CN202412280U - Control system of dulcimer robot - Google Patents
Control system of dulcimer robot Download PDFInfo
- Publication number
- CN202412280U CN202412280U CN2011205636570U CN201120563657U CN202412280U CN 202412280 U CN202412280 U CN 202412280U CN 2011205636570 U CN2011205636570 U CN 2011205636570U CN 201120563657 U CN201120563657 U CN 201120563657U CN 202412280 U CN202412280 U CN 202412280U
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- robot
- control unit
- servo
- dulcimer
- control system
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Abstract
The utility model discloses a control system of a dulcimer robot, which comprises a main control unit, a servo system, an actuating mechanism and a fault display system, wherein the actuating mechanism comprises a pneumatic control device and an electric control device, wherein a main control system is respectively and electrically connected with the fault display system, the servo system and the pneumatic control device of the actuating mechanism; the servo system is connected with the electric control device; the electric control device is respectively connected with arms, a waist and faces of a robot; the pneumatic control device controls wrists and the faces of the robot to act so as to realize the effects that the robot knocks a dulcimer, and the facial expression of the robot is changed; the electric control device controls the arms and the waist of the robot to act; the main control unit controls the direction of air flow in the pneumatic control device to realize the effect that the robot plays the dulcimer, therefore, the amusement and the science popularization are stronger.
Description
Technical field
The utility model relates to technical field of automatic control, especially relates to a kind of dulcimer robot control system.
Background technology
Industrial robot is the robot that people know; Industrial robot has fixing working environment, support and fixing pattern; The robot motion control system that is adopted only can simply repeat to do an action usually, when being particularly useful for each science and technology center, market, hotels and other places, and the too mechanization of this repetitive of industrial robot; Thereby let the people feel the dull interest that reduces the visitor easily; On the other hand, people can't form deep impression to the knowledge of being recognized in the process that operation is played, thereby are difficult to reach the effect of popularization of knowledge.
The utility model content
The purpose of the utility model is to provide a kind of can control complicated and accurate more work of realization and the dulcimer robot control system of playing.
In order to achieve the above object; The utility model is realized through following technical scheme: a kind of dulcimer robot control system; Comprise main control unit, servo-drive system, executing agency and fault display system; Described executing agency comprises air control unit and electric controller, and wherein, master control system is electrically connected with the air control unit of fault display system, servo-drive system and executing agency respectively; Servo-drive system connects electric controller; Described electric controller is connected with arm part, waist and the face of robot respectively, and air control unit is connected with face with the wrist portion of robot, realizes that through air control unit robot knocks the variation of dulcimer and facial expression; Through electric controller control robot arm and waist action, and through controlling the performance of moving towards to realize the robot dulcimer of air-flow in the air control unit.
As optimization, described main control unit comprises debugger, 232CAN operating desk, main frame and computer plate, and debugger is connected with the 232CAN operating desk, and the 232CAN operating desk is connected with the computer plate with main frame respectively.
As optimization, described air control unit comprises source of the gas, electric Proportion valve, magnetic valve and the cylinder that links to each other successively, and wherein, the electrical equipment proportioning valve is connected with the master control system port respectively with magnetic valve.
As optimization, described electric controller is to be connected with the motor that encoder position detects controller, and wherein motor is connected with the servo-drive system port respectively with encoder position detection controller.
As preferably, described servo-drive system is 4 servo-drivers.
Compared with prior art, the beneficial effect of the utility model is: the utility model is applied widely, can place the robot of each science and technology center, public place of entertainment, hotels and other places, and recreational, ornamental strong, can improve participant's interest; On the other hand, it is with deep impression to the knowledge of being recognized also to let people operate in the process of playing, thereby can reach the effect of popularization of knowledge well.
Description of drawings
The utility model will explain through example and with reference to the mode of accompanying drawing, wherein:
Fig. 1 is that the utility model connects schematic block diagram;
Fig. 2 is that main control unit connects schematic block diagram;
Fig. 3 is a servo-drive system control schematic block diagram;
Fig. 4 is an air control unit control schematic block diagram.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is done detailed explanation.
For the purpose, technical scheme and the advantage that make the utility model is clearer,, the utility model is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
As shown in fig. 1, a kind of dulcimer robot control system comprises main control unit, servo-drive system, executing agency and fault display system; Described executing agency comprises air control unit and electric controller; Wherein, master control system is electrically connected with the air control unit of fault display system, servo-drive system and executing agency respectively, and servo-drive system connects electric controller; Described electric controller is connected with arm part, waist and the face of robot respectively; And air control unit is connected with face with the wrist portion of robot, through the variation that the realization robot knocks dulcimer and facial expression of moving towards of air control unit control air-flow, simultaneously through electric controller control robot arm and waist action; Add the action of servo-drive system matching coordinative robot, realize the performance of dulcimer robot jointly.
As shown in Figure 2; The main control unit of control dulcimer robot comprises debugger, 232CAN operating desk, main frame and computer plate, and debugger is connected with the 232CAN operating desk, and the 232CAN operating desk is connected with the computer plate with main frame respectively; By the good debugger of debugging with input signal to the host computer of 232CAN operating desk to start software program; Control program returns the operating desk to 232CAN with command signal, and outputs signal to the computer plate, with the mutual harmony of control dulcimer robot motion; The artificial power type of dulcimer machine robot; Servo-drive system is 4 servo-drivers; As shown in Figure 3; The output signal of main control unit is delivered to motor before and after the waist of electric controller, forearm motor, big arm motor and big arm electric rotating machine up and down up and down through 4 servo controllers, thereby drives the action of each parts according to the extreme position of each parts of the encoder position detector acquisition that is connected by each motor of feedback again.As shown in Figure 4; The hand motion of described dulcimer robot is through atmospheric control control; Atmospheric control provides air-flow in the size of controlling air-flow through electric Proportion valve and right-hand man's magnetic valve to right-hand man's cylinder and trend by source of the gas, thus the action of control robot hand, wherein; The working procedure that prestores in electric Proportion valve and the magnetic valve main frame by main control unit is controlled through main control unit, realizes the execution of main control unit to dulcimer robot playing music.
The above is merely the preferred embodiment of the utility model; Not in order to restriction the utility model; Any modification of being done within all spirit and principles at the utility model, be equal to replacement and improvement etc., all should be included within the protection domain of the utility model.
Claims (5)
1. dulcimer robot control system; It is characterized in that: comprise main control unit, servo-drive system, executing agency and fault display system; Described executing agency comprises air control unit and electric controller; Wherein, master control system is electrically connected with the air control unit of fault display system, servo-drive system and executing agency respectively, and servo-drive system connects electric controller; Described electric controller is connected with arm part, waist and the face of robot respectively, and air control unit is connected with face with the wrist portion of robot.
2. a kind of dulcimer robot control system according to claim 1; It is characterized in that: described main control unit comprises debugger, 232CAN operating desk, main frame and computer plate; Debugger is connected with the 232CAN operating desk, and the 232CAN operating desk is connected with the computer plate with main frame respectively.
3. a kind of dulcimer robot control system according to claim 1; It is characterized in that: described air control unit comprises source of the gas, electric Proportion valve, magnetic valve and the cylinder that links to each other successively; Wherein, the electrical equipment proportioning valve is connected with the master control system port respectively with magnetic valve.
4. a kind of dulcimer robot control system according to claim 1; It is characterized in that: described electric controller is to be connected with the motor that encoder position detects controller, and wherein motor is connected with the servo-drive system port respectively with encoder position detection controller.
5. a kind of dulcimer robot control system according to claim 1 is characterized in that: described servo-drive system is 4 servo-drivers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205636570U CN202412280U (en) | 2011-12-30 | 2011-12-30 | Control system of dulcimer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205636570U CN202412280U (en) | 2011-12-30 | 2011-12-30 | Control system of dulcimer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202412280U true CN202412280U (en) | 2012-09-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205636570U Expired - Lifetime CN202412280U (en) | 2011-12-30 | 2011-12-30 | Control system of dulcimer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202412280U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729489A (en) * | 2016-05-09 | 2016-07-06 | 中国地质大学（武汉） | Dulcimer playing robot |
| CN105773634A (en) * | 2016-04-15 | 2016-07-20 | 中国地质大学（武汉） | Wrist knocking control method for dulcimer robot and knocking device |
-
2011
- 2011-12-30 CN CN2011205636570U patent/CN202412280U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105773634A (en) * | 2016-04-15 | 2016-07-20 | 中国地质大学（武汉） | Wrist knocking control method for dulcimer robot and knocking device |
| CN105729489A (en) * | 2016-05-09 | 2016-07-06 | 中国地质大学（武汉） | Dulcimer playing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120905 |
|
| CX01 | Expiry of patent term |