CN201171908Y - Robot capable of playing bass - Google Patents
Robot capable of playing bass Download PDFInfo
- Publication number
- CN201171908Y CN201171908Y CNU2008200623958U CN200820062395U CN201171908Y CN 201171908 Y CN201171908 Y CN 201171908Y CN U2008200623958 U CNU2008200623958 U CN U2008200623958U CN 200820062395 U CN200820062395 U CN 200820062395U CN 201171908 Y CN201171908 Y CN 201171908Y
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- metacarpal bone
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- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 210000000236 metacarpal bone Anatomy 0.000 claims description 56
- 210000003813 thumb Anatomy 0.000 claims description 46
- 210000003811 finger Anatomy 0.000 claims description 11
- 230000003584 silencer Effects 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000000875 corresponding effect Effects 0.000 description 31
- 238000004088 simulation Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000009183 running Effects 0.000 description 1
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Abstract
The utility model discloses a robot capable of playing bass, which comprises a head framework, an upper framework, a lower framework, a left and a right hand moving mechanisms and an electric control box. The robot can realize the action to play bass for imitating the human hand through the left and the right hand moving mechanisms, thereby achieving the purpose of bass playing and excellent timbre.
Description
Technical field
The utility model relates to a kind of robot.
Background technology
The robot that can play an instrument at present, as the flute playing robot (seeing that the patent No. is 02280263.0) of the applicant application, can blow saxophone's robot (patent No. is ZL200420105171.2) and the robot (patent No. is ZL00223534.X) that can play the musical instrument, they include head skeleton, upper body skeleton, lower part of the body skeleton, left hand and right hand motion, electric appliance control box, because they are applicable to specific musical instrument, its left hand and right hand motion need be realized specific action, and existing robots all can not satisfy the needs of playing bass.
The utility model content
The purpose of this utility model is to overcome the above-mentioned deficiency of prior art, and a kind of robot that can play bass is provided.
For achieving the above object, the robot that can play bass of the present utility model, comprise head skeleton, the upper body skeleton, lower part of the body skeleton, a left side, right hand motion, electric appliance control box, it is characterized in that described left hand motion comprises left hand metacarpal bone frame and four hinged with it left hand phalanges framves, the left hand finger that is connected with each left hand phalanges frame, be fixed on four stepper motors on the upper body skeleton, two ends are fixed on four cable wire covers on left hand metacarpal bone frame and the upper body skeleton, crank all is installed on the output shaft of each stepper motor, cable wire two ends in every cable wire cover connect the palm of the hand one side and the crank of corresponding left hand phalanges frame respectively. and between the back of the hand one side of each left hand phalanges frame and left hand metacarpal bone frame, also be provided with extension spring, be equipped with photoelectric sensor at the output shaft place of each stepper motor;
Above-mentioned right hand motion comprises right hand palm motion, hand thumb motion and right hand work refer to motion, right hand palm motion comprises the right arm skeleton that is fixed on the upper body skeleton, be hinged on the right hand metacarpal bone frame on the right arm skeleton, be fixed on the servomotor on the right arm skeleton, be provided with one group of bevel gear pair on the output shaft of servomotor He on the right arm skeleton, driven wheel of differential is installed in the rotating shaft of right arm skeleton, the two ends of one connecting rod are connected with driven wheel of differential with right hand metacarpal bone frame respectively, with the right arm skeleton of the rotating shaft corresponding position of driven wheel of differential on be provided with photoelectric sensor; The hand thumb motion comprises a thumb metacarpal bone frame that is hinged on the right hand metacarpal bone frame, be hinged on the thumb proximal phalanx frame on the thumb metacarpal bone frame, the thumb distal phalanx frame that is connected with thumb proximal phalanx frame, and be installed in the stepper motor on the upper body skeleton and be installed in bent axle on the stepper motor output shaft, the photoelectric sensor corresponding with bent axle, between thumb distal phalanx frame and thumb metacarpal bone frame, be provided with extension spring, between thumb metacarpal bone frame and right hand metacarpal bone frame, be provided with extension spring, the two ends of two cable wires cover are separately fixed on right hand metacarpal bone frame and the upper body skeleton, and the two ends of a cable wire connect thumb metacarpal bone frame and bent axle respectively, another cable wire two ends are connected to thumb proximal phalanx frame and bent axle; Right hand work refers to that motion comprises that three work that are hinged on the right hand metacarpal bone frame refer to the proximal phalanx frame, the middle phalanx frame hinged with corresponding proximal phalanx frame, the distal phalanx frame that is connected with corresponding middle phalanx frame, and be installed in three stepper motors on the upper body skeleton and be installed in bent axle on each stepper motor output shaft, the photoelectric sensor corresponding with each bent axle, between every distal phalanx frame and right hand metacarpal bone frame, be equipped with stage clip, between every proximal phalanx frame and right hand metacarpal bone frame, be provided with stage clip, every work refers to that the two ends of corresponding two cable wires cover are separately fixed on right hand metacarpal bone frame and the upper body skeleton, the two ends of one cable wire connect a corresponding proximal phalanx frame and bent axle respectively, and the two ends of another root cable wire connect a corresponding middle phalanx frame and bent axle respectively;
The left hand that is provided with power supply, host CPU in the above-mentioned electric appliance control box, links to each other with host CPU by order circuit accuses that system CPU, the right hand control system CPU, the right hand and accuse system CPU, accuse that with left hand left hand that system CPU links to each other refers to that stepper motor drives loop and position probing loop, controls driven by servomotor loop that system CPU links to each other and position probing loop, accuses that with the right hand making the right hand that CPU links to each other refers to stepper motor driving loop and position probing loop with the right hand;
When playing, bass is fixed on one's body the robot, point control CPU left by host CPU, the right hand controls system CPU and the right hand accuses that system CPU sends instruction, start corresponding stepper motor by them again and drive the loop, the driven by servomotor loop, realize following action: make four left hand fingers pin the string of bass, right hand palm backbone winding hinge is rotated, realize the string of all fingers of the right hand near bass, thumb palm backbone winding hinge is rotated to the back of the hand direction, thumb distal phalanx frame rotates to the back of the hand direction around hinge, make three work refer to that the proximal phalanx frame rotates to the back of the hand direction around hinge, make three work refer to that the distal phalanx frame rotates to palm of the hand direction around hinge, above-mentioned motion combination just can realize the action that the finger simulation staff of robot is played bass; Each photoelectric sensor is given corresponding control CPU with signal by the position probing circuit feedback, realizes each precise positioning of fingers;
As further improvement of the utility model, the above-mentioned robot that can play bass also is provided with silencer mechanism, comprise that an end is hinged on the bass qin body back side, the rocking bar that the other end is connected with the qin body by extension spring, be fixed on the rocking bar and have the elastic steel sheet of cushion, two ends are separately fixed at the cable wire cover on qin body and the upper body skeleton, and be installed in the stepper motor on the upper body skeleton and be installed in bent axle on the stepper motor output shaft, the photoelectric sensor corresponding with bent axle, the two ends of one cable wire (69) connect rocking bar and crank respectively, also are provided with the driving loop of accusing this stepper motor that system CPU links to each other with left hand in electric appliance control box;
When playing, accuse that by left hand system CPU starts stepper motor and drives the loop, the realization stepper motor rotates, thereby drive the cable wire motion, the motion of cable wire drives rocking bar and rotates around hinge, and the cushion on the rocking bar contacts the string between the sound pick-up and frame tumtum on the bass as requested, allows string stop to vibrate, eliminate the lingering sound on the string, improve tone color; Photoelectric sensor is given left hand with signal by the position probing loop and is accused system CPU, the accurate location of realizing the cushion action; When cable wire was not driven, extension spring can make rocking bar automatically reset;
As further improvement of the utility model, electric appliance control box also is provided with the program request control CPU that links to each other with host CPU by order circuit, the song that links to each other with program request control CPU is selected the loop; By pre-set programs in host CPU, according to the song of selecting, host CPU accuses that by left hand CPU is made in system CPU, right hand control and the right hand is accused system CPU, and the control left hand refers to, the right hand is slapped and the right hand refers to finish corresponding action, plays out the song of correspondence automatically;
As further improvement of the utility model, electric appliance control box also is provided with the song show circuit that links to each other with program request control CPU;
In sum, the utility model can realize playing bass, and eliminates the lingering sound on the string, improves tone color.
Description of drawings
Fig. 1 is the front view of the utility model embodiment;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is a left hand front view of the present utility model.
Fig. 4 is a right hand front view of the present utility model.
Fig. 5 is a right hand vertical view of the present utility model.
Fig. 6 is a hand thumb front view of the present utility model.
Fig. 7 is that right hand work of the present utility model refers to front view.
Fig. 8 is a silencer mechanism front view of the present utility model.
Fig. 9 is an electrical control block diagram of the present utility model.
The specific embodiment
The utility model is described in further detail below in conjunction with drawings and Examples.
As depicted in figs. 1 and 2, this can play the robot of bass, comprise head skeleton 1, upper body skeleton 2, lower part of the body skeleton 3, a left side, right hand motion 4,5, silencer mechanism 6, electric appliance control box 7, described left hand motion 4, as shown in Figure 3, comprise left hand metacarpal bone frame 8 and with it by four hinged left hand phalanges framves 9 of hinge 17, the left hand finger 10 that is connected with each left hand phalanges frame 9, be fixed on four stepper motors 11 on the upper body skeleton 2, two ends are fixed on four cable wire covers 12 on left hand metacarpal bone frame 8 and the upper body skeleton 2, crank 13 all is installed on the output shaft of each stepper motor 11, cable wire 14 two ends in every cable wire cover 12 connect the palm of the hand one side of corresponding left hand phalanges frame 9 and crank 13. respectively and also be provided with extension spring 15 between the back of the hand one side of each left hand phalanges frame 9 and left hand metacarpal bone framves 8, are equipped with photoelectric sensor 16 at the output shaft place of each stepper motor 11;
Above-mentioned right hand motion 5 comprises right hand palm motion, hand thumb motion and right hand work refer to motion, right hand palm motion as shown in Figure 4 and Figure 5, comprise the right arm skeleton 18 that is fixed on the upper body skeleton 2, be hinged on right hand metacarpal bone frame 20 on the right arm skeleton 18 by hinge 19, be fixed on the servomotor 21 on the right arm skeleton 18, be provided with one group of bevel gear pair on the output shaft of servomotor 21 He on the right arm skeleton 18, driven wheel of differential 22 is installed in the rotating shaft 23 of right arm skeleton 18, the two ends of one connecting rod 24 are connected with driven wheel of differential 22 with right hand metacarpal bone frame 20 respectively, with the right arm skeleton 18 of rotating shaft 23 corresponding positions on be provided with photoelectric sensor 25;
As shown in Figure 6, the hand thumb motion comprises by hinge 39 and is hinged on a thumb metacarpal bone frame 27 on the right hand metacarpal bone frame 20, be hinged on thumb proximal phalanx frame 28 on the thumb metacarpal bone frame 27 by hinge 26, the thumb distal phalanx frame 29 that is connected with thumb proximal phalanx frame 28, and be installed in the stepper motor 30 on the upper body skeleton 2 and be installed in bent axle 31 on stepper motor 30 output shafts, the photoelectric sensor 32 corresponding with bent axle 31, between thumb distal phalanx frame 29 and thumb metacarpal bone frame 27, be provided with extension spring 33, between thumb metacarpal bone frame 27 and right hand metacarpal bone frame 20, be provided with extension spring 34, two cable wires cover 35,36 two ends are separately fixed on right hand metacarpal bone frame 20 and the upper body skeleton 2, and the two ends of cable wire 37 connect thumb metacarpal bone frame 27 and bent axle 31 respectively, another cable wire 38 two ends connect thumb proximal phalanx frame 28 and bent axle 31 respectively;
As shown in Figure 7, right hand work refers to that motion comprises that three work that are hinged on the right hand metacarpal bone frame 20 by hinge 52 refer to proximal phalanx frame 40, with corresponding proximal phalanx frame 40 by the hinged middle phalanx frame 41 of hinge 53, the distal phalanx frame 42 that is connected with corresponding middle phalanx frame 41, and be installed in three stepper motors 43 on the upper body skeleton 2 and be installed in bent axle 44 on each stepper motor 43 output shaft, the photoelectric sensor 45 corresponding with each bent axle 44, between every middle phalanx frame 41 and right hand metacarpal bone frame 20, be equipped with stage clip 46, between every proximal phalanx frame 40 and right hand metacarpal bone frame 20, be provided with stage clip 47, every work refers to corresponding two cable wires cover 48,49 two ends are separately fixed on right hand metacarpal bone frame 20 and the upper body skeleton 2, the two ends of cable wire 50 connect a corresponding proximal phalanx frame 40 and bent axle 44 respectively, and the two ends of another root cable wire 51 connect a corresponding middle phalanx frame 41 and bent axle 44 respectively;
As shown in Figure 8, silencer mechanism comprises that elastic steel sheet 57, two ends that an end is hinged on rocking bar 56 that bass qin body 54 back sides, the other end connect by extension spring 55 and qin body 54, is fixed on the rocking bar 56 and has a cushion 58 by hinge 64 are separately fixed at the cable wire cover 59 on qin body 54 and the upper body skeleton 2 and are installed in the stepper motor 60 on the upper body skeleton 2 and are installed in bent axle 61 on stepper motor 60 output shafts, connect 56 rocking bars and crank 61 respectively with the two ends of corresponding photoelectric sensor 62, one cable wires 63 of bent axle 61;
As shown in Figure 9, be provided with power supply in the electric appliance control box, host CPU, accuse system CPU by the left hand that order circuit links to each other with host CPU, the right hand is controlled system CPU, the right hand is accused system CPU and program request control CPU, accuse that with left hand the left hand that system CPU links to each other refers to that stepper motor drives the loop, position probing loop and noise reduction stepper motor drive the loop, control driven by servomotor loop and the position probing loop that system CPU links to each other with the right hand, accuse that with the right hand right hand that system CPU links to each other refers to that stepper motor drives loop and position probing loop, selects the loop with the song that program request control CPU links to each other, the song show circuit;
When playing, bass is fixed on one's body the robot, point control CPU left by host CPU, the right hand controls system CPU and the right hand accuses that system CPU sends instruction, left hand accuses that system CPU refers to that by left hand stepper motor drives the loop and the noise reduction stepper motor drives the loop, drive four stepper motors 11 and stepper motor 60, realize stepper motor 11,60 runnings, thereby drive cable wire 14,63, cable wire 14 is connected the palm of the hand side of left hand phalanges frame 9, driving left hand phalanges frame 9 rotates to palm of the hand side around hinge 17, make corresponding left hand finger 10 pin the string of bass, photoelectric sensor 16 is accused system CPU by the position probing circuit feedback to left hand with signal, realize the accurate location of left hand finger 10, when cable wire 14 is not driven, extension spring 15 resets left hand finger 10 automatically, cable wire 63 drives rocking bar 56 and rotates around hinge 64, make cushion 58 on the elastic steel sheet 57 contact the string between the sound pick-up and frame tumtum on the bass as requested, allow string stop vibration, eliminate the lingering sound on the string, improve tone color, photoelectric sensor 62 is given left hand with signal by the position probing loop and is accused system CPU, the accurate location of realizing cushion 58, when cable wire 63 was not driven, extension spring 55 resetted rocking bar 56 automatically; The right hand is controlled system CPU and is rotated by driven by servomotor drive circuit motor 21, driving driven wheel of differential 21 by drive bevel gear rotates, under the transmission of connecting rod 24, right hand metacarpal bone frame 20 is rotated around hinge 19, thereby realize the string of all fingers of the right hand near bass, photoelectric sensor 25 is controlled system CPU, the accurate location of realizing right hand metacarpal bone frame by the position probing circuit feedback to the right hand with signal; The right hand accuses that system CPU refers to the stepper drive loop by the control right hand, thereby stepper motor 30 and three work of driving hand thumb refer to that corresponding stepper motor 43 rotates, bent axle 31 drives two cable wires 37 and 38 simultaneously, thumb metacarpal bone frame 27 is rotated to the back of the hand direction around hinge 39, thumb proximal phalanx frame 28 is rotated to the back of the hand direction around hinge pin axis 26, when two cable wires 37 and 38 are not driven, extension spring 33 allows thumb proximal phalanx frame 28 automatically reset, extension spring 34 allows thumb metacarpal bone frame 27 automatically reset, photoelectric sensor 32 is given the right hand with signal by the position probing loop and is accused system CPU, the realization thumb is accurately located, three work refer to that corresponding crank 44 drives corresponding two cable wires 50 and 51, every proximal phalanx frame 40 is rotated to the back of the hand direction around hinge 52, every distal phalanx frame 42 is rotated to palm of the hand direction around hinge 53, reach the purpose of distal phalanx frame 42 that three work refer to and corresponding string contact, when two cable wires 50 and 51 are not driven, stage clip 46 allows distal phalanx frame 42 automatically reset, stage clip 47 allows proximal phalanx frame 40 automatically reset, each photoelectric sensor 45 is given the right hand with signal by the position probing loop and is accused system CPU, realizes the accurate location that each work refers to;
Above-mentioned four left hands refer to, right hand metacarpal bone frame, hand thumb and three right hand work refer to that motion combination just can realize that robot simulation's staff plays the action of bass; Program request control CPU, song are selected the setting of loop and song show circuit, by pre-set programs in host CPU, when the people puts song, program request control CPU sends instruction and gives main control CPU, main control CPU reads the memory corresponding data, host CPU is accused system CPU, right hand control system CPU and right hand charge system CPU by left hand, and the control left hand refers to, the right hand is slapped and the right hand refers to finish corresponding action, plays out corresponding song automatically.
Claims (6)
1, a kind of robot that can play bass, comprise head skeleton, the upper body skeleton, lower part of the body skeleton, a left side, right hand motion, electric appliance control box, it is characterized in that described left hand motion comprises left hand metacarpal bone frame and four hinged with it left hand phalanges framves, the left hand finger that is connected with each left hand phalanges frame, be fixed on four stepper motors on the upper body skeleton, two ends are fixed on four cable wire covers on left hand metacarpal bone frame and the upper body skeleton, crank all is installed on the output shaft of each stepper motor, the every interior cable wire two ends of cable wire cover connect the palm of the hand one side and the crank of corresponding left hand phalanges frame respectively, between the back of the hand one side of each left hand phalanges frame and left hand metacarpal bone frame, also be provided with extension spring, be equipped with photoelectric sensor at the output shaft place of each stepper motor.
2, the robot that can play bass according to claim 1, it is characterized in that described right hand motion comprises right hand palm motion, hand thumb motion and right hand work refer to motion, right hand palm motion comprises the right arm skeleton that is fixed on the upper body skeleton, be hinged on the right hand metacarpal bone frame on the right arm skeleton, be fixed on the servomotor on the right arm skeleton, be provided with one group of bevel gear pair on the output shaft of servomotor He on the right arm skeleton, driven wheel of differential is installed in the rotating shaft of right arm skeleton, the two ends of one connecting rod are connected with driven wheel of differential with right hand metacarpal bone frame respectively, with the right arm skeleton of the rotating shaft corresponding position of driven wheel of differential on be provided with photoelectric sensor; The hand thumb motion comprises a thumb metacarpal bone frame that is hinged on the right hand metacarpal bone frame, be hinged on the thumb proximal phalanx frame on the thumb metacarpal bone frame, the thumb distal phalanx frame that is connected with thumb proximal phalanx frame, and be installed in the stepper motor on the upper body skeleton and be installed in bent axle on the stepper motor output shaft, the photoelectric sensor corresponding with bent axle, between thumb distal phalanx frame and thumb metacarpal bone frame, be provided with extension spring, between thumb metacarpal bone frame and right hand metacarpal bone frame, be provided with extension spring, the two ends of two cable wires cover are separately fixed on right hand metacarpal bone frame and the upper body skeleton, and the two ends of a cable wire connect thumb metacarpal bone frame and bent axle respectively, another cable wire two ends are connected to thumb proximal phalanx frame and bent axle; Right hand work refers to that motion comprises that three work that are hinged on the right hand metacarpal bone frame refer to the proximal phalanx frame, the middle phalanx frame hinged with corresponding proximal phalanx frame, the distal phalanx frame that is connected with corresponding middle phalanx frame, and be installed in three stepper motors on the upper body skeleton and be installed in bent axle on each stepper motor output shaft, the photoelectric sensor corresponding with each bent axle, between every distal phalanx frame and right hand metacarpal bone frame, be equipped with stage clip, between every proximal phalanx frame and right hand metacarpal bone frame, be provided with stage clip, every work refers to that the two ends of corresponding two cable wires cover are separately fixed on right hand metacarpal bone frame and the upper body skeleton, the two ends of one cable wire connect a corresponding proximal phalanx frame and bent axle respectively, and the two ends of another root cable wire connect a corresponding middle phalanx frame and bent axle respectively.
3, the robot that can play bass according to claim 1, the left hand that it is characterized in that being provided with in the described electric appliance control box power supply, host CPU, links to each other by order circuit with host CPU accuse that system CPU, the right hand control system CPU, the right hand and accuse system CPU, accuse that with left hand left hand that system CPU links to each other refers to that stepper motor drives loop and position probing loop, controls driven by servomotor loop that system CPU links to each other and position probing loop with the right hand, makes the right hand that CPU links to each other with right hand charge and refer to stepper motor driving loop and position probing loop.
4, according to the arbitrary described robot that can play bass of claim 1 to 3, it is characterized in that also being provided with silencer mechanism, it comprises that an end is hinged on the bass qin body back side, the rocking bar that the other end is connected with the qin body by extension spring, be fixed on the rocking bar and have the elastic steel sheet of cushion, two ends are separately fixed at the cable wire cover on qin body and the upper body skeleton, and be installed in the stepper motor on the upper body skeleton and be installed in bent axle on the stepper motor output shaft, the photoelectric sensor corresponding with bent axle, the two ends of one cable wire connect rocking bar and crank respectively, also are provided with the driving loop of accusing this stepper motor that system CPU links to each other with left hand in electric appliance control box.
5,, it is characterized in that electric appliance control box also is provided with the program request control CPU that links to each other with host CPU by order circuit, the song that links to each other with program request control CPU is selected the loop according to the arbitrary described robot that can play bass of claim 1 to 3.
6, the robot that can play bass according to claim 5 is characterized in that electric appliance control box also is provided with the song show circuit that links to each other with program request control CPU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200623958U CN201171908Y (en) | 2008-03-04 | 2008-03-04 | Robot capable of playing bass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200623958U CN201171908Y (en) | 2008-03-04 | 2008-03-04 | Robot capable of playing bass |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201171908Y true CN201171908Y (en) | 2008-12-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200623958U Expired - Lifetime CN201171908Y (en) | 2008-03-04 | 2008-03-04 | Robot capable of playing bass |
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| Country | Link |
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| CN (1) | CN201171908Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104524779A (en) * | 2014-12-08 | 2015-04-22 | 徐存然 | Robot arm for robot toy |
| CN105664496A (en) * | 2016-04-01 | 2016-06-15 | 胡文杰 | Intelligent piano-playing toy robot |
| CN105999721A (en) * | 2016-07-22 | 2016-10-12 | 舟山市凯芸圣诞玩具有限公司 | Dancing doll |
-
2008
- 2008-03-04 CN CNU2008200623958U patent/CN201171908Y/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104524779A (en) * | 2014-12-08 | 2015-04-22 | 徐存然 | Robot arm for robot toy |
| CN105664496A (en) * | 2016-04-01 | 2016-06-15 | 胡文杰 | Intelligent piano-playing toy robot |
| CN105999721A (en) * | 2016-07-22 | 2016-10-12 | 舟山市凯芸圣诞玩具有限公司 | Dancing doll |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20081231 |