unit. The height sensor detects the height of the external pedal module 11. When the detection result indicates that the height of the external pedal module 11 has reached a preset value, the control unit controls the drive motor 1221 to shut down, stopping the height adjustment of the external pedal module 11. This embodiment can achieve closed-loop control of height adjustment, thereby effectively improving the accuracy of the height adjustment result of the external pedal module 11. Specifically, the height sensor can be a position encoder or a Hall sensor to achieve closed-loop control of height adjustment, ensuring that the height adjustment module 12 accurately adjusts the height of the external pedal module 11 and meets the personalized needs of different users for the initial height of the external pedal module 11.

[0052] This invention replaces the manual rotation of the worm gear mechanism in the prior art with a drive mechanism 122 consisting of a drive motor 1221, a drive gear 1222, and a drive rack 1223. Users can automatically adjust the height of the external pedal module 11 with a single button press via a remote control or smartphone. Therefore, this invention completely eliminates the inconvenience of users having to squat down for manual adjustment, solving the problem of "inconvenient operation and repeated adjustments" in the prior art, and significantly improving the convenience and accuracy of the user experience.

[0053] The electric drive method adopted by this utility model does not require the user to apply a large torque, effectively solving the problem in the prior art that "users with little strength have difficulty adjusting" due to the jamming of the turbine, worm gear and screw transmission. Even children or users with special needs who have weak limb strength can easily complete the height adjustment.

[0054] The height adjustment module 12 of this utility model adopts a "one-drive-two" linkage structure, in which a single drive motor 1221 drives two drive racks 1223, thereby synchronously driving the support mechanisms 123 on both sides. This structure not only ensures the stability and horizontal posture of the external pedal module 11 during the lifting and lowering process, avoiding unilateral tilting, but also guarantees the accuracy and precision of pedal data collection. Even if the user does not press the external pedal correctly, the pedal data can still be accurately collected to ensure the performance effect. At the same time, the shared drive source enables the structure to be lightweight and compact, thereby improving the operating efficiency and stability of the entire piano pedal system. The details are described below: On the one hand, the "one-to-two" structure ensures synchronization and stability. The two drive racks 1223 are driven by the same drive gear 1222 and are positioned opposite each other on either side of the drive gear 1222. When the drive gear 1222 rotates, the two drive racks 1223 inevitably move at the same speed but in opposite directions. This mechanical linkage ensures that the movement of the two support mechanisms 123 is highly synchronized, fundamentally preventing the external pedal module 11 from tilting or twisting during lifting due to unilateral drive or transmission errors. This ensures the levelness of the user's foot platform (i.e., the external pedal module 11), thereby improving operational safety and comfort. Furthermore, the "one-to-two" structure evenly distributes the lifting load to the two support mechanisms 123, with each mechanism bearing only half of the total load. This not only reduces the stress level of individual components and extends their service life but also allows for the use of lighter materials and a more compact structure, achieving overall system lightweighting and facilitating movement and installation.

[0055] On the other hand, the connection between the support rod 1231 and the support plate 1232 enables two-stage transmission. In this invention, the bottom end of the support rod 1231 is slidably hinged to the base 121 and is connected to the drive rack 1223, while its top end is hinged to the support plate 1232; the bottom end of the support plate 1232 is hinged to the base 121, and its top end is slidably hinged to the external pedal module 11. This series of hinged connections constitutes a sophisticated two-stage linkage mechanism 222, which enables the conversion of motion forms and the optimized transmission of force.

[0056] Specifically, the linear reciprocating motion of the drive rack 1223 is directly converted into the swinging motion of the support rod 1231 through the hinge point at the bottom of the support rod 1231. Simultaneously, the hinge point between the top of the support rod 1231 and the support plate 1232 also moves accordingly. Since the bottom of the support plate 1232 is fixed to the base 121, its overall motion manifests as a rotational swing around the bottom hinge point. In this way, the linear output of the drive motor 1221 is converted into the angular motion of the linkage mechanism 222. The swinging motion of the support plate 1232, through the sliding hinge between its top and the external pedal module 11, ultimately drives the external pedal module 11 to rise and fall vertically. This "sliding hinge" setting allows the top of the support plate 1232 to slide slightly along a certain trajectory during the swinging process, thus smoothly adapting to the geometric difference between the swinging trajectory of the support plate 1232 and the ideal vertical lifting path of the external pedal module 11.

[0057] The advantages of implementing a two-stage transmission are: 1) The entire lifting process is achieved through the rotation of multiple hinge points, avoiding the resistance and wear caused by the friction of sliding pairs; the hinge points are usually made of bearings or wear-resistant bushings, with a low coefficient of friction and extremely smooth movement, achieving a quiet and smooth lifting experience even under electric drive. 2) The entire two-stage linkage mechanism 222 can effectively resist lateral forces during movement. When the external pedal is subjected to a non-vertical stepping force (such as user body swaying or lateral force), the linkage mechanism 222 can reasonably decompose and transmit the stepping force to the base 121, preventing the support mechanism 123 from buckling or deforming, and ensuring the structural stability and safety of the external pedal module 11 under dynamic load. 3) The two-stage linkage mechanism 222 can amplify the relatively small linear stroke of the drive rack 1223 into a larger vertical lifting stroke of the external pedal module 11 through the lever principle; at the same time, the entire two-stage linkage mechanism 222 has a low height when retracted and can reach a high position when extended, realizing a combination of a large adjustment range and a small installation space, which is particularly suitable for use in the limited space in front of the piano.

[0058] Furthermore, the optional guide mechanism 124 (guide rod 1242 and guide block 1243) in this invention further enhances the system's performance. The guide block 1243 is connected to the support slider 1234 and moves with the drive rack 1223. Its sliding on the guide rod 1242 provides additional linear constraint for the movement of the bottom of the support mechanism 123. This complements the swinging of the support rod 1231 and the support plate 1232, jointly ensuring that the trajectory of the entire lifting process is precise and controllable. In particular, it can effectively suppress swaying when subjected to eccentric loads, thereby improving the overall rigidity and motion accuracy of the system.

[0059] The data acquisition module includes an external position sensor, which is electrically connected to the control unit. The external position sensor is used to collect the pedal height data of the external left pedal 113 and the external right pedal 115. Based on the pedal height data, the control unit controls the installation unit 2 to press down the corresponding piano pedal 3 to the corresponding height.

[0060] Although both upright and grand pianos include three pedals—left, center, and right—only the left pedal (soft pedal) and the right pedal (sustain pedal) actually require fine-tuning. The center pedal only needs to be controlled by on / off switching. It's important to note that "fine-tuning control," also known as "degree control," "height control," or "force control," refers to the continuous and precise adjustment of the depth of the left (soft) and right (sustain) pedals, rather than simply pressing or unpressing them, similar to adjusting volume, not just turning them on or off.

[0061] Therefore, in this embodiment, the installation unit 2 includes two pedal drive modules 21, which are respectively set to the left and right pedals of the piano, so as to pedal the left and right pedals of the piano according to the pedal height data of the external left pedal 113 and the external right pedal 115.

[0062] The pedal drive module 21 includes a mounting bracket 211 and a pedal motor 212. The mounting bracket 211 is fixedly connected to the piano, and the pedal motor 212 is vertically fixedly connected to the mounting bracket 211 and electrically connected to the control unit. The pedal motor 212 is a linear motor, including a stator 2121, a mover 2122, and a housing 2123. The stator 2121 is cylindrical, and the mover 2122 is vertically slidably inserted into the stator 2121. The top and bottom ends of the stator 2121 are fixedly connected to the housing 2123, which is fixedly connected to the mounting bracket 211. The bottom end of the mover 2122 is connected to the corresponding piano pedal 3, driving the corresponding piano pedal 3 to move downwards to achieve pedaling.

[0063] This embodiment abandons the traditional rotary motor + gear set / screw mechanism drive method and adopts a linear motor as the pedal motor 212. The stator 2121 and mover 2122 of the linear motor directly generate thrust through magnetic field interaction, so that the mover 2122 slides vertically within the stator 2121 without any intermediate mechanical reversal or deceleration. This modification eliminates the periodic noise and transmission backlash caused by gear meshing or screw friction. Therefore, when the pedal drive module 21 presses the corresponding piano pedal 3 according to the pedal height data, the mover 2122 can remain silent and responsive during high-frequency reciprocating motion within the stator 2121, reducing the response time from tens of milliseconds to sub-milliseconds.

[0064] A connecting rod 213 is coaxially fixedly connected to the top of the mover 2122. A position sensor is fixedly connected to the top of the connecting rod 213 and is electrically connected to the control unit. The position sensor is used to detect the movement distance of the mover 2122. If the detection result shows that the movement distance of the mover 2122 is the same as the pedal height data, the control unit controls the pedal motor 212 to turn off, stopping the pedaling of the piano pedal 3.

[0065] In this embodiment, the external position sensor and the added position sensor can use proximity switches (such as inductive or capacitive non-contact switches) or oscillating switches (also known as lever limit switches or micro switches) to achieve a position detection accuracy of ±0.1mm: 1) The system can accurately reproduce the formation details of the user's pedaling action, achieving delicate control over pedal effects such as sustain and soft notes; 2) The pedaling drive response of the added unit 2 is highly synchronized with the user's operation, improving the realism and realism of the performance. In addition, in this embodiment, the added position sensor is directly fixed to the top of the mover 2122 via the connecting rod 213. Compared with external or separate sensors, this integrated transmission + sensing structure not only shortens the signal transmission path and reduces wiring complexity, but also avoids response lag and data drift caused by component misalignment or secondary installation errors, ensuring detection efficiency and accuracy.

[0066] In some embodiments, the height sensor, external position sensor, and additional position sensor may also employ a high-resolution linear encoder.

[0067] In some embodiments, the pedal drive module 21 further includes a guide assembly 214 for guiding the sliding of the mover 2122 relative to the stator 2121. The guide assembly 214 includes a linear guide rod 2141 and a linear guide rail 2142. The top end of the linear guide rod 2141 is coaxially and fixedly connected to the bottom end of the mover 2122, and the bottom end of the linear guide rod 2141 is drively connected to the corresponding piano pedal 3. The linear guide rail 2142 is vertically arranged, and its top end is fixedly connected to the bottom end of the housing 2123. The slider of the linear guide rail 2142 is fixedly connected to the linear guide rod 2141. In this embodiment, the mover 2122 and the guide assembly 214 work together to prevent lateral loads and minor vibrations from causing the mover 2122 to deflect, ensuring the positional accuracy of the mover 2122 during movement.

[0068] Furthermore, this embodiment uses a linear motor as the pedal motor 212, eliminating intermediate transmission components and resulting in a more compact size. Installation eliminates the need for complex gearbox adjustments or lead screw pre-tensioning; simply slide the mover 2122 into the stator 2121 and guide the slider fixed to the linear guide rod 2141 into the linear guide rail 2142 to achieve deep integration with the piano pedal 3. This not only reduces production and maintenance costs but also allows the device to be "plug and play" on upright, grand, and electronic pianos of different brands and structures, truly achieving a balance between versatility and high performance.

[0069] In some embodiments, the guide assembly 214 further includes a positioning flange 2143. The positioning flange 2143 is horizontally fixedly connected to the bottom of the housing 2123, and the positioning flange 2143 has positioning holes penetrating its upper and lower end faces. The linear guide rod 2141 is vertically slidably inserted into the positioning hole. The diameter of the positioning hole matches the diameter of the linear guide rod 2141, that is, the inner peripheral wall of the positioning hole and the outer peripheral wall of the linear guide rod 2141 are in clearance fit. This allows for precise positioning of the linear guide rod 2141 during installation and for limiting and guiding the movement of the linear guide rod 2141 during use.

[0070] In some embodiments, a gap is left between the stator 2121 and the mover 2122 to form an air gap. As a linear motor, the pedal motor 212 is configured such that a certain distance exists between the stator 2121 and the mover 2122, preventing direct contact between the stator 2121 and the mover 2122 and thus avoiding friction and noise during use. This not only extends the service life of the pedal motor 212 but also avoids negative impacts on the piano's playing performance.

[0071] In some embodiments, the stator 2121 is made of an alloy thermally conductive material. Through the contact between the stator 2121 and the outer shell 2123, the temperature of the stator 2121 is transferred to the outer shell 2123. Since the outer shell 2123 has a larger area in contact with the air than the stator 2121, it can exchange heat with the air over a large area, thereby achieving natural cooling of the stator 2121.

[0072] In some embodiments, the outer casing 2123 is integrally die-cast from aluminum alloy, and a gap is left between the outer casing 2123 and the stator 2121 to form a heat dissipation channel 2124. The inner wall of the outer casing 2123 is embedded, welded, or integrally formed with heat dissipation fins. By setting the heat dissipation channel 2124 and heat dissipation fins, this embodiment can achieve rapid and uniform heat dissipation of the stator 2121 and the rotor 2122, prevent material thermal expansion resonance caused by local overheating, and effectively suppress electromagnetic and thermal resonance noise.

[0073] In some embodiments, a damping material is attached and fixed to the inner wall of the housing 2123. By setting the damping material, this embodiment can absorb the micro-structural flutter a second time, completely suppressing high-frequency flutter, thereby realizing a piano pedal system that operates almost "silently" and avoiding interference with the user's playing.

[0074] Compared to traditional designs that accumulate heat in the gearbox and cannot dissipate heat accurately, this invention combines heat dissipation and damping to significantly improve quietness and stability during long-term continuous operation.

[0075] In some embodiments, the mounting unit 2 further includes two linkage transmission modules 22, which are configured one-to-one with the pedal drive module 21. The linkage transmission module 22 is connected between the output end of the pedal drive module 21 and the corresponding piano pedal 3.

[0076] Specifically, the linkage transmission module 22 includes a base plate 221 and a linkage mechanism 222 mounted on the base plate 221. The linkage mechanism 222 includes a transmission link 2221, a hinge support 2222, and a connecting bolt 2223. The hinge support 2222 is fixedly connected to the top of the base plate 221, and the non-end of the transmission link 2221 is hinged to the hinge support 2222. One end of the transmission link 2221 is fixedly connected to the bottom end of the linear guide rod 2141 via the connecting bolt 2223, and the other end of the transmission link 2221 is fixedly connected to the corresponding piano pedal 3 via the connecting bolt 2223.

[0077] The pedal drive module 21 is used to drive one end of the transmission link 2221 to move upward, so that the other end of the transmission link 2221 drives the corresponding piano pedal 3 to move downward, thereby realizing the stepping on the piano pedal 3.

[0078] In some embodiments, the linkage module 22 further includes a damping spring 223, which is fixedly connected between the transmission link 2221 and the base plate 221, and is located between the hinge support 2222 and the piano pedal 3. The damping spring 223 can not only buffer the force applied to the piano pedal 3 by the transmission link 2221 to avoid structural damage due to excessive force, but also assist the transmission link 2221 in resetting after the force applied to the piano pedal 3 by the transmission link 2221 ends.

[0079] In some embodiments, the transmission connecting rod 2221 has a square cross-section. A flange plate is fixedly connected to the bottom end of the linear guide rod 2141. A square hole is opened on the flange plate. The end of the transmission connecting rod 2221 away from the piano pedal 3 is inserted into the square hole, and the transmission connecting rod 2221 is fixedly connected to the flange plate using connecting bolts 2223. The size of the square hole matches the cross-sectional size of the transmission connecting rod 2221, that is, the inner wall of the square hole is clearance-fitted with the outer wall of the transmission connecting rod 2221, which limits the transmission connecting rod 2221 and prevents it from rotating during use, thereby ensuring the accuracy of force transmission.

[0080] The working principle of the piano pedal system provided in this embodiment is as follows: (1) Adjust the height of the external pedal module 11 Users can directly input adjustment height data based on seat height and their own pedaling habits, or input information such as height and leg length, after which the control unit matches the corresponding adjustment height data in the database. The control unit then activates the height adjustment module 12 based on the adjustment height data to adjust the height of the external pedal module 11.

[0081] Specifically, the drive motor 1221 drives the drive gear 1222 to rotate, thereby causing the two drive racks 1223 to move towards the bottom end of the corresponding support plate 1232, so that the bottom end of the support rod 1231 moves closer to the bottom end of the corresponding support plate 1232. During this process, the support slider 1234 slides on the support guide rail 1233 to guide the movement of the drive racks 1223; while the guide block 1243 slides on the guide rod 1242 to provide secondary guidance for the sliding of the support slider 1234. At this time, the support mechanism 123 extends, lifting the external pedal module 11, thereby increasing the height of the external pedal module 11. When the support rod 1231 is perpendicular to the top of the base 121, the external pedal module 11 is in its highest position.

[0082] Correspondingly, the drive motor 1221 drives the drive gear 1222 to rotate in the opposite direction, thereby causing the two drive racks 1223 to move away from the bottom end of the corresponding support plate 1232, so that the bottom end of the support rod 1231 moves away from the bottom end of the corresponding support plate 1232. During this process, the support slider 1234 slides on the support guide rail 1233 to guide the movement of the drive racks 1223; while the guide block 1243 slides on the guide rod 1242 to provide secondary guidance for the sliding of the support slider 1234. At this time, the support mechanism 123 retracts, retracting the external pedal module 11 and reducing the height of the external pedal module 11. When the support rod 1231 is parallel to the top of the base 121, the external pedal module 11 is in its lowest position.

[0083] The control unit converts the height adjustment data into the number of rotations of the drive motor 1221, and controls the drive motor 1221 to drive the drive gear 1222 to rotate the corresponding number of rotations, thereby achieving the corresponding height adjustment.

[0084] During the process of adjusting the height of the external pedal module 11 by the height adjustment module 12, the height sensor detects the height of the external pedal module 11 in real time and sends a height detection signal to the control unit. When the height detection signal shows that the height of the external pedal module 11 is the same as the adjusted height data, the control unit controls the drive motor 1221 to turn off, thus completing the height adjustment of the external pedal module 11.

[0085] When the theoretical height of the external pedal module 11 does not match the actual height detected by the height sensor after the drive motor 1221 has rotated the corresponding number of revolutions, the height of the external pedal module 11 is adjusted based on the actual height detected by the height sensor.

[0086] (2) Step on the external pedal During piano playing, the user presses the external left pedal 113, external middle pedal 114, or external right pedal 115 in accordance with the sheet music. When the user presses the external left pedal 113 or external right pedal 115, the external position sensor collects the pressing height data of the corresponding external pedal in real time and sends the pressing height data to the control unit.

[0087] When the user's foot leaves the corresponding external pedal, or only contacts the corresponding external pedal without applying force, the corresponding external pedal is reset by the action of the corresponding buffer spring 116.

[0088] (3) Pressing the piano pedal 3 The control unit controls the corresponding pedal drive module 21 to press the corresponding piano pedal 3 down to the corresponding height based on the pedal height data. The specific process is as follows: In some embodiments, the pedal drive module 21 is directly connected to the corresponding piano pedal 3. The mover 2122 moves vertically downward within the stator 2121 under the action of the magnetic field, driving the linear guide rod 2141 to move vertically downward, pressing the corresponding piano pedal 3 downward, thus realizing the pedaling of the corresponding piano pedal 3.

[0089] During the process of the mover 2122 driving the linear guide rod 2141 to press down the corresponding piano pedal 3, the slider of the linear guide rail 2142 slides within the linear guide rail 2142, guiding and limiting the movement of the linear guide rod 2141, ensuring the precise transmission of force, and thus ensuring that the corresponding piano pedal 3 is pressed down to the corresponding height.

[0090] In some embodiments, a linkage transmission module 22 connects the pedal drive module 21 to the corresponding piano pedal 3. The mover 2122 moves vertically upward within the stator 2121 under the action of a magnetic field, driving the end of the transmission link 2221 away from the piano pedal 3 to move upward synchronously via the linear guide rod 2141. With the hinged engagement between the transmission link 2221 and the hinge support 2222, the end of the transmission link 2221 connected to the piano pedal 3 drives the piano pedal 3 to move downward synchronously, thus enabling the pedal to be stepped on.

[0091] As the mover 2122 drives the transmission link 2221 away from the piano pedal 3 to move upward through the linear guide rod 2141, thereby causing the corresponding piano pedal 3 to be pressed down, the slider of the linear guide 2142 slides within the linear guide 2142, guiding and limiting the movement of the linear guide rod 2141, ensuring the precise transmission of force, and thus ensuring that the corresponding piano pedal 3 is pressed down to the corresponding height.

[0092] During the pressing of the corresponding piano pedal 3, the damping spring 223 buffers the movement of the connection end between the transmission link 2221 and the piano pedal 3, preventing excessive movement that could cause structural damage due to collision. After the piano pedal 3 is pressed, the connection end between the transmission link 2221 and the piano pedal 3 returns to its original position under the elastic force of the damping spring 223, thus resetting the piano pedal 3.

[0093] The control unit converts the pedal height data into the moving distance of the mover 2122 relative to the stator 2121, thereby pressing down the corresponding piano pedal 3 to the corresponding height, thus realizing the pedaling of the piano pedal 3.

[0094] During the process of the pedal motor 212 driving the linear guide rod 2141 (and the linkage mechanism 222) to press down the corresponding piano pedal 3, a position sensor is installed to detect the moving distance of the mover 2122 relative to the stator 2121 in real time, and sends a distance detection signal to the control unit. When the distance detection signal shows that the moving distance of the mover 2122 relative to the stator 2121 is the same as the pedal height data, the control unit controls the pedal motor 212 to turn off, completing the pressing of the corresponding piano pedal 3.

[0095] When the mover 2122 moves a corresponding distance relative to the stator 2121, and the theoretical moving distance of the mover 2122 relative to the stator 2121 does not match the actual moving distance detected by the added position sensor, the actual moving distance detected by the added position sensor shall be used as the standard, and the mover 2122 shall continue to move relative to the stator 2121, thereby continuing to press down the piano pedal 3 until the actual moving distance detected by the added position sensor is the same as the pedal height data.

[0096] It is worth noting that this utility model is actually based on the independent decoupling design of the piano pedal and the external pedal, and provides a small-volume, low-noise external unit 1 suitable for height adjustment at all times. This small-volume, low-noise external unit 1 based on the decoupling setting is conducive to the user to automatically adjust the height before playing and even during the entire playing process, so as to enhance the adaptability of the height of the external pedal module 11 to the playing needs of different users.

[0097] Specifically, this utility model provides a one-to-two drive mode based on a two-stage transmission for the external unit 1, which is designed for all-time adjustable operation. The two-stage transmission refers to the fact that the driving force of the drive motor 1221 is transmitted sequentially to the support rod 1231 via the drive gear 1222 and the drive rack 1223, and then from the support rod 1231 to the support plate 1232. This two-stage transmission configuration allows the driving force of the drive motor 1221 to be transmitted synchronously to both support rods 1231, and also allows the two support rods 1231 to be staggered (e.g., positioned at opposite corners of the mounting plate 111). Therefore, this mode can achieve smooth height adjustment in a single-motor drive mode, and the single-motor drive mode has relatively lower requirements for the number or specifications of the motors, making it easier to achieve miniaturization.

[0098] Alternatively, this single-motor drive mode, which combines two-stage transmission and one-to-two drive modes, is conducive to reducing the number of motors. Thus, on the one hand, it can avoid or alleviate the cost problem of introducing automatic adjustment function, and on the other hand, the size restriction can reduce the burden or interference to the user during the use of external unit 1. For example, the relatively lightweight and small-sized setting makes its placement relatively flexible and less restricted by the site.

[0099] In addition, this transmission mode does not generate much noise during the transmission process, and even real-time adjustments during performance will not cause significant interference to the user.

[0100] Furthermore, for the external unit 1 that can be adjusted at all times, this embodiment also provides a restrictive adjustment scheme for the one-to-two mode. Specifically, the support rod 1231 is guided and limited by the sliding of the support slider 1234 on the support guide rail 1233 (for example, the support guide rail 1233 can guide and limit the direction of the support slider 1234, and limit blocks (not shown in the figure) can be set at both ends of the support guide rail 1233 to limit the stroke of the support slider 1234). The sliding of the guide block 1243 on the guide rod 1242 further limits the running direction of the support slider 1234, and the connecting seats 1241 at both ends of the guide rod 1242 further limit the stroke of the support slider 1234. This dual-limitation adjustment scheme can further improve the safety and reliability of the external unit 1 under all-time adjustment.

[0101] In some embodiments, the external unit 1 may also include a housing, such as a housing that can be connected between the mounting plate 111 and the base 121 and surround the height adjustment module 12, so as to provide a certain degree of protection for the drive mechanism 122, the support mechanism 123, the guide mechanism 124 and other structures, and at the same time, to provide safety protection for the user and reduce safety hazards such as feet getting stuck during stepping.

[0102] This embodiment provides a piano pedal system whose improvement approach breaks through the long-standing technical path in the field, exhibiting significant non-obviousness. For a long time, improvements by those skilled in the art have focused on optimizing the existing mechanical structure itself, such as improving the precision of the lead screw, selecting low-noise materials, or enhancing lubrication to improve the adjustment experience. Their thinking paradigm has remained within the existing framework of "mechanical transmission and physical contact." This invention, however, fundamentally achieves a paradigm shift. By introducing a microcontroller (MCU), sensors, and motor drive technology, it converts the user's pedaling actions into electrical signals for remote transmission and processing. An independent actuator then restores precise control of the piano pedals, completing the leap from a purely mechanical device to an intelligent electromechanical system.

[0103] The key to this leap lies in the establishment of a "non-contact separation setting," which is not only a change in technical form but also a necessary prerequisite for achieving electric automatic adjustment. Only by eliminating the rigid or flexible mechanical connection with the piano pedal 3 can the external pedal module 11 function as a complete, freely height-adjustable unit for electric adjustment. If the direct mechanical connection method is still used, any change in the height of the external pedal will directly disturb the geometry and preload of the transmission chain, leading to distortion of force transmission, misalignment of stroke, or even damage to the mechanism, making stable and reliable automatic adjustment impossible. Therefore, the construction of the non-contact structure itself constitutes a core innovation, clearing away fundamental obstacles to electric, wide-range, and high-precision height adjustment.

[0104] However, the implementation of this architecture is far more complex than simply adding electronic components to a traditional device; it involves a deep integration of sensing, control, execution, and mechanical structure—a complex systems engineering project. Its feasibility relies on the systematic optimization of the entire signal and power chain: the sampling frequency of sensors, signal processing delays, motor response characteristics, and the dynamic performance of the actuators must be precisely coordinated to ensure extremely low latency and synchronized response throughout the entire process from the user pressing the piano pedal to the pedal's movement. Any malfunction in any link—such as delayed sensor signals or jerking motor drives—will cause a disconnect between the playing action and the audio feedback, severely damaging the user experience. Therefore, the success of this solution is built upon repeated verification and collaborative tuning of the control algorithm, hardware selection, and mechanical design, reflecting a high level of technical integration and innovation difficulty that cannot be easily foreseen or implemented by those skilled in the art based on existing technology.

[0105] This embodiment also provides a height-adjustable piano pedal device, including an external pedal module 11, a height adjustment module 12, and a control unit of the piano pedal system described above. The height adjustment module 12 is electrically connected to the control unit, and the control unit controls the height adjustment module 12 to adjust the height of the external pedal module 11 according to the height adjustment data input by the user.

[0106] The external pedal module 11 includes at least one external pedal. The external pedal is directly connected to the corresponding piano pedal 3 through a mechanical transmission structure (refer to the prior art in the background). When the user steps on the external pedal, the force is directly transmitted to the piano pedal 3 through the mechanical transmission structure to realize the stepping on of the piano pedal 3.

[0107] In some embodiments, the system may further include a data acquisition module and an installation unit 2 for a piano pedal system as described above, both of which are electrically connected to a control unit. The data acquisition module is used to acquire pedaling data from the external pedal, and the control unit is also used to control the installation unit 2 to press the corresponding piano pedal 3 based on the pedaling data.

[0108] This embodiment also provides a piano pedal operating device, including an installation unit 2 and a control unit of the aforementioned piano pedal system. The installation unit 2 is electrically connected to the control unit. The control unit is used to control the installation unit 2 to operate the corresponding piano pedal 3 according to the pedaling data input by the user.

[0109] In some embodiments, the system may further include an external pedal module 11 and a data acquisition module, as described above, with the data acquisition module electrically connected to the control unit. The external pedal module 11 includes at least one external pedal, the data acquisition module is used to collect pedaling data from the external pedal, and the control unit is also used to control the installation unit 2 to press the corresponding piano pedal 3 based on the pedaling data collected by the data acquisition module.

[0110] In some embodiments, the system may further include a height adjustment module 12 of the piano pedal system described above, the height adjustment module 12 being electrically connected to the control unit. The control unit is also configured to control the height adjustment module 12 to adjust the height of the external pedal module 11 based on user-inputted height adjustment data.

[0111] Example 2: This embodiment provides a piano pedal system, which differs from Embodiment 1 in that: the data acquisition module of the external unit 1 includes an external force feedback sensor, which is electrically connected to the control unit. The external force feedback sensor is used to collect the pedal pressure data of the external left pedal 113 and the external right pedal 115. The control unit controls the installation unit 2 to apply the corresponding force to the corresponding piano pedal 3 based on the pedal pressure data.

[0112] The pedal drive module 21 of the added unit 2 includes an added force feedback sensor, which is electrically connected to the control unit. The added force feedback sensor is used to detect the force applied by the mover 2122 to the corresponding piano pedal 3. If the detection result shows that the force applied by the mover 2122 to the corresponding piano pedal 3 is the same as the pedal pressure data, the control unit controls the pedal motor 212 to turn off, stopping the pedaling of the piano pedal 3.

[0113] In this embodiment, the external force feedback sensor and the added force feedback sensor can be piezoelectric pressure sensors or capacitive pressure sensors. Structurally, the external force feedback sensor and the added force feedback sensor can be spoke-type tension / compression sensors or cylindrical tension / compression sensors to achieve a force detection accuracy of ±1%FS (Full Scale), ensuring that the piano pedal system accurately recognizes the user's pedaling intention and accurately controls the output force of the actuator, thereby improving the realism of the piano pedal response and the performance.

[0114] This embodiment also provides a height-adjustable piano pedal device, including an external pedal module 11, a height adjustment module 12, and a control unit of the piano pedal system described above. The height adjustment module 12 is electrically connected to the control unit, and the control unit controls the height adjustment module 12 to adjust the height of the external pedal module 11 according to the height adjustment data input by the user.

[0115] The external pedal module 11 includes at least one external pedal. The external pedal is directly connected to the corresponding piano pedal 3 through a mechanical transmission structure (refer to the prior art in the background). When the user steps on the external pedal, the force is directly transmitted to the piano pedal 3 through the mechanical transmission structure to realize the stepping on of the piano pedal 3.

[0116] In some embodiments, the system may further include a data acquisition module and an installation unit 2 for a piano pedal system as described above, both of which are electrically connected to a control unit. The data acquisition module is used to acquire pedaling data from the external pedal, and the control unit is also used to control the installation unit 2 to press the corresponding piano pedal 3 based on the pedaling data.

[0117] This embodiment also provides a piano pedal operating device, including an installation unit 2 and a control unit of the aforementioned piano pedal system. The installation unit 2 is electrically connected to the control unit. The control unit is used to control the installation unit 2 to operate the corresponding piano pedal 3 according to the pedaling data input by the user.

[0118] In some embodiments, the system may further include an external pedal module 11 and a data acquisition module, as described above, with the data acquisition module electrically connected to the control unit. The external pedal module 11 includes at least one external pedal, the data acquisition module is used to collect pedaling data from the external pedal, and the control unit is also used to control the installation unit 2 to press the corresponding piano pedal 3 based on the pedaling data collected by the data acquisition module.

[0119] In some embodiments, the system may further include a height adjustment module 12 of the piano pedal system described above, the height adjustment module 12 being electrically connected to the control unit. The control unit is also configured to control the height adjustment module 12 to adjust the height of the external pedal module 11 based on user-inputted height adjustment data.

[0120] Example 3: This embodiment provides a piano pedal system, which differs from Embodiments 1 or 2 in that: the data acquisition module of the external unit 1 includes an external position sensor and an external force feedback sensor, both of which are electrically connected to the control unit. The external position sensor is used to collect the pedal height data of the external left pedal 113 and the external right pedal 115, and the external force feedback sensor is used to collect the pedal pressure data of the external left pedal 113 and the external right pedal 115. The control unit controls the pedal drive module 21 to press the corresponding piano pedal 3 down to the corresponding height using the corresponding pressure based on the pedal height data and the pedal pressure data.

[0121] The pedal drive module 21 of the added unit 2 includes an added position sensor and an added force feedback sensor, both of which are electrically connected to the control unit. The added position sensor is used to detect the movement distance of the mover 2122, and the added force feedback sensor is used to detect the force applied by the mover 2122 to the corresponding piano pedal 3. If the detection results show that the movement distance of the mover 2122 is the same as the pedal height data, and the force applied by the mover 2122 to the corresponding piano pedal 3 is the same as the pedal pressure data, then the control unit controls the pedal motor 212 to turn off, stopping the pedaling of the piano pedal 3.

[0122] This embodiment collects the pedaling data of the external unit 1 from two dimensions: pedaling height and pedaling pressure, and controls the pedaling of the piano pedal 3 by the additional unit 2 accordingly. This can further improve the accuracy of the additional unit 2 in pedaling the piano pedal 3 and improve the consistency of pedaling between the piano pedal 3 and the external pedal.

[0123] This embodiment also provides a height-adjustable piano pedal device, including an external pedal module 11, a height adjustment module 12, and a control unit of the piano pedal system described above. The height adjustment module 12 is electrically connected to the control unit, and the control unit controls the height adjustment module 12 to adjust the height of the external pedal module 11 according to the height adjustment data input by the user.

[0124] The external pedal module 11 includes at least one external pedal. The external pedal is directly connected to the corresponding piano pedal 3 through a mechanical transmission structure (refer to the prior art in the background). When the user steps on the external pedal, the force is directly transmitted to the piano pedal 3 through the mechanical transmission structure to realize the stepping on of the piano pedal 3.

[0125] In some embodiments, the system may further include a data acquisition module and an installation unit 2 for a piano pedal system as described above, both of which are electrically connected to a control unit. The data acquisition module is used to acquire pedaling data from the external pedal, and the control unit is also used to control the installation unit 2 to press the corresponding piano pedal 3 based on the pedaling data.

[0126] This embodiment also provides a piano pedal operating device, including an installation unit 2 and a control unit of the aforementioned piano pedal system. The installation unit 2 is electrically connected to the control unit. The control unit is used to control the installation unit 2 to operate the corresponding piano pedal 3 according to the pedaling data input by the user.

[0127] In some embodiments, the system may further include an external pedal module 11 and a data acquisition module, as described above, with the data acquisition module electrically connected to the control unit. The external pedal module 11 includes at least one external pedal, the data acquisition module is used to collect pedaling data from the external pedal, and the control unit is also used to control the installation unit 2 to press the corresponding piano pedal 3 based on the pedaling data collected by the data acquisition module.

[0128] In some embodiments, the system may further include a height adjustment module 12 of the piano pedal system described above, the height adjustment module 12 being electrically connected to the control unit. The control unit is also configured to control the height adjustment module 12 to adjust the height of the external pedal module 11 based on user-inputted height adjustment data.

[0129] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0130] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this utility model, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a computer terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this utility model.

[0131] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A piano pedal depressing device, characterized by, The system includes a pedal drive module (21) and a linkage transmission module (22). The linkage transmission module (22) is connected between the output end of the pedal drive module (21) and the corresponding piano pedal (3). The linkage transmission module (22) includes a base plate (221) and a linkage mechanism (222) disposed on the base plate (221). The linkage mechanism (222) includes a transmission link (2221) and a hinge support (2222). The hinge support (2222) is connected to the base plate (221). The non-end of the transmission link (2221) is hinged to the hinge support (2222). One end of the transmission link (2221) is connected to the output end of the pedal drive module (21), and the other end of the transmission link (2221) is connected to the corresponding piano pedal (3). The pedal drive module (21) is used to drive the end of the transmission link (2221) away from the piano pedal (3) to move upward, so that the end of the transmission link (2221) connected to the piano pedal (3) drives the corresponding piano pedal (3) to move downward, thereby realizing the stepping on the piano pedal (3).

2. The piano pedal depressing apparatus according to claim 1, wherein The linkage transmission module (22) also includes a shock-absorbing spring (223), which is connected between the transmission linkage (2221) and the base plate (221).

3. The piano pedal depressing apparatus according to claim 1 or 2, characterized in that, The pedal drive module (21) includes a pedal motor (212), and the pedal motor (212) is a linear motor, including a stator (2121) and a mover (2122) slidably inserted in the stator (2121). One end of the transmission link (2221) is connected to the mover (2122) in a transmission connection.

4. The piano pedal depressing apparatus according to claim 3, wherein The stator (2121) is connected to an integral die-cast outer shell (2123), and a heat dissipation duct (2124) is provided inside the outer shell (2123). And / or, heat dissipation fins are provided inside the housing (2123).

5. The piano pedal depressing apparatus according to claim 4, wherein The inner wall of the outer shell (2123) is provided with damping material.

6. A piano pedal depressing device according to claim 4 or 5, wherein The pedal drive module (21) further includes a guide assembly (214), which includes a linear guide rod (2141) and a linear guide rail (2142). One end of the linear guide rod (2141) is connected to the mover (2122), and the other end of the linear guide rod (2141) is connected to the transmission link (2221). The linear guide rail (2142) is connected to the outer shell (2123), and the linear guide rod (2141) is connected to the slider of the linear guide rail (2142).

7. The piano pedal depressing apparatus according to claim 6, wherein The guide assembly (214) further includes a positioning flange (2143), which is connected to the housing (2123). The positioning flange (2143) has a positioning hole, and the linear guide rod (2141) is slidably inserted into the positioning hole. The diameter of the positioning hole matches the diameter of the linear guide rod (2141).

8. The piano pedal depressing apparatus according to claim 5 or 7, wherein The pedal drive module (21) also includes an additional position sensor, which is connected to the mover (2122) and is used to detect the moving distance of the mover (2122). And / or, the pedal drive module (21) further includes an added force feedback sensor, which is connected to the mover (2122) and is used to detect the force applied by the mover (2122) to the transmission link (2221).

9. The piano pedal depressing apparatus according to claim 6, wherein One end of the transmission link (2221) is connected to the linear guide rod (2141) by a bolt, and the other end of the transmission link (2221) is connected to the corresponding piano pedal (3) by a bolt; And / or, the cross-section of the transmission link (2221) is square, and the end of the linear guide rod (2141) away from the mover (2122) is connected to a flange plate. The flange plate has a square hole, the size of which matches the size of the transmission link (2221). One end of the transmission link (2221) is inserted into the square hole and connected to the flange plate with bolts.

10. The piano pedal depressing apparatus according to claim 1, wherein It also includes an external pedal module (11) and a data acquisition module. The external pedal module (11) includes at least one external pedal. The data acquisition module is used to collect the pedaling data of the external pedal. The pedaling drive module (21) is used to drive the transmission link (2221) away from the piano pedal (3) to move upward according to the pedaling data. And / or, it also includes a height adjustment module (12), the external pedal module (11) being connected to the output end of the height adjustment module (12), the height adjustment module (12) being used to adjust the height of the external pedal module (11).

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