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 PDF

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CN103000055B
CN103000055B CN 201210493571 CN201210493571A CN103000055B CN 103000055 B CN103000055 B CN 103000055B CN 201210493571 CN201210493571 CN 201210493571 CN 201210493571 A CN201210493571 A CN 201210493571A CN 103000055 B CN103000055 B CN 103000055B
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sub
controller
control device
automatic
painting
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CN 201210493571
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CN103000055A (en )
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邓玲黎
丁慎平
汤朝迎
刘骏
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苏州工业园区职业技术学院
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Abstract

本发明公开一种琴棋书画机械手教学设备系统,包括主控制设备和若干分控制设备,主控制设备与每一个分控制设备远程连接且依据分控制设备的运行状态控制分控制设备,分控制设备包括分控制器、触摸屏、多轴控制器、电机驱动模块、执行单元和传感器模块。 The present invention discloses a robot teaching poetry and painting equipment system comprising a plurality of sub-master control device and a control device, the master control device and a remote control device of each sub-sub connector and control device based on the operating state of the control sub-control device, the control device points including sub-controller, a touch screen, multi-axis controller, a motor drive module, sensor module and an execution unit. 传感器模块与分控制器电性连接,分控制器连接在主控制设备与触摸屏之间,以将分控制器接收的所有信号和输出的所有控制信号传送至主控制设备,触摸屏的输入信号传送至分控制器。 The sensor module is electrically connected to the sub-controller, the sub-controller is connected between the main control device with the touch screen, in all the sub-controller receives a control signal and outputs all signals transmitted to the main control device, the input signal is transmitted to the touchscreen sub-controller. 分控制器、多轴控制器、电机驱动模块和执行单元依次连接,多轴控制器接收来自分控制器的控制信号并依据该控制信号控制电机驱动模块驱动执行单元工作。 Sub-controller, multi-axis controller, the motor driving module and an execution unit sequentially connected, multi-axis controller receives a control signal from the controller and divided according to the motor drive control signal drive module execution unit operates. 本发明能将自动化知识生动形象的展示出来,提高教学效率。 Knowledge of the invention can automate vivid display out, improve teaching efficiency.

Description

一种琴祺书画机械手教学设备系统 A division of Qi painting robot teaching equipment system

技术领域 FIELD

[0001] 本发明涉及机械手产品设计领域,特别是涉及一种琴棋书画机械手教学设备系统。 [0001] The present invention relates to a robot design, and more particularly, to a robot teaching apparatus poetry and painting systems.

背景技术 Background technique

[0002] 机械手是一种模拟人手操作的自动机械,它可按固定程序抓取、搬运物件或操持工具完成某些特定操作,代替人从事单调、重复或繁重的体力劳动,实现生产的机械化和自动化,还能代替人在有害环境下工作,因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。 [0002] A robot is a robot simulation manually operated, it may be a fixed procedure holding, handling objects or tools to complete certain manage the operation, instead of the people engaged in monotone, repetitive or heavy physical labor, and production mechanization automation, but also to replace people working in hazardous environment, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy sectors. 在自动化教学中,机械手是必不可少的教学内容之一。 In the teaching of automation, robot is one of the essential teaching content. 现在的教学设备一般只简单展示机械手的运动,简单枯燥,难以激起学生的学习兴趣,不利于提高教学效率。 Now teaching equipment in general simply to show the movement of the robot, simply boring, difficult to arouse students' interest in learning, is not conducive to improving teaching effectiveness.

发明内容 SUMMARY

[0003] 本发明主要解决的技术问题是提供一种琴棋书画机械手教学设备系统,具有自动下象棋、自动弹琴、自动写字画画等功能演示,将自动化知识生动形象的展示出来,提高教学效率。 [0003] The present invention solves the technical problem is to provide a robot teaching poetry and painting equipment system with automatic chess, playing automatic, automatic draw and write functions demo, the vivid display out automation knowledge, improve teaching efficiency .

[0004]为解决上述技术问题,本发明采用的技术方案是:提供一种琴棋书画机械手教学设备系统,包括主控制设备和若干分控制设备,所述主控制设备与每一个分控制设备远程连接且依据分控制设备的运行状态控制分控制设备,所述分控制设备包括:分控制器和触摸屏,所述分控制器连接在主控制设备与触摸屏之间,以将分控制器接收的所有信号和分控制器输出的所有控制信号传送至主控制设备,所述触摸屏的输入信号传送至分控制器;多轴控制器、电机驱动模块和执行单元,所述电机驱动模块的输出端与执行单元连接,电机驱动模块的输入端与多轴控制器的输出端连接,多轴控制器的输入端与分控制器电性连接以接收来自分控制器的控制信号并依据该控制信号控制电机驱动模块驱动执行单元工作;传感器模块,检测执行单元位置,并与分控制器电性 [0004] To solve the above technical problem, the technical solution adopted by the invention is: to provide a robot teaching apparatus poetry and painting system comprising a plurality of sub-master control device and a control device, the master remote control device and each sub-control device and connection control apparatus according to sub-sub-control device controlling the operating state, the sub-control apparatus comprising: a touch screen and a sub-controller, the sub-controller connected between the main control device with the touch screen, to the points controller receives all All signals and control signals output from the sub-controller to the main control device, the touch input signal is transmitted to the sub-screen controller; output terminal axis controller, the motor driving module and an execution unit, the motor and drive module executed means connected to an input terminal of motor driving module and the axis controller is connected to the output terminal, the input terminal of the controller and the sub-axis controller electrically connected to receive control signals from the controller and the sub-control signal based on the motor drive execution unit operates the drive module; a sensor module, a position detection execution unit, and the sub-controller is electrically 接以将检测信号传送至分控制器。 Connected to the detection signal to the sub controller.

[0005] 在本发明一个较佳实施例中,所述主控制设备为计算机,所述分控制器为可编程逻辑控制器。 [0005] In a preferred embodiment of the present invention, the main control device is a computer, the sub-controller is a programmable logic controller.

[0006] 在本发明一个较佳实施例中,所述执行单元包括机械手,所述机械手有三个平动自由度。 [0006] In a preferred embodiment of the present invention, the execution unit comprises a robot, a robot with three translational degrees of freedom.

[0007] 在本发明一个较佳实施例中,所述电机驱动模块包括三组驱动组件,每一组驱动组件控制所述机械手的一个自由度。 [0007] In a preferred embodiment of the present invention, the motor drive module includes three sets of drive assembly, the control of the degree of freedom of a robot drive assembly for each group.

[0008] 在本发明一个较佳实施例中,所述每一组驱动组件包括一个伺服驱动器和一个电动机,所述伺服驱动器的输出端与电动机连接,伺服驱动器的输入端与多轴控制器连接。 [0008] In a preferred embodiment of the present invention, each group of drive assembly comprising a drive and a servo motor, said servo drive motor is connected to the output terminal, the input of the servo drive is connected to the axis controller .

[0009] 在本发明一个较佳实施例中,所述琴棋书画机械手教学设备系统包括手动模式和自动模式,所述触摸屏包括手动模式界面和自动模式界面。 [0009] In a preferred embodiment of the present invention, the robot teaching apparatus poetry and painting system comprises a manual mode and automatic mode, the touch screen interface comprising a manual mode and an automatic mode interface.

[0010] 在本发明一个较佳实施例中,所述手动模式界面包括自动循环弹琴按钮、自动循环下棋按钮和自动循环书画按钮。 [0010] In a preferred embodiment of the present invention, the manual playing mode interface includes an automatic cycle button, the button board games and automatic cycle painting automatic cycle button.

[0011] 在本发明一个较佳实施例中,所述自动模式包括自动弹琴、自动下棋和自动书画,且自动弹琴、自动下棋和自动书画依次自动循环运行。 [0011] In a preferred embodiment of the present invention, the automatic comprises an automatic playing mode, and the automatic painting automatic board games, and the automatic playing, and the automatic painting automatic chess sequentially automatic cycle operation.

[0012] 本发明的有益效果是:能够通过触摸屏往分控制器中输入控制指令,使分控制器输出信号控制执行单元执行自动下象棋、自动弹琴或自动写字画画,将自动化知识生动形象的展示出来,提高教学效率。 [0012] Advantageous effects of the present invention are: to input control commands via a touch screen controller points to the sub-controller output signal control execution unit performs automatic chess, automatic playing or automatic draw and write, to automate knowledge vivid displayed, improve teaching efficiency.

附图说明 BRIEF DESCRIPTION

[0013]图1是本发明琴棋书画机械手教学设备系统一较佳实施例的结构框图; [0013] FIG. 1 is a block diagram of a preferred embodiment of the poetry and painting robot teaching apparatus system of the present invention;

[0014]图2是本发明琴棋书画机械手教学设备系统的工作流程图。 [0014] FIG 2 is a flowchart of poetry and painting robot teaching apparatus system of the invention.

[0015] 附图中各部件的标记如下:1、主控制设备;2、分控制设备;3、分控制器;4、触摸屏;5、多轴控制器;6、电机驱动模块;601、伺服驱动器;602、电动机;7、执行单元;8、传感器模块。 [0015] reference numerals in the various components are as follows: 1, the master control device; 2, points control equipment; 3, control points; 4, a touch screen; 5, multi-axis controller; 6, motor drive module; 601, servo drive; 602, a motor; 7, execution units; 8, the sensor module.

具体实施方式 Detailed ways

[0016] 下面结合附图对本发明的较佳实施例进行详细阐述,以使本发明的优点和特征能更易于被本领域技术人员理解,从而对本发明的保护范围做出更为清楚明确的界定。 Detail drawings of the preferred embodiment of the present invention [0016] below with reference to enable features and advantages of the present invention can be more readily understood by those skilled in the art, in order to make more clear and unambiguous definition of the scope of the present invention .

[0017] 请参阅图1和图2,本发明实施例包括: [0017] Please refer to FIGS. 1 and 2, embodiments of the present invention, examples include:

[0018] 一种琴棋书画机械手教学设备系统,包括主控制设备I和若干分控制设备2,所述主控制设备I与每一个分控制设备2远程连接且依据分控制设备2的运行状态控制分控制设备2,所述分控制设备2包括:分控制器3和触摸屏4,所述分控制器3连接在主控制设备I与触摸屏4之间,以将分控制器3接收的所有信号和分控制器3输出的所有控制信号传送至主控制设备1,所述触摸屏4的输入信号传送至分控制器3 ;多轴控制器5、电机驱动模块6和执行单元7,所述电机驱动模块6的输出端与执行单元7连接,电机驱动模块6的输入端与多轴控制器5的输出端连接,多轴控制器5的输入端与分控制器3电性连接以接收来自分控制器3的控制信号并依据该控制信号控制电机驱动模块6驱动执行单元7工作;传感器模块8,检测执行单元7位置,并与分控制器3电性连接以将检测信号传送至分控 [0018] A robot teaching apparatus poetry and painting system includes a main control device and a plurality of sub-control apparatus I 2, I is the master control device control apparatus 2 minutes each remote connection and control points based on the operating state of the control apparatus 2 the control device 2 minutes, the partial control apparatus 2 comprising: 3 points and the touchscreen controller 4, the controller 3 is connected between the sub-master control device and the touch screen I 4, all signals will be divided to the controller 3 receives and All sub controller 3 outputs a control signal is transmitted to the main control apparatus 1, the touch screen input signal 4 is transmitted to the controller 3 points; axis controller 5, a motor 6 and a drive module executing unit 7, the motor driving module an output terminal 6 connected to the execution unit 7, the motor driving output of the input module 6 is connected with the axis controller 5, an input terminal 3 and the sub-control multi-axis controller 5 is electrically connected to receive signals from the controller minutes 3 the control signal and control signal according to the motor drive module 6 drive unit 7 performs work; sensor module 8, a position detection execution unit 7, and is electrically connected to the sub controller 3 transmits a detection signal to the sub-control 器3。 3.

[0019] 在本发明中,所述主控制设备I为计算机,所述分控制器3为可编程逻辑控制器。 [0019] In the present invention, the main control apparatus I as a computer, the sub-controller is a programmable logic controller 3. 计算机能够实时监控分控制设备2,并具有对整个琴棋书画机械手教学设备系统进行参数设置、故障记录、模式选择和控制紧急停止运动等功能。 Real-time monitoring and control computer to the control device 2, and having the entire teaching robotic poetry and painting equipment system parameters, fault recording, mode selection and motion control functions such as emergency stop. 所述可编程逻辑控制器的抗干扰性较好,提高了整个系统的操控性能。 The programmable logic controller better interference immunity, improve the handling performance of the entire system.

[0020] 其中,所述执行单元7包括机械手,所述机械手有三个平动自由度,所述电机驱动模块6包括三组驱动组件,每一组驱动组件控制所述机械手的一个自由度,使机械手能在横向、纵向和竖直方向运动。 [0020] wherein the execution unit 7 comprises a robot, a robot with three translational degrees of freedom, the motor drive module 6 comprises three sets of drive assembly, the control of the degree of freedom of a robot drive assembly for each group, so that a robot capable of lateral, longitudinal and vertical direction. 每一组驱动组件包括一个伺服驱动器601和一个电动机602,所述伺服驱动器601的输出端与电动机602连接,伺服驱动器601的输入端与多轴控制器5连接。 Each group comprises a servo drive assembly 601 and a drive motor 602, the servo output of the driver 601 to the motor 602 is connected to an input terminal 601 and the servo drive axis controller 5 is connected.

[0021] 所述琴棋书画机械手教学设备系统包括手动模式和自动模式,所述触摸屏4包括手动模式界面和自动模式界面,所述手动模式界面包括自动循环弹琴按钮、自动循环下棋按钮和自动循环书画按钮,所述自动模式包括自动弹琴、自动下棋和自动书画,且自动弹琴、自动下棋和自动书画依次自动循环运行。 [0021] The robot teaching apparatus poetry and painting system comprises a manual mode and automatic mode, the touch screen interface 4 comprises a manual mode and an automatic mode interface, the manual playing mode interface includes an automatic cycle button, the button and the automatic chess automatic cycle painting cycle button, the automatic comprises an automatic playing mode, and the automatic painting automatic board games, and the automatic playing, and the automatic painting automatic chess sequentially automatic cycle operation.

[0022] 使用时,人们可以通过触摸屏4或主控制设备I选择运行手动模式或自动模式。 [0022] In use, one can choose to run I manual mode or automatic mode through the touch screen or the master control device 4. 当选择手动模式时,触摸屏4或计算机屏幕上会出现自动循环弹琴按钮、自动循环下棋按钮和自动循环书画按钮,按下对应的按钮,机械手就会运动执行对应的命令,当琴谱弹完、棋下完或书画完成后,所述琴棋书画机械手教学设备系统自动复位,然后再循环执行机械手刚刚执行的命令。 When the manual mode is selected, the touch screen will automatically cycle playing button, button board games and automatic cycle painting automatic cycle button, the corresponding button is pressed, the robot will perform the corresponding motion commands have finished when the upper sheet music or computer screen 4 , or painting the chess after completion, the poetry and painting robot teaching apparatus automatically reset, and then recycling the robot execute the command just executed. 当选择自动模式时,机械手会自动依次弹琴、下棋和书画,当书画完成后,所述琴棋书画机械手教学设备系统自动复位,然后机械手循环依次弹琴、下棋和书画,弹琴、下棋和书画的顺序可以依据需要在主控制设备I中修改。 When the automatic mode is selected, the robot will automatically turn piano, board games and painting, after the painting is completed, the robot teaching apparatus poetry and painting the system automatically resets, and then sequentially playing loop robot, painting and board games, playing, board games and painting sequence may be modified according to the needs of the master control device I.

[0023]另外,所述琴棋书画机械手教学设备系统还设有一个紧急停运模块,紧急停运模块上设有一个急停按钮,当机械手运动发生故障时,人们可以按下急停按钮使机械手停止运动,同时主控制设备I记录机械手发生故障的时间和次数并储存。 [0023] Further, the poetry and painting robot teaching apparatus further provided with an emergency shutdown system module, the emergency stop button is provided with a module outage, when the movement of the robot fails, one can press the emergency stop button to the robot stops moving, while the main control device I and the number of recording time of the robot and stored failure.

[0024] 本发明能够通过触摸屏4往分控制器3中输入控制指令,使分控制器3输出信号控制执行单元7执行自动下象棋、自动弹琴或自动写字画画,将自动化知识生动形象的展示出来,提高教学效率。 [0024] The present invention can be divided by a touch screen to the controller 4 a control command 3 input the sub controller 3 performs an output signal of the control unit 7 performs automatic chess, automatic playing or automatic draw and write the display vivid knowledge of automation out, improve teaching efficiency.

[0025] 以上所述仅为本发明的实施例,并非因此限制本发明的专利范围,凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其他相关的技术领域,均同理包括在本发明的专利保护范围内。 [0025] The embodiments described above are only embodiments of the present invention, not intended to limit the scope of the present invention, all utilize the present specification and drawings taken equivalent structures or equivalent process, or other direct or indirect application Related technical fields shall fall within the scope of protection of the present invention.

Claims (6)

  1. 1.一种琴棋书画机械手教学设备系统,包括主控制设备(I)和若干分控制设备(2),所述主控制设备与每一个分控制设备远程连接且依据分控制设备的运行状态控制分控制设备,其特征在于,所述分控制设备包括: 分控制器(3)和触摸屏(4),所述分控制器连接在主控制设备与触摸屏之间,以将分控制器接收的所有信号和分控制器输出的所有控制信号传送至主控制设备,所述触摸屏的输入信号传送至分控制器; 多轴控制器(5)、电机驱动模块(6)和执行单元(7),所述电机驱动模块的输出端与执行单元连接,电机驱动模块的输入端与多轴控制器的输出端连接,多轴控制器的输入端与分控制器电性连接以接收来自分控制器的控制信号并依据该控制信号控制电机驱动模块驱动执行单元工作; 传感器模块(8),检测执行单元位置,并与分控制器电性连接以将检测信号传送 1. A robot teaching apparatus poetry and painting system includes a main control device (I) and a plurality of sub-control device (2), said main control device and a remote control device of each sub-sub connector and control device based on the operating state of the control sub-control apparatus, wherein said sub-control apparatus comprising: a sub-controller (3) and a touch screen (4), said sub-controller connected between the main control device with the touch screen, to the points controller receives all All the control signals and transmitted to the sub-controller outputs a control master device, the touch input signal is transmitted to the sub-screen controller; multi-axis controller (5), the motor driving module (6) and an execution unit (7), the said output terminal of motor driving module connected to the execution unit, the motor drive output of the input module and the axis controller is connected to the input terminal and the sub-controller is electrically connected to the axis controller receives control from the sub-controller and the drive signal control signal according to the motor drive module execution unit of work; sensor module (8), the position detection execution unit, and electrically connected to the sub-controller to detect the signal transmission 分控制器; 其中,所述执行单元包括机械手,所述机械手有三个平动自由度,所述电机驱动模块包括三组驱动组件,每一组驱动组件控制所述机械手的一个自由度; 上述中,所述琴棋书画机械手教学设备系统还设有一个紧急停运模块,紧急停运模块上设有一个急停按钮。 Sub controller; wherein the execution unit comprises a robot, a robot with three translational degrees of freedom, the three motor driving module comprises a drive assembly, the drive assembly of each group of control one degree of freedom of the robot; above the poetry and painting robot teaching apparatus further provided with an emergency shutdown system module, the emergency stop button is provided with a module outage.
  2. 2.如权利要求1所述的琴棋书画机械手教学设备系统,其特征在于,所述主控制设备为计算机,所述分控制器为可编程逻辑控制器。 2. The robot teaching apparatus poetry and painting system according to claim 1, wherein said main control device is a computer, the sub-controller is a programmable logic controller.
  3. 3.如权利要求1所述的琴棋书画机械手教学设备系统,其特征在于,所述每一组驱动组件包括一个伺服驱动器(601)和一个电动机(602),所述伺服驱动器的输出端与电动机连接,伺服驱动器的输入端与多轴控制器连接。 3. The robot teaching apparatus poetry and painting system according to claim 1, wherein each of said drive assembly comprises a group of servo drive (601) and a motor (602), the servo drive output end a motor connected to the input of the servo drive is connected to the axis controller.
  4. 4.如权利要求1所述的琴棋书画机械手教学设备系统,其特征在于,所述琴棋书画机械手教学设备系统包括手动模式和自动模式,所述触摸屏包括手动模式界面和自动模式界面。 4. The robot teaching apparatus poetry and painting system according to claim 1, wherein said robot teaching apparatus poetry and painting system comprises a manual mode and automatic mode, the touch screen interface comprising a manual mode and an automatic mode interface.
  5. 5.如权利要求4所述的琴棋书画机械手教学设备系统,其特征在于,所述手动模式界面包括自动循环弹琴按钮、自动循环下棋按钮和自动循环书画按钮。 5. poetry and painting robot teaching device system according to claim 4, wherein said interface comprises a manual mode automatic cycle playing button, button board games and automatic cycle painting automatic cycle button.
  6. 6.如权利要求4所述的琴棋书画机械手教学设备系统,其特征在于,所述自动模式包括自动弹琴、自动下棋和自动书画,且自动弹琴、自动下棋和自动书画依次自动循环运行。 6. The robot teaching apparatus poetry and painting system according to claim 4, wherein said automatic mode includes automatic playing, board games and automatic painting automatic, and automatic playing, and the automatic painting automatic chess automatic cycle operation sequentially .
CN 201210493571 2012-11-28 2012-11-28 Lyre-playing, chess, calligraphy and painting mechanical arm teaching device system CN103000055B (en)

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US6388181B2 (en) * 1999-12-06 2002-05-14 Michael K. Moe Computer graphic animation, live video interactive method for playing keyboard music
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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;自贡市挚诚科技有限公司 Robot woman music studio
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