CN209087236U - Automated teaching apparatus based on spin control system - Google Patents
Automated teaching apparatus based on spin control system Download PDFInfo
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- CN209087236U CN209087236U CN201820247835.0U CN201820247835U CN209087236U CN 209087236 U CN209087236 U CN 209087236U CN 201820247835 U CN201820247835 U CN 201820247835U CN 209087236 U CN209087236 U CN 209087236U
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- platform
- control system
- linear motor
- flat plate
- teaching apparatus
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Abstract
The utility model discloses a kind of automated teaching apparatus based on spin control system, it is related to bead motion control teaching aid, including the single-chip microcontroller, driving circuit and linear motor being sequentially connected electrically, the ball that linear motor connection control is mounted on platform, the infrared positioning apparatus that platform is equipped with connection single-chip microcontroller is used to position the position of ball, the output end of linear motor connects angled detection module and constitutes second feed back loop, the exercise data of angle detection module detection platform and ball to single-chip microcontroller.The utility model solves the problems, such as the uncontrollable of petahque by the way that infrared positioning apparatus and angle detection module are arranged on platform, have many advantages, such as it is easy to use, operate and be easy that laborsaving, observation of students is convenient.
Description
Technical field
The utility model relates to bead motion control teaching aids, are directed to machine vision, image procossing, movement control
System and intelligent control, and in particular to the automated teaching apparatus based on spin control system.
Background technique
Automation Specialty is a comprehensive branch of learning profession, using automation field as main theoretical basis, with electronics skill
Art, computer information technology, Sensors & Testing Technology etc. are technical way, are implemented to various automation equipments and system
Control.When learning motion control etc. theoretical knowledge, since theoretical knowledge is hard to understand, Most students are not started actually
Experience or experience of touring, often knowing it is so,but don't know why it's so.In order to solve this problem concerning study, the utility model is to this
Some knowledge carry out flexible motion, develop automated teaching apparatus of a utility model-based on spin control system, include
The knowledge such as machine vision, image procossing, motion control and intelligent control.During spin system motion, by knowledge with
Actual object is shown, and changes invisible knowledge in there is type, and this point has very big benefit to student, can allow student more
Readily remove digestion textbook theoretical knowledge.
Summary of the invention
According to the above-mentioned deficiencies of the prior art, technical problem to be solved in the utility model is to propose one kind based on spin
The automated teaching apparatus of control system solves rolling by the way that infrared positioning apparatus and angle detection module are arranged on platform
The uncontrollable problem of ball movement, have many advantages, such as it is easy to use, operate and be easy that laborsaving, observation of students is convenient.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model are as follows: based on spin control system from
Dynamicization teaching aid, including sequentially connected single-chip microcontroller, driving circuit and linear motor, linear motor connect the upper of control platform
Plate, upper flat plate are a circular flat, are located above lower plate, and lower plate is a circular flat for being greater than upper flat plate, pass through 6
Upper flat plate and lower plate are attached by linear motor, and the infrared positioning apparatus that platform is equipped with connection single-chip microcontroller is used to position ball
Position, the output end of linear motor connects angled detection module and constitutes second feed back loop, angle detection mould to single-chip microcontroller
The exercise data of block detection platform and ball, i.e. detection platform tilt angle during the motion and bead move on platform
Real time position, by by the data feedback of both to control system.
In above-mentioned apparatus, the driving circuit includes six drive modules, and each drive module controls a straight line respectively
Motor drives six linear motors altogether.The platform be equipped with pedestal, pedestal be used for fixed straight line motor, linear motor connection on
Plate is used to that upper flat plate is driven to move.The infrared positioning apparatus is mounted on the top of upper flat plate, and angle detection module is fixed on
The lower section of upper flat plate.The infrared positioning apparatus is made of the multiple groups infrared tube perpendicular to coordinate system.It is controlled based on spin and is
The automated teaching apparatus of system connects extraneous power supply by D.C. regulated power supply module.The single-chip microcontroller is connected with display screen.
The utility model beneficial effect is: 1), this system by infrared positioning apparatus perceive plate it is small during the motion
The position of ball.2), this system can be changed by angle detection module with the angular pose of aware platform during the motion.3),
Two kinds of closed loop designs under the present apparatus is controlled by controller can timely respond the variation of system.4), the present apparatus
Structure is simple, easily operated, convenient for showing.
Detailed description of the invention
Content expressed by this specification attached drawing and the label in figure are briefly described below:
Fig. 1 is the work of the automated teaching apparatus based on spin control system of specific embodiment of the present utility model
Block diagram.
Fig. 2 is the schematic diagram of the infrared positioning apparatus of specific embodiment of the present utility model.
Specific embodiment
Below against attached drawing, by the description of the embodiment, specific embodiment of the present utility model is for example related each
The shape of component, construction, the mutual alignment between each section and connection relationship, the effect of each section and working principle, manufacture work
Skill and operate with method etc., are described in further detail, to help invention of the those skilled in the art to the utility model
Design, technical solution have more complete, accurate and deep understanding.
Automated teaching apparatus based on spin control system, as shown in Figure 1, including the single-chip microcontroller being sequentially connected electrically, driving
Dynamic circuit and linear motor, the ball that linear motor connection control is mounted on platform, platform are equipped with the infrared of connection single-chip microcontroller
Positioning device is used to position the position of ball, and ball, infrared positioning apparatus and single-chip microcontroller constitute the first feedback loop, linear motor it is defeated
Outlet connects angled detection module and constitutes second feed back loop, the movement of angle detection module detection platform and ball to single-chip microcontroller
Data, single-chip microcontroller are connected with display screen and are used to show data.Upper flat plate is a circular flat, is located above lower plate, lower plate
Upper flat plate and lower plate, are attached by the circular flat for being greater than upper flat plate for one by 6 linear motors.
HF-TGA series of straight lines single machine can be selected in linear motor, and for stroke within 150mm, operating voltage is 12v DC, speed
Degree is 40mm/s, maximum thrust 100N, working frequency 10%.Driving circuit includes the first drive module, the second driving mould
Block and third drive module, control three groups of linear motors respectively, and each motor driven drives one group of linear motor, altogether there are six
Linear motor；HF-TGA series of straight lines motor is attached by Universal-head and plate, to control the movement of plate.On platform
Equipped with pedestal and upper flat plate, pedestal for fixing motor, linear motor connection upper flat plate is used to that upper flat plate is driven to move.This is practical
Preferred HF-TGA series of straight lines motor in novel has and forms the characteristics such as big, thrust is big.
Infrared positioning apparatus is mounted on the top of upper flat plate, and angle detection module is fixed on the lower section of upper flat plate.It is infrared fixed
Position device is made of 128*128 infrared tube, as shown in Fig. 2, i.e. perpendicular to the corresponding light emitting diode matrix of coordinate system and light
Photocell-array, core chip STM32F405.The infrared positioning apparatus is divided into 4 groups, is fixed on four sides of square plate,
Wherein three groups it is from beginning to end, last group with upper one group only tail portion connect, last organize head lead out is connect with controller,
For reception and feedback signal.Single-chip microcontroller selects STM32F407 minimum system in the utility model.Preferred PQ in the utility model
179 infrared positioning apparatus of Labs Multi-Touch G& ﹟ has the characteristics such as high-performance 200fps, better sensing sensitivity.
MPU6050 angle detection module operating voltage is in 3V~6V, electric current < 10mA, range: [acceleration: ± 16g, angle speed
Degree: ± 2000 °/s, resolution ratio: acceleration: 6.1e-5g, angular speed: 7.6e-3 °/s]；Stability: [acceleration: 0.001g, angle
0.02 °/s of speed, attitude measurement stability: 0.01 °, data output frequencies 100Hz (baud rate 115200)/20Hz (baud rate
9600)]；Data-interface: serial ports (Transistor-Transistor Logic level), I2C (directly connect MPU6050, no posture output), baud rate 115200kps/
9600kps.The module is connect with single-chip microcontroller carrys out the angle change of calculate flat board during the motion, receives feedback signal and timely
It adjusts.Preferred MPU6050 angle detection module in the utility model, the module big, high resolution, stability with range
The characteristics such as strong.
Automated teaching apparatus based on spin control system connects extraneous power supply by D.C. regulated power supply module.Direct current
Power module of voltage regulation is that DC-DC automatic lifting presses voltage-stablizer, display with voltage, and input is supported to 4.5~30V, export 0.5V~
33V is adjustable.Advanced aluminum hull, peak efficiency are up to 91% efficiency, possess overheating protection, and have display reminding.It has wide range of applications
Boosting can be higher than or be lower than output voltage with seamless automatic switchover, input voltage is depressured, i.e. input voltage changes, output
Voltage remains unchanged, and such as uses on automobile, can be by voltage pressure stabilizing to 12V.
The utility model is to control linear motor by the stored process control driving circuit of single-chip microcontroller to carry out accordingly
Movement, indirectly controlled while controlling linear motor platform and bead composition system movement.The utility model is adopted simultaneously
It is being transported with two kinds of closed loop designs: the attitude data of infrared positioning apparatus collecting platform and bead composition system, i.e. detection platform
The real time position that tilt angle and bead during dynamic move on platform feeds back to single-chip microcontroller and carries out posture measuring and calculating, then
Linear motor is fed back to by driving circuit, results of measuring is reflected in platform and bead forms system, it is anti-to complete calculation of measured data
Reflect result；Real time data is fed back to single-chip microcontroller by angle detection module by linear motor, is needed by analysis next step motor
Movement angle controls linear motor through overdrive circuit.The motion state of two kinds of closed loop design real time reaction systems and
Posture, and be timely adjusted, while the position coordinates of bead are shown by OLED display screen, it is easily operated, convenient for showing.
The utility model is exemplarily described above in conjunction with attached drawing, it is clear that the utility model specific implementation not by
The limitation of aforesaid way, as long as the various unsubstantialities carried out using the method concept and technical solution of the utility model change
Into, or it is not improved the conception and technical scheme of the utility model are directly applied into other occasions, in the utility model
Protection scope within.The protection scope of the utility model should be determined by the scope of protection defined in the claims.
Claims (7)
1. the automated teaching apparatus based on spin control system, which is characterized in that including sequentially connected single-chip microcontroller, driving electricity
Road and linear motor, linear motor connect the upper flat plate of control platform, and upper flat plate is a circular flat, are located above lower plate,
Lower plate is a circular flat for being greater than upper flat plate, is attached upper flat plate and lower plate by 6 linear motors, on platform
Infrared positioning apparatus equipped with connection single-chip microcontroller is used to position the position of ball, and the output end of linear motor connects angled detection mould
Block constitutes second feed back loop to single-chip microcontroller, and the exercise data of angle detection module detection platform and ball, i.e. detection platform are being transported
The real time position that tilt angle and bead during dynamic move on platform, by extremely controlling the data feedback of both
System.
2. the automated teaching apparatus according to claim 1 based on spin control system, which is characterized in that the driving
Circuit includes six drive modules, and each drive module controls a linear motor respectively, drives six linear motors altogether.
3. the automated teaching apparatus according to claim 1 based on spin control system, which is characterized in that the platform
Equipped with pedestal, pedestal is used for fixed straight line motor, and linear motor connection upper flat plate is used to that upper flat plate is driven to move.
4. the automated teaching apparatus according to claim 1 based on spin control system, which is characterized in that described infrared
Positioning device is mounted on the top of upper flat plate, and angle detection module is fixed on the lower section of upper flat plate.
5. the automated teaching apparatus according to claim 1 based on spin control system, which is characterized in that described infrared
Positioning device is made of the multiple groups infrared tube perpendicular to coordinate system.
6. the automated teaching apparatus according to claim 1 based on spin control system, which is characterized in that be based on spin
The automated teaching apparatus of control system connects extraneous power supply by D.C. regulated power supply module.
7. the automated teaching apparatus according to claim 1 based on spin control system, which is characterized in that the monolithic
Machine is connected with display screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820247835.0U CN209087236U (en) | 2018-02-11 | 2018-02-11 | Automated teaching apparatus based on spin control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820247835.0U CN209087236U (en) | 2018-02-11 | 2018-02-11 | Automated teaching apparatus based on spin control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209087236U true CN209087236U (en) | 2019-07-09 |
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ID=67112121
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820247835.0U Expired - Fee Related CN209087236U (en) | 2018-02-11 | 2018-02-11 | Automated teaching apparatus based on spin control system |
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| Country | Link |
|---|---|
| CN (1) | CN209087236U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108230865A (en) * | 2018-02-11 | 2018-06-29 | 安徽工程大学 | Automated teaching apparatus based on spin control system |
-
2018
- 2018-02-11 CN CN201820247835.0U patent/CN209087236U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108230865A (en) * | 2018-02-11 | 2018-06-29 | 安徽工程大学 | Automated teaching apparatus based on spin control system |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190709 Termination date: 20200211 |
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| CF01 | Termination of patent right due to non-payment of annual fee |