CN108044623B - Mechanical arm linkage control method and system based on single-chip microcomputer training - Google Patents
Mechanical arm linkage control method and system based on single-chip microcomputer training Download PDFInfo
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- CN108044623B CN108044623B CN201711286748.2A CN201711286748A CN108044623B CN 108044623 B CN108044623 B CN 108044623B CN 201711286748 A CN201711286748 A CN 201711286748A CN 108044623 B CN108044623 B CN 108044623B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
The invention discloses a mechanical arm linkage control method based on a single-chip microcomputer training, wherein a moving trolley driven by remote control enters any position in a range to be detected as a detected target; the control end signal receiving and sending device is installed on an output end adjusting part of the mechanical arm linkage system, according to the characteristics of the mechanical arm linkage system, a test control unit designed by a tester is used for driving the mechanical arm linkage system to adjust any angle of the output end adjusting part, and the control performance of the test control unit is verified by exchanging signals between the control end signal receiving and sending device and the free end signal receiving and sending device. The control effect of the training platform fastening singlechip on the mechanical arm linkage system is used as the main content of detection. During training, students can master theoretical knowledge of singlechip programming and mechanical and electrical integration through practical training.
Description
The technical field is as follows:
the invention belongs to the technical field of single-chip microcomputer training platforms, and particularly relates to a control platform for controlling mechanical arm linkage through a single-chip microcomputer after a target position is randomly determined by a GPS module.
Background art:
the existing practical training platform has few integrated functions, and generally adopts simple connection with the wiring of a single chip microcomputer and debugging contents of partial programs. For students who have an electrical basis but do not contact the singlechip for programming, the students cannot intuitively feel the singlechip for programming and learn to use, and the students cannot quickly master the skill of the singlechip for programming.
The practical training of the single chip microcomputer is realized by adopting an electronic technology, so that the control of mechanical products has the characteristics of programmability and intellectualization. A mechatronic system mainly comprises a mechanical device, a power source, an execution device, a controller and the like, so that the mechatronic practical training designed based on a single chip microcomputer is an important part for inspecting the content of designers.
The invention content is as follows:
the invention provides a method and a system for realizing linkage control of a mechanical arm by utilizing singlechip wiring and design control programs, aiming at the problems that the current teaching content is lack of a practical training platform for a singlechip and the design level of the current practical training platform can not be comprehensively considered.
The adopted technical scheme is as follows: a mechanical arm linkage control method based on single-chip microcomputer training comprises the steps that a mobile trolley driven by remote control enters any position in a range to be detected, a free end signal receiving and sending device is arranged on the mobile trolley, and a GPS positioning module is arranged on the free end signal receiving and sending device; a GPS positioning module is used as a detected target; the test control unit, the mechanical arm linkage system and the control end signal receiving and sending device are also arranged at the center of the range to be detected; the control end signal receiving and sending device is arranged on an output end adjusting part of the mechanical arm linkage system, and according to the characteristics of the mechanical arm linkage system, a test control unit designed by a tester is used for driving the mechanical arm linkage system to adjust any angle of the output end adjusting part; the standard for detecting the standard reaching of the output end adjusting part is that a control end signal transceiver is provided with a transceiving antenna and a signal shielding case is arranged outside the transceiving antenna, only communication signals of a port of the shielding case are reserved, the output end adjusting part of the mechanical arm linkage system is used for driving the port of the shielding case to correspond to the accurate position of the GPS moving trolley, and the control end signal transceiver and the free end signal transceiver are used for exchanging signals to verify the control performance of the test control unit.
The control end signal transceiver and the free end signal transceiver carry out signal directional communication by adopting a zigbee wireless communication module.
The ZigBee wireless communication module of the control end signal transceiver receives and transmits the information of the free end signal transceiver, the information is transmitted to the identity authentication module to perform identity authentication on the source of the information after being received, the legal identity is determined, data is encrypted, and the data is sent to the test control unit; the test control unit is internally provided with an identity authentication module, and when receiving the confirmation signal of the control end signal transceiver, the test control unit decrypts the signal and authenticates the identity of the signal source.
The mechanical arm linkage system comprises a vertical rotating rod in transmission connection with the rotary driving mechanism, a transverse rod is transversely fixed at the upper end of the vertical rotating rod, a fixed longitudinal rod is longitudinally arranged at one end of the transverse rod, and a spherical direction-adjusting positioning point A is fixed at the tail end of the fixed longitudinal rod; a longitudinal movement motor base is installed at the other end of the cross rod, a longitudinal guide hole is formed in the longitudinal movement motor base, a movable longitudinal rod is sleeved in the longitudinal guide hole in a matching mode, a longitudinal movement motor is installed on the longitudinal movement motor base, a longitudinal movement gear is installed on a rotating shaft of the longitudinal movement motor, a longitudinal movement rack is arranged on the side face of the movable longitudinal rod, and the longitudinal movement gear is meshed with the longitudinal movement rack; the end of the movable vertical rod is provided with a vertical moving motor base, the vertical moving motor base is provided with a vertical guide hole, a movable vertical rod is sleeved in the vertical guide hole in a matching manner, a vertical moving motor is arranged on the vertical moving motor base, a vertical moving gear is arranged on a rotating shaft of the vertical moving motor, a vertical moving rack is arranged on the side surface of the movable vertical rod, and the vertical moving gear is meshed with the vertical moving rack; a spherical orientation positioning point B is fixed at the upper end or the lower end of the movable vertical rod, the spherical orientation positioning point A and the spherical orientation positioning point B respectively comprise an inner spherical surface ring sleeve and a sphere which are matched and sleeved together, and the inner side surface of the inner spherical surface ring sleeve is a spherical surface which can slide with the sphere but keeps the sphere not to fall off; the center of the sphere is provided with a through hole, the inside of each sphere through hole of the spherical direction-adjusting positioning point A and the spherical direction-adjusting positioning point B is simultaneously provided with a direction-adjusting rod, the free end signal receiving and transmitting device is arranged at the tail end of the direction-adjusting rod, and the outer side of a receiving and transmitting antenna of the direction-adjusting rod is sleeved with a signal shielding cover.
The rotary driving mechanism comprises a fixed clamping seat and a rotary motor chamber, the rotary electricity is arranged in the rotary motor chamber, a driving gear is arranged on a rotating shaft of the rotary driving mechanism, a driven gear is arranged on a vertical rotating rod, and the driving gear is meshed with the driven gear.
The movable trolley is provided with a vertical lifting mechanism, the free end signal transceiver is arranged at the upper end of the vertical lifting mechanism, and the trolley is driven to move and the vertical lifting mechanism is controlled to move through remote control.
A mechanical arm linkage system suitable for a computer training platform comprises a rotary driving mechanism and a three-dimensional transmission mechanism, wherein the rotary driving mechanism and the three-dimensional transmission mechanism are positioned on one side of a fixed clamping seat; the three-dimensional transmission mechanism comprises a vertical rotating rod which is in transmission connection with the rotary driving mechanism; a transverse rod is transversely fixed at the upper end of the vertical rotating rod, a fixed longitudinal rod is longitudinally arranged at one end of the transverse rod, and a spherical direction-adjusting positioning point A is fixed at the tail end of the fixed longitudinal rod; a longitudinal movement motor base is installed at the other end of the cross rod, a longitudinal guide hole is formed in the longitudinal movement motor base, a movable longitudinal rod is sleeved in the longitudinal guide hole in a matching mode, a longitudinal movement motor is installed on the longitudinal movement motor base, a longitudinal movement gear is installed on a rotating shaft of the longitudinal movement motor, a longitudinal movement rack is arranged on the side face of the movable longitudinal rod, and the longitudinal movement gear is meshed with the longitudinal movement rack; the end of the movable vertical rod is provided with a vertical moving motor base, the vertical moving motor base is provided with a vertical guide hole, a movable vertical rod is sleeved in the vertical guide hole in a matching manner, a vertical moving motor is arranged on the vertical moving motor base, a vertical moving gear is arranged on a rotating shaft of the vertical moving motor, a vertical moving rack is arranged on the side surface of the movable vertical rod, and the vertical moving gear is meshed with the vertical moving rack; a spherical orientation positioning point B is fixed at the upper end or the lower end of the movable vertical rod, the spherical orientation positioning point A and the spherical orientation positioning point B respectively comprise an inner spherical surface ring sleeve and a sphere which are matched and sleeved together, and the inner side surface of the inner spherical surface ring sleeve is a spherical surface which can slide with the sphere but keeps the sphere not to fall off; the center of the sphere is provided with a through hole, the sphere through holes of the spherical direction-adjusting positioning point A and the spherical direction-adjusting positioning point B are simultaneously provided with direction-adjusting rods, the detection component or the detected component is arranged at the tail end of the direction-adjusting rods, and the detection direction of the detection component or the detected component is controlled by controlling the angle of the adjusting rods.
The rotary driving mechanism comprises a fixed clamping seat and a rotary motor chamber, the rotary electricity is arranged in the rotary motor chamber, a driving gear is arranged on a rotating shaft of the rotary driving mechanism, a driven gear is arranged on a vertical rotating rod, and the driving gear is meshed with the driven gear.
The control effect of the training platform fastening singlechip on the mechanical arm linkage system is used as the main content of detection. The three technical links of detection, control and execution are expanded, and the latest network control technology is introduced. During training, students can master theoretical knowledge of singlechip programming and mechanical-electrical integration through training, and can also conduct training of work in the aspects of operation, installation, debugging, maintenance, design transformation and the like of an automatic production line.
The invention realizes the accurate detection of the content designed by the designer in a limited distance range by the ZigBee technology. The method comprises the steps of firstly, remotely controlling the mobile trolley to reach any plane position in a detection range, and moving the free end signal transceiver to three-dimensional coordinates of different height points through a control vertical lifting mechanism of the mobile trolley to serve as a detected target. The test control unit is required to receive a three-dimensional position signal sent by a GPS module of the free end signal transceiver, and then the test control unit is used to control the mechanical arm linkage system to align a transmitting antenna of the control end signal transceiver with a target. Therefore, the aim of coordinately controlling three-dimensional positioning by the inspection test control unit is fulfilled.
The invention can also be used for detecting the function of respectively arranging the identity authentication modules on the free end signal transceiver and the test control unit, and the identity authentication is carried out on the information source through the test control unit, thereby achieving the purpose of detecting the accurate signal capability.
The mechanical arm linkage system adopted by the invention controls different motors through the test control unit respectively, and realizes the test of three-dimensional adjustment control capability of rotation, transverse movement and vertical movement. And the capability of controlling the transmitting and receiving antenna of the signal transmitting and receiving device at the control end to point to an approximate accurate position is realized by utilizing three-dimensional regulation control. The precision control test is that any angle adjustment is carried out on the spherical direction-adjusting positioning point A and the spherical direction-adjusting positioning point B, and finally the purpose that the receiving and transmitting antenna of the direction-adjusting rod driving control end signal receiving and transmitting device points to the uniquely determined target position is achieved.
The mechanical arm linkage system is reasonable in structural design and accurate in adjustment, and can realize adjustment in any angle and direction.
Drawings
FIG. 1 is a control relationship block diagram of the present invention.
FIG. 2 is a control relationship block diagram of a zigbee module.
Fig. 3 is a schematic perspective view of the linkage system of the robot arm.
FIG. 4 is a schematic diagram of the test control unit detecting the moving cart within the effective detection range by the zigbee technology.
In the figure, the reference numeral 1 is a fixed clamping seat, 2 is a vertical rotating rod, 3 is a cross rod, 4 is a fixed longitudinal rod, 5 is a longitudinal movement motor base, 6 is a longitudinal guide hole, 7 is a movable longitudinal rod, 8 is a vertical movement motor base, 9 is a vertical guide hole, 10 is a movable vertical rod, 11 is a longitudinal movement motor, 12 is a longitudinal movement gear, 13 is a longitudinal movement rack, 14 is a vertical movement motor, 15 is a vertical movement gear, 16 is a vertical movement rack, 17 is an inner spherical ring sleeve, 18 is a sphere, 19 is a direction adjusting rod, 20 is a signal shielding cover, 21 is a rotating motor chamber, and 22 is a rotation driving mechanism.
The specific implementation mode is as follows:
example 1: the mechanical arm linkage control method based on the single chip microcomputer training comprises a GPS moving trolley driven by remote control, a free end signal receiving and sending device arranged on the upper side of the moving trolley, a test control unit, a mechanical arm linkage system and a control end signal receiving and sending device.
The control end signal transceiver is arranged on an output end adjusting part of the mechanical arm linkage system, a signal shielding cover 20 is arranged outside a transmitting and receiving antenna of the control end signal transceiver, and only port communication signals of the shielding cover are reserved. Referring to fig. 1, the control end of the test control unit is used for controlling the mechanical arm linkage system to perform three-dimensional movement so as to enable the shielding case port of the control end signal transceiver to correspond to the accurate position of the GPS mobile trolley, and the control end signal transceiver and the free end signal transceiver perform signal interchange to verify the control performance of the test control unit.
Referring to fig. 2, the signals transmitted by the control end signal transceiver and the free end signal transceiver are directionally communicated by using a zigbee wireless communication module. The content designed by the designer is accurately detected within a limited distance range by the ZigBee technology. This example
The specific operation process of the method comprises the steps of firstly, remotely controlling the mobile trolley to reach any plane position in a detection range, and moving the free end signal transceiver to three-dimensional coordinates of different height points through the control vertical lifting mechanism of the mobile trolley to serve as a detected target. The test control unit is required to receive a three-dimensional position signal sent by a GPS module of the free end signal transceiver, and then the test control unit is used to control the mechanical arm linkage system to align a transmitting antenna of the control end signal transceiver with a target. Therefore, the aim of coordinately controlling three-dimensional positioning by the inspection test control unit is fulfilled.
Example 2: the ZigBee wireless communication module of the control end signal transceiver receives and transmits the information of the free end signal transceiver, the information is transmitted to the identity authentication module to perform identity authentication on the source of the information after being received, the legal identity is determined, data is encrypted, and the data is sent to the test control unit; the test control unit is internally provided with an identity authentication module, and when receiving the confirmation signal of the control end signal transceiver, the test control unit decrypts the signal and authenticates the identity of the signal source. The embodiment is used for detecting the effect that the identity authentication modules are respectively arranged on the free end signal transceiver and the test control unit, and the identity authentication is carried out on the source of the information through the test control unit, so that the aim of detecting the accurate signal capability is fulfilled.
As shown in fig. 4, O is a control terminal signal transceiver. A (x 1, y1, z 1), B (x 2, y2, z 2) and C (x 3, y3, z 3) are respectively free-end signal transceiver devices containing GPS positioning modules. The design content of a designer is detected and controlled within a limited distance range by the ZigBee technology. The method comprises the steps of firstly, remotely controlling the mobile trolley to reach any plane position in a detection range, and controlling the vertical lifting mechanism to move the free end signal transceiver to different heights to be used as a detected target. After the test control unit receives the three-dimensional position signal sent by the GPS module of the free end signal transceiver, the transmitting antenna of the control end signal transceiver is aligned with the target through the control mechanical arm linkage system, and because the signal shielding cover 20 is arranged outside the transmitting antenna, the mode that the test control unit controls the mechanical arm linkage system to realize orientation is unique. Thereby achieving the purpose of testing the effect of the control unit.
Example 3: in the mechanical arm linkage system according to embodiment 1, the vertical rotation rod 2 is installed in the rotation driving mechanism 22, and the rotation driving mechanism 22 controls the rotation angle of the vertical rotation rod 2, as shown in fig. 3.
The rotary driving mechanism 22 comprises a fixed clamping seat 1 and a rotary motor chamber 21, the rotary motor is arranged in the rotary motor chamber 21, a driving gear is arranged on a rotating shaft of the rotary driving mechanism, a driven gear is arranged on the vertical rotating rod 2, and the driving gear is meshed with the driven gear.
The upper end of the vertical rotating rod 2 is transversely fixed with a cross rod 3, one end of the cross rod 3 is longitudinally provided with a fixed longitudinal rod 4, and the tail end of the fixed longitudinal rod 4 is fixed with a spherical orientation adjusting positioning point A.
The other end of the cross rod 3 is provided with a longitudinal moving motor 11 seat 5, the longitudinal moving motor 11 seat 5 is provided with a longitudinal guide hole 6, a movable longitudinal rod 7 is sleeved in the longitudinal guide hole 6 in a matching mode, the longitudinal moving motor 11 is installed on the longitudinal moving motor 11 seat 5, a longitudinal moving gear 12 is installed on a rotating shaft of the longitudinal moving motor 11, a longitudinal moving rack 13 is arranged on the side face of the movable longitudinal rod 7, and the longitudinal moving gear 12 is meshed with the longitudinal moving rack 13.
Install at the end of activity vertical pole 7 and erect 14 seats 8 of moving motor, be provided with vertical guiding hole 9 at erecting 14 seats 8 of moving motor, match the cover and be equipped with movable montant 10 in vertical guiding hole 9, erect at erecting 14 seats 8 of moving motor and install and erect moving motor 14, install in this perpendicular pivot of moving motor 14 and erect and move gear 15, be in simultaneously the side of activity montant 10 is provided with erectly moves rack 16, erects to move gear 15 and erects to move rack 16 meshing. And a spherical direction-adjusting positioning point B is fixed at the upper end or the lower end of the movable vertical rod 10.
The mechanical arm linkage system is used for controlling different motors through the test control unit respectively, so that the test of the three-dimensional adjustment control capability of rotation, transverse movement and vertical movement is realized.
The spherical orientation positioning point A and the spherical orientation positioning point B respectively comprise an inner spherical surface ring sleeve 17 and a sphere 18 which are matched and sleeved together, and the inner side surface of the inner spherical surface ring sleeve 17 is a spherical surface and can slide with the sphere 18 mutually, but the sphere 18 is kept not to fall off. A through hole is arranged in the center of the sphere 18, a direction adjusting rod 19 is simultaneously installed in each through hole of the sphere 18 of the spherical direction adjusting positioning point A and the spherical direction adjusting positioning point B, the free end signal transceiver is installed at the tail end of the direction adjusting rod 19, and a signal shielding cover 20 is sleeved outside a transmitting and receiving antenna of the direction adjusting rod 19.
Any angle adjustment is carried out on the spherical direction-adjusting positioning point A and the spherical direction-adjusting positioning point B, and finally the purpose that a receiving and transmitting antenna of the signal receiving and transmitting device at the driving control end of the direction-adjusting rod 19 points to a uniquely determined target position is achieved.
Example 4: a mechanical arm linkage system suitable for a computer training platform is shown in figure 3 and comprises a rotary driving mechanism 22 and a three-dimensional transmission mechanism, wherein the rotary driving mechanism 22 and the three-dimensional transmission mechanism are positioned on one side of a fixed clamping seat 1. The three-dimensional transmission mechanism comprises a vertical rotating rod 2, and the vertical rotating rod 2 is in transmission connection with the rotary driving mechanism 22. The rotary driving mechanism 22 comprises a fixed clamping seat 1 and a rotary motor chamber 21, the rotary motor is arranged in the rotary motor chamber 21, a driving gear is arranged on a rotating shaft of the rotary driving mechanism, a driven gear is arranged on the vertical rotating rod 2, and the driving gear is meshed with the driven gear.
A transverse rod 3 is transversely fixed at the upper end of the vertical rotating rod 2, a fixed longitudinal rod 4 is longitudinally arranged at one end of the transverse rod 3, and a spherical orientation positioning point A is fixed at the tail end of the fixed longitudinal rod 4.
The other end of the cross rod 3 is provided with a longitudinal moving motor 11 seat 5, the longitudinal moving motor 11 seat 5 is provided with a longitudinal guide hole 6, a movable longitudinal rod 7 is sleeved in the longitudinal guide hole 6 in a matching mode, the longitudinal moving motor 11 is installed on the longitudinal moving motor 11 seat 5, a longitudinal moving gear 12 is installed on a rotating shaft of the longitudinal moving motor 11, a longitudinal moving rack 13 is arranged on the side face of the movable longitudinal rod 7, and the longitudinal moving gear 12 is meshed with the longitudinal moving rack 13. Install at the end of activity vertical pole 7 and erect 14 seats 8 of moving motor, be provided with vertical guiding hole 9 at erecting 14 seats 8 of moving motor, match the cover and be equipped with movable montant 10 in vertical guiding hole 9, erect at erecting 14 seats 8 of moving motor and install and erect moving motor 14, install in this perpendicular pivot of moving motor 14 and erect and move gear 15, be in simultaneously the side of activity montant 10 is provided with erectly moves rack 16, erects to move gear 15 and erects to move rack 16 meshing. And a spherical direction-adjusting positioning point B is fixed at the upper end or the lower end of the movable vertical rod 10.
The spherical orientation positioning point A and the spherical orientation positioning point B respectively comprise an inner spherical surface ring sleeve 17 and a sphere 18 which are matched and sleeved together. The inner surface of the inner spherical loop 17 is spherical, and can slide with the ball 18, but keep the ball 18 from falling off, for example, the diameter of the two side ports of the inner spherical loop 17 is designed to be smaller than the diameter of the ball 18. A through hole is formed in the center of the sphere 18, a direction adjusting rod 19 is simultaneously installed in each through hole of the sphere 18 of the spherical direction adjusting positioning point A and the spherical direction adjusting positioning point B, a detection part or a detected part is installed at the tail end of the direction adjusting rod 19, and the detection direction of the detection part or the detected part is controlled by controlling the angle of the adjusting rod.
The mechanical arm linkage system is reasonable in structural design and accurate in adjustment, and can realize adjustment of any angle and direction.
Claims (8)
1. A mechanical arm linkage control method based on single-chip microcomputer training is characterized by comprising the following steps: the method comprises the following steps that a mobile trolley driven by remote control enters any position in a range to be detected, a free end signal transceiver is arranged on the mobile trolley, and a GPS positioning module is arranged on the free end signal transceiver; a GPS positioning module is used as a detected target; the test control unit, the mechanical arm linkage system and the control end signal receiving and sending device are also arranged at the center of the range to be detected; the control end signal receiving and sending device is arranged on an output end adjusting part of the mechanical arm linkage system, and according to the characteristics of the mechanical arm linkage system, a test control unit designed by a tester is used for driving the mechanical arm linkage system to adjust any angle of the output end adjusting part; the standard for detecting the standard reaching of the output end adjusting part is that a control end signal transceiver is provided with a transceiving antenna and a signal shielding case is arranged outside the transceiving antenna, only communication signals of a port of the shielding case are reserved, the output end adjusting part of the mechanical arm linkage system is used for driving the port of the shielding case to correspond to the accurate position of the mobile trolley, and the control end signal transceiver and the free end signal transceiver are used for exchanging signals to verify the control performance of the test control unit.
2. The mechanical arm linkage control method based on the single-chip microcomputer practical training as claimed in claim 1, wherein the mechanical arm linkage control method comprises the following steps: the control end signal receiving and sending device and the free end signal receiving and sending device carry out signal receiving and sending by adopting a ZigBee wireless communication module for directional communication.
3. The mechanical arm linkage control method based on the single-chip microcomputer practical training as claimed in claim 1, wherein the mechanical arm linkage control method comprises the following steps: the ZigBee wireless communication module of the control end signal transceiver receives and transmits the signal of the free end signal transceiver, the signal is transmitted to the identity authentication module to perform identity authentication on the source of the signal after being received, the legal identity is determined, the signal is encrypted and sent to the test control unit; the test control unit is internally provided with an identity authentication module, and when the test control unit receives the signal of the control end signal transceiver, the identity authentication module of the test control unit decrypts the signal and authenticates the identity of the signal source.
4. The mechanical arm linkage control method based on the single-chip microcomputer practical training as claimed in claim 1, wherein the mechanical arm linkage control method comprises the following steps: the mechanical arm linkage system comprises a vertical rotating rod in transmission connection with the rotary driving mechanism, a transverse rod is transversely fixed at the upper end of the vertical rotating rod, a fixed longitudinal rod is longitudinally arranged at one end of the transverse rod, and a spherical direction-adjusting positioning point A is fixed at the tail end of the fixed longitudinal rod; a longitudinal movement motor base is installed at the other end of the cross rod, a longitudinal guide hole is formed in the longitudinal movement motor base, a movable longitudinal rod is sleeved in the longitudinal guide hole in a matching mode, a longitudinal movement motor is installed on the longitudinal movement motor base, a longitudinal movement gear is installed on a rotating shaft of the longitudinal movement motor, a longitudinal movement rack is arranged on the side face of the movable longitudinal rod, and the longitudinal movement gear is meshed with the longitudinal movement rack; the end of the movable vertical rod is provided with a vertical moving motor base, the vertical moving motor base is provided with a vertical guide hole, a movable vertical rod is sleeved in the vertical guide hole in a matching manner, a vertical moving motor is arranged on the vertical moving motor base, a vertical moving gear is arranged on a rotating shaft of the vertical moving motor, a vertical moving rack is arranged on the side surface of the movable vertical rod, and the vertical moving gear is meshed with the vertical moving rack; a spherical orientation positioning point B is fixed at the upper end or the lower end of the movable vertical rod, the spherical orientation positioning point A and the spherical orientation positioning point B respectively comprise an inner spherical surface ring sleeve and a sphere which are matched and sleeved together, and the inner side surface of the inner spherical surface ring sleeve is a spherical surface which can slide with the sphere but keeps the sphere not to fall off; the center of the sphere is provided with a through hole, the inside of each sphere through hole of the spherical direction-adjusting positioning point A and the spherical direction-adjusting positioning point B is simultaneously provided with a direction-adjusting rod, the free end signal receiving and transmitting device is arranged at the tail end of the direction-adjusting rod, and the outer side of a receiving and transmitting antenna of the direction-adjusting rod is sleeved with a signal shielding cover.
5. The mechanical arm linkage control method based on the single-chip microcomputer practical training as claimed in claim 4, wherein the mechanical arm linkage control method comprises the following steps: the rotary driving mechanism comprises a fixed clamping seat and a rotary motor chamber, the rotary motor is arranged in the rotary motor chamber, a driving gear is arranged on a rotating shaft of the rotary motor chamber, a driven gear is arranged on a vertical rotating rod, and the driving gear is meshed with the driven gear.
6. The mechanical arm linkage control method based on the single-chip microcomputer practical training as claimed in claim 1, wherein the mechanical arm linkage control method comprises the following steps: the movable trolley is provided with a vertical lifting mechanism, the free end signal transceiver is arranged at the upper end of the vertical lifting mechanism, and the trolley is driven to move and the vertical lifting mechanism is controlled to move through remote control.
7. A mechanical arm linkage system suitable for a computer training platform comprises a rotary driving mechanism and a three-dimensional transmission mechanism, wherein the rotary driving mechanism and the three-dimensional transmission mechanism are positioned on one side of a fixed clamping seat; the three-dimensional transmission mechanism comprises a vertical rotating rod which is in transmission connection with the rotary driving mechanism; a transverse rod is transversely fixed at the upper end of the vertical rotating rod, a fixed longitudinal rod is longitudinally arranged at one end of the transverse rod, and a spherical direction-adjusting positioning point A is fixed at the tail end of the fixed longitudinal rod; a longitudinal movement motor base is installed at the other end of the cross rod, a longitudinal guide hole is formed in the longitudinal movement motor base, a movable longitudinal rod is sleeved in the longitudinal guide hole in a matching mode, a longitudinal movement motor is installed on the longitudinal movement motor base, a longitudinal movement gear is installed on a rotating shaft of the longitudinal movement motor, a longitudinal movement rack is arranged on the side face of the movable longitudinal rod, and the longitudinal movement gear is meshed with the longitudinal movement rack; the end of the movable vertical rod is provided with a vertical moving motor base, the vertical moving motor base is provided with a vertical guide hole, a movable vertical rod is sleeved in the vertical guide hole in a matching manner, a vertical moving motor is arranged on the vertical moving motor base, a vertical moving gear is arranged on a rotating shaft of the vertical moving motor, a vertical moving rack is arranged on the side surface of the movable vertical rod, and the vertical moving gear is meshed with the vertical moving rack; a spherical orientation positioning point B is fixed at the upper end or the lower end of the movable vertical rod, the spherical orientation positioning point A and the spherical orientation positioning point B respectively comprise an inner spherical surface ring sleeve and a sphere which are matched and sleeved together, and the inner side surface of the inner spherical surface ring sleeve is a spherical surface which can slide with the sphere but keeps the sphere not to fall off; the center of the sphere is provided with a through hole, the sphere through holes of the spherical direction-adjusting positioning point A and the spherical direction-adjusting positioning point B are simultaneously provided with direction-adjusting rods, the detection component or the detected component is arranged at the tail end of the direction-adjusting rods, and the detection direction of the detection component or the detected component is controlled by controlling the angle of the direction-adjusting rods.
8. The mechanical arm linkage system suitable for the computer training platform as claimed in claim 7, wherein: the rotary driving mechanism comprises a fixed clamping seat and a rotary motor chamber, the rotary motor is arranged in the rotary motor chamber, a driving gear is arranged on a rotating shaft of the rotary motor chamber, a driven gear is arranged on a vertical rotating rod, and the driving gear is meshed with the driven gear.
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