CN109648580B - Education robot - Google Patents
Education robot Download PDFInfo
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- CN109648580B CN109648580B CN201910057098.7A CN201910057098A CN109648580B CN 109648580 B CN109648580 B CN 109648580B CN 201910057098 A CN201910057098 A CN 201910057098A CN 109648580 B CN109648580 B CN 109648580B
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- microcontroller
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- computer interaction
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/24—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for chemistry
Abstract
The invention discloses an educational robot, which comprises a robot body, wherein a control system is arranged in the robot body, the head part is provided with an exhaust port and a feed inlet, the exhaust port is provided with an ignition needle, the middle body part is provided with a container, the left arm is provided with a raw material tank, the right arm is a mechanical arm, and the leg part is provided with a weighing device; the control system includes: the first module is used for detecting raw materials and experimental parameters and comprises a first microcontroller, a raw material monitoring device, an experimental parameter detection sensor and human-computer interaction equipment; the second module is used for controlling the actuating mechanism and comprises a second microcontroller, the actuating mechanism, a driving circuit, an experiment parameter detection sensor and human-computer interaction equipment; and the third module is used for the overall control of the robot and consists of a third microcontroller and human-computer interaction equipment. The educational robot of the invention not only can promote students to master chemical theory knowledge and practice practical ability, but also is helpful to improve the observation ability and programming ability of students.
Description
Technical Field
The invention relates to the technical field of educational robots, in particular to an educational robot.
Background
With the progress of science and technology, the robot technology plays an increasingly important role in human life and industrial production and manufacturing, and the educational robot is used as a special robot in the robot, can be used for participating in various games, can also be used for subject teaching and extraclass interest expansion, and improves the capability and innovation capability of students in designing, programming and developing and applying the robot.
As an experimental science, chemistry not only needs students to master rich and solid theoretical knowledge, but also needs to have strong practical and practical ability. Chemical experiment is owing to can take place various chemical reaction processes, and the student to the first contact in the experimentation has certain danger, lets the student produce certain fear psychology easily to reduced the study interest to this subject of chemical experiment, in addition, in the exploration process of carrying out some scientific experiments, even if experienced mr is manual operation, its security of testing itself often leads to exploring the process and advances to be stopped before.
Therefore, it is highly desirable to develop an educational robot capable of demonstrating chemical experiments, so that the educational robot can be widely popularized in education at various stages of China as an important teaching tool for quality education.
Disclosure of Invention
In view of the defects of the prior art, the invention mainly aims to provide an educational robot, so that students in all education stages can not only master chemical theory knowledge and improve practical and practical abilities, but also help to improve comprehensive competence qualities of the students in various aspects such as observation ability and programming ability.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
an educational robot comprises a robot body, wherein a control system is arranged in the robot body, an air outlet and a feed inlet are arranged at the head of the robot body, an ignition needle is arranged at the air outlet, a container is arranged at the middle body part, the container is a closed container, the feed inlet is positioned at the mouth position of the head, the feed inlet is connected with the top of the container through a feed pipe, a second electric valve is arranged on the feed pipe, a left arm in an arm is provided with a raw material tank, the raw material tank is made of transparent materials, a graduated scale is arranged on one side facing the head position, the right arm is an mechanical arm, the air outlet is connected with a first pipeline at the top of the container, the raw material tank is connected with the side wall of the container through a second pipeline, and a weighing device is arranged at the leg part; when combustible gas is generated in the chemical reaction process, the combustible gas enters the exhaust port through the first pipeline, the ignition switch is turned on to open the ignition needle, so that the combustible gas is subjected to combustion reaction, and the leg weighing device is used for detecting the quantitative change process of reactants and reaction products in the experimental process; the control system comprises the following three modules:
the first module is used for detecting raw materials and experimental parameters and comprises a first microcontroller, a raw material monitoring device, an experimental parameter detection sensor and human-computer interaction equipment; the raw material detection sensor, the experiment parameter detection sensor and the human-computer interaction equipment are respectively connected with the first microcontroller;
the second module is used for controlling the actuating mechanism and comprises a second microcontroller, the actuating mechanism, a driving circuit, an experiment parameter detection sensor and human-computer interaction equipment; the execution mechanism is connected with a second microcontroller through a driving circuit, and the experiment parameter detection sensor and the human-computer interaction equipment are connected with the second microcontroller;
the third module is used for overall control of the robot and consists of a third microcontroller and human-computer interaction equipment; the human-computer interaction equipment is connected with the third microcontroller.
Furthermore, the human-computer interaction device consists of a smart phone and a serial port Bluetooth module; the serial port Bluetooth module is connected with a serial interface of the microcontroller, and the smart phone is wirelessly connected with the serial port Bluetooth module.
Further, the experiment parameter detection sensor comprises a temperature sensor, a pressure sensor and a pH meter. The temperature sensor, the pressure sensor and the pH meter are all installed on the side wall or the top end of a container of the body part of the educational robot and are respectively used for recording the temperature, the pressure and the pH value in the container.
Further, the raw material monitoring device is a camera device for observing the liquid level of the raw material. Through installing the camera device at educational machine people head, when the head turned to left side head tank, can observe the liquid level of record left side head tank raw materials, when the head turned to right side head tank, can observe the liquid level of record left side head tank raw materials this moment to through the linkage with first motorised valve, the feeding volume and the input speed of control raw materials, thereby further control the progress of whole demonstration experiment.
Furthermore, the actuating mechanism comprises a first electric valve, a second electric valve, a precision metering pump, a motor, an ignition switch and a mechanical arm. The first electric valve is used for controlling feeding of liquid raw materials, the second electric valve is used for controlling feeding of solid raw materials, the motor comprises a motor and a motor, the motor is used for driving a stirring paddle in the container to operate, the motor is used for controlling the head of the robot to rotate, the switch is used for controlling ignition operation of the ignition needle, and the mechanical arm is used for grabbing the solid raw materials and adding the solid raw materials into the feeding hole.
Further, an indication module is arranged on the outer surface of the side wall of the container. The indicating module is made of transparent materials, reactants in the container are sent to the indicating module through the precision metering pump, and the degree of the chemical reaction is observed under the action of an indicator in the indicating module, wherein the indicator is one of phenolphthalein indicator, methyl orange indicator, litmus indicator, starch indicator and calcium-magnesium indicator.
Furthermore, the first microcontroller, the second microcontroller and the third microcontroller are 8-bit microcontrollers; the first microcontroller and the second microcontroller are respectively connected with the third microcontroller through serial interfaces.
Further, the model of the first microcontroller and the model of the second microcontroller are STM8S105S4T6C, and the model of the third microcontroller is STM8S208C8T 6.
Correspondingly, the use method of the education robot comprises the following steps:
(1) debugging the module: connecting the serial interfaces of the first microcontroller and the second microcontroller with the serial interface of the third microcontroller respectively, and debugging the following modules in sequence;
debugging a first module: a first microcontroller in a first module is wirelessly connected with a smart phone through a serial port Bluetooth module; sending a detection command aiming at a raw material monitoring device and an experimental parameter detection sensor in a container to the first microcontroller by using a smart phone; the first microcontroller starts detection after receiving the command and sends a detection result to the smart phone for display; a user determines the liquid level of the raw material tank and the initial value of the experimental parameters in the container according to the detection result; writing the liquid level of the raw material tank and the initial value of the experimental parameter in the container into the first microcontroller through a control program; when the detected initial values of the experiment parameters in the raw material tank liquid level and the container are abnormal, returning to a first microcontroller in a first module, and carrying out program debugging and corresponding hardware inspection;
debugging a second module: a second microcontroller in a second module is wirelessly connected with the smart phone through a serial port Bluetooth module; sending various control commands to the second microcontroller by using a smart phone; and the second microcontroller executes corresponding operation after receiving the command: controlling the action of an actuating mechanism, collecting output data of an experimental parameter detection sensor, calculating parameters such as raw material feeding quantity, feeding speed and motor rotating speed, and sending the parameters to a smart phone for display; the user determines a control program according to the parameters and writes the control program into the second microcontroller; when the detected actuating mechanism action signal and the acquired experimental parameter output data are abnormal, returning to a second microcontroller in a second module for program debugging and corresponding hardware checking;
debugging a third module: a third microcontroller in a third module is wirelessly connected with the smart phone through a serial port Bluetooth module; sending simulation detection data to the third microcontroller by using a smart phone; the third microcontroller sends a control command to the smart phone for display according to the algorithm and writes a simulation demonstration program; when the detected simulation detection data is abnormal, returning to a third microcontroller in a third module, and carrying out program debugging and corresponding hardware checking;
(2) and (3) experimental demonstration: after debugging is finished, the third module sends a detection command to a first microcontroller in the first module through a serial interface; the first microcontroller returns the liquid level of the raw material tank, the size of the metal sodium particles and the initial values of the experimental parameters; after receiving the detection value, the third microcontroller comprehensively judges according to an algorithm, determines the action sequence of the robot, including the opening sequence, the opening degree and the opening time of an electric valve, the starting time and the conveying capacity of a precise metering pump, the rotating speed of a motor and other working signals, and sends a control command to the second microcontroller in the second module through a serial interface; the second microcontroller correspondingly controls the actuating mechanism according to the command, and observes the flame condition and the weighing value of the exhaust port; the above process was repeated until a chemical combustion reaction demonstration experiment was completed.
The invention has the beneficial effects that:
the invention utilizes the corresponding functional components arranged on each body part of the educational robot, carries out modular programming design by combining basic theoretical knowledge and experimental plan mastered by a demonstrator and a control system arranged in the educational robot body, so that the demonstrator can demonstrate various chemical experiments in a man-machine interaction mode, thereby ensuring the safe proceeding of the demonstration experiments, promoting the learning interest of students on chemical subjects, and promoting the comprehensive ability of the students on the interdisciplines of chemistry, computers and the like.
Drawings
FIG. 1 is a schematic view showing the overall construction of an educational robot in accordance with the present invention;
FIG. 2 is a schematic view of a container structure for use in a body part of an educational machine according to the present invention;
FIG. 3 is a schematic diagram of the control logic for the method of using the educational robot of the present invention;
the automatic weighing system comprises a head, a body, a 3, an arm, a 4, a leg, a 5, a control system, a 21, a container, a 101, an exhaust port, 102, a camera device, 103, a first pipeline, 104, an ignition needle, 105, a feed inlet, 106, a feed pipe, 107, a second electric valve, 201, an indicating module, 202, a temperature sensor, 203, a pressure sensor, 204, a pH meter, 301, a raw material tank, 302, a second pipeline, 303, a first electric valve, 304, a mechanical arm, 401, a weighing device, 501, a first module, 502, a second module, 503 and a third module.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
As shown in fig. 1 to 3, an educational robot comprises a robot body, a control system 5 is arranged in the robot body, a head 1 of the robot body is provided with an air outlet 101 and a feed inlet 105, the air outlet 101 is provided with an ignition needle 104, a part of the middle body 2 is provided with a container 21, the feed inlet 105 is positioned at the mouth position of the head, the feed inlet 105 is connected with the top of the container 21 through a feed pipe 106, a second electric valve 107 is arranged on the feed pipe 106, a left arm of an arm 3 is provided with a raw material tank 301, a right arm is an arm 304, the air outlet 101 is connected through a first pipeline 103 at the top of the container 21, the raw material tank 301 is connected with the side wall of the container 21 through a second pipeline 302, and a leg 4 is provided with a weighing device 401; the mechanical arm 304 is used for grabbing sodium particles of the metal substance; the control system 5 comprises the following 3 modules:
the first module 501 is used for detecting raw materials and experimental parameters, and the first module 501 comprises a first microcontroller, a raw material monitoring device, an experimental parameter detection sensor and a human-computer interaction device; the raw material detection sensor, the experiment parameter detection sensor and the human-computer interaction equipment are respectively connected with the first microcontroller;
the second module 502 is used for controlling the actuator, and the second module 502 comprises a second microcontroller, an actuator, a driving circuit, an experiment parameter detection sensor and a human-computer interaction device; the execution mechanism is connected with a second microcontroller through a driving circuit, and the experiment parameter detection sensor and the human-computer interaction equipment are connected with the second microcontroller;
the third module 503 is used for overall robot control, and the third module 503 is composed of a third microcontroller and human-computer interaction equipment; the human-computer interaction equipment is connected with the third microcontroller.
The serial port Bluetooth module can select Risym HC-05 and is connected with a serial interface of the microcontroller; the microcontroller can wirelessly receive and transmit data to the outside through the serial port Bluetooth module; all have bluetooth module in the smart mobile phone, after the installation cell-phone bluetooth serial ports debugging software, the smart mobile phone can regard as a data terminal to use, and the modern college student of smart mobile phone has generally owned, need not extra configuration.
The experimental parameter detection sensors include a temperature sensor 202, a pressure sensor 203, and a pH meter 204.
The raw material monitoring device is a camera device 102 for observing the raw material liquid level.
The actuating mechanism comprises a first electric valve 303, a second electric valve, a precise metering pump, a motor, an ignition switch and a mechanical arm.
The outer surface of the side wall of the container is provided with an indicating module 201 added with a methyl orange indicator.
The first microcontroller, the second microcontroller and the third microcontroller are 8-bit microcontrollers; the first microcontroller and the second microcontroller are respectively connected with the third microcontroller through serial interfaces.
The model of the first microcontroller and the model of the second microcontroller are STM8S105S4T6C, and the model of the third microcontroller is STM8S208C8T 6.
The invention discloses a using method of an educational robot, which comprises the following steps:
(1) debugging the module: connecting the serial interfaces of the first microcontroller and the second microcontroller with the serial interface of the third microcontroller respectively, and debugging the following modules in sequence;
the first module 501 debugs: a first microcontroller in a first module 501 is wirelessly connected with a smart phone through a serial port Bluetooth module; sending a detection command aiming at a raw material monitoring device and an experimental parameter detection sensor in a container to the first microcontroller by using a smart phone; the first microcontroller starts detection after receiving the command and sends a detection result to the smart phone for display; a user determines the liquid level of the raw material tank and the initial value of the experimental parameters in the container according to the detection result; writing the liquid level of the raw material tank and the initial value of the experimental parameter in the container into the first microcontroller through a control program;
the second module 502 debugs: a second microcontroller in the second module 502 is wirelessly connected with the smart phone through a serial port Bluetooth module; sending various control commands to the second microcontroller by using a smart phone; and the second microcontroller executes corresponding operation after receiving the command: controlling the action of an actuating mechanism, collecting output data of an experimental parameter detection sensor, calculating parameters such as raw material feeding quantity, feeding speed and motor rotating speed, and sending the parameters to a smart phone for display; the user determines a control program according to the parameters and writes the control program into the second microcontroller;
the third module 503 debugs: a third microcontroller in a third module 503 is wirelessly connected with the smart phone through a serial port Bluetooth module; sending simulation detection data to the third microcontroller by using a smart phone; the third microcontroller sends a control command to the smart phone for display according to the algorithm and writes a simulation demonstration program;
(2) and (3) experimental demonstration: at the beginning of the experiment, the educational robot container 21 was filled with deionized water, the stock tank 301 was filled with 10 wt% hydrochloric acid, and metal substance sodium particles were prepared; after the start, the third module 503 sends a detection command to the first microcontroller in the first module 501 through the serial interface; the first microcontroller returns the liquid level of the raw material tank 301, the size of the metal sodium particles and the initial values of the experimental parameters; after receiving the detection value, the third microcontroller comprehensively judges according to an algorithm to determine the action sequence of the robot, and the operation sequence sequentially comprises the steps of starting the camera device 102, turning the head 1 to the right camera device 102 to align with sodium particles, starting the second electric valve, grabbing the sodium particles by the mechanical arm 304 and adding the sodium particles into the container 21 from the feeding hole 105, closing the second electric valve, starting the ignition switch, turning the head 1 to the left arm raw material tank 301, starting the first electric valve 303 and the motor, starting the precision metering pump and other working signals, and sending a control command to the second microcontroller in the second module 502 through a serial interface; the second microcontroller correspondingly controls the actuating mechanism according to the command, and observes the flame condition and the weighing value of the exhaust port; the above process was repeated until a chemical combustion reaction demonstration experiment was completed.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides an educational robot, includes the robot, the robot embeds there is control system, a serial communication port, the head of robot is equipped with gas vent and feed inlet, the gas vent is provided with the ignition needle, and middle health position is provided with the container, the feed inlet is located the mouth position of head, the feed inlet pass through the inlet pipe with the container top links to each other, just be provided with the second motorised valve on the inlet pipe, and left arm in the arm is provided with the head tank, and right arm is the arm, the gas vent passes through the first pipe connection at container top, the head tank with the lateral wall of container passes through the second pipe connection, and the shank is equipped with the ware of weighing, control system includes following three module:
the first module is used for detecting raw materials and experimental parameters, the first module comprises a first microcontroller, a raw material monitoring device, an experimental parameter detection sensor and a human-computer interaction device, the raw material detection sensor, the experimental parameter detection sensor and the human-computer interaction device are respectively connected with the first microcontroller,
the second module is used for controlling the actuating mechanism, the second module comprises a second microcontroller, the actuating mechanism, a driving circuit, an experimental parameter detection sensor and a human-computer interaction device, the actuating mechanism is connected with the second microcontroller through the driving circuit, the experimental parameter detection sensor and the human-computer interaction device are connected with the second microcontroller,
the third module is used for overall control of the robot and consists of a third microcontroller and a human-computer interaction device, and the human-computer interaction device is connected with the third microcontroller.
2. The educational robot of claim 1, wherein the human-computer interaction device is comprised of a smart phone and a serial bluetooth module; the serial port Bluetooth module is connected with a serial interface of the microcontroller, and the smart phone is wirelessly connected with the serial port Bluetooth module.
3. The educational robot of claim 1, wherein the experimental parameter detection sensor comprises a temperature sensor, a pressure sensor, and a pH meter.
4. The educational robot of claim 1, wherein the ingredient monitoring device is a camera device for observing ingredient level.
5. The educational robot of claim 1, wherein the actuator is a first electrically operated valve, a second electrically operated valve, a precision metering pump, an electric motor, an ignition switch, and a robotic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910057098.7A CN109648580B (en) | 2019-01-22 | 2019-01-22 | Education robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910057098.7A CN109648580B (en) | 2019-01-22 | 2019-01-22 | Education robot |
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| CN109648580A CN109648580A (en) | 2019-04-19 |
| CN109648580B true CN109648580B (en) | 2022-04-01 |
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| CN201910057098.7A Active CN109648580B (en) | 2019-01-22 | 2019-01-22 | Education robot |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4213482B2 (en) * | 2003-02-07 | 2009-01-21 | 東京エレクトロン株式会社 | Plasma processing equipment |
| CN101658780A (en) * | 2009-09-16 | 2010-03-03 | 南京化工职业技术学院 | Multi-functional chemical engineering experiment device |
| GB201321440D0 (en) * | 2013-12-05 | 2014-01-22 | Q Flo Ltd | Process |
| CN204685082U (en) * | 2015-06-03 | 2015-10-07 | 聊城市新恒基生物科技有限公司 | A kind of reactor |
| CN107670613B (en) * | 2016-09-30 | 2019-12-27 | 青岛大学 | Chemical machinery system adopting vertical reaction kettle |
| CN206325584U (en) * | 2016-12-29 | 2017-07-14 | 丁浩洋 | A kind of Environmental-friendportable portable experimental provision |
| CN107221241B (en) * | 2017-06-16 | 2024-01-23 | 罗相平 | Teaching chemistry experiment instrument |
| CN107469753A (en) * | 2017-09-25 | 2017-12-15 | 河南师范大学 | A kind of new chemical experimental robot |
| CN207932533U (en) * | 2017-12-17 | 2018-10-02 | 索微生物技术（苏州）有限公司 | Automate storing component |
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2019
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Effective date of registration: 20220308 Address after: 272600 Yinghua Road, Liangshan Economic Development Zone, Jining City, Shandong Province (east of Dahou Village) Applicant after: Shandong new coordinate Book Industry Co.,Ltd. Address before: 315000 Ningbo Hi Tech Plaza, Zhejiang Province Applicant before: Chen Zongzong |
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Denomination of invention: An educational robot Effective date of registration: 20230228 Granted publication date: 20220401 Pledgee: Shandong Liangshan Rural Commercial Bank Co.,Ltd. Pledgor: Shandong new coordinate Book Industry Co.,Ltd. Registration number: Y2023980033674 |
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