CN109648581B - Programmable educational robot - Google Patents
Programmable educational robot Download PDFInfo
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- CN109648581B CN109648581B CN201910057099.1A CN201910057099A CN109648581B CN 109648581 B CN109648581 B CN 109648581B CN 201910057099 A CN201910057099 A CN 201910057099A CN 109648581 B CN109648581 B CN 109648581B
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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 a programmable educational robot, which comprises a robot body, wherein a measurement and control device is arranged in the robot body, a container is arranged at the middle body part of the robot body, a raw material tank is arranged on an arm, the raw material tank is connected with a feeding pipe above the container through a raw material pipe, and a motion wheel is arranged on a leg part; the inlet pipe that the container upper end set up is T type cavity, and the container left side wall is equipped with first discharging pipe, and its vertical pipe section is opened has a breach, at breach fixedly connected with L type cavity, and the breach of seting up on the vertical section lower port of L type cavity and the vertical pipe section of first discharging pipe link up mutually, and the port of L type cavity horizontal segment extends right and gets into in the vertical pipe section of inlet pipe, vertical section and the horizontal segment at L type cavity are provided with vertical slider and horizontal slider respectively. The programmable educational robot can promote students to master chemical theory knowledge and practice practical ability, and is beneficial to improving the observation ability and programming ability of the students.
Description
Technical Field
The invention relates to the technical field of educational robots, in particular to a programmable 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 the programmable educational robot, so that students in all education stages can not only master chemical theory knowledge and improve practical and practical abilities, but also be beneficial to improving 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:
a programmable educational robot comprises a robot body, wherein a measurement and control device is arranged in the robot body, a container is arranged at the middle body part of the robot body, the container is a closed container, 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 of the raw material tank facing the head part, the raw material tank is connected with a feeding pipe above the container through a raw material pipe, and a motion wheel is arranged at the leg part; the measurement and control device comprises the following 3 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 concentration detector, a liquid level meter 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 a body part of the educational robot and are respectively used for recording the concentration, the liquid level and the pH value of a first initial raw material liquid in the container, before the educational robot starts to work, an aqueous solution of the first initial raw material liquid polyester polyol is added into the container, the addition amount and the addition speed of a second initial raw material liquid polyisocyanate are calculated by detecting the concentration, the liquid level and the pH value of the first initial raw material liquid, and further the foaming time is determined by calculation, so that the starting time of a motor and the rotation time of the camera device towards different directions are determined.
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 the 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 delay switch, a second electric valve and a motor. The motorised valve is used for controlling the feeding of raw materials, the motor is used for controlling the rotation of educational machine people head, and then makes the camera device that sets up on the head aim at different places, delay switch is used for with the feeding of second motorised valve coordinated control feed liquid in the second head tank.
Further, the inlet pipe that the container upper end set up is T type cavity, T type cavity horizontal pipe section is connected with first former feed pipe and second former feed pipe respectively, vertical pipe section with the top of container is connected, the lateral wall is equipped with vertical downwardly extending's first discharging pipe and second discharging pipe respectively about the container, and the vertical pipe section of first discharging pipe is opened and is had a breach fixedly connected with L type cavity of breach department, the pipe diameter of L type cavity is greater than the pipe diameter of first discharging pipe, the breach of seting up on the vertical section of L type cavity lower port and the vertical pipe section of first discharging pipe link up mutually, the port of L type cavity horizontal section extends the entering rightwards in the vertical pipe section of inlet pipe vertical section and the horizontal segment of L type cavity are provided with vertical slider and horizontal slider respectively.
Furthermore, the moving wheel is provided with an internal spiral cavity, the inlet of the spiral cavity is laterally opened and positioned in the center of the moving wheel and is connected with the lower port of the vertical section of the first discharging pipe or the second discharging pipe, and the outlet of the spiral cavity is laterally opened and positioned at the edge of the moving wheel.
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.
Accordingly, a method for using the programmable educational 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 delay time, 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 and the initial value of the experimental parameter; 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 movement time, the foam quantity and the water seepage condition of the moving wheel; the above process was repeated until a demonstration experiment of chemical foaming reaction 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 measurement and control device 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 cross subjects such as chemistry and computers.
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 showing the structure of a body part of an educational robot in accordance with 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 device comprises a head, a body, a 3, an arm, a 4, a leg, a 5, a measurement and control device, a 21, a container, a 101, a camera device, 201, a feeding pipe, 202, a first discharging pipe, 203, a second discharging pipe, 204, an L-shaped cavity, 205, a vertical sliding block, 206, a horizontal sliding block, 301, a first raw material tank, 302, a first raw material pipe, 303, a first electric valve, 304, a second raw material tank, 305, a second raw material pipe, 306, a second electric valve, 401, a motion wheel, 402, a spiral cavity, 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, a programmable educational robot comprises a robot body, wherein a camera device 101 for observing the liquid level of raw materials is arranged on a head 1 of the robot body, a container 21 is arranged on a middle body 2 part of the robot body, a first raw material tank 301 and a second raw material tank 304 are respectively arranged on the left side and the right side of an arm 3, the first raw material tank 301 and the second raw material tank 304 are respectively connected with a horizontal inlet pipe section of a T-shaped feeding pipe 201 above the container 21 through a first raw material pipe 302 and a second raw material pipe 305, a first electric valve 303 and a second electric valve 306 are respectively arranged on the first raw material pipe 302 and the second raw material pipe 305, and a moving wheel 401 with a spiral cavity 402 is arranged on a leg 4; the raw material added into the first raw material tank 301 is polyisocyanate, and the raw material added into the second raw material tank is water; the raw materials added in the container comprise water, polyester polyol and a catalyst; a measurement and control device 5 is arranged in the robot body; the measurement and control device 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 sensor comprises a concentration detector, a liquid level meter and a pH meter.
The raw material monitoring device is a camera device 101 for observing the liquid level of the raw material.
The actuating mechanism comprises a first electric valve 303, a delay switch, a second electric valve 306 and a motor.
The inlet pipe 201 that container 21 upper end set up is T type cavity, T type cavity horizontal pipe section is connected with first raw materials pipe 302 and second raw materials pipe 305 respectively, vertical pipe section with container 21's top is connected, the lateral wall is equipped with vertical downwardly extending's first discharging pipe 202 and second discharging pipe 203 respectively about container 21, and the vertical pipe section of first discharging pipe 202 is opened and is had a breach fixedly connected with L type cavity 204 in breach department, the pipe diameter of L type cavity 204 is greater than the pipe diameter of first discharging pipe 202, the breach of seting up on the vertical pipe section of port and the first discharging pipe 202 under the vertical section of L type cavity 204 link up mutually, the port of L type cavity 204 horizontal section extends right and gets into in the vertical pipe section of inlet pipe 201 vertical pipe section vertical section and horizontal section of L type cavity 204 are provided with vertical slider 205 and horizontal slider 206 respectively.
The moving wheel 401 is provided with an internal spiral cavity 402, an inlet of the spiral cavity 402 is laterally opened and positioned in the center of the moving wheel and is connected with a lower port of a vertical section of the first discharging pipe 202 or the second discharging pipe 203, and an outlet of the spiral cavity 402 is laterally opened and positioned at the edge of the moving wheel 401.
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 relates to a using method of a programmable 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 delay time, 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: the third module 503 sends a detection command to the first microcontroller in the first module 501 via the serial interface; the first microcontroller returns the liquid level of the raw material tank and the initial value of the experimental parameter; after receiving the detection value, the third microcontroller comprehensively judges according to an algorithm to determine the action sequence of the robot, and sequentially comprises starting the camera device 101, aligning the camera device 101 to the first raw material tank 301 by rotating the head 1, observing the liquid level of the first raw material tank 301, starting the first electric valve 303, aligning the camera device 101 to the outlet position of the spiral cavity 402 of the motion wheel 401 by rotating the head 1, observing the outflow condition of foam, aligning the camera device 101 to the second raw material tank 304 by rotating the head 1 when no foam flows out, delaying for a period of time, starting the delay switch, observing the liquid level of the second raw material tank 304, starting the second electric valve 306, closing the second electric valve 306 after delaying for a certain time, observing the water seepage condition of the outlet position of the spiral cavity 402 of the motion wheel 401, 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 movement time, the foam quantity and the water seepage condition of the moving wheel; the above process was repeated until a chemical foaming 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 (4)
1. A programmable educational robot comprises a robot body, wherein a measurement and control device is arranged in the robot body, and the programmable educational robot is characterized in that a container is arranged at the middle body part of the robot body, a raw material tank is arranged on an arm, the raw material tank is connected with a feeding pipe above the container through a raw material pipe, and moving wheels are arranged on legs; the feeding pipe arranged at the upper end of the container is a T-shaped cavity, the horizontal pipe section of the T-shaped cavity is respectively connected with a first raw material pipe and a second raw material pipe, the vertical pipe section is connected with the top end of the container, the left side wall and the right side wall of the container are respectively provided with a first discharging pipe and a second discharging pipe which longitudinally extend downwards, the vertical pipe section of the first discharging pipe is provided with a notch, an L-shaped cavity is fixedly connected at the notch, the lower port of the vertical section of the L-shaped cavity is communicated with the notch arranged on the vertical pipe section of the first discharging pipe, the port of the horizontal section of the L-shaped cavity extends rightwards to enter the vertical pipe section of the feeding pipe, the vertical section and the horizontal section of the L-shaped cavity are respectively provided with a vertical sliding block and a horizontal sliding block, the pipe diameter of the L-shaped cavity is larger than that of the first discharging pipe, the motion wheel is arranged as an internal spiral cavity, and the inlet of the spiral cavity is laterally opened and positioned at the center of the motion wheel, be connected with the lower port of first discharging pipe or the vertical section of second discharging pipe, the export side direction opening of spiral cavity is located the edge of motion wheel, measurement and control device includes following 3 modules: the first module is used for detecting raw materials and experimental parameters; a second module for actuator control; and the third module is used for controlling the whole robot.
2. A programmable educational robot in accordance with claim 1, wherein the head tank is made of a transparent material and a scale is provided on a side facing the head position.
3. A programmable educational robot in accordance with claim 1, wherein the material tank comprises a first material tank in which the additive material is polyisocyanate, and a second material tank in which the additive material is water.
4. A programmable educational robot in accordance with claim 1, wherein the raw materials added in the container comprise water, polyester polyol and a catalyst.
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| CN201910057099.1A CN109648581B (en) | 2019-01-22 | 2019-01-22 | Programmable educational robot |
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| JP4213482B2 (en) * | 2003-02-07 | 2009-01-21 | 東京エレクトロン株式会社 | Plasma processing equipment |
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| CN204699715U (en) * | 2015-06-08 | 2015-10-14 | 宁波欧瑞特聚合物有限公司 | A kind of portable polymers reactor |
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