CN210939293U

CN210939293U - Proportional controller

Info

Publication number: CN210939293U
Application number: CN201922007358.8U
Authority: CN
Inventors: 王乃鹏
Original assignee: Wuxi Sheng Yue Video Technology Co ltd
Current assignee: Wuxi Sheng Yue Video Technology Co ltd
Priority date: 2019-11-20
Filing date: 2019-11-20
Publication date: 2020-07-07
Anticipated expiration: 2029-11-20

Abstract

The utility model discloses a proportional controller. The proportion controller comprises a base (14), a body, a neck and a head, wherein the body is arranged on the base (14), the neck is movably connected to the body, the head is movably connected to the neck, the proportion controller further comprises an information collector, the information collector is used for collecting motion information of the base (14), the body, the neck and the head and transmitting the motion information to a controller, and the controller is used for controlling the simulation robot to be controlled to make corresponding actions. According to the utility model discloses a proportional control ware can be controlled large-scale emulation robot through the model after the operation reduces in proportion, and it is more convenient to operate, and the operation degree of difficulty reduces by a wide margin.

Description

Proportional controller

Technical Field

The utility model relates to a simulation robot technical field particularly, relates to a proportional control ware.

Background

In recent years, with the development of industries such as movies, televisions, animation, tourism, and the like, more and more robots for simulating animals are put into use in these fields based on shooting or performance demands, and the demand for robots simulating animals is also increasing.

However, for some large animal simulation robots, when 1: when the 1-ratio reduction is performed, it is inconvenient for the operator to operate the simulation robot, and it is difficult to control the operation.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a proportional control ware can be controlled large-scale emulation robot through the model after the operation reduces in proportion, and it is more convenient to operate, and the operation degree of difficulty reduces by a wide margin.

According to the utility model discloses an aspect provides a proportional control ware, including base, health, neck and head, the health sets up on the base, and on neck swing joint to health, head swing joint to neck, proportional control ware still included information collection station, and information collection station is used for gathering the motion information of base, health, neck and head to transmit to the controller, the controller is used for controlling the emulation robot of treating control and makes corresponding action.

Preferably, the head comprises an upper jaw, a lower jaw and a first handle, the first handle is connected between the upper jaw and the lower jaw, a pin shaft is arranged on the upper jaw, the first handle and the pin shaft are used for controlling the opening and closing of the upper jaw and the lower jaw, and the information collector is used for collecting the opening and closing angle of the upper jaw and the lower jaw.

Preferably, the first handle is further provided with a plurality of keys, and the keys are used for controlling tongue expansion and contraction, eye opening and closing or roaring of the simulation robot.

Preferably, the neck includes swing joint's first neck section in proper order, the second neck section, third neck section and fourth neck section, first neck section is connected with the head, control head rotates, the second neck section is connected with first neck section, control neck and head rotate, the third neck section is connected with the second neck section, control neck and head swing along left and right direction, the fourth neck section is connected with the third neck section, control neck and head swing along upper and lower direction, information collector is used for gathering the turned angle between the adjacent neck section.

Preferably, the body includes a first portion and a second portion, the first portion being swingably provided on the second portion from side to side, and the neck being swingably provided on the first portion from top to bottom.

Preferably, the second part is provided with a second handle, and the second handle can rock back and forth and left and right relative to the second part so as to control the simulation robot to move forward and backward and turn left and right.

Preferably, a plurality of keys are arranged on the second handle and used for controlling the paw movement of the simulation robot; and/or a toggle button is arranged at the top of the second handle and used for controlling the up-down and left-right rotation of eyeballs of the simulation robot.

Preferably, the second part is further provided with a bracket, the bracket is provided with a bracket pull wire, and the bracket pull wire is used for controlling the simulation robot to return to the initial state.

Preferably, a support column is arranged between the second part and the base, and the second part is arranged on the support column in a front-back swinging mode so as to control the simulation robot to lean forward and backward.

Preferably, a support column is arranged below the support column, the support column is fixedly arranged on the base, the support column is arranged in the support column in a sliding manner, and an elastic support structure is arranged at the bottom of the support column; and/or a support column is arranged below the support column, the top end of the support column is provided with an installation platform, the bottom of the second part is provided with a connecting platform, and the installation platform and the front end and the rear end of the connecting platform are connected through tension springs; and/or the bottom of the base is provided with universal wheels.

The utility model discloses a proportional control ware, including base, health, neck and head, the health sets up on the base, and on neck swing joint was to the health, head swing joint was to the neck, and proportional control ware still includes information collector, and information collector is used for gathering the motion information of base, health, neck and head to transmit to the controller, the controller is used for controlling the emulation robot of treating control and makes corresponding action. The simulation robot control system has the advantages that the proportion controller which has the same structure with the simulation robot but reduces the proportion is arranged, the simulation robot with the larger size can be controlled by the proportion controller with the smaller size, the control is simple and convenient, the action is easier to realize, the action of the simulation robot can be controlled more accurately and rapidly, the simulation performance of the simulation robot is improved, and the control difficulty of the simulation robot is greatly reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:

fig. 1 is a schematic structural diagram of a proportional controller according to an embodiment of the present invention.

Description of reference numerals: 1. the upper jaw; 2. a lower jaw; 3. a first handle; 4. a first neck section; 5. a second neck section; 6. a third neck section; 7. a fourth neck section; 8. a first portion; 9. a second handle; 10. a support; 11. a second portion; 12. a support pillar; 13. a pillar; 14. a base.

Detailed Description

In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.

Referring to fig. 1 in combination, according to the utility model discloses an embodiment, proportional controller includes base 14, health, neck and head, and the health setting is on base 14, and neck swing joint is on the health, and head swing joint is to the neck, and proportional controller still includes information collector, and information collector is used for gathering the motion information of base 14, health, neck and head to transmit to the controller, the controller is used for controlling the emulation robot of treating control and makes corresponding action.

The simulation robot control system has the advantages that the proportion controller which has the same structure with the simulation robot but reduces the proportion is arranged, the simulation robot with the larger size can be controlled by the proportion controller with the smaller size, the control is simple and convenient, the action is easier to realize, the action of the simulation robot can be controlled more accurately and rapidly, the simulation performance of the simulation robot is improved, and the control difficulty of the simulation robot is greatly reduced.

In this embodiment, the action of each part of the proportional controller corresponds to the action of each part of the simulation robot, the rotation angle of each part of the proportional controller can be converted into the real-time motion of the simulation robot in real time, thereby realizing the real-time control of the simulation robot, ensuring that the control of the simulation robot is more real and vivid, conveniently realizing remote control, and only needing to transmit the motion information of each part of the proportional controller such as a wireless communicator to the controller in real time, and then controlling the simulation robot to perform corresponding action through the controller.

According to the mode, the simulation robot is not required to be controlled on the manual site, so that the simulation is more real, and a better simulation effect can be obtained.

In the present application, the above-mentioned simulation robot may be, for example, a dinosaur, specifically, a tyrannosaurus, another animal simulation robot, or a humanoid simulation robot.

In this embodiment, the head includes upper jaw 1, lower jaw 2 and first handle 3, and first handle 3 is connected between upper jaw 1 and lower jaw 2, is provided with the round pin axle on the upper jaw 1, and first handle 3 and round pin axle are used for controlling opening and shutting of upper jaw 1 and lower jaw 2, and information collection station is used for gathering the angle that opens and shuts of upper jaw 1 and lower jaw 2. Because each position in the proportional controller in this application is controlled and is all controlled by the manual work of people, consequently through set up the round pin axle on upper jaw 1, just can control the upper jaw 1 up-and-down motion of emulation robot through the round pin axle, the up-and-down motion of lower jaw 2 is controlled through first handle 3, through the mode of controlling first handle 3 and round pin axle simultaneously, can realize the control of opening and shutting of upper jaw 1 and lower jaw 2, through angle sensor etc. can acquire the angle of opening and shutting of upper jaw 1 and lower jaw 2 in real time, and transmit to the controller in real time, utilize the angle of opening and shutting of upper jaw 1 and lower jaw 2 of controller control emulation robot.

Preferably, the first handle 3 is further provided with a plurality of keys, and the keys are used for controlling tongue expansion and contraction, eye opening and closing or roaring of the simulation robot. For example, three keys are arranged on the first handle 3, wherein when the first key is pressed, a signal is sent to the controller, so that the controller controls the tongue of the simulation robot to extend, and when the key is released, the controller correspondingly controls the tongue of the simulation robot to retract. When the second key is pressed, a signal is sent to the controller, so that the controller controls the eyes of the simulation robot to close, when the second key is released, the controller correspondingly controls the eyes of the simulation robot to open, when the third key is pressed, a signal is sent to the controller, so that the controller controls the simulation robot to roar, and when the third key is released, the simulation robot stops roaring.

The control relationship of the keys can also be adjusted according to requirements, for example, the tongue is retracted when the first key is pressed down, the tongue is released by the first key to extend, and the like.

The neck is including swing joint's first neck section 4 in proper order, second neck section 5, third neck section 6 and fourth neck section 7, first neck section 4 is connected with the head, the control head rotates, second neck section 5 is connected with first neck section 4, control neck and head rotate, third neck section 6 is connected with second neck section 5, control neck and head swing along the left and right direction, fourth neck section 7 is connected with third neck section 6, control neck and head swing along the upper and lower direction, information collector is used for gathering the turned angle between the adjacent neck section.

Wherein the head is fixedly arranged on the first neck section 4 and moves along with the movement of the first neck section 4, therefore, when the first neck section 4 moves, the whole head can be driven to move along with the first neck section 4, and the simulation robot can be controlled by the controller to perform corresponding actions by recording the movement parameters of the first neck section 4. First neck section 4 rotationally sets up on second neck section 5, consequently, can control the rotation of head, first neck section 4 can rotate along two directions homoenergetic, consequently can control the clockwise rotation or anticlockwise rotation of head, simultaneously because first neck section 4 receives the restriction for the turned angle of second neck section 5, consequently, the turned angle of first neck section 4 is limited, when the rotation of angle more is made to the needs head, just need second neck section 5 to rotate for third neck section 6, the turned angle of head this moment is exactly the turned angle sum of first neck section 4 and second neck section 5, thereby the turned angle of head has been increased by a wide margin, can satisfy the rotation control needs of head better. The rotation angle of the first neck section 4 relative to the second neck section 5 and the rotation angle of the second neck section 5 relative to the third neck section 6 can be measured by the angle sensor and transmitted to the controller, and then the simulation robot is controlled by the controller.

The third neck segment 6 can swing side to side with respect to the fourth neck segment 7, so that side to side swinging of the head can be controlled by the third neck segment 6, while the fourth neck segment 7 can swing up and down with respect to the body, so that up and down swinging of the head can be controlled by the fourth neck segment 7. When the simulation robot is controlled, a plurality of neck sections can be controlled to act simultaneously, so that the composite action of the head is realized, and the real-time control of the more complex action of the simulation robot is realized. For the situation that the neck sections rotate relatively, the relative rotation angle can be measured in real time through the angle sensor, so that the corresponding part of the simulation robot is controlled to rotate by the corresponding angle, and the real-time synchronous action between the simulation robot and the proportional controller is realized.

The body includes a first part 8 and a second part 11, the first part 8 is swingably provided on the second part 11 from left to right, and the neck is swingably provided on the first part 8 from up to down. The first part 8 represents a small half body of the simulation robot positioned at the front part, so that the left-right swing of the first part 8 relative to the second part 11 represents the swing of the front half part of the body of the simulation robot relative to the back half part of the body of the simulation robot, so that the simulation control of the simulation robot is more exquisite, and the action simulation is more real.

The second part 11 is provided with a second handle 9, and the second handle 9 can rock back and forth and left and right relative to the second part 11 so as to control the forward and backward movement and the left and right rotation of the simulation robot. For example, when the second handle 9 is swung forward, the body of the simulation robot goes forward, when the second handle 9 is swung backward, the body of the simulation robot goes backward, when the second handle 9 is swung leftward, the body of the simulation robot turns left, and when the second handle 9 is swung rightward, the body of the simulation robot turns right.

A plurality of keys are arranged on the second handle 9 and used for controlling the paw movement of the simulation robot; and/or a toggle button is arranged at the top of the second handle 9 and used for controlling the up-down and left-right rotation of the eyeballs of the simulation robot.

When the simulation robot is controlled, the number of the buttons on the second handle 9 can be determined according to the number of the paws of the simulation robot, the number of the buttons is consistent with the number of the paws, and one button controls the action of one paw, so that the precise action control of the paw is realized. Similarly, the eyeball motion of the simulation robot is controlled by controlling the toggle button on the top of the second handle 9, and the eyeball of the simulation robot acts along with the action of the toggle button, so that the eyeball motion control of the simulation robot is realized. The toggle button senses the movement direction through a displacement sensor or a micro switch and the like, so that the controller controls the eyeball movement direction of the simulation robot according to the movement direction of the toggle button.

The second part 11 is further provided with a support 10, the support 10 is provided with a support stay wire, and the support stay wire is used for controlling the simulation robot to return to an initial state. When the simulation robot needs to return to the initial state, the support stay wire can be directly pulled, the operation is simple and convenient, complex operation is not needed, the program is simplified, the operation difficulty required by the initialization of the simulation robot is reduced, the operation steps are simplified, and the response speed is increased.

A supporting column 12 is arranged between the second part 11 and the base 14, and the second part 11 is arranged on the supporting column 12 in a front-back swinging mode to control the simulation robot to lean forward and lean backward. In this embodiment, the second portion 11 is hinged to the top end of the supporting column 12, so that the second portion 11 can swing back and forth relative to the supporting column 12, and further, by acquiring the back and forth swing angle of the second portion 11 relative to the supporting column 12, real-time control over the back and forth swing of the simulation robot is realized.

In order to realize the balance control of the front-back swing of the second part 11 on the supporting column 12, preferably, a supporting column 13 is arranged below the supporting column 12, a mounting platform is arranged at the top end of the supporting column 13, a connecting platform is arranged at the bottom of the second part 11, and the front end and the back end of the mounting platform and the front end and the back end of the connecting platform are connected through tension springs. The extension springs at the two ends are symmetrically arranged relative to the central axis of the supporting column 12, so that a balanced tensioning acting force can be provided for the second part 11, and meanwhile, due to the fact that the extension springs are of an elastic structure, when the second part 11 is manually operated to swing back and forth, the back and forth swing of the second part 11 cannot be hindered, and the second part 11 can be guaranteed to smoothly complete the back and forth swing action. When the second part 11 does not need to be operated, the balance is achieved under the action of the tension springs at the front end and the rear end, and the original balance state is recovered.

Preferably, a support column 13 is arranged below the support column 12, the support column 13 is fixedly arranged on the base 14, the support column 12 is slidably arranged in the support column 13, and an elastic support structure is arranged at the bottom of the support column 12. The support column 12 can slide up and down relative to the support column 13, and the support column 13 can limit the up-down sliding range of the support column 12. The up-and-down fluctuation of the body of the simulation robot can be controlled by controlling the up-and-down sliding position of the support column 12 relative to the support column 13, the up-and-down sliding distance of the support column 12 relative to the support column 13 is detected by the position sensor, the up-and-down fluctuation height of the body of the simulation robot can be converted in equal proportion, and the up-and-down fluctuation control of the body of the simulation robot is further realized.

The bottom of the base 14 is provided with universal wheels. The base 14 is used for supporting the whole proportional controller, and can drive the whole proportional controller to move forwards and backwards through the movement of the universal wheels arranged at the bottom, so that the transportation or position adjustment of the proportional controller is facilitated.

The above information collector can select suitable sensors according to different detection parameters, for example, when detecting angle parameters, angle sensors can be selected, when detecting displacement parameters, displacement sensors can be selected, the sensors are all connected with the controller, the information of the manual control proportional controller can be transmitted to the controller in time, corresponding information is converted into control information of the simulation robot through the controller, and then the simulation robot is controlled to make corresponding actions.

The above description of the embodiments is only for the purpose of helping to understand the method of the present invention and its core idea; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.

Claims

1. The utility model provides a proportional control ware, its characterized in that includes base (14), health, neck and head, the health sets up on base (14), neck swing joint to on the health, head swing joint to the neck, proportional control ware still includes information collector, information collector is used for gathering the motion information of base (14), health, neck and head to transmit to the controller, the controller is used for controlling the emulation robot that waits to control and makes corresponding action.

2. The ratio controller according to claim 1, wherein the head comprises an upper jaw (1), a lower jaw (2) and a first handle (3), the first handle (3) is connected between the upper jaw (1) and the lower jaw (2), a pin is arranged on the upper jaw (1), the first handle (3) and the pin are used for controlling the opening and closing of the upper jaw (1) and the lower jaw (2), and the information collector is used for collecting the opening and closing angle of the upper jaw (1) and the lower jaw (2).

3. The proportional controller according to claim 2, wherein a plurality of keys are further arranged on the first handle (3), and the keys are used for controlling tongue expansion and contraction, eye opening and closing or roar of the simulation robot.

4. The ratio controller according to claim 1, wherein the neck comprises a first neck section (4), a second neck section (5), a third neck section (6) and a fourth neck section (7) which are movably connected in sequence, the first neck section (4) is connected with the head to control the head to rotate, the second neck section (5) is connected with the first neck section (4) to control the neck and the head to rotate, the third neck section (6) is connected with the second neck section (5) to control the neck and the head to swing in the left-right direction, the fourth neck section (7) is connected with the third neck section (6) to control the neck and the head to swing in the up-down direction, and the information collector is used for collecting a rotation angle between adjacent neck sections.

5. A ratio controller according to claim 1, wherein the body comprises a first part (8) and a second part (11), the first part (8) being swingably provided on the second part (11) from side to side, and the neck being swingably provided on the first part (8) from top to bottom.

6. The proportional controller according to claim 5, wherein a second handle (9) is arranged on the second part (11), and the second handle (9) can rock back and forth, left and right relative to the second part (11) to control the forward and backward movement and the left and right rotation of the simulation robot.

7. The proportional controller according to claim 6, wherein the second handle (9) is provided with a plurality of keys for controlling paw movements of the simulated robot; and/or a toggle button is arranged at the top of the second handle (9) and used for controlling the up-down and left-right rotation of eyeballs of the simulation robot.

8. The proportional controller according to claim 5, wherein a bracket (10) is further disposed on the second portion (11), and a bracket pull wire is disposed on the bracket (10) and used for controlling the simulation robot to return to an initial state.

9. The ratio controller according to claim 5, wherein a support column (12) is provided between the second portion (11) and the base (14), and the second portion (11) is swingably provided back and forth on the support column (12) to control forward and backward pitch of the dummy robot.

10. The proportional controller according to claim 9, wherein a support column (13) is arranged below the support column (12), the support column (13) is fixedly arranged on the base (14), the support column (12) is slidably arranged in the support column (13), and the bottom of the support column (12) is provided with an elastic supporting structure; and/or a support column (13) is arranged below the support column (12), the top end of the support column (13) is provided with an installation platform, the bottom of the second part (11) is provided with a connection platform, and the installation platform is connected with the front end and the rear end of the connection platform through tension springs; and/or universal wheels are arranged at the bottom of the base (14).