Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, and provide a kind of dulcimer robot wrist to knock control method and knocking device, control method simply easily realizes, and knocking device simple in construction, installation and debugging are conveniently, it may be achieved personalize and knock.
Realizing the technical scheme that the object of the invention adopts is, a kind of dulcimer robot wrist knocks control method, comprises the steps:
(1) rotating shaft of qin bamboo Yu tumbler being connected, qin bamboo is perpendicular to the rotating shaft of tumbler, installs stopping means in the both sides of qin bamboo；
(2) to the logical forward current of tumbler, the rotating shaft of tumbler drives qin bamboo to rotate, qin bamboo rotates to touching stopping means, qin bamboo completes to knock through bradyseism, the energising pulsewidth of tumbler is regulated according to the qin spectrum played, what change qin bamboo knocks dynamics, the position according to the qin spectrum regulation limiting device played, and changes the beating point of qin bamboo；
(3) to the logical reverse current of tumbler, the reversion of qin bamboo returns to initial position.
Described tumbler is by iron core, the permanent magnet being fixed on iron core and is positioned at two coils of permanent magnet both sides and constitutes.
Described tumbler is steering wheel.
The present invention also correspondence provides a kind of knocking device for above-mentioned control method, at least include driver element and knock unit, described driver element includes shell, iron core, permanent magnet and two coils, permanent magnet and two coils are all packaged in shell, permanent magnet is placed on iron core, and two coils are distributed in the both sides of permanent magnet with iron core axis for axis of symmetry and are fixed by shell；The described unit that knocks includes installing plate, alignment pin, qin bamboo set, qin bamboo and two gag lever posts, one end of installing plate is connected with shell by alignment pin, offers two chutes being parallel to each other on the other end, two gag lever post activities respectively are fixed in two chutes, gag lever post protrudes from and is arranged with flexible boot in the part of chute, described qin bamboo is overlapped between two chutes, one end of qin bamboo set is connected with iron core, other end opening and opening are reducing, qin bamboo is tightly fastened in the reducing of qin bamboo set, and installing plate, qin bamboo set and qin bamboo are each perpendicular to the axis of iron core.
Described installing plate, qin bamboo set and gag lever post are plastic part.
Described flexible boot is sponges cover.
Described gag lever post is spacing stud.
The thickness of described installing plate is more than 8mm.
As shown from the above technical solution, dulcimer robot wrist provided by the invention knocks control method, qin bamboo is driven to rotate by rotary apparatus, stopped operating by stopping means stop when qin bamboo rotates to the position that stopping means limits and be then passed through bradyseism and complete to knock, reversely energising returns to initial position, spacing again by stopping means, control method provided by the invention controls qin bamboo and rotates generation vibration, it is that the vibrations produced after being clashed into stopping means by qin bamboo are completed that qin bamboo knocks dulcimer sounding, so perfect can avoid the mechanical sense of sounding, sounding personalizes more；By regulating the energising pulsewidth of tumbler, qin bamboo can be controlled and rotate to the speed of stopping means, realize the adjustment of qin bamboo rotary speed, change qin bamboo and turn to the instantaneous impulse of stopping means, and then change qin bamboo knock dynamics, the electrodeless adjustment of the dynamics of knocking can be realized by the pulse-width regulated dynamics of knocking that is energized so that dulcimer sounding is smooth, eliminate sounding pause sense produced by existing pneumatic control method；The position of regulation limiting device, changes the anglec of rotation of qin bamboo, thus the adjustment of qin bamboo beating point can be realized, most important for dulcimer this curved face type musical instrument.
Knocking device provided by the invention, utilize electromagnetic principle, adopt iron core, the permanent magnet being fixed on iron core and be positioned at two coils driving as qin bamboo of permanent magnet both sides, coil directly blocks and is tightly fixed in the mounting groove that shell inner cavity is offered, fixing without other devices auxiliary, being controlled just can realizing the electrodeless adjustment of the dynamics of knocking by coil is inputted pulsewidth, iron core, permanent magnet and loop construction are simple, cost is low；The fixing of qin bamboo is realized by qin bamboo set, qin bamboo set is connected with iron core, qin bamboo knocks instrument as a kind of common material, there will be qin bamboo in actual use to break situations such as needing replacing, qin bamboo provided by the invention set one end open, and opening is reducing, qin bamboo is tightly fastened in the reducing of qin bamboo set, due in practical work process, power suffered by qin bamboo mostlys come from knocks the counteracting force born, the direction of power is the direction of motion of qin bamboo, and other direction (axially) stress is less, therefore the stable fixing of qin bamboo can be realized by qin bamboo with the frictional force of qin bamboo set reducing, and facilitate the replacing of qin bamboo, fixedly mounted mode is adopted to cause qin bamboo to change the drawback of difficulty and sounding mechanization thus overcoming qin bamboo in existing knocking device.
The position adjustments of gag lever post is realized by installing plate, installing plate is directly connected with shell, ensure that its Stability Analysis of Structures will not shake, installing plate offers two chutes being parallel to each other, two gag lever post activities respectively are fixed in two chutes, gag lever post arbitrarily can slide in chute, slide into performance desired position thus carrying out knocking the adjustment of angle, just can so that even if whole knocking device still can as desired to carry out the adjustment of beating point after fixing by this design easily, this be particularly significant for dulcimer this curved face type musical instrument.
The present invention is based on the requirement of practice effect, for optimization and the improvement of existing dulcimer robot knocking device, compared with prior art, its advantage mainly have following some:
1, knocking the electrodeless adjustment of dynamics, to have only to carry out pulse-width regulated just passable, regulative mode is pure software control, pulse-width regulated can be realized by computer software programs, without other hardware, knock control with other motor system shared control units of dulcimer robot, can not only to can simplify the device structure, reduce installation cost, also can realize the intelligentized design of dulcimer robot, knocked by software control wrist and can improve sound quality, it is achieved personalizing of sounding.
2, based on the knocking device of Electromagnetic Drive, its structure is more simple and installs simple and easy, and debugging emulation is convenient, saves, by the input adjustable pulse width of regulating winding, dynamics of knocking, and distinguishes weight syllable；Installing plate provided by the invention realizes knocking the adjustment of angle, by the gag lever post scalable beating point in mobile chute with knock angle so that the performance of knocking device is played closer to true man.
3, this knocking device simplifies the mounting means of qin bamboo, arrange the qin bamboo set of reducing by end to realize the installation of qin bamboo and fix, it is not necessary to extra clamping device so that qin bamboo normal operation, can simplify the fixed structure of qin bamboo, qin bamboo set is with qin bamboo for being flexibly connected, and therefore the dismounting of qin bamboo is simple and easy.
4, knocking device adopts bradyseism structure, knocking of qin bamboo is made not rotated directly generation by iron core by the effect of qin bamboo set with spacing stud, but by completing knocking of dulcimer face again after spacing stud bradyseism, spacing stud overlaps sponges cover be used for reducing noise, this mode can be avoided repeating to touch qin face, personalize to complete and knock, improve voice quality.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention being illustrated in detail, present disclosure is not limited to following example.
Dulcimer robot wrist provided by the invention knocks control method, comprises the steps:
(1) rotating shaft of qin bamboo Yu tumbler is connected, qin bamboo is perpendicular to the rotating shaft of tumbler, stopping means is installed in the both sides of qin bamboo, tumbler can be selected for steering wheel, or select by iron core, the permanent magnet being fixed on iron core and be positioned at the driver element that two coils of permanent magnet both sides are constituted；
(2) to the logical forward current of tumbler, the rotating shaft of tumbler drives qin bamboo to rotate, qin bamboo rotates to touching stopping means, qin bamboo completes to knock through bradyseism, the energising pulsewidth of tumbler is regulated according to the qin spectrum played, what change qin bamboo knocks dynamics, the position according to the qin spectrum regulation limiting device played, and changes the beating point of qin bamboo；
(3) to the logical reverse current of tumbler, the reversion of qin bamboo returns to initial position.
The present invention also correspondence provides the knocking device for above-mentioned control method, its structure is as depicted in figs. 1 and 2, including driver element and knock unit, described driver element includes shell 11, iron core 8, permanent magnet 9 and two coils 10, permanent magnet 9 and two coils 10 are all packaged in shell 11, permanent magnet 9 is placed on iron core 8, two coils 10 are distributed in the both sides of permanent magnet with iron core axis for axis of symmetry and are fixed in the mounting groove that shell inner cavity is offered, and iron core 8 is connected with shell thus realizing rotating freely by bearing；nullThe described unit that knocks includes installing plate 1、Alignment pin 2、Qin bamboo set 4、Qin bamboo 6 and two spacing studs 5，One end of installing plate 1 is connected with shell by 3 alignment pins，3 alignment pin distributions triangular in shape，Installing plate is avoided to be impacted rotation，The other end of installing plate 1 offers two chutes being parallel to each other 3，Two spacing stud 5 activities respectively are fixed in two chutes and can along slide，Spacing stud 5 protrudes from and is arranged with sponges cover 7 in the part of chute，Described qin bamboo set 4 is between two chutes 3，One end of qin bamboo set 4 is connected with iron core 8、Other end opening and opening are reducing，Qin bamboo 6 is tightly fastened in the reducing of qin bamboo set，Installing plate、Qin bamboo set and qin bamboo are each perpendicular to the axis of iron core，Installing plate、Qin bamboo set and gag lever post are plastic part，The thickness of installing plate is more than 8mm，Qin bamboo is general qin bamboo.
When coil 10 is energized, the coil of permanent magnet 9 both sides produces synonyms pole, and the NS level of permanent magnet 9 now can be subject to captivation or repulsive force, thus driving iron core 8 to rotate.When we supply positive electricity to coil, left end coil is N level near the direction of permanent magnet, and right-hand member is S level near the direction of permanent magnet, and now iron core turns clockwise, it is stipulated that for rotating forward.In like manner, when logical negative electricity, iron core can reverse.The coil that the present embodiment uses, rated voltage is 12V, if it is desired to increases the dynamics knocked and appropriateness can increase input voltage, but the highest 24V that may not exceed, it completes beat action consuming time is ten Milliseconds, and in the present embodiment, the anglec of rotation is set within 30 degree, adjustable angle.
In the knocking device of the present invention, driver element can also realize the rotation of qin bamboo by steering wheel, and during use steering wheel, qin bamboo set is connected with the rotating shaft of steering wheel, and all the other structures remain unchanged, and repeat no more herein.