技术领域technical field
本发明提供了一种扬琴机器人手腕敲击控制方法及敲击装置，属于机械产品技术领域。The invention provides a dulcimer robot wrist tapping control method and a tapping device, which belong to the technical field of mechanical products.
背景技术Background technique
扬琴机器人结构复杂，各部件之间传动要求高，对于目前已经研制成的手腕敲击装置，采用的是气压的方式控制，因为需要独立设计气压回路而且气压系统只运用于敲击，不仅使得机器人体积大且笨重，而且它仅仅能满足敲击这个基本动作，现有的敲击装置都是固定死的，一旦安装好就无法进行调节，使用不便而且调试麻烦。对于音乐演奏，固定结构会使得演奏出来的音乐质量低，机械化严重，拟人化效果差。The structure of the dulcimer robot is complex, and the transmission requirements between the various parts are high. For the wrist percussion device that has been developed so far, it is controlled by air pressure, because the air pressure circuit needs to be independently designed and the air pressure system is only used for percussion, which not only makes the robot It is bulky and heavy, and it can only meet the basic action of tapping. The existing tapping devices are fixed and cannot be adjusted once installed, which is inconvenient to use and troublesome to debug. For music performance, the fixed structure will make the quality of the music played is low, the mechanization is serious, and the anthropomorphic effect is poor.
发明内容Contents of the invention
本发明的目的在于克服现有技术的不足，并提供一种扬琴机器人手腕敲击控制方法及敲击装置，控制方法简单易实现，敲击装置结构简单、安装调试方便，可实现拟人化敲击。The object of the present invention is to overcome the deficiencies of the prior art, and provide a dulcimer robot wrist tapping control method and a tapping device, the control method is simple and easy to implement, the tapping device has a simple structure, convenient installation and debugging, and can realize anthropomorphic tapping .
实现本发明目的所采用的技术方案为，一种扬琴机器人手腕敲击控制方法，包括如下步骤：The technical solution adopted to realize the object of the present invention is a method for controlling the wrist tapping of a dulcimer robot, comprising the following steps:
(1)将琴竹与转动装置的转轴固连，琴竹垂直于转动装置的转轴，在琴竹的两侧安装限位装置；(1) The qin bamboo is fixedly connected with the rotating shaft of the rotating device, the qin bamboo is perpendicular to the rotating shaft of the rotating device, and limit devices are installed on both sides of the qin bamboo;
(2)对转动装置通正向电流，转动装置的转轴带动琴竹转动，琴竹旋转至触碰限位装置，琴竹经过缓震完成敲击，根据演奏的琴谱调节转动装置的通电脉宽，改变琴竹的敲击力度，根据演奏的琴谱调节限位装置的位置，改变琴竹的敲击点；(2) Pass positive current to the rotating device, the rotating shaft of the rotating device drives the bamboo to rotate, the bamboo rotates until it touches the limit device, the bamboo is damped to complete the percussion, and the energizing pulse of the rotating device is adjusted according to the score played Wide, change the percussion strength of the bamboo, adjust the position of the limit device according to the score played, and change the percussion point of the bamboo;
(3)对转动装置通反向电流，琴竹反转回到初始位置。(3) A reverse current is applied to the rotating device, and the qin bamboo reverses and returns to the initial position.
所述转动装置由铁芯、固定在铁芯上的永磁体和位于永磁体两侧的两个线圈构成。The rotating device is composed of an iron core, a permanent magnet fixed on the iron core and two coils located on both sides of the permanent magnet.
所述转动装置为舵机。The rotating device is a steering gear.
本发明还对应提供了一种用于上述控制方法的敲击装置，至少包括驱动单元和敲击单元，所述驱动单元包括外壳、铁芯、永磁体和两个线圈，永磁体和两个线圈均封装于外壳中，永磁体套于铁芯上，两个线圈以铁芯轴线为对称轴分布于永磁体的两侧并且通过外壳固定；所述敲击单元包括安装板、定位销、琴竹套、琴竹和两根限位杆，安装板的一端通过定位销与外壳连接、另一端上开设有两条相互平行的滑槽，两根限位杆分别活动固定于两条滑槽中，限位杆突出于滑槽的部分上套设有柔性套，所述琴竹套位于两条滑槽之间，琴竹套的一端与铁芯连接、另一端开口并且开口为缩口，琴竹紧密固定于琴竹套的缩口中，安装板、琴竹套和琴竹均垂直于铁芯的轴线。The present invention also provides a knocking device for the above control method, at least including a drive unit and a knocking unit, the drive unit includes a casing, an iron core, a permanent magnet and two coils, the permanent magnet and two coils They are all packaged in the casing, the permanent magnet is set on the iron core, and the two coils are distributed on both sides of the permanent magnet with the axis of the iron core as the axis of symmetry and fixed by the casing; the knocking unit includes a mounting plate, a positioning pin, a bamboo One end of the mounting plate is connected to the shell through a positioning pin, and two parallel chutes are opened on the other end, and the two limit rods are respectively movable and fixed in the two chutes. A flexible sleeve is placed on the part of the limit rod protruding from the chute. The bamboo sleeve is located between the two chute. Tightly fixed in the necking of the piano bamboo cover, the mounting plate, the piano bamboo cover and the piano bamboo are all perpendicular to the axis of the iron core.
所述安装板、琴竹套和限位杆均为塑料制件。The mounting plate, the qin bamboo cover and the limit rod are all plastic parts.
所述柔性套为海绵套。The flexible sleeve is a sponge sleeve.
所述限位杆为限位螺柱。The limit rod is a limit stud.
所述安装板的厚度大于8mm。The thickness of the mounting plate is greater than 8mm.
由上述技术方案可知，本发明提供的扬琴机器人手腕敲击控制方法，通过旋转装置驱动琴竹转动，琴竹旋转至限位装置限定的位置时受限位装置阻挡停止转动然后经过缓震完成敲击，反向通电回到初始位置，同样通过限位装置限位，本发明提供的控制方法控制琴竹转动产生振动，琴竹敲击扬琴发声是通过琴竹与限位装置撞击后产生的震动完成的，这样可以完美避免发声的机械感，发声更加拟人化；通过调节转动装置的通电脉宽，可以控制琴竹旋转到限位装置的速度，实现琴竹旋转速度的调节，改变琴竹转动至限位装置的瞬时冲量，进而改变琴竹的敲击力度，通过通电脉宽调节敲击力度可实现敲击力度的无极调节，使得扬琴发声流畅，消除现有气动控制方法所产生的发声停顿感；调节限位装置的位置，改变琴竹的旋转角度，从而可实现琴竹敲击点的调节，对于扬琴这种曲面型乐器至关重要。It can be seen from the above-mentioned technical scheme that the dulcimer robot wrist percussion control method provided by the present invention drives the bamboo to rotate through the rotating device. strike, reverse power back to the initial position, and also limit the position through the limit device. The control method provided by the present invention controls the rotation of the bamboo to generate vibration. Completed, this can perfectly avoid the mechanical feeling of the sound, and the sound is more anthropomorphic; by adjusting the power-on pulse width of the rotating device, the speed at which the bamboo rotates to the limit device can be controlled, and the rotation speed of the bamboo can be adjusted to change the rotation of the bamboo. The instantaneous impulse to the limit device, and then change the percussion force of the bamboo, and the stepless adjustment of the percussion force can be realized by adjusting the percussion force through the power-on pulse width, so that the sound of the dulcimer is smooth, and the sound pause caused by the existing pneumatic control method is eliminated. Feel; adjust the position of the limit device, change the rotation angle of the bamboo, so as to realize the adjustment of the striking point of the bamboo, which is very important for a curved instrument such as the dulcimer.
本发明提供的敲击装置，利用电磁原理，采用铁芯、固定在铁芯上的永磁体和位于永磁体两侧的两个线圈作为琴竹的驱动，线圈直接卡紧固定于外壳内腔开设的安装槽中，无需其他装置辅助固定，通过对线圈输入脉宽进行控制就可以实现敲击力度的无极调节，铁芯、永磁体和线圈结构简单、成本低；琴竹的固定通过琴竹套实现，琴竹套与铁芯固连，琴竹作为一种普通材质的敲击工具，在实际使用过程中会出现琴竹破裂需要更换等情况，本发明提供的琴竹套一端开口，并且开口为缩口，琴竹紧密固定于琴竹套的缩口中，由于在实际工作过程中，琴竹所受力主要来自于敲击承受的反作用力，力的方向为琴竹的运动方向，而其它方向(轴向)受力较小，因此通过琴竹与琴竹套缩口的摩擦力即可实现琴竹的稳定固定，而且方便琴竹的更换，从而克服了现有敲击装置中琴竹采用固定式安装方式造成琴竹更换困难和发声机械化的弊端。The percussion device provided by the present invention utilizes the principle of electromagnetism, adopts an iron core, a permanent magnet fixed on the iron core and two coils located on both sides of the permanent magnet as the drive for the piano bamboo, and the coil is directly clamped and fixed in the inner cavity of the shell. In the installation slot, no other devices are needed for auxiliary fixing, and the stepless adjustment of the percussion force can be realized by controlling the input pulse width of the coil. The structure of the iron core, permanent magnet and coil is simple and low in cost; Realize that the qin bamboo cover is fixedly connected with the iron core. As a percussion tool made of common materials, qin bamboo will break and need to be replaced in the actual use process. The qin bamboo cover provided by the invention has an opening at one end, and the opening In order to shrink the mouth, the piano bamboo is tightly fixed in the neck of the piano bamboo sleeve. Because in the actual work process, the force on the piano bamboo mainly comes from the reaction force of the percussion, and the direction of the force is the movement direction of the piano bamboo, while other The direction (axial) force is small, so the stable fixing of the bamboo can be realized through the friction between the bamboo and the bamboo cover, and the replacement of the bamboo is convenient, thus overcoming the problem of the bamboo in the existing percussion device. Adopting the fixed installation method causes the disadvantages of difficulty in replacing the piano bamboo and the mechanization of sound production.
限位杆的位置调节通过安装板实现，安装板直接与外壳连接，保证其结构稳定不会发生晃动，安装板上开设有两条相互平行的滑槽，两根限位杆分别活动固定于两条滑槽中，限位杆可以在滑槽中任意滑动，滑动至演奏所需的位置从而进行敲击角度的调节，通过这个简易的设计就可以使得即使整个敲击装置固定后仍可以根据需要来进行敲击点的调节，这对于扬琴这种曲面型乐器十分重要。The position adjustment of the limit rod is realized through the mounting plate, which is directly connected with the shell to ensure its structure is stable and will not shake. In the bar chute, the limit rod can slide freely in the chute, and slide to the position required for performance to adjust the striking angle. Through this simple design, even if the entire striking device is fixed, it can still be adjusted according to the needs. To adjust the percussion point, which is very important for a curved instrument such as the dulcimer.
本发明是基于实际运用效果的要求，对于现有扬琴机器人敲击装置的优化与改进，与现有技术相比，其优点主要有以下几点：The present invention is based on the requirements of actual application effects. For the optimization and improvement of the existing dulcimer robot percussion device, compared with the prior art, its advantages mainly include the following points:
1、敲击力度的无极调节只需要进行脉宽调节就可以，调节方式为纯软件控制，脉宽调节可通过计算机软件程序实现，无需其他硬件，敲击控制可与扬琴机器人的其他运动系统共用控制器，不仅可简化装置结构、降低装置成本，还可实现扬琴机器人的智能化设计，通过软件控制手腕敲击可提高音乐质量，实现发声的拟人化。1. The stepless adjustment of the percussion strength only needs to be adjusted by pulse width. The adjustment method is pure software control. The pulse width adjustment can be realized through computer software programs without other hardware. The percussion control can be shared with other motion systems of the dulcimer robot The controller can not only simplify the structure of the device and reduce the cost of the device, but also realize the intelligent design of the dulcimer robot. Controlling the wrist percussion through software can improve the quality of the music and realize the anthropomorphism of the sound.
2、基于电磁驱动的敲击装置，其结构更为简单而且安装简易，调试仿真方便，通过调节线圈的输入脉宽可调节敲击力度，区分轻重音节；本发明提供的安装板实现敲击角度的调节，通过移动滑槽中的限位杆可调节敲击点和敲击角度，使得敲击装置的演奏更接近真人演奏。2. The percussion device based on electromagnetic drive has a simpler structure and is easy to install, and it is convenient for debugging and simulation. The percussion force can be adjusted by adjusting the input pulse width of the coil, and the light and heavy syllables can be distinguished; the mounting plate provided by the invention realizes the percussion angle The adjustment of the percussion device can adjust the percussion point and percussion angle by moving the limit rod in the chute, so that the performance of the percussion device is closer to that of a real person.
3、该敲击装置简化了琴竹的安装方式，通过端部设置缩口的琴竹套实现琴竹的安装固定，无需额外的夹紧装置即可以使琴竹正常工作，简化琴竹的固定结构，琴竹套与琴竹为活动连接，因此琴竹拆卸简易。3. The percussion device simplifies the installation method of the piano bamboo. The installation and fixation of the piano bamboo is realized by setting the narrowed piano bamboo sleeve at the end. It can make the piano bamboo work normally without additional clamping devices and simplify the fixing of the piano bamboo. Structure, the piano bamboo cover and the piano bamboo are movably connected, so the piano bamboo is easy to disassemble.
4、敲击装置采用缓震结构，通过琴竹套与限位螺柱的作用使得琴竹的敲击不由铁芯转动直接产生，而是通过限位螺柱缓震之后再完成扬琴面的敲击，限位螺柱上套海绵套用于减小噪音，这种方式可以避免重复接触到琴面，拟人化完成了敲击，提高了发声质量。4. The percussion device adopts a cushioning structure. Through the action of the bamboo sleeve and the limit stud, the percussion of the bamboo is not directly generated by the rotation of the iron core, but the knock on the surface of the dulcimer is completed after the limit stud cushions the shock. The sponge cover on the limit stud is used to reduce the noise. This method can avoid repeated contact with the piano surface. The percussion is completed anthropomorphically and the sound quality is improved.
附图说明Description of drawings
图1为本发明提供的敲击装置的结构示意图。Fig. 1 is a structural schematic diagram of the knocking device provided by the present invention.
图2为驱动单元的结构示意图。FIG. 2 is a schematic structural diagram of the drive unit.
其中，1-安装板，2-定位销，3-滑槽，4-琴竹套，5-限位螺柱，6-琴竹，7-海绵套，8-铁芯，9-永磁体，10-线圈，11-外壳。Among them, 1-mounting plate, 2-location pin, 3-chute, 4-qin bamboo sleeve, 5-limit stud, 6-qin bamboo, 7-sponge sleeve, 8-iron core, 9-permanent magnet, 10-coil, 11-shell.
具体实施方式Detailed ways
下面结合附图和实施例对本发明进行详细具体说明，本发明的内容不局限于以下实施例。The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments, and the content of the present invention is not limited to the following embodiments.
本发明提供的扬琴机器人手腕敲击控制方法，包括如下步骤：The dulcimer robot wrist percussion control method provided by the invention comprises the following steps:
(1)将琴竹与转动装置的转轴固连，琴竹垂直于转动装置的转轴，在琴竹的两侧安装限位装置，转动装置可选用舵机，或者选用由铁芯、固定在铁芯上的永磁体和位于永磁体两侧的两个线圈构成的驱动单元；(1) Connect the bamboo with the rotating shaft of the rotating device. The bamboo is perpendicular to the rotating shaft of the rotating device. Limiting devices are installed on both sides of the bamboo. The rotating device can be a steering gear, or an iron core fixed on an iron A drive unit composed of a permanent magnet on the core and two coils on both sides of the permanent magnet;
(2)对转动装置通正向电流，转动装置的转轴带动琴竹转动，琴竹旋转至触碰限位装置，琴竹经过缓震完成敲击，根据演奏的琴谱调节转动装置的通电脉宽，改变琴竹的敲击力度，根据演奏的琴谱调节限位装置的位置，改变琴竹的敲击点；(2) Pass positive current to the rotating device, the rotating shaft of the rotating device drives the bamboo to rotate, the bamboo rotates until it touches the limit device, the bamboo is damped to complete the percussion, and the energizing pulse of the rotating device is adjusted according to the score played Wide, change the percussion strength of the bamboo, adjust the position of the limit device according to the score played, and change the percussion point of the bamboo;
(3)对转动装置通反向电流，琴竹反转回到初始位置。(3) A reverse current is applied to the rotating device, and the qin bamboo reverses and returns to the initial position.
本发明还对应提供了用于上述控制方法的敲击装置，其结构如图1和图2所示，包括驱动单元和敲击单元，所述驱动单元包括外壳11、铁芯8、永磁体9和两个线圈10，永磁体9和两个线圈10均封装于外壳11中，永磁体9套于铁芯8上，两个线圈10以铁芯轴线为对称轴分布于永磁体的两侧并且固定于外壳内腔开设的安装槽中，铁芯8通过轴承与外壳连接从而实现自由旋转；所述敲击单元包括安装板1、定位销2、琴竹套4、琴竹6和两根限位螺柱5，安装板1的一端通过3个定位销与外壳连接，3个定位销呈三角形分布，避免安装板受撞击转动，安装板1的另一端上开设有两条相互平行的滑槽3，两根限位螺柱5分别活动固定于两条滑槽中并且可沿滑槽滑动，限位螺柱5突出于滑槽的部分上套设有海绵套7，所述琴竹套4位于两条滑槽3之间，琴竹套4的一端与铁芯8连接、另一端开口并且开口为缩口，琴竹6紧密固定于琴竹套的缩口中，安装板、琴竹套和琴竹均垂直于铁芯的轴线，安装板、琴竹套和限位杆均为塑料制件，安装板的厚度大于8mm，琴竹为通用琴竹。The present invention also provides a knocking device corresponding to the above control method, its structure is shown in Figure 1 and Figure 2, including a drive unit and a knocking unit, the drive unit includes a casing 11, an iron core 8, a permanent magnet 9 And two coils 10, the permanent magnet 9 and the two coils 10 are all packaged in the shell 11, the permanent magnet 9 is sleeved on the iron core 8, and the two coils 10 are distributed on both sides of the permanent magnet with the axis of the iron core as the axis of symmetry and It is fixed in the installation groove opened in the inner cavity of the shell, and the iron core 8 is connected with the shell through bearings to realize free rotation; the knocking unit includes a mounting plate 1, a positioning pin 2, a piano bamboo sleeve 4, a piano bamboo 6 and two limiters. Bit stud 5, one end of the mounting plate 1 is connected to the shell through 3 positioning pins, the 3 positioning pins are distributed in a triangle to prevent the mounting plate from being impacted and rotated, and the other end of the mounting plate 1 is provided with two parallel chutes 3. The two limit studs 5 are movable and fixed in the two chute respectively and can slide along the chute. The part of the limit stud 5 protruding from the chute is provided with a sponge cover 7, and the piano bamboo cover 4 Located between the two chutes 3, one end of the piano bamboo cover 4 is connected to the iron core 8, and the other end is open and the opening is a constriction. The piano bamboo 6 is tightly fixed in the constriction of the piano bamboo cover. The piano bamboos are all perpendicular to the axis of the iron core, the mounting plate, the piano bamboo cover and the limit rod are all plastic parts, the thickness of the mounting plate is greater than 8mm, and the piano bamboo is a general-purpose piano bamboo.
当线圈10通电时，永磁体9两侧的线圈产生异名磁极，永磁体9的NS级此时会受到吸引力或者排斥力，从而带动铁芯8旋转。我们给线圈供正电时，左端线圈靠近永磁体的方向为N级，右端靠近永磁体的方向为S级，此时铁芯顺时针旋转，规定为正转。同理，当通负电时，铁芯会反转。本实施例使用的线圈，额定电压为12V，如果希望增加敲击的力度可适度增加输入电压，但最高不可超过24V，其完成一次敲击动作耗时为十毫秒级，本实施例中旋转角度设置为30度以内，角度可调。When the coil 10 is energized, the coils on both sides of the permanent magnet 9 generate different magnetic poles, and the NS stage of the permanent magnet 9 will receive an attractive or repulsive force at this time, thereby driving the iron core 8 to rotate. When we supply positive electricity to the coil, the direction of the left end coil close to the permanent magnet is N level, and the direction of the right end close to the permanent magnet is S level. At this time, the iron core rotates clockwise, which is defined as forward rotation. In the same way, when negative electricity is applied, the iron core will reverse. The coil used in this example has a rated voltage of 12V. If you want to increase the force of the knocking, you can increase the input voltage moderately, but the maximum can not exceed 24V. It takes ten milliseconds to complete a knocking action. In this example, the rotation angle The setting is within 30 degrees, and the angle is adjustable.
本发明的敲击装置中驱动单元还可以通过舵机来实现琴竹的转动，使用舵机时琴竹套与舵机的转轴连接，其余结构保持不变，此处不再赘述。The driving unit in the percussion device of the present invention can also realize the rotation of the bamboo through the steering gear. When using the steering gear, the bamboo bamboo cover is connected with the rotating shaft of the steering gear, and the rest of the structure remains unchanged, so it will not be repeated here.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610235431.5ACN105773634B (en) | 2016-04-15 | 2016-04-15 | A kind of dulcimer robot wrist taps control method and knocking device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610235431.5ACN105773634B (en) | 2016-04-15 | 2016-04-15 | A kind of dulcimer robot wrist taps control method and knocking device |
| Publication Number | Publication Date |
|---|---|
| CN105773634A CN105773634A (en) | 2016-07-20 |
| CN105773634Btrue CN105773634B (en) | 2018-11-27 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610235431.5AExpired - Fee RelatedCN105773634B (en) | 2016-04-15 | 2016-04-15 | A kind of dulcimer robot wrist taps control method and knocking device |
| Country | Link |
|---|---|
| CN (1) | CN105773634B (en) |
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| CN106584479B (en)* | 2016-12-30 | 2019-02-01 | 中国地质大学（武汉） | Dulcimer Robot Dual-Arm based on real time information stream cooperates with anti-intersection playing method |
| CN107225582B (en)* | 2017-06-23 | 2023-05-26 | 中国地质大学（武汉） | Robot structure that dulcimer intelligence was played |
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| CN202412282U (en)* | 2011-12-30 | 2012-09-05 | 自贡市挚诚科技有限公司 | Dulcimer robot wrist control device |
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| CN105773634A (en) | 2016-07-20 |
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| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20181127 Termination date:20190415 |