CN103000055B - Lyre-playing, chess, calligraphy and painting mechanical arm teaching device system - Google Patents
Lyre-playing, chess, calligraphy and painting mechanical arm teaching device system Download PDFInfo
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- CN103000055B CN103000055B CN201210493571.4A CN201210493571A CN103000055B CN 103000055 B CN103000055 B CN 103000055B CN 201210493571 A CN201210493571 A CN 201210493571A CN 103000055 B CN103000055 B CN 103000055B
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- 238000010422 painting Methods 0.000 title claims abstract description 39
- 230000001351 cycling effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000763 evoking effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
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Abstract
The invention discloses a lyre-playing, chess, calligraphy and painting mechanical arm teaching device system which comprises a master control device and a plurality of sub-control devices, wherein the master control device is in remote connection with each sub-control device and controls the sub-control devices according to operation states of the sub-control devices. Each sub-control device comprises a sub-controller, a touch screen, a multi-axis controller, a motor driving module, an execution unit and a sensor module. Each sensor module is electrically connected with each sub-controller, each sub-controller is connected between the master control device and each touch screen and transmits all received signals and all output control signals of the sub-controller to the master control device, and input signals of each touch screen are transmitted to each sub-controller. The sub-controllers, the multi-axis controllers, the motor driving modules and the execution units are sequentially connected, and the multi-axis controllers receive the control signals sent by the sub-controllers and control the motor driving modules to drive the execution units to work according to the control signals. The lyre-playing, chess, calligraphy and painting mechanical arm teaching device system can vividly display automation knowledge and improves teaching efficiency.
Description
Technical field
The present invention relates to mechanical arm product design field, particularly relate to a kind of lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system.
Background technology
Mechanical arm is the manual automation of a kind of simulation people, it can capture by fixed routine, carry object or instrument of managing completes some specific operation, people is replaced to be engaged in dullness, repetition or heavy manual labor, realize mechanization and the robotization of production, people can also be replaced to work under hostile environment, be thus widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.In automated teaching, mechanical arm is absolutely necessary one of content of courses.The general only simple motion showing mechanical arm of present teaching equipment, simply uninteresting, be difficult to the learning interest evoking student, be unfavorable for improving efficiency of teaching.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system, have automatically play chess, automatically play the musical instrument, write the function presentations such as drawing automatically, displayed by vivid for robotization knowledge, improves efficiency of teaching.
For solving the problems of the technologies described above, the technical solution used in the present invention is: provide a kind of lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system, comprise master control equipment and some points of opertaing devices, described master control equipment and each point opertaing device be long-range to be connected and running status according to point opertaing device controls to divide an opertaing device, described point of opertaing device comprises: sub-controller and touch-screen, described sub-controller is connected between master control equipment and touch-screen, master control equipment is sent to all control signals that all signals received by sub-controller and sub-controller export, the input signal of described touch-screen is sent to sub-controller, multi-axis controller, motor drive module and performance element, the output terminal of described motor drive module is connected with performance element, the input end of motor drive module is connected with the output terminal of multi-axis controller, and the input end of multi-axis controller and sub-controller are electrically connected with the control signal received from sub-controller and control motor drive module according to this control signal and drive performance element work, sensor assembly, detects performance element position, and is electrically connected that detection signal is sent to sub-controller with sub-controller.
In a preferred embodiment of the present invention, described master control equipment is computing machine, and described sub-controller is programmable logic controller (PLC).
In a preferred embodiment of the present invention, described performance element comprises mechanical arm, and described mechanical arm has three translational degree of freedom.
In a preferred embodiment of the present invention, described motor drive module comprises three groups of driven units, and each group driven unit controls the one degree of freedom of described mechanical arm.
In a preferred embodiment of the present invention, each group driven unit described comprises a servo-driver and a motor, and the output terminal of described servo-driver is connected with motor, and the input end of servo-driver is connected with multi-axis controller.
In a preferred embodiment of the present invention, described lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system comprises manual mode and automatic mode, and described touch-screen comprises manual mode interface and automatic mode interface.
In a preferred embodiment of the present invention, described manual mode interface comprises play the musical instrument button, automatic cycle of automatic cycle and to play chess button and automatic cycle painting and calligraphy button.
In a preferred embodiment of the present invention, described automatic mode comprises automatically plays the musical instrument, automatically plays chess and automatic painting and calligraphy, and automatically plays the musical instrument, automatically plays chess and painting and calligraphy automatic cycling operating successively automatically.
The invention has the beneficial effects as follows: can by touch-screen toward input control order in sub-controller, make sub-controller output signal control performance element and perform drawing of automatically playing chess, automatically play the musical instrument or automatically write, vivid for robotization knowledge is displayed, improves efficiency of teaching.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system one of the present invention preferred embodiment;
Fig. 2 is the workflow diagram of lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system of the present invention.
In accompanying drawing, the mark of each parts is as follows: 1, master control equipment; 2, opertaing device is divided; 3, sub-controller; 4, touch-screen; 5, multi-axis controller; 6, motor drive module; 601, servo-driver; 602, motor; 7, performance element; 8, sensor assembly.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Refer to Fig. 1 and Fig. 2, the embodiment of the present invention comprises:
A kind of lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system, comprise master control equipment 1 and some points of opertaing devices 2, described master control equipment 1 and each point opertaing device 2 be long-range to be connected and running status according to point opertaing device 2 controls to divide an opertaing device 2, described point of opertaing device 2 comprises: sub-controller 3 and touch-screen 4, described sub-controller 3 is connected between master control equipment 1 and touch-screen 4, master control equipment 1 is sent to all control signals that all signals received by sub-controller 3 and sub-controller 3 export, the input signal of described touch-screen 4 is sent to sub-controller 3, multi-axis controller 5, motor drive module 6 and performance element 7, the output terminal of described motor drive module 6 is connected with performance element 7, the input end of motor drive module 6 is connected with the output terminal of multi-axis controller 5, and the input end of multi-axis controller 5 and sub-controller 3 are electrically connected the control signal that receives from sub-controller 3 and control motor drive module 6 according to this control signal to drive performance element 7 to work, sensor assembly 8, detects performance element 7 position, and is electrically connected that detection signal is sent to sub-controller 3 with sub-controller 3.
In the present invention, described master control equipment 1 is computing machine, and described sub-controller 3 is programmable logic controller (PLC).Computing machine can monitor point opertaing device 2 in real time, and has and carry out the functions such as optimum configurations, failure logging, model selection and the motion of control emergent stopping to whole lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system.The anti-interference of described programmable logic controller (PLC) is better, improves the handling of whole system.
Wherein, described performance element 7 comprises mechanical arm, and described mechanical arm has three translational degree of freedom, and described motor drive module 6 comprises three groups of driven units, each group driven unit controls the one degree of freedom of described mechanical arm, and mechanical arm can be moved at transverse direction, longitudinal direction and vertical direction.Each group driven unit comprises a servo-driver 601 and a motor 602, and the output terminal of described servo-driver 601 is connected with motor 602, and the input end of servo-driver 601 is connected with multi-axis controller 5.
Described lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system comprises manual mode and automatic mode, described touch-screen 4 comprises manual mode interface and automatic mode interface, described manual mode interface comprises play the musical instrument button, automatic cycle of automatic cycle and to play chess button and automatic cycle painting and calligraphy button, described automatic mode comprises automatically plays the musical instrument, automatically plays chess and automatic painting and calligraphy, and automatically plays the musical instrument, automatically plays chess and painting and calligraphy automatic cycling operating successively automatically.
During use, people can select to run manual mode or automatic mode by touch-screen 4 or master control equipment 1.When selecting manual mode, touch-screen 4 or computer screen there will be play the musical instrument button, automatic cycle of automatic cycle to play chess button and automatic cycle painting and calligraphy button, press corresponding button, mechanical arm will order corresponding to Motor execution, when qin spectrum has played, after complete or painting and calligraphy complete under chess, described lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system automatically resets, and then the order that circulation execution mechanical arm has just performed.When selecting automatic mode, mechanical arm automatically can be played the musical instrument successively, be played chess and painting and calligraphy, after painting and calligraphy complete, described lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system automatically resets, then mechanical arm circulation is played the musical instrument successively, is played chess and painting and calligraphy, plays the musical instrument, to play chess and the order of painting and calligraphy can be revised according to needs in master control equipment 1.
In addition, described lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system is also provided with an emergency outage module, emergency outage module is provided with a scram button, when robot movement breaks down, people can press scram button and make mechanical arm stop motion, and simultaneously master control equipment 1 records time and number of times that mechanical arm breaks down and stores.
The present invention can by touch-screen 4 toward input control order in sub-controller 3, make sub-controller 3 output signal control performance element 7 and perform drawing of automatically playing chess, automatically play the musical instrument or automatically write, vivid for robotization knowledge is displayed, improves efficiency of teaching.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (6)
1. a lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system, comprise master control equipment (1) and some points of opertaing devices (2), described master control equipment and each point opertaing device be long-range to be connected and running status according to point opertaing device controls to divide an opertaing device, it is characterized in that, described point of opertaing device comprises:
Sub-controller (3) and touch-screen (4), described sub-controller is connected between master control equipment and touch-screen, be sent to master control equipment with all control signals that all signals received by sub-controller and sub-controller export, the input signal of described touch-screen is sent to sub-controller;
Multi-axis controller (5), motor drive module (6) and performance element (7), the output terminal of described motor drive module is connected with performance element, the input end of motor drive module is connected with the output terminal of multi-axis controller, and the input end of multi-axis controller and sub-controller are electrically connected with the control signal received from sub-controller and control motor drive module according to this control signal and drive performance element work;
Sensor assembly (8), detects performance element position, and is electrically connected that detection signal is sent to sub-controller with sub-controller;
Wherein, described performance element comprises mechanical arm, and described mechanical arm has three translational degree of freedom, and described motor drive module comprises three groups of driven units, and each group driven unit controls the one degree of freedom of described mechanical arm;
In above-mentioned, described lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system is also provided with an emergency outage module, and emergency outage module is provided with a scram button.
2. lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system as claimed in claim 1, it is characterized in that, described master control equipment is computing machine, and described sub-controller is programmable logic controller (PLC).
3. lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system as claimed in claim 1, it is characterized in that, each group driven unit described comprises a servo-driver (601) and a motor (602), the output terminal of described servo-driver is connected with motor, and the input end of servo-driver is connected with multi-axis controller.
4. lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system as claimed in claim 1, it is characterized in that, described lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system comprises manual mode and automatic mode, and described touch-screen comprises manual mode interface and automatic mode interface.
5. lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system as claimed in claim 4, is characterized in that, described manual mode interface comprises play the musical instrument button, automatic cycle of automatic cycle and to play chess button and automatic cycle painting and calligraphy button.
6. lute-playing, chess, calligraphy and painting mechanical arm teaching equipment system as claimed in claim 4, is characterized in that, described automatic mode comprises automatically plays the musical instrument, automatically plays chess and painting and calligraphy automatically, and automatically plays the musical instrument, automatically plays chess and painting and calligraphy automatic cycling operating successively automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210493571.4A CN103000055B (en) | 2012-11-28 | 2012-11-28 | Lyre-playing, chess, calligraphy and painting mechanical arm teaching device system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210493571.4A CN103000055B (en) | 2012-11-28 | 2012-11-28 | Lyre-playing, chess, calligraphy and painting mechanical arm teaching device system |
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| Publication Number | Publication Date |
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| CN103000055A CN103000055A (en) | 2013-03-27 |
| CN103000055B true CN103000055B (en) | 2014-12-31 |
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| CN201210493571.4A Expired - Fee Related CN103000055B (en) | 2012-11-28 | 2012-11-28 | Lyre-playing, chess, calligraphy and painting mechanical arm teaching device system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1226048A (en) * | 1998-01-29 | 1999-08-18 | 雅马哈株式会社 | Music lesson system with local training terminal and remote supervisory station |
| CN1683121A (en) * | 2004-04-12 | 2005-10-19 | 上海科技馆 | Robot capable of playing music instrument |
| CN101190383A (en) * | 2006-11-22 | 2008-06-04 | 上海电气集团股份有限公司 | Robot woman music studio |
| CN102085666A (en) * | 2010-12-29 | 2011-06-08 | 长春工业大学 | Humanoid manipulator |
| CN203055205U (en) * | 2012-11-28 | 2013-07-10 | 苏州工业园区职业技术学院 | Lyre-playing, chess, calligraphy and painting mechanical arm teaching device system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6388181B2 (en) * | 1999-12-06 | 2002-05-14 | Michael K. Moe | Computer graphic animation, live video interactive method for playing keyboard music |
| US6982375B2 (en) * | 2003-06-06 | 2006-01-03 | Mcgregor Rob | Musical teaching device and method |
-
2012
- 2012-11-28 CN CN201210493571.4A patent/CN103000055B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1226048A (en) * | 1998-01-29 | 1999-08-18 | 雅马哈株式会社 | Music lesson system with local training terminal and remote supervisory station |
| CN1683121A (en) * | 2004-04-12 | 2005-10-19 | 上海科技馆 | Robot capable of playing music instrument |
| CN101190383A (en) * | 2006-11-22 | 2008-06-04 | 上海电气集团股份有限公司 | Robot woman music studio |
| CN102085666A (en) * | 2010-12-29 | 2011-06-08 | 长春工业大学 | Humanoid manipulator |
| CN203055205U (en) * | 2012-11-28 | 2013-07-10 | 苏州工业园区职业技术学院 | Lyre-playing, chess, calligraphy and painting mechanical arm teaching device system |
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| CN103000055A (en) | 2013-03-27 |
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Effective date of registration: 20191218 Address after: Room 1,020, Nanxun Science and Technology Pioneering Park, No. 666 Chaoyang Road, Nanxun District, Huzhou City, Zhejiang Province, 313000 Patentee after: Huzhou You Yan Intellectual Property Service Co.,Ltd. Address before: 215123, Suzhou Industrial Park, Jiangsu, if waterway 1 Patentee before: Suzhou Industrial Park Institute of Vocational Technology |
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Effective date of registration: 20221208 Address after: 276000 room 205, building 3, science and technology residence, south of shuangyueyuan Road West Section, high tech Industrial Development Zone, Linyi City, Shandong Province Patentee after: Linyi high tech talent education development group Co.,Ltd. Address before: 313000 room 1020, science and Technology Pioneer Park, 666 Chaoyang Road, Nanxun Town, Nanxun District, Huzhou, Zhejiang. Patentee before: Huzhou You Yan Intellectual Property Service Co.,Ltd. |
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Granted publication date: 20141231 |