CN108563160A - A kind of Remote Experimental Platform of diminution ratio model cootrol - Google Patents
A kind of Remote Experimental Platform of diminution ratio model cootrol Download PDFInfo
- Publication number
- CN108563160A CN108563160A CN201810063141.6A CN201810063141A CN108563160A CN 108563160 A CN108563160 A CN 108563160A CN 201810063141 A CN201810063141 A CN 201810063141A CN 108563160 A CN108563160 A CN 108563160A
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- China
- Prior art keywords
- platform
- model cootrol
- diminution ratio
- experimental
- freedom
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of Remote Experimental Platforms of diminution ratio model cootrol, are made of experimental work platform and small scale model cootrol platform two parts.Experimental work platform includes sixdegree-of-freedom simulation, single-degree-of-freedom rotating platform, experiment porch microprocessor, steering engine controller, controllor for step-by-step motor, radio transmission apparatus；Diminution ratio model cootrol platform includes the diminution ratio model cootrol bar of sixdegree-of-freedom simulation, the diminution ratio model manipulation bar of single-degree-of-freedom rotating platform, control platform microprocessor, seven road resistance measuring circuits and display equipment.Through the above way, the present invention can enable user of service pass through the action of control diminution scale model, directly control the action of mechanical arm and rotating platform on experimental work platform, higher performance accuracy can be obtained in the case where not increasing excessively high control cost, and experiment action can also be made to become softer flexible.
Description
Technical field
The present invention relates to field of intelligent control, more particularly to a kind of Remote Experimental Platform of diminution ratio model cootrol.
Background technology
Experimental method is always an important method of scientific research.With the development of science and technology experiment also puies forward external environment
More requirements are gone out, such as most Bioexperiment need stationary temperature and humidity；The electrical experiment of a part needs
It is carried out in the environment full of inert gas, to prevent from puncturing；Some chemical experiment danger coefficients are high, need complete safety anti-
Shield etc..But wherein most of environment is not suitable for human work, then Remote Experimental Platform has obtained extensive hair in recent years
Exhibition, i.e., detach experimenter with experiment porch, and experiment porch and experimenter are respectively in the environment respectively adapted to, real
It tests personnel and completes experiment by manipulating mechanical equipment.
But its mechanical equipment control mode polarization of existing Remote Experimental Platform, experiment porch at low cost control
Mode is extremely simple, most of to contain only button and rocking bar, cannot complete experimental implementation well；And such as motion sensing control mechanical arm,
The experiment porch that the control modes such as E.E.G control machinery arm are complicated, precision is high is extremely expensive, most of experiment mechanism again
There is no fund to go to be equipped with these equipment.The problem of for existing Remote Experimental Platform, the present invention propose a kind of diminution scale model
The Remote Experimental Platform of control.
Invention content
In view of the above technical problems, the main purpose of the present invention is to provide a kind of long-range realities of diminution ratio model cootrol
Platform is tested, it can be while improving tele-experimentation performance accuracy, by the cost control of equipment in reduced levels.
In order to solve the above technical problems, present invention employs following technical measures.
A kind of Remote Experimental Platform of diminution ratio model cootrol, by experimental work platform and small scale model cootrol platform
Two parts form.
Experimental work platform of the present invention includes that sixdegree-of-freedom simulation, single-degree-of-freedom rotating platform, experiment porch are micro-
Processor, steering engine controller, controllor for step-by-step motor, radio transmission apparatus.Above-mentioned sixdegree-of-freedom simulation uses six steering engines
It is moved, and is equipped with corresponding servo driving circuit；Above-mentioned single-degree-of-freedom rotating platform is fixed by a platform, an object
Seat, a stepper motor are constituted, can be rotated left and right；Above-mentioned experiment porch microprocessor selects STMicw Electronics to produce
STM32f103c8t6 microprocessors；Experimental work platform can complete the items of experiment under the control for the instruction wirelessly transmitted
Operation.
Diminution ratio model cootrol platform of the present invention by sixdegree-of-freedom simulation diminution ratio model cootrol bar, one
Diminution ratio model manipulation bar, control platform microprocessor, seven road resistance measuring circuits and the display of freedom degree rotating platform are set
Standby composition.The diminution ratio model cootrol bar of above-mentioned sixdegree-of-freedom simulation be by sixdegree-of-freedom simulation scaled down and
At each joint is designed with a rotational potentiometer, and joint angles variation may result in potentiometer resistance variation, thus can examine
Measure the angle in joint, and control the angle of sixdegree-of-freedom simulation at this angle.Experimenter is by manipulating diminution ratio
Model, so that it may intuitively to control sixdegree-of-freedom simulation.Above-mentioned single-degree-of-freedom rotating platform control mode and six degree of freedom machine
Tool arm is similar.Experimenter can understand experiment progress in real time by the image sent back on observation experiment workbench.
The invention has the advantages that by a kind of Remote Experimental Platform of diminution ratio model cootrol, user
Member can reduce the action of scale model by control, directly control the dynamic of mechanical arm and rotating platform on experimental work platform
Make, higher performance accuracy can be obtained in the case where not increasing excessively high control cost, experiment action can also become more
It is soft flexible.
Description of the drawings
Fig. 1 is a kind of structure diagram of the Remote Experimental Platform of diminution ratio model cootrol of the present invention.
Fig. 2 is diminution ratio model cootrol platform circuitry schematic diagram of the present invention.
Fig. 3 is experimental work platform circuitry schematic diagram of the present invention.
Specific implementation mode
The application example of the present invention is as follows.
A kind of diminution ratio model cootrol platform circuitry schematic diagram of the present invention as shown in Figure 2, wherein 1 be resistance measurement
Circuit, to detect the rotational potentiometer that sixdegree-of-freedom simulation reduces each joint installation in ratio model cootrol bar, because closing
Section angle change can cause potentiometer resistance to change, and thus can detect that the angle in joint, and free to control six at this angle
Spend the angle of mechanical arm；2 be liquid crystal display circuit, the working condition for parameter and platform during display operation；3 be only
Vertical key circuit, the selection of setting and platform operating mode for working platform parameter；4 be microprocessor minimum system electricity
Road, for providing most basic support, such as power supply, clock to microprocessor.
Experimental work platform of the present invention includes that sixdegree-of-freedom simulation, single-degree-of-freedom rotating platform, experiment porch are micro-
Processor, steering engine controller, controllor for step-by-step motor, radio transmission apparatus.Experimental work platform circuitry schematic diagram such as Fig. 3 institutes
Show, wherein 5 be experiment porch microprocessor and its minimum system circuit, above-mentioned sixdegree-of-freedom simulation is carried out using six steering engines
Movement, above-mentioned single-degree-of-freedom rotating platform are made of a platform, an object fixed seat, a stepper motor, can control
Rotation；6 be helm control circuit and controllor for step-by-step motor interface circuit, for driving sixdegree-of-freedom simulation and single-degree-of-freedom
The action of rotating platform.Experimental work platform can complete the operations of experiment under the instruction control wirelessly transmitted.
User of service can reduce the action of scale model by control through the invention, directly control experimental work platform
The action of upper mechanical arm and rotating platform can obtain higher performance accuracy in the case where not increasing excessively high control cost,
Also experiment action can be made to become softer flexible.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (4)
1. a kind of Remote Experimental Platform of diminution ratio model cootrol, can allow experimenter remotely to carry out experimental implementation, with
Just it gives experiment to provide better external environment, has both the characteristic of high-precision and low cost；
A kind of Remote Experimental Platform of diminution ratio model cootrol is by experimental work platform and small scale model cootrol platform
Two parts form；Its user of service can reduce the action of scale model by control, directly control machine on experimental work platform
The action of tool arm and rotating platform, can obtain higher precision in the case where not increasing excessively high control cost and manipulation is comfortable
Degree.
2. a kind of Remote Experimental Platform of diminution ratio model cootrol according to claim 1, it is characterised in that：The reality
Workbench is tested by sixdegree-of-freedom simulation, single-degree-of-freedom rotating platform, experiment porch microprocessor, steering engine controller, stepping
Electric machine controller, radio transmission apparatus composition.
3. a kind of Remote Experimental Platform of diminution ratio model cootrol according to claim 1, it is characterised in that：The contracting
Small scale model cootrol platform, by the contracting of diminution ratio the model cootrol bar, single-degree-of-freedom rotating platform of sixdegree-of-freedom simulation
Small scale model manipulation bar, control platform microprocessor, seven road resistance measuring circuits and display equipment composition.
4. a kind of Remote Experimental Platform of diminution ratio model cootrol according to claim 1, it is characterised in that：
Image transmitting is carried out by WIFI between the experimental work platform and diminution ratio model cootrol platform, it is conspicuous to pass through 2.4g
Hereby radio carries out instruction transmission；
The diminution ratio model cootrol bar of the sixdegree-of-freedom simulation, is equipped with a rotational potentiometer on each of which joint
Angle for detecting joint opening, and this angle is sent to experimental work platform, the fortune for controlling sixdegree-of-freedom simulation
It is dynamic；
It is described that ratio model manipulation bar rotation portion is reduced equipped with a rotational potentiometer, for detecting behaviour with freedom degree rotating platform
Vertical pole rotation angle, and send data to the movement of experimental work platform courses rotating platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810063141.6A CN108563160A (en) | 2018-01-23 | 2018-01-23 | A kind of Remote Experimental Platform of diminution ratio model cootrol |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810063141.6A CN108563160A (en) | 2018-01-23 | 2018-01-23 | A kind of Remote Experimental Platform of diminution ratio model cootrol |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108563160A true CN108563160A (en) | 2018-09-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810063141.6A Pending CN108563160A (en) | 2018-01-23 | 2018-01-23 | A kind of Remote Experimental Platform of diminution ratio model cootrol |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108563160A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476533A (en) * | 2014-11-27 | 2015-04-01 | 清华大学 | Master-slave control flexible continuum robot device and control method thereof |
| CN104647331A (en) * | 2015-03-23 | 2015-05-27 | 常州米泽智能装备科技有限公司 | Master-slave follow-up teaching industrial robot system |
| CN104924313A (en) * | 2015-05-13 | 2015-09-23 | 北京工业大学 | Hand-by-hand demonstration mechanical arm system with imitative learning mechanism and method |
| CN105108727A (en) * | 2015-07-24 | 2015-12-02 | 沈阳千会科技有限公司 | Robot profiling controller and control method thereof |
| CN206840080U (en) * | 2017-05-02 | 2018-01-05 | 周灿丰 | A kind of engineering flexible robot system of connection in series-parallel mixed structure |
-
2018
- 2018-01-23 CN CN201810063141.6A patent/CN108563160A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476533A (en) * | 2014-11-27 | 2015-04-01 | 清华大学 | Master-slave control flexible continuum robot device and control method thereof |
| CN104647331A (en) * | 2015-03-23 | 2015-05-27 | 常州米泽智能装备科技有限公司 | Master-slave follow-up teaching industrial robot system |
| CN104924313A (en) * | 2015-05-13 | 2015-09-23 | 北京工业大学 | Hand-by-hand demonstration mechanical arm system with imitative learning mechanism and method |
| CN105108727A (en) * | 2015-07-24 | 2015-12-02 | 沈阳千会科技有限公司 | Robot profiling controller and control method thereof |
| CN206840080U (en) * | 2017-05-02 | 2018-01-05 | 周灿丰 | A kind of engineering flexible robot system of connection in series-parallel mixed structure |
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Application publication date: 20180921 |