CN106898238A - A kind of Chinese chess arrangement robot training platform - Google Patents
A kind of Chinese chess arrangement robot training platform Download PDFInfo
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- CN106898238A CN106898238A CN201710228053.2A CN201710228053A CN106898238A CN 106898238 A CN106898238 A CN 106898238A CN 201710228053 A CN201710228053 A CN 201710228053A CN 106898238 A CN106898238 A CN 106898238A
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- light source
- control system
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- chinese chess
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
-
- 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
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
Abstract
A kind of Chinese chess arrangement robot training platform, it is related to practice teaching platform technology field；It includes control system, basic machine, peripheral hardware mechanism, and control system, peripheral hardware mechanism are connected with basic machine；Basic machine includes substrate, servomotor, drive rod, follower lever, rotary shaft, crawl center；Peripheral hardware mechanism includes switch board, camera, light source, control panel, touch-screen, Board of chess, translucent cover；Control system includes light source controller, PLC, PC, servo-driver, teaching machine, I/O plates, communication board, sensor and magnetic valve.It is stage property using Chinese chess by theory and practice high level overview, abstract and simplification, strengthens the interest of Students ' Learning, when most essential industrial characteristic is retained, remain to attract student, teach through lively activities, preferably serves teaching and real training.
Description
Technical field
The present invention relates to practice teaching platform technology field, and in particular to a kind of based on the curriculum development of DELTA robots
Chinese chess arrangement robot training platform.
Background technology
Adjustment with China's Economic Reform and the industrial structure is upgraded, particularly after China's accession to the WTO, enterprise
Competition between industry will largely show as the competition to skilled personnel, thus will greatly excite vast professorship of China
College students robot learning, master a skill, the enthusiasm in terms of ability culture.Traditional " standardization " course can not meet enterprise
The industry requirement professional to the talent.
The content of the invention
It is an object of the invention to provide one kind by theory and practice high level overview, abstract and simplification, using Chinese chess
It is stage property, strengthens the interest of Students ' Learning, when most essential industrial characteristic is retained, remain to attract student, teaches through lively activities, more
The Chinese chess arrangement robot training platform of teaching and real training is served well.
In order to solve the problems existing in background technology, the present invention is to use following technical scheme：A kind of Chinese chess arranging machine
Device people's training platform, it includes control system, basic machine, peripheral hardware mechanism, and control system, peripheral hardware mechanism connect with basic machine
Connect；
Wherein, described basic machine includes a substrate, and substrate outer edge extends outward out installation end, three peaces in third fraction
Dress end lower section is separately installed with servomotor；The lower end of each servomotor is respectively connected with drive rod, and drive rod lower end is hinged with
Follower lever；The servomotor lower end that the upper center of substrate is installed is vertically connected with rotary shaft, and the lower end of rotary shaft is provided with grabs
Center is taken, and the end of follower lever is connected with crawl center；
Described peripheral hardware mechanism includes switch board, camera, light source, and switch board upper level is provided with support, an inclination of support
Control panel tiltedly is provided with, touch-screen and manual operation button are provided with control panel, frame upper is provided with a Chinese chess
Disk, encloses outside Board of chess and is provided with a translucent cover；The substrate of basic machine is arranged on the upper end of translucent cover, and camera is arranged on substrate
Upper end, light source is arranged on the lower end of substrate；
Described control system includes light source controller, PLC, PC, servo-driver, teaching machine, I/O plates, communication board.Civil power leads to
Wave filter connects light source controller, PLC and several servo-drivers being in parallel respectively, several servo-drivers respectively with watch
Motor connection is taken, and servo-driver is connected with PLC；Light source controller is connected with light source；Camera, teaching machine respectively with communication
Plate is connected；I/O plates connect sensor and magnetic valve respectively；PLC is connected with PC, I/O plate, communication board, touch-screen respectively.
As a further improvement on the present invention；Described crawl center lower end is provided with sucker, and the crawl of chess piece is by sucker
Realize, vacuum cup and pneumatic docking facilities be housed on sucker, draw arbitrarily can be in in-position chess piece.
As a further improvement on the present invention；Described camera is arranged on basic machine top, is placed in parallel with rotary shaft,
And camera uses Xin Jie companies X-Sight industrial cameras.
As a further improvement on the present invention；Described teaching machine is communicated by communication board with PLC, used as the behaviour of robot
Make panel, be mainly used in interacting operation between operator and robot, realize the functions such as real-time monitoring, parameters revision, than
Such as data register, I/O, and warning message can also show in real time.
As a further improvement on the present invention；Described servo-driver is DS3E serial bus type servo-drivers.
As a further improvement on the present invention；Described control system is arranged in switch board, and the PLC of control system,
The electric control elements such as contactor, fuse, breaker, motor driver, power supply, terminal block and wiring are arranged on hanging plate, hanging plate
It is arranged in switch board, it is completely visual.
, it is necessary to mounting robot installation frame comes stationary machines robot mechanism, the knot of installation frame during use of the present invention
Structure and mounting means are then customized according to site technique demand.Basic machine drive end-effector, realize it is various motion and
Operate, its structure type is varied, depending on being needed according to task completely, its target pursued is high accuracy, high speed, height
Flexibility, big working space and modularization.
The limitation in place, using silent flatform, puts pieces of chess, by machine vision system on platform during in view of teaching
System shoots the photo of chess piece in pallet, feedback position, number, situations such as whether there is, and driven machine arm is realized to target
Accurate crawl, and placed according to default pieces of chess layout on touch-screen.
After adopting the above technical scheme, the invention has the advantages that：
Study content positions-orientated course, stresses the current techique in production practices, takes into account the scientific, advanced of technological know-how
Property, systematicness and integrality.On the basis of teaching point is implemented, the design of the study form that the initial stage passes through vivid and interesting is carried
Self-study benefit high, by real training person self initiation, self regulating and control, self responsible study.This is with enterprise to the new period talent
The skill direction of culture is consistent, but is more beneficial for cultivating a sense of study that learner establishes self-teaching, life-long education.
In the middle and later periods of study, can be recombinated by modularization, build real industry spot, student is no longer to carry out simply
Programming operation, but complete specific industrial operations.By the less change to this training platform, you can complete from teaching type
Robot improves education of science and technology content to the transition of industrial humanoid robot.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the dimensional structure diagram of embodiment provided by the present invention；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the left view of Fig. 2；
Fig. 4 is the control system theory diagram of embodiment provided by the present invention；
Fig. 5 is the chess piece crawl flow chart of embodiment provided by the present invention；
Reference：
1-switch board；2-section bar support；3-Board of chess；4-cloche；5-camera；6-substrate；7-drive rod；8—
Rotary shaft；9-follower lever；10-crawl center；11-touch-screen；12-control panel；13-light source；14-light source control
Device；15—PLC；16—PC；17-teaching machine；18-I/O plates；19-communication board；20-sensor；21-magnetic valve；M1—
Servomotor one；M2-servomotor two；M3-servomotor three；M4-servomotor four.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and specific implementation
Mode, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to explain this
Invention, is not intended to limit the present invention.
Fig. 1-Fig. 3 is referred to, this specific embodiment uses following technical scheme：A kind of Chinese chess arrangement robot real training is put down
Platform, it includes switch board 1, section bar support 2, Board of chess 3, cloche 4, camera 5, substrate 6, drive rod 7, rotary shaft 8, driven
Bar 9, crawl center 10, touch-screen 11 and control panel 12；
The upper level of switch board 1 is provided with section bar support 2, and the side of section bar support 2 is tiltedly installed with control panel 12, chain of command
Touch-screen 11 and manual operation button are provided with plate 12, the top of section bar support 2 is provided with a Board of chess 3, outside Board of chess 3
Enclose and be provided with a cloche 4 in portion；Substrate 6 is arranged on the upper end of cloche 4, and the outer rim of substrate 6 extends outward out peace in third fraction
Dress end, three installation end lower sections are separately installed with the M1 of servomotor one, the M2 of servomotor two, the M3 of servomotor three；Each servo
The lower end of motor is respectively connected with drive rod 7, and the lower end of drive rod 7 is hinged with follower lever 9；The servo that the upper center of substrate 6 is installed
The M4 lower ends of motor four are vertically connected with rotary shaft 8, and the lower end of rotary shaft 8 is provided with crawl center 10, and the end of follower lever 9 is equal
It is connected with crawl center 10；Camera 5 is arranged on the upper end of substrate 6, is placed in parallel with rotary shaft 8, and the lower end of substrate 6 is provided with light source
（Not shown in figure）；
Fig. 4 is referred to, control system is installed inside described switch board 1, control system includes light source controller 14, PLC
15th, PC 16, teaching machine 17, I/O plates 18, communication board 19, sensor 20, magnetic valve 21, civil power are connected respectively by wave filter FLT
Connect light source controller 14, PLC 15 and four servo-drivers being in parallel, four servo-drivers respectively with servomotor one
M1, the M2 of servomotor two, the M3 of servomotor three and the M4 of servomotor four are connected, and four servo-drivers connect with PLC 15
Connect；Light source controller 14 is connected with light source 13；PLC 15 is connected with PC 16, touch-screen 11, I/O plates 18, communication board 19 respectively,
And I/O plates 18 connect sensor 20 and magnetic valve 21 respectively；Camera 5, teaching machine 17 are connected with communication board 19 respectively.And control system
The electric control elements such as PLC, contactor, fuse, breaker, motor driver, power supply, the terminal block of system and wiring are arranged in hanging plate
On, hanging plate is arranged in switch board 1, completely visual.Teaching machine is communicated by communication board with PLC, used as the operating surface of robot
Plate, is mainly used in interacting operation between operator and robot, the functions such as real-time monitoring, parameters revision is realized, than in full
Can also be shown in real time according to register, I/O etc., and warning message.The described lower end of crawl center 10 is provided with sucker, chess piece
Crawl realized by sucker, vacuum cup and pneumatic docking facilities are housed on sucker, draw arbitrarily can be in in-position chess piece.
Described camera 6 is using Xin Jie companies X-Sight industrial cameras.
Described servo-driver is DS3E serial bus type servo-drivers.
This specific embodiment can complete the study of the classical control system such as PLC, man-machine, servo-drive system, vision-based detection
Outward, the multinomial robot experiment such as the dynamic and static crawl of point, stacking, sorting, the tracking mark of mechanical arm of view-based access control model can be also realized,
Chinese chess factor is added, the interest of experiment is more added, the interest of Students ' Learning is excited.Can be used for several lower correlations when actually used
Course：
1st, robot technology：DELTA manipulators belong to industrial parallel institution, are capable of achieving industry parallel function, cover and show work
The all technologies of industry parallel robot.
2nd, PLC technology：DELTA manipulators application letter victory PLC controls, are capable of achieving programming study and the conventional control behaviour of industry
Make.
3rd, pneumatics：Arm end installs Pneumatic suction cup, is equipped with the pneumatic elements such as magnetic valve, pressure regulation filter, contains
The typical gas circuit connection of lid.
4th, sensor：The types such as manipulator cover motor encoder, photoelectric sensor, can simply learn sensor integration knowledge.
5th, touchscreen configuration technology：Learn the design of human-computer interaction interface and the use of configuration software.
6th, precision optical machinery assembling：Manipulator is removable to be filled to screw level, tempers assembly technology and manipulative ability.
7th, servo-drive system：Understand application servo-drive system and drive mechanical arm.
8th, machine vision：The typical case's application in the industry of Learning machine vision, comprising hardware selection, installs, vision configuration
The use of software, the networking of vision and other peripheral control units, is applied in combination.
9th, mechanics of communication：Study typical motion control system composition is as between touch-screen, vision system, servo-drive system etc.
Communication is realized.
This specific embodiment has the characteristics that：
（1）Can be used for multidisciplinary, many course teachings；
（2）The culture of scientific thinking and scientific method；
The theoretical foundation of practice-training teaching curriculum development comes from Instructional Design, by enterprise demand, post positioning, learning demand, confirmation
Target, set up course, selection instructional strategies, selection teaching resource, to implement Practice Curriculum these important contents progressive.
Study content positions-orientated course, stresses the current techique in production practices, takes into account the scientific, first of technological know-how
The property entered, systematicness and integrality.On the basis of teaching point is implemented, the design of the study form that the initial stage passes through vivid and interesting come
Self-study benefit is improved, by real training person self initiations, self regulating and control, the study self being responsible for.This is with enterprise to new period people
Just the skill direction of culture is consistent, but is more beneficial for cultivating a sense of study that learner establishes self-teaching, life-long education.
And in the middle and later periods of study, can be recombinated by modularization, real industry spot is built, student is no longer to carry out letter
Single programming operation, but complete specific industrial operations.By the less change to this training platform, you can complete from education
Humanoid robot improves education of science and technology content to the transition of industrial humanoid robot.
（3）The advantage of DELTA robots experience system；
A. novelty：
Machine vision is combined with DELTA robots, meets the Technical Development Requirement under " made in China 2025 " background, student
Can learn by the platform and grasp cutting edge technology, and the introducing of " arrangement Chinese chess " intention then efficiently solves most industry at present
Robot platform study theme is excessively uninteresting, and student is reluctant the problem of study and operation, melts interesting in one, is student light
Under the study form of pine, pleasure ground learns and grasps relevant knowledge, is truly realized and teaches through lively activities.
B. it is open：
DELTA robots have opening higher, and student can grind to common SERVO CONTROL and trajectory planning algorithm
Study carefully, and the secondary development such as the instruction of customization bottom, editor bottom control program and control algolithm as needed.By to controller
Overall flow and functional structure are conceived and are planned, can also provide condition for further development of new controller.
C. practicality：
Servomotor is fixed on pedestal, can thus mitigate the weight on machine element.When direct drive is needed,
It is a necessary condition that motor is fixed on pedestal.Therefore, DELTA robots are especially suitable for the situation of direct drive, another
Individual advantage is exactly its rigidity very high, and these features can obtain more precisions and faster operation.
From operation format, operating system user oriented, with stronger man-machine interaction, is remembered according to user behavior
Record, many suboptimization man-machine interfaces in terms of browsing custom, using order, frequency of use, mode of operation, icon implication etc..Therefore,
Current operation system uses segment programming mode, and whole Chinese display, simple to operate, quick, beginner's left-hand seat is easy, the short time
Professional training is operable, is particularly suitable for field personnel's operation, improves programming efficiency.
When the present invention is applied to the links such as class demonstration, experimental teaching, the teaching of this disciplines difference course can be met
It is required that.The EM equipment moduleization, according to practice demand, also easily can be recombinated or expanded by the middle and later periods, further lifted it and applied valency
Value.Using the present invention, conventional teaching experiment content is not only inherited, meet teaching request at this stage, and increased more
The curricula of actual hands-on, the scientific knowledge and virtual population analysis of synchronous training student.Training of students is by institute Xue Zhi
Knowledge is applied to production practices, student is moved towards work position and is competent at positions demand, obtains the guarantee of the capability of sustainable development.
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 without departing substantially from spirit or essential attributes of the invention, the present invention can be in other specific forms realized.Therefore, nothing
By from the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended
Claim is limited rather than described above, it is intended that by the institute in the implication and scope of the equivalency of claim that falls
Change and include in the present invention.Any reference in claim should not be considered as the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each implementation method is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Specification an as entirety, the technical scheme in each embodiment can also be formed into those skilled in the art through appropriately combined
May be appreciated other embodiment.
Claims (6)
1. a kind of Chinese chess arrangement robot training platform, it includes control system, basic machine, peripheral hardware mechanism, control system, outer
If mechanism is connected with basic machine；Characterized in that,
Described basic machine includes a substrate, and substrate outer edge extends outward out installation end, three installation ends in third fraction
Lower section is separately installed with servomotor；The lower end of each servomotor is respectively connected with drive rod, and drive rod lower end is hinged with driven
Bar；The servomotor lower end that the upper center of substrate is installed is vertically connected with rotary shaft, and the lower end of rotary shaft is provided with crawl
The heart, and follower lever end with crawl center be connected；
Described peripheral hardware mechanism includes switch board, camera, light source, and switch board upper level is provided with support, an inclination of support
Control panel tiltedly is provided with, touch-screen and manual operation button are provided with control panel, frame upper is provided with a Chinese chess
Disk, encloses outside Board of chess and is provided with a translucent cover；The substrate of basic machine is arranged on the upper end of translucent cover, and camera is arranged on substrate
Upper end, light source is arranged on the lower end of substrate；
Described control system includes light source controller, PLC, PC, servo-driver, teaching machine, I/O plates, communication board；
Civil power connects light source controller, PLC and several servo-drivers being in parallel, several servo-drives respectively by wave filter
Device is connected with servomotor respectively, and servo-driver is connected with PLC；Light source controller is connected with light source；Camera, teaching machine
It is connected with communication board respectively；I/O plates connect sensor and magnetic valve respectively；PLC respectively with PC, I/O plate, communication board, touch-screen
Connection.
2. a kind of Chinese chess arrangement robot training platform according to claim 1, it is characterised in that described crawl center
Lower end is provided with sucker, and the crawl of chess piece is realized that vacuum cup and pneumatic docking facilities are housed on sucker, and absorption can be arrived by sucker
Up to the chess piece in position.
3. a kind of Chinese chess arrangement robot training platform according to claim 1, it is characterised in that described camera is installed
At the top of basic machine, it is placed in parallel with rotary shaft, and camera uses Xin Jie companies X-Sight industrial cameras.
4. a kind of Chinese chess arrangement robot training platform according to claim 1, it is characterised in that described teaching machine leads to
Communication board is crossed to be connected with PLC, and teaching machine is used as the guidance panel of robot, is mainly used in being carried out between operator and robot
Interactive operation, realizes real-time monitoring, parameters revision function, and warning message can also show in real time.
5. a kind of Chinese chess arrangement robot training platform according to claim 1, it is characterised in that described servo-drive
Device is DS3E serial bus type servo-drivers.
6. a kind of Chinese chess arrangement robot training platform according to claim 1, it is characterised in that described control system
In switch board, and the electric control element of control system is arranged on hanging plate with wiring, and hanging plate is arranged in switch board, completely
Visually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710228053.2A CN106898238A (en) | 2017-04-10 | 2017-04-10 | A kind of Chinese chess arrangement robot training platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710228053.2A CN106898238A (en) | 2017-04-10 | 2017-04-10 | A kind of Chinese chess arrangement robot training platform |
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| CN106898238A true CN106898238A (en) | 2017-06-27 |
Family
ID=59196296
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| CN201710228053.2A Pending CN106898238A (en) | 2017-04-10 | 2017-04-10 | A kind of Chinese chess arrangement robot training platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110060563A (en) * | 2019-05-15 | 2019-07-26 | 珠海汉迪自动化设备有限公司 | Robot base's practice teaching connection system |
| CN112060074A (en) * | 2020-07-21 | 2020-12-11 | 无锡职业技术学院 | Delta robot control system based on machine vision |
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| CN204658437U (en) * | 2015-05-06 | 2015-09-23 | 厦门特盈自动化科技股份有限公司 | With the Delta parallel manipulator of visual performance |
| CN105489082A (en) * | 2016-02-15 | 2016-04-13 | 苏州哈工海渡工业机器人有限公司 | Modularized underactuated parallel robot practical training table |
| CN205588314U (en) * | 2016-04-05 | 2016-09-21 | 广州超控自动化设备科技有限公司 | Real standard equipment of quintet game robot |
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| CN204054042U (en) * | 2014-07-30 | 2014-12-31 | 华南理工大学 | A kind of Delta parallel manipulator for imparting knowledge to students |
| CN204658437U (en) * | 2015-05-06 | 2015-09-23 | 厦门特盈自动化科技股份有限公司 | With the Delta parallel manipulator of visual performance |
| CN105489082A (en) * | 2016-02-15 | 2016-04-13 | 苏州哈工海渡工业机器人有限公司 | Modularized underactuated parallel robot practical training table |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110060563A (en) * | 2019-05-15 | 2019-07-26 | 珠海汉迪自动化设备有限公司 | Robot base's practice teaching connection system |
| CN112060074A (en) * | 2020-07-21 | 2020-12-11 | 无锡职业技术学院 | Delta robot control system based on machine vision |
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Application publication date: 20170627 |
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