CN106474740A - A kind of chargeable robot of playing music - Google Patents

Abstract

The invention discloses a rechargeable music-playing robot. The robot body contains two servo motor systems and a charging device, which respectively drive the robot's foot to move the foot servo motor system, and drive the robot's arm to move the arm to serve. Motor system, the front end of the robot arm holds a drumstick, and the lower end of the robot arm has a musical instrument. The servo motor system includes a servo unit, a motion controller, a photoelectric sensor, a thickness sensing rod and a sliding cylinder. The servo unit includes an encoder 1. The servo motor and the servo motor are connected with a servo driver to drive its rotation. The structure is simple, the practicability is strong, manpower and material resources are saved, and the entertainment is very strong. It can be used at any time without worrying about the power.

Description

A rechargeable playing robot

technical field

The invention belongs to the technical field of the Internet, in particular to a rechargeable music playing robot.

Background technique

With the rapid development of the information age, the development of music is also advancing rapidly. The robots that can play drums on the market do not really play drums, but just cooperate with the robot's music playing action, and the music is played by the robot internally. The action is relatively simple and mechanical. To put it simply, it is a device for playing music, which is not entertaining and interesting, and the structure of the existing device is complex, difficult to process and assemble, and the economic cost is high. High positioning accuracy is required. If the control accuracy is insufficient , even the battery cannot be charged.

Therefore, need a kind of rechargeable playing robot to overcome the defective in the above-mentioned technology.

Contents of the invention

Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a charged music playing robot that is easy to maintain, improves reliability, and avoids the influence of faults caused by electric power on people.

A rechargeable music playing robot, the body of the robot contains two servo motor systems and a charging device, which are respectively the servo motor system for driving the foot of the robot to move, and the servo motor system for driving the robot arm to move the arm. The front end of the arm holds a drumstick, and the lower end of the robot arm has a musical instrument. The servo motor system includes a servo unit, a motion controller, a photoelectric sensor, a thickness measuring induction rod and a sliding cylinder. The servo unit includes an encoder, a servo motor and The servo motor is connected with a servo driver to drive its rotation, and the charging device includes a bearing part for carrying the mobile robot and a charging part for charging the mobile robot, and the charging part also includes a support arranged on the bearing part part, a rotating member rotatably fixed on the support part, and a driver for driving the rotating member to rotate. The rotating member is provided with a conductive sheet, and the rotating member rotates under the drive of the driver, so that the conductive sheet is in contact with the bearing part. The electrical contacts of the robot on the battery are in electrical contact, and the rotating member rotates under the drive of the driver after the mobile robot is fully charged, so that the conductive sheet is separated from the mobile robot.

Preferably, the motion controller is respectively connected to the servo driver, the photoelectric sensor, the thickness measuring sensing rod and the sliding cylinder through cables, and the photoelectric sensor and the thickness measuring sensing rod are respectively placed On the sliding cylinder, the servo unit transmits the output encoder signal to the motion controller through the encoder signal channel, and the motion controller calculates the servo according to the pulse data collected by the encoder. The number of circles the motor rotates, the encoder signal includes serial data, initial incremental pulses and origin pulses, the number of circles corresponds to the linear distance of the workpiece to be measured, wherein: the photoelectric sensor is used to When the thickness measuring sensing rod moves to the bottom, it outputs a photoelectric sensing signal; the sliding cylinder is used to drive the thickness measuring sensing rod to move in the vertical direction; the encoder is used to feed back the current position of the servo motor to the the servo drive, so that the motion controller reads the current position.

The technical solution of the present invention has the following beneficial effects:

A rechargeable music playing robot provided by the present invention, when the mobile robot is insufficient in power, after the robot moves to a position in contact with the charging part, the driver drives the rotating part to rotate, and when the conductive sheet rotated on it and the electrical properties of the robot Charging is carried out when the contacts are in contact, without the need for the robot to automatically adjust the angle, thus avoiding the situation that the angle adjusted by the robot is inappropriate, making it impossible to charge or the charging effect is insufficient. The structure is simple, practical, saves manpower and material resources, and entertainment It is very strong and can be used at any time.

detailed description

In order to clearly understand the technical solution of the present invention, its detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the invention is not limited to specific details familiar to those skilled in the art. The preferred embodiments of the present invention are described in detail below, and there may be other implementations besides those described in detail.

The present invention will be described in further detail below in conjunction with the examples.

A rechargeable music playing robot is characterized in that the robot body contains two servo motor systems and a charging device, which are respectively driving the robot foot to move the foot servo motor system, and driving the robot arm to move the arm servo Motor system, the front end of the robot arm holds a drumstick, and the lower end of the robot arm has a musical instrument. The servo motor system includes a servo unit, a motion controller, a photoelectric sensor, a thickness sensing rod and a sliding cylinder. The servo unit includes an encoder , a servo motor, and the servo motor is connected with a servo driver to drive it to rotate, and the charging device includes a bearing part for carrying the mobile robot and a charging part for charging the mobile robot, and the charging part also includes a charging part arranged on the bearing The supporting part on the upper part, the rotating part fixed on the supporting part and the driver used to drive the rotating part to rotate, the rotating part is provided with a conductive sheet, and the rotating part rotates under the drive of the driver, so that the conductive sheet In electrical contact with the electrical contacts of the robot on the carrying part, the rotating member rotates under the drive of the driver after the mobile robot is fully charged, so that the conductive sheet is separated from the mobile robot.

Preferably, the motion controller is respectively connected to the servo driver, the photoelectric sensor, the thickness-measuring sensing rod and the sliding cylinder through cables, and the photoelectric sensor and the thickness-measuring sensing rod are respectively placed On the sliding cylinder, the servo unit transmits the output encoder signal to the motion controller through the encoder signal channel, and the motion controller calculates the servo according to the pulse data collected by the encoder. The number of circles that the motor rotates, the encoder signal includes serial data, the initial incremental pulse and the origin pulse, the number of circles corresponds to the linear distance of the workpiece to be measured, wherein: the photoelectric sensor is used to When the thickness measuring sensing rod moves to the bottom, it outputs a photoelectric sensing signal; the sliding cylinder is used to drive the thickness measuring sensing rod to move in the vertical direction; the encoder is used to feed back the current position of the servo motor to the the servo drive, so that the motion controller reads the current position.

A rechargeable music playing robot provided by the present invention, when the battery of the mobile robot is insufficient, after the robot moves to a position in contact with the charging part, the driver drives the rotating part to rotate, and when the conductive sheet rotated on it and the electrical properties of the robot Charging is carried out when the contacts are in contact, without the need for the robot to automatically adjust the angle, thereby avoiding the situation that the angle adjusted by the robot is inappropriate, making it impossible to charge or the charging effect is insufficient. The structure is simple, practical, saves manpower and material resources, and entertainment It is very strong and can be used at any time.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still implement the present invention Any modification or equivalent replacement that does not deviate from the spirit and scope of the present invention is within the protection scope of the pending claims.

Claims (2)

1. a kind of chargeable robot of playing music takes electric system it is characterised in that comprising two in described machine human organism and waiing upon And charging device, respectively driven machine people foot motion foot waits upon and takes electric system, and driven machine human arm moves handss Arm is waitd upon and is taken electric system, and drumstick is held in robot arm front end, and robot arm lower end has musical instrument, and described waiing upon takes electric system Including servo unit, motion controller, photoelectric sensor, thickness measuring inductive rod and sliding cylinder, described servo unit includes compiling Code device, servomotor and described servomotor are connected with the servo-driver driving it to rotate, and described charging device includes using In carrying the supporting part of mobile robot and the charging part in order to charge for mobile robot, this charging part also includes arranging In the supporting part on supporting part, the revolving part that is rotationally fixed on supporting part and the driver for driving revolving part to rotate, This revolving part is provided with conducting strip, this revolving part rotate under the driving of this driver so that this conducting strip with positioned at supporting part On robot electrical contact in electrical contact, this revolving part this mobile robot charge finish after, in this driver Drive lower rotation so that this conducting strip is separated with mobile robot.

2. according to claim 1 play music robot it is characterised in that described motion controller pass through cable respectively with institute State servo-driver, described photoelectric sensor, described thickness measuring inductive rod and described sliding cylinder to connect, described photoelectric sensor It is respectively placed on described sliding cylinder with described thickness measuring inductive rod, the code device signal being exported is passed through to compile by described servo unit Code device signalling channel transmits the pulse data being gathered to described motion controller, described motion controller according to described encoder Calculate the number of turns of described servomotor rotation, described code device signal includes serial data, initial gain amount pulse and initial point arteries and veins Punching, the air line distance of the corresponding workpiece for measurement movement of the described number of turns, wherein：Described photoelectric sensor, in order in the sensing of described thickness measuring Rod motion is to output photoelectric induced signal during bottom；Described sliding cylinder, in order to drive described thickness measuring inductive rod vertically Motion；Described encoder, in order to the current location of described servomotor to be fed back to described servo-driver, so that described motion Controller reads described current location.