CN106340210A - Teaching robot system - Google Patents
Teaching robot system Download PDFInfo
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- CN106340210A CN106340210A CN201610945235.7A CN201610945235A CN106340210A CN 106340210 A CN106340210 A CN 106340210A CN 201610945235 A CN201610945235 A CN 201610945235A CN 106340210 A CN106340210 A CN 106340210A
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- mechanical arm
- control
- support
- horizontal movement
- arm
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B5/00—Electrically-operated educational appliances
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- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
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Abstract
The invention discloses a teaching robot system which comprises a support and suspension system, a horizontal movement system, a multiple joint arms system, a liquid chalk electronic injection system, a security system, an intelligent control system and an intelligent control terminal. The intelligent control terminal communicates with the intelligent control system through a wireless communication manner. The intelligent control system receives the instructions from the intelligent control terminal to control and operate the system, including the movement of the system and the sub-systems, the painting of liquid chalk and the adjusting and calibrating of the system. As a special application in education field using an intelligent robot system, the teach robot system can automatically draw pictures and write on a blackboard under control instructions in class teaching activities.
Description
Technical field
The present invention is a kind of teaching robot's system, belongs to the application in education sector for the roboticses, is particularly suited for
Blackboard writing on the blackboard in various Activities for Teachings.
Background technology
Education, as fundamental to the building of the country, is the most important thing of national development, the development of national economy simultaneously, to educational undertaking
Demand for development also increasingly improves；On the other hand, the development of science and technology, the especially development of robot industry, have risen to country
Strategy.At present, how by advanced science and technology and product such as roboticses in the continuous popularization and application of education sector, improve religion
Learn quality, be one of joint research problem of scientific worker and educator, have broad prospects and application space.
Currently, for daily classroom instruction, from kindergarten to university, blackboard is always the indispensable instrument of classroom instruction, plate
Book is also the basic skill of teacher, but writing on the blackboard quality is closely related with specific individual teacher object ability, one side writing on the blackboard
Excessively lose time, affect efficiency；On the other hand general teacher can not again on blackboard by the complex contents specification such as figure, form
Performance, leads to quality of instruction discount.Although the means such as present multimedia teaching import alleviates Similar Problems, blackboard writing on the blackboard is made
For one of best instrument of classroom instruction interactivity it is impossible to be replaced completely by instruments such as the multimedia coursewares making in advance, problem
Yet suffer from, to be resolved.
The present invention differs for the writing on the blackboard quality of black board teaching during current classroom instruction, and standardization is not enough, and class
The hall not high problem of teaching efficiency, proposes and devises a kind of teaching robot's system, this system adopt advanced control technology,
Information technology, sensing technology and processing and manufacturing technology, complete a kind of teaching robot that can substitute manpower craft writing on the blackboard, real
Show rapid, automatization and the standardization of blackboard writing on the blackboard, ensure that the quality of blackboard writing on the blackboard during classroom instruction
And efficiency, and then improve classroom teaching effect.Retrieve through extensive, have no research and the application of similar system, thus there is wound
New property.
Content of the invention
It is an object of the invention to provide a kind of teaching robot's system, it is capable of blackboard writing on the blackboard during classroom instruction
Automatic, quick, specification carry out it is adaptable to the figure of black board teaching and form are drawn and the writing of text.
To achieve these goals, the technical solution used in the present invention is: includes supporting and suspension system, horizontal movement system
System, multi-joint mechanical arm system, liquid chalk electric injection system, security system, intelligence control system and control of intelligent terminal；Intelligence
Control terminal is communicated with intelligence control system by way of radio communication, and intelligence control system accepts the finger of control of intelligent terminal
Control and the operation of system are realized in order, include the motion of system and subsystem, liquid chalk sprays and the debugging of system and school
Accurate；It is fixed on all weighing loads in addition to control of intelligent terminal in the support of load-bearing facade and suspension system bearing system；Water
Flat motor system controls three groups of guide wheels edge supports and the guide rail of suspension system to move horizontally；The chassis of multi-joint mechanical arm and water
Flat motor system rigidly link and can certain angle scope rotation, the rotatable chassis of multi-joint mechanical arm and support arm, the
One mechanical arm, second mechanical arm, three-mechanical arm can individually or aggregate motion；Liquid chalk electric injection system is installed on many
The end of articulated mechanical arm is simultaneously realized the visualization of blackboard writing on the blackboard and is presented；Security system and horizontal movement system, multi-joint machinery
Arm system, intelligence control system have electric signal link, by the logic control of intelligence control system.
Further, described support and suspension system include guide rail 1 and fixing bolt 2, and fixing bolt 2 passes through guide rail 1
On installing hole guide rail 1 is fixed on load-bearing facade, guide rail 1 has embedded upper block group 3, intermediate trailing wheel group 4 and lower tumbler
The guide groove of group 5, the two ends of guide rail 1 have prevents the machinery colliding from stopping stop device.
Further, described horizontal movement system includes upper block group 3, intermediate trailing wheel group 4, lower tumbler group 5, load-bearing are propped up
Frame 6, intelligent control box 7 and horizontal movement module 8, guide upper part shell 16, support and guide wheel chaining part 22；Upper block group 3,
Intermediate trailing wheel group 4, lower tumbler group 5 can embed the corresponding guide groove of guide rail 1；Intermediate trailing wheel group 4 is longitudinally arranged, upper block group 3
With lower tumbler group 5 lateral arrangement；Three groups of guide wheels are passed through support and are linked with support bracket 6 rigidity with guide wheel chaining part 22, and load-bearing is propped up
Intelligent control box 7, horizontal movement module 8 and the guide upper part shell 16 covering all parts, load-bearing are fixed in frame 6 top
The rotatable chassis 9 supporting multi-joint mechanical arm system are installed in support 6 bottom；Intelligence control system is installed in intelligent control box 7
Hardware and software；Horizontal movement module 8 is made up of motor, motor control module and change speed gear box.
Further, described multi-joint mechanical arm system includes rotatable chassis 9, support arm 18, the first mechanical arm
Spin Control motor 10, pitch angle control motor 11, the first mechanical arm 12, the second mechanical arm Spin Control motor 13, second
Mechanical arm 14, the 3rd mechanical arm Spin Control motor 15, the 3rd mechanical arm 19；Rotatable chassis 9 are installed on load-bearing and prop up
The bottom of frame 6, the miscellaneous part of whole multi-joint mechanical arm system is all installed on rotatable chassis 9, rotatable chassis 9 energy
Enough it is rotated up to 180 degree in plane of movement；Support arm 18 lower end is installed on rotatable chassis 9, and upper end is mechanical with first
Arm 12 links, and pitch angle control motor 11 can drive support arm 18 in vertical movement in-plane certain angle scope introversion
Tiltedly；First mechanical arm 12 rear end and support arm 18 link, and front end is linked with the second mechanical arm 14, the first mechanical arm rotation
Controlled motor 10 drives and rotates in the range of the first mechanical arm certain angle in plane of movement；Second mechanical arm 14 rear end with
First mechanical arm 12 links, and front end is linked with the 3rd mechanical arm 19, and the second mechanical arm electric rotating machine 13 drives the second machine
Rotate in the range of tool arm 14 certain angle in plane of movement；3rd mechanical arm 19 rear end and the second mechanical arm 14 chain
Connect, liquid chalk electric injection system is installed in front end, the 3rd mechanical arm Spin Control motor 15 drives the 3rd mechanical arm 19 in fortune
Rotate in the range of certain angle in dynamic plane.
Further, described liquid chalk electric injection system includes liquid chalk EFI module 20 and shower nozzle 21, the two peace
It is loaded on the end of the 3rd mechanical arm 19.
Further, described security system includes single brake system and power cut-out switch, power cut-out switch
There is electric signal and link with horizontal movement system, multi-joint mechanical arm system, intelligence control system, brake system and power supply are cut
Disconnect the logic control closed by intelligence control system.
Further, described intelligence control system is installed on inside intelligent control box 7, by way of radio communication with
Control of intelligent terminal communicates, and accepts the various operational orders of control of intelligent terminal, after the logical calculated with software for the hardware, directly
Connect control horizontal movement system, multi-joint mechanical arm system, the operation of liquid chalk electric injection system, and when there is emergency
Start security system.
Further, described control of intelligent terminal is communicated with intelligence control system by communication；Intelligence is controlled
Terminal processed has man machine interface, can accept the instruction of user；Control of intelligent terminal can receive the feedback of intelligence control system
Information.
Compared with prior art, the invention has the advantage that
1st, the present invention proposes a kind of teaching robot that can substitute manpower craft writing on the blackboard, is realized black by intelligentized robot
Automatic Drawing during plate writing on the blackboard and writing function, are the applications in education sector for the roboticses.
2nd, the present invention is capable of the automatization of blackboard writing on the blackboard.Operator passes through control of intelligent terminal input instruction, system
Blackboard writing on the blackboard can be automatically obtained according to instruction, including figure, form and text.Whole process without manual intervention, complete from
Move and complete.
3rd, the present invention is capable of the rapid of blackboard writing on the blackboard.Traditional writing on the blackboard is completed by teacher, when writing on the blackboard content is crossed at most
Holding time is longer, and writing on the blackboard content is crossed and can not be described the problem at least.The present invention realizes blackboard writing on the blackboard by robot it is especially desirable to big
When template book or complex figure are with form, speed advantage is obvious.
4th, the present invention is capable of the standardization of blackboard writing on the blackboard.Traditional teacher's writing on the blackboard, ripe due to profile and skill
Practice degree different, lead to writing on the blackboard standardization and individual teacher to be closely related, be unfavorable for the understanding of student.The present invention is capable of uniting
The writing on the blackboard of one specification, unrelated with any individual teacher.
To sum up, the present invention is capable of the writing on the blackboard quality of black board teaching and standardization during classroom instruction, and improves class
Hall teaching efficiency, fully uses intelligent, informationalized means it is achieved that the rapid, automatization of blackboard writing on the blackboard and standardization,
And then raising classroom teaching effect.
Brief description
Fig. 1 is the detection system figure of the present invention.
Fig. 2 is the system structure front view of the present invention.
In figure: 1, guide rail；2nd, fixing bolt；3rd, upper block group；4th, intermediate trailing wheel group；5th, lower tumbler group；6th, load-bearing is propped up
Frame；7th, intelligent control box；8th, horizontal movement module；9th, rotatable chassis；10th, the first mechanical arm Spin Control motor；11st, incline
Angle controlled motor；12nd, the first mechanical arm；13rd, the second mechanical arm Spin Control motor；14th, the second mechanical arm；15th,
Three mechanical arm Spin Control motors；16th, guide upper part shell；17th, blackboard.
Fig. 3 is the system structure left view of the present invention
In figure: 1, guide rail；2nd, fixing bolt；3rd, upper block；4th, intermediate trailing wheel；5th, lower tumbler；6th, support bracket；7th, Based Intelligent Control
Case；8th, horizontal movement module；9th, rotatable chassis；10th, the first mechanical arm Spin Control motor；11st, pitch angle control motor；
12nd, the first mechanical arm；13rd, the second mechanical arm Spin Control motor；14th, the second mechanical arm；15th, the 3rd mechanical arm rotation
Turn controlled motor；16th, guide upper part shell；17th, blackboard；18th, support arm；19th, the 3rd mechanical arm；20th, liquid chalk electricity
Jet mould block；21st, shower nozzle；22nd, support and guide wheel chaining part；23rd, blackboard support.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing, concrete to the present invention
Embodiment is described in detail.Specific embodiment described herein, in order to explain the present invention however it is not limited to the present invention.
As shown in figure 1, whole system includes supporting and suspension system, horizontal movement system, multi-joint mechanical arm system, liquid
Body chalk electric injection system, security system, intelligence control system and control of intelligent terminal.Control of intelligent terminal passes through radio communication
Mode is communicated with intelligence control system.
As shown in Figures 2 and 3, guide rail 1 is fixed on by multiple fixing bolts 2 and holds by described support and suspension system
Top that is upper and being located at blackboard 17 and blackboard support 23 inside weight, guide rail 1 have embedded upper block group 3, intermediate trailing wheel group 4 and under
The guide groove of guide wheel group 5, the two ends of guide rail 1 have prevents the machinery colliding from stopping stop device.
Further, horizontal movement system includes upper block group 3, intermediate trailing wheel group 4, lower tumbler group 5 can embed guide rail 1
Corresponding guide groove；Intermediate trailing wheel group 4 is longitudinally arranged, upper block group 3 and lower tumbler group 5 lateral arrangement；Three groups of guide wheels pass through to prop up
Frame is linked with support bracket 6 rigidity with guide wheel chaining part 22, and intelligent control box 7, horizontal movement module are fixed in support bracket 6 top
8 and the guide upper part shell 16 that covers all parts, support bracket 6 bottom is installed and is supported multi-joint mechanical arm system
Rotatable chassis 9；Hardware and the software of intelligence control system are installed in intelligent control box 7；Horizontal movement module 8 is mechanical, electrical by electricity
Machine control module and change speed gear box composition.
Further, the rotatable chassis 9 of multi-joint mechanical arm system are installed on the bottom of support bracket 6, entirely many passes
The miscellaneous part of section mechanical arm system is all installed on rotatable chassis 9, and rotatable chassis 9 can rotate in plane of movement
Maximum 180 degree；Support arm 18 lower end is installed on rotatable chassis 9, and upper end is linked with the first mechanical arm 12, pitch angle control
Motor 11 can drive support arm 18 in vertical movement in-plane 30 to 90 degree range tilt；First mechanical arm 12 rear end
Link with support arm 18, front end is linked with the second mechanical arm 14, the first mechanical arm Spin Control motor 10 drives the first machine
30 to the 120 degree rotation in plane of movement of tool arm；Second mechanical arm 14 rear end is linked with the first mechanical arm 12, front end with
3rd mechanical arm 19 links, the second mechanical arm electric rotating machine 13 drive the second mechanical arm 14 in plane of movement 30 to
120 degree of rotations；3rd mechanical arm 19 rear end is linked with the second mechanical arm 14, and liquid chalk electric injection system is installed in front end, the
Three mechanical arm Spin Control motor 15 drives 30 to the 120 degree rotation in plane of movement of the 3rd mechanical arm 19.
Further, liquid chalk electric injection system includes liquid chalk EFI module 20 and shower nozzle 21, and the two is installed on the
The end of three mechanical arms 19.
Further, security system includes single brake system and power cut-out switch, power cut-out switch and level
Motor system, multi-joint mechanical arm system, intelligence control system have electric signal link, brake system and power cut-out switch
Logic control by intelligence control system.
Further, intelligence control system is installed on inside intelligent control box 7, is controlled with intelligence by way of radio communication
Terminal communication processed, accepts the various operational orders of control of intelligent terminal, after the logical calculated with software for the hardware, directly controls
Horizontal movement system, multi-joint mechanical arm system, the operation of liquid chalk electric injection system, and start peace when there is emergency
Total system.
Further, control of intelligent terminal is communicated with intelligence control system by communication；Control of intelligent terminal
There is man machine interface, the instruction of user can be accepted；Control of intelligent terminal can receive the feedback information of intelligence control system.
The work process of the present invention is as follows:
When whole system by support with suspension system based on according to design requirement normal mounting and debugging, calibration after, user
By control of intelligent terminal control instruction, after intelligence control system is instructed by wireless communication receiver, control horizontal movement system,
Multi-joint mechanical arm system, liquid chalk electric injection system and security system, finally realize motion, the liquid powder of system and subsystem
The debugging of pen spraying and system and calibration；When there being emergency to occur, security system comes into operation, and termination system is all of
Motion.
Further, horizontal movement system can accept control the finger according to control of intelligent terminal of intelligence control system
Order does traverse motion on the guide rail 1 supporting with suspension system；After the calibration of effective blackboard work area, horizontal movement system
System is worked in coordination with multi-joint mechanical arm system, under the calculating and control of intelligence control system, realizes entirely effectively blackboard work
Make the covering of area.
Further, multi-joint mechanical arm system can accept the control of intelligence control system and according to control of intelligent terminal
Instruction, realize rotatable chassis 9, support arm 18, the first mechanical arm 12, the second mechanical arm 14 and the 3rd mechanical arm 19
Individually and aggregate motion, the basic actss realizing blackboard writing on the blackboard control, and with the cooperation of horizontal movement system, realize entirely effective
The covering of blackboard work area.
Further, liquid chalk electric injection system, horizontal movement system and multi-joint mechanical arm system support with join
Under conjunction, realize graphically presenting of final blackboard writing on the blackboard.Liquid chalk electric injection system is installed on the end of the 3rd mechanical arm 19
End, its liquid chalk EFI module 20 can accept the control of intelligence control system, and shower nozzle 21 can be carried out according to being actually needed
Adjust.
Further, when the security events generation being led to due to system fault itself in system motion coverage, or
Someone in the range of person's system motion is thus lead to system with people it may happen that when colliding, can start peace by control of intelligent terminal
Total system, or the emergency stop switch by being physically separately provided or power cut-out switch startup security system function, thus
Safety hazards are avoided to occur.
Further, control of intelligent terminal is communicated with intelligence control system by communication；Control of intelligent terminal
There is man machine interface, the instruction of user can be accepted；Control of intelligent terminal can receive the feedback information of intelligence control system.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of the spirit or essential attributes of the present invention, the present invention can be realized in other specific forms.Therefore, no matter
From any angle, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended right
Require rather than described above limits, it is intended that by all changes in the implication and scope of the equivalency of claim that fall
Change and include in the present invention.Any reference in claim should not be considered as limiting involved claim.
The above, only presently preferred embodiments of the present invention, not in order to limit the present invention, every skill according to the present invention
Any trickle amendment, equivalent and improvement that art is substantially made to above example, should be included in technical solution of the present invention
Protection domain within.
Claims (8)
1. a kind of teaching robot's system, including support and suspension system, horizontal movement system, multi-joint mechanical arm system, liquid
Body chalk electric injection system, security system, intelligence control system and control of intelligent terminal it is characterised in that: control of intelligent terminal lead to
The mode crossing radio communication is communicated with intelligence control system, and intelligence control system accepts the instruction execution systems of control of intelligent terminal
Control and operation, including the motion of system and subsystem, liquid chalk spraying and the debugging of system and calibration；It is fixed on and hold
All weighing loads in addition to control of intelligent terminal in the support of weight facade and suspension system bearing system；Horizontal movement system control
The guide rail making three groups of guide wheels along support and suspension system moves horizontally；The chassis of multi-joint mechanical arm is firm with horizontal movement system
Property link and can certain angle scope rotation, the rotatable chassis of multi-joint mechanical arm and support arm, first mechanical arm, second
Mechanical arm, three-mechanical arm can individually or aggregate motion；Liquid chalk electric injection system is installed on multi-joint mechanical arm
End is simultaneously realized the visualization of blackboard writing on the blackboard and is presented；Security system is controlled with horizontal movement system, multi-joint mechanical arm system, intelligence
System processed has electric signal link, by the logic control of intelligence control system.
2. a kind of teaching robot's system according to claim 1 it is characterised in that: described support and suspension system,
Including guide rail (1) and fixing bolt (2), guide rail (1) is fixed on load-bearing by the installing hole that fixing bolt (2) passes through on guide rail (1)
On facade, guide rail (1) has the guide groove of embedded upper block group (3), intermediate trailing wheel group (4) and lower tumbler group (5), guide rail (1)
Two ends have prevents the machinery colliding from stopping stop device.
3. a kind of teaching robot's system according to claim 1 it is characterised in that: described horizontal movement system, bag
Include upper block group (3), intermediate trailing wheel group (4), lower tumbler group (5), support bracket (6), intelligent control box (7) and horizontal movement mould
Block (8), guide upper part shell (16), support and guide wheel chaining part (22)；Upper block group (3), intermediate trailing wheel group (4), under lead
Wheel group (5) can embed the corresponding guide groove of guide rail (1)；Intermediate trailing wheel group (4) is longitudinally arranged, upper block group (3) and lower tumbler
Group (5) lateral arrangement；Three groups of guide wheels are passed through support and are rigidly linked with support bracket (6) with guide wheel chaining part (22), support bracket
(6) the fixing intelligent control box (7) in top, horizontal movement module (8) and the guide upper part shell that all parts are covered
(16), the rotatable chassis (9) supporting multi-joint mechanical arm system are installed in support bracket (6) bottom；Peace in intelligent control box (7)
The hardware of dress intelligence control system and software；Horizontal movement module (8) is made up of motor, motor control module and change speed gear box.
4. a kind of teaching robot's system according to claim 1 it is characterised in that: described multi-joint mechanical arm system
System, including rotatable chassis (9), support arm (18), the first mechanical arm Spin Control motor (10), pitch angle control motor
(11), the first mechanical arm (12), the second mechanical arm Spin Control motor (13), the second mechanical arm (14), the 3rd machinery
Arm Spin Control motor (15), the 3rd mechanical arm (19)；Rotatable chassis (9) are installed on the bottom of support bracket (6), whole
The miscellaneous part of individual multi-joint mechanical arm system is all installed on rotatable chassis (9), and rotatable chassis (9) can be in motion
It is rotated up to 180 degree in plane；Support arm (18) lower end is installed on rotatable chassis (9), upper end and the first mechanical arm
(12) link, pitch angle control motor (11) can drive support arm (18) in vertical movement in-plane certain angle scope introversion
Tiltedly；First mechanical arm (12) rear end is linked with support arm (18), and front end is linked with the second mechanical arm (14), the first mechanical hand
Arm Spin Control motor (10) drives and rotates in the range of the first mechanical arm certain angle in plane of movement；Second mechanical arm
(14) rear end and the first mechanical arm (12) link, and front end is linked with the 3rd mechanical arm (19), the second mechanical arm electric rotating
Machine (13) drives and rotates in the range of the second mechanical arm (14) certain angle in plane of movement；3rd mechanical arm (19) rear end
Link with the second mechanical arm (14), liquid chalk electric injection system, the 3rd mechanical arm Spin Control motor (15) are installed in front end
Drive rotation in the range of the 3rd mechanical arm (19) certain angle in plane of movement.
5. a kind of teaching robot's system according to claim 1 it is characterised in that: described liquid chalk EFI system
System, including liquid chalk EFI module (20) and shower nozzle (21), the two is installed on the end of the 3rd mechanical arm (19).
6. a kind of teaching robot's system according to claim 1 it is characterised in that: described security system, including single
Only brake system and power cut-out switch, power cut-out switch is controlled with horizontal movement system, multi-joint mechanical arm system, intelligence
System processed has electric signal link, and brake system and power cut-out switch are subject to the logic control of intelligence control system.
7. a kind of teaching robot's system according to claim 1 it is characterised in that: described intelligence control system, peace
It is loaded on intelligent control box (7) internal, communicated with control of intelligent terminal by way of radio communication, accept control of intelligent terminal
Various operational orders, after the logical calculated with software for the hardware, directly control horizontal movement system, multi-joint mechanical arm system
System, the operation of liquid chalk electric injection system, and start security system when there is emergency.
8. a kind of teaching robot's system according to claim 1 it is characterised in that: described control of intelligent terminal, lead to
Cross communication to communicate with intelligence control system；Control of intelligent terminal has man machine interface, can accept the instruction of user；
Control of intelligent terminal can receive the feedback information of intelligence control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610945235.7A CN106340210A (en) | 2016-10-26 | 2016-10-26 | Teaching robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610945235.7A CN106340210A (en) | 2016-10-26 | 2016-10-26 | Teaching robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106340210A true CN106340210A (en) | 2017-01-18 |
Family
ID=57840650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610945235.7A Pending CN106340210A (en) | 2016-10-26 | 2016-10-26 | Teaching robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106340210A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877492A (en) * | 2018-09-06 | 2020-03-13 | 邯郸学院 | Device for drawing mathematical graph |
| CN112373225A (en) * | 2020-11-04 | 2021-02-19 | 贵州电网有限责任公司 | Real-time display device of power dispatching operation information |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2654293Y (en) * | 2003-11-10 | 2004-11-10 | 重庆大学 | Writing robot |
| CN201965771U (en) * | 2011-01-10 | 2011-09-07 | 承德医学院 | Cross beam type intelligent blackboard-writing machine |
| CN203773830U (en) * | 2014-04-21 | 2014-08-13 | 西安高新第三中学 | Convex lens imaging experiment device |
| CN204398651U (en) * | 2014-12-05 | 2015-06-17 | 刘扬 | A kind of blackboard educational devices |
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2016
- 2016-10-26 CN CN201610945235.7A patent/CN106340210A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2654293Y (en) * | 2003-11-10 | 2004-11-10 | 重庆大学 | Writing robot |
| CN201965771U (en) * | 2011-01-10 | 2011-09-07 | 承德医学院 | Cross beam type intelligent blackboard-writing machine |
| CN203773830U (en) * | 2014-04-21 | 2014-08-13 | 西安高新第三中学 | Convex lens imaging experiment device |
| CN204398651U (en) * | 2014-12-05 | 2015-06-17 | 刘扬 | A kind of blackboard educational devices |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877492A (en) * | 2018-09-06 | 2020-03-13 | 邯郸学院 | Device for drawing mathematical graph |
| CN112373225A (en) * | 2020-11-04 | 2021-02-19 | 贵州电网有限责任公司 | Real-time display device of power dispatching operation information |
| CN112373225B (en) * | 2020-11-04 | 2022-04-08 | 贵州电网有限责任公司 | Real-time display device of power dispatching operation information |
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Application publication date: 20170118 |