CN108597347A - A kind of education and science's mechanical arm for teaching apparatus for demonstrating - Google Patents
A kind of education and science's mechanical arm for teaching apparatus for demonstrating Download PDFInfo
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- CN108597347A CN108597347A CN201810665161.0A CN201810665161A CN108597347A CN 108597347 A CN108597347 A CN 108597347A CN 201810665161 A CN201810665161 A CN 201810665161A CN 108597347 A CN108597347 A CN 108597347A
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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
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The invention discloses a kind of education and science's mechanical arm for teaching apparatus for demonstrating,Including machinery chassis,The bottom of the machinery chassis is equipped with power supply,The bottom of the machinery chassis is equipped with first servo motor,The first servo motor has four groups,Four groups of first servo motor rotation array settings,It is fixed with wheel carrier on the output shaft of the first servo motor,Stepper motor is installed on wheel carrier,Driving wheel is installed on the output shaft of the stepper motor,The side of the machinery chassis is equipped with IR evading obstacle sensors,This education and science mechanical arm for teaching apparatus for demonstrating,The information for microcontroller processing of increasing income is amplified by signal amplifier,The signal of amplification is transmitted to by wireless transceiver on remote control equipment,Remote control equipment handles information,And the apparatus for demonstrating is fed back into row information by wireless transceiver,To realize the wireless control to the apparatus for demonstrating,Its is easy to control,It disclosure satisfy that the trend of era development.
Description
Technical field
The present invention relates to educational facilities technical field, specially a kind of education and science's mechanical arm for teaching apparatus for demonstrating.
Background technology
In the prior art：It is that the patent of 204576963 U of CN discloses a kind of education and science and imparts knowledge to students and uses machine to authorize publication No.
Tool hand apparatus for demonstrating, including supporting table, sliding rail, the first oil cylinder, turntable, the second oil cylinder, third oil cylinder, the first support arm,
Two support arms, secondary support arm, connector and manipulator ontology, the sliding rail bottom end are fixed in supporting table, first oil cylinder
Power output end connection turntable is embedded in the part in sliding rail, and first support arm bottom end connects turntable, top and company
Fitting connects, and second oil cylinder both ends are separately connected turntable and the first support arm, and the connection of second support arm one end connects
Fitting, another end connect manipulator ontology, and third oil cylinder one end is fixed on connector, and another end connects the second support arm,
Flexibility is poor, and degree of freedom is low, and demonstrating effect is general, greatly reduces the effect of teaching.
Invention content
The technical problem to be solved by the present invention is to overcome the existing defects, provides a kind of education and science's mechanical arm for teaching and drills
Showing device, flexibility is good, and degree of freedom is high, and good demonstration effect substantially increases the effect of teaching, can effectively solve background technology
The problems in.
To achieve the above object, the present invention provides the following technical solutions：A kind of education and science's mechanical arm for teaching demonstration dress
It sets, including machinery chassis, the bottom of the machinery chassis is equipped with power supply；
The bottom of the machinery chassis is equipped with first servo motor；
The first servo motor has four groups, four groups of first servo motor rotation array settings；
It is fixed with wheel carrier on the output shaft of the first servo motor, stepper motor is installed on wheel carrier；
Driving wheel is installed on the output shaft of the stepper motor；
The side of the machinery chassis is equipped with IR evading obstacle sensors；
Supporting rack is fixed at the top of the machinery chassis, the end of supporting rack is connected with mounting plate；
The side of the mounting plate is separately installed with microcontroller of increasing income, GPS locator and wireless transceiver, the side of wireless transceiver
Face is equipped with signal amplifier；
Level angle regulating device is installed at the top of the machinery chassis；
Supporting rod is fixed at the top of the level angle regulating device, the end of supporting rod is connected with mounting bracket；
Be fixed with the first mounting base at the top of the mounting bracket, the side of the first mounting base be separately installed with the second servo motor and
Bearing；
The bearing is rotatably connected to the first connecting seat by rotary shaft, and rotary shaft passes through transmission mechanism and the second servo motor
Output shaft is sequentially connected；
The first telescoping mechanism is installed at the top of first connecting seat；
The end of first telescoping mechanism is equipped with first angle regulating device；
The end of the first angle regulating device is equipped with the second telescoping mechanism；
The end of second telescoping mechanism is equipped with second angle regulating device；
The end of the second angle regulating device is fixed with the second mounting base；
The bottom of second mounting base is equipped with clamping device；
The side of the second angle regulating device is connected with laser scanner by the first link；
The other side of the second angle regulating device is connected with laser measuring apparatus by the second link；
The laser scanner, laser measuring apparatus, power supply, IR evading obstacle sensors and GPS locator output end with increase income
The input terminal of microcontroller is electrically connected, the output end of microcontroller of increasing income respectively with first servo motor, signal amplifier, stepper motor
It is electrically connected with the input terminal of the second servo motor, the input terminal of the output end electrical connection wireless transceiver of the signal amplifier.
As a preferred technical solution of the present invention, the level angle regulating device includes ring-shaped guide rail, and annular is led
Rail is fixed on the top of machinery chassis, and first straight line motor is connected on the ring-shaped guide rail, and supporting rod is fixed on first
The scope of activities at the top of linear motor, the first straight line motor is 0 ° -360 °, and the output end of the microcontroller of increasing income is electrically connected
Connect the input terminal of first straight line motor.
As a preferred technical solution of the present invention, the transmission mechanism includes driving gear and driven gear, driven
Gear is installed on the rotary shaft, and the driving gear is mounted on the output shaft of the second servo motor, driving gear and driven tooth
Wheel engagement.
As a preferred technical solution of the present invention, first telescoping mechanism include the first electric telescopic rod, first
Electric telescopic rod is mounted on the top of the first connecting seat, and the telescopic end of first electric telescopic rod is fixed with the second connecting seat,
First angle regulating device is mounted on the side of the second connecting seat, and the output end electrical connection first of the microcontroller of increasing income is electronic to stretch
The input terminal of contracting bar.
As a preferred technical solution of the present invention, the first angle regulating device includes third servo motor, the
Three servo motors are mounted on the side of the second connecting seat, and third connecting seat is fixed on the output shaft of the third servo motor,
Second telescoping mechanism is mounted on the end of third connecting seat, the output end electrical connection third servo motor of the microcontroller of increasing income
Input terminal.
As a preferred technical solution of the present invention, second telescoping mechanism include the second electric telescopic rod, second
Electric telescopic rod is mounted on the end of third connecting seat, and the telescopic end of second electric telescopic rod is fixed with the 4th connecting seat,
Second angle regulating device is mounted on the 4th connecting seat, and the output end of the microcontroller of increasing income is electrically connected the second electric telescopic rod
Input terminal.
As a preferred technical solution of the present invention, the second angle regulating device includes the 4th servo motor, the
Four servo motors are mounted on the 4th connecting seat, and connecting rod, the second mounting base are fixed on the output shaft of the 4th servo motor
It is fixed on the end of connecting rod, the output end of the microcontroller of increasing income is electrically connected the input terminal of the 4th servo motor.
As a preferred technical solution of the present invention, the clamping device includes linear type guide rail, and linear type guide rail is solid
It is scheduled on the bottom of the second mounting base, the linear type guide rail there are four groups, and four groups of linear type guide rail rotation arrays are arranged, the straight line
Second straight line motor is connected on type guide rail, the bottom of second straight line motor is fixed with fixture, the microcontroller of increasing income
Output end is electrically connected the input terminal of second straight line motor.
Compared with prior art, the beneficial effects of the invention are as follows：This education and science mechanical arm for teaching apparatus for demonstrating, 1, will
The information of microcontroller of increasing income processing is amplified by signal amplifier, and the signal of amplification is transmitted to remote control equipment by wireless transceiver
On, remote control equipment handles information, and is fed back into row information to the apparatus for demonstrating by wireless transceiver, to realization pair
The wireless control of the apparatus for demonstrating, it is easy to control, it disclosure satisfy that the trend of era development.
2, the barrier around the apparatus for demonstrating is detected by IR evading obstacle sensors, GPS locator drills this
Spatial position where showing device is positioned, and the information for positioning and detecting passes to microcontroller of increasing income, microcontroller pair of increasing income
Information carries out analyzing processing, and is positioned to the shift position of the apparatus for demonstrating, and registration substantially increases the demonstration
The intelligent level of device.
3, microcontroller of increasing income controls first servo motor work according to location information, and the output shaft of first servo motor drives
Wheel carrier is rotated, and to which the direction of travel of driving wheel be adjusted, microcontroller of increasing income controls stepping electricity according to location information
Machine works, and the output shaft of stepper motor drives driving wheel to be rotated, to be moved to machinery chassis, conveniently moving,
Substantially increase the interest of the apparatus for demonstrating.
4, it controls laser scanner by microcontroller of increasing income to be scanned the shape that object is clamped, controls laser measuring apparatus
Size to object is clamped measures, and the information for measuring and scanning passes to microcontroller of increasing income, and microcontroller of increasing income is to information
Analyzing processing is carried out, and the operating position of clamping device is positioned, substantially increases the operating accuracy of the apparatus for demonstrating.
5, the horizontal operation angle of clamping device is adjusted by level angle regulating device, passes through the second servo electricity
The first vertical angles of clamping device are adjusted in machine, are adjusted to the working depth of clamping device by the first telescoping mechanism
Section, is adjusted the second vertical angles of clamping device by first angle regulating device, is clamped by the second telescoping mechanism
The horizontal service position of mechanism is adjusted, and is adjusted to the third vertical angles of clamping device by second angle regulating device
Section, flexibility is good, and degree of freedom is high, substantially increases the demonstrating effect of the apparatus for demonstrating and the quality of teaching.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is side structure schematic diagram of the present invention；
Fig. 3 is bottom substance schematic diagram of the present invention.
In figure：1 machinery chassis, 2 supporting racks, 3 GPS locators, 4 are increased income microcontroller, 5 mounting plates, 6 signal amplifiers, 7
Wireless transceiver, 8 mounting brackets, 9 second servo motors, 10 driving gears, 11 driven gears, 12 supporting rods, 13 ring-shaped guide rails, 14
First straight line motor, 15 stepper motors, 16 wheel carriers, 17 first servo motors, 18 driving wheels, 19 transmission mechanisms, 20 level angles
Regulating device, 21 IR evading obstacle sensors, 22 laser scanners, 23 first links, 24 laser measuring apparatus, 25 second connections
Frame, 26 connecting rods, 27 the 4th servo motors, 28 the 4th connecting seats, 29 second electric telescopic rods, 30 third servo motors, 31 thirds
Connecting seat, 32 second connecting seats, 33 first electric telescopic rods, 34 first connecting seats, 35 first mounting bases, 36 bearings, 37 rotations
Axis, 38 second angle regulating devices, 39 second telescoping mechanisms, 40 first angle regulating devices, 41 first telescoping mechanisms, 42 electricity
Source, 43 second mounting bases, 44 second straight line motors, 45 fixtures, 46 linear type guide rails, 47 clamping devices.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 3 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of education and science's mechanical arm for teaching apparatus for demonstrating,
Including machinery chassis（1）, machinery chassis（1）Bottom power supply is installed（42）；
Machinery chassis（1）Bottom first servo motor is installed（17）；
First servo motor（17）There are four groups, four groups of first servo motors（17）Rotation array is arranged；
First servo motor（17）Output shaft on be fixed with wheel carrier（16）, wheel carrier（16）On stepper motor is installed（15）；
Stepper motor（15）Output shaft on driving wheel is installed（18）；
Machinery chassis（1）Side IR evading obstacle sensors are installed（21）；
Machinery chassis（1）Top be fixed with supporting rack（2）, supporting rack（2）End be connected with mounting plate（5）；
Mounting plate（5）Side be separately installed with microcontroller of increasing income（4）, GPS locator（3）And wireless transceiver（7）, wireless to receive
Send out device（7）Side signal amplifier is installed（6）；
Machinery chassis（1）Top level angle regulating device is installed（20）；
Level angle regulating device（20）Top be fixed with supporting rod（12）, supporting rod（12）End be connected with mounting bracket
（8）；
Mounting bracket（8）Top be fixed with the first mounting base（35）, the first mounting base（35）Side be separately installed with second and watch
Take motor（9）And bearing（36）；
Bearing（36）Pass through rotary shaft（37）It is rotatably connected to the first connecting seat（34）, rotary shaft（37）Pass through transmission mechanism（19）
With the second servo motor（9）Output shaft be sequentially connected；
First connecting seat（34）Top the first telescoping mechanism is installed（41）；
First telescoping mechanism（41）End first angle regulating device is installed（40）；
First angle regulating device（40）End the second telescoping mechanism is installed（39）；
Second telescoping mechanism（39）End second angle regulating device is installed（38）；
Second angle regulating device（38）End be fixed with the second mounting base（43）；
Second mounting base（43）Bottom clamping device is installed（47）；
Second angle regulating device（38）Side pass through the first link（23）It is connected with laser scanner（22）；
Second angle regulating device（38）The other side pass through the second link（25）It is connected with laser measuring apparatus（24）；
Laser scanner（22）, laser measuring apparatus（24）, power supply（42）, IR evading obstacle sensors（21）And GPS locator（3）'s
Output end with microcontroller of increasing income（4）Input terminal electrical connection, microcontroller of increasing income（4）Output end respectively with first servo motor
（17）, signal amplifier（6）, stepper motor（15）With the second servo motor（9）Input terminal electrical connection, signal amplifier（6）
Output end be electrically connected wireless transceiver（7）Input terminal.
It increases income microcontroller（4）The information of processing passes through signal amplifier（6）Amplification, the signal of amplification pass through wireless transceiver
（7）It is transmitted on remote control equipment, remote control equipment handles information, and passes through wireless transceiver（7）To the apparatus for demonstrating into
Row information is fed back, easy to control to realize the wireless control to the apparatus for demonstrating, disclosure satisfy that the trend of era development.
IR evading obstacle sensors（21）Barrier around the apparatus for demonstrating is detected, GPS locator（3）This is drilled
Spatial position where showing device is positioned, and the information for positioning and detecting passes to microcontroller of increasing income（4）, microcontroller of increasing income
（4）Analyzing processing is carried out to information, and the shift position of the apparatus for demonstrating is positioned, registration substantially increases
The intelligent level of the apparatus for demonstrating.
It increases income microcontroller（4）First servo motor is controlled according to location information（17）Work, first servo motor（17）'s
Output shaft drives wheel carrier（16）It is rotated, to driving wheel（18）Direction of travel be adjusted, microcontroller of increasing income（4）Root
Stepper motor is controlled according to location information（15）Work, stepper motor（15）Output shaft drive driving wheel（18）It is rotated, from
And to machinery chassis（1）It is moved, conveniently moving, substantially increases the interest of the apparatus for demonstrating.
Pass through microcontroller of increasing income（4）Control laser scanner（22）Shape to object is clamped is scanned, and controls laser
Measuring instrument（24）Size to object is clamped measures, and the information for measuring and scanning passes to microcontroller of increasing income（4）, increase income
Microcontroller（4）Analyzing processing is carried out to information, and to clamping device（47）Operating position positioned, substantially increase this and drill
The operating accuracy of showing device.
Level angle regulating device（20）Including ring-shaped guide rail（13）, ring-shaped guide rail（13）It is fixed on machinery chassis（1）'s
Top, ring-shaped guide rail（13）On be connected with first straight line motor（14）, supporting rod（12）It is fixed on first straight line motor
（14）Top, first straight line motor（14）Scope of activities be 0 ° -360 °, microcontroller of increasing income（4）Output end electrical connection the
One linear motor（14）Input terminal, microcontroller of increasing income（4）First straight line motor is controlled according to location information（14）It is led in annular
Rail（13）On move in a circle, first straight line motor（14）Pass through supporting rod（12）Drive mounting bracket（8）It is rotated, to right
Clamping device（47）Horizontal operation angle be adjusted.
Transmission mechanism（19）Including driving gear（10）And driven gear（11）, driven gear（11）Mounted on rotary shaft
（37）On, driving gear（10）Mounted on the second servo motor（9）Output shaft on, driving gear（10）With driven gear（11）
Engagement, microcontroller of increasing income（4）The second servo motor is controlled according to location information（9）Work, the second servo motor（9）Output shaft
Drive driving gear（10）Rotation, driving gear（10）With driven gear（11）Engaged transmission, driven gear（11）Drive rotation
Axis（37）In bearing（36）Interior rotation, rotary shaft（37）Drive the first connecting seat（34）Rotation, to clamping device（47）'s
First vertical angles are adjusted.
First telescoping mechanism（41）Including the first electric telescopic rod（33）, the first electric telescopic rod（33）Connect mounted on first
Joint chair（34）Top, the first electric telescopic rod（33）Telescopic end be fixed with the second connecting seat（32）, first angle, which is adjusted, to be filled
It sets（40）Mounted on the second connecting seat（32）Side, microcontroller of increasing income（4）Output end be electrically connected the first electric telescopic rod
（33）Input terminal, microcontroller of increasing income（4）The first electric telescopic rod is controlled according to location information（33）Work, the first electric expansion
Bar（33）Telescopic end drive the second connecting seat（32）Stretching motion is carried out, to clamping device（47）Working depth carry out
It adjusts.
First angle regulating device（40）Including third servo motor（30）, third servo motor（30）Connect mounted on second
Joint chair（32）Side, third servo motor（30）Output shaft on be fixed with third connecting seat（31）, the second telescoping mechanism
（39）Mounted on third connecting seat（31）End, microcontroller of increasing income（4）Output end be electrically connected third servo motor（30）'s
Input terminal, microcontroller of increasing income（4）Third servo motor is controlled according to location information（30）Work, third servo motor（30）It is defeated
Shaft drives third connecting seat（31）Rotation, to clamping device（47）The second vertical angles be adjusted.
Second telescoping mechanism（39）Including the second electric telescopic rod（29）, the second electric telescopic rod（29）Connect mounted on third
Joint chair（31）End, the second electric telescopic rod（29）Telescopic end be fixed with the 4th connecting seat（28）, second angle, which is adjusted, to be filled
It sets（38）Mounted on the 4th connecting seat（28）On, microcontroller of increasing income（4）Output end be electrically connected the second electric telescopic rod（29）'s
Input terminal, microcontroller of increasing income（4）The second electric telescopic rod is controlled according to location information（29）Work, the second electric telescopic rod（29）
Telescopic end drive the 4th connecting seat（28）Stretching motion is carried out, to clamping device（47）Horizontal service position adjusted
Section.
Second angle regulating device（38）Including the 4th servo motor（27）, the 4th servo motor（27）Connect mounted on the 4th
Joint chair（28）On, the 4th servo motor（27）Output shaft on be fixed with connecting rod（26）, the second mounting base（43）It is fixed on connecting rod
（26）End, microcontroller of increasing income（4）Output end be electrically connected the 4th servo motor（27）Input terminal, microcontroller of increasing income（4）
The 4th servo motor is controlled according to location information（27）Work, the 4th servo motor（27）Output shaft pass through connecting rod（26）It drives
Second mounting base（43）Rotation, to clamping device（47）Third vertical angles be adjusted.
Pass through level angle regulating device（20）To clamping device（47）Horizontal operation angle be adjusted, pass through second
Servo motor（9）To clamping device（47）The first vertical angles be adjusted, pass through the first telescoping mechanism（41）To clamping machine
Structure（47）Working depth be adjusted, pass through first angle regulating device（40）To clamping device（47）The second vertical angles
It is adjusted, passes through the second telescoping mechanism（39）Clamping device（47）Horizontal service position be adjusted, pass through second angle
Regulating device（38）To clamping device（47）Third vertical angles be adjusted, flexibility is good, and degree of freedom is high, greatly improves
The demonstrating effect of the apparatus for demonstrating and the quality of teaching.
Clamping device（47）Including linear type guide rail（46）, linear type guide rail（46）It is fixed on the second mounting base（43）Bottom
Portion, linear type guide rail（46）There are four groups, four groups of linear type guide rails（46）Rotation array is arranged, linear type guide rail（46）Upper activity is even
It is connected to second straight line motor（44）, second straight line motor（44）Bottom be fixed with fixture（45）, microcontroller of increasing income（4）Output
End electrical connection second straight line motor（44）Input terminal, microcontroller of increasing income（4）Second straight line motor is controlled according to location information
（44）In linear type guide rail（46）On move in a straight line, second straight line motor（44）Drive fixture（45）It mutually draws close, to right
Object is clamped, and regulating power is strong, is clamped convenient for the object to different sizes.
It increases income microcontroller（4）Control signal amplifier（6）, wireless transceiver（7）, IR evading obstacle sensors（21）, GPS it is fixed
Position device（3）, first servo motor（17）, stepper motor（15）, laser scanner（22）, laser measuring apparatus（24）, first straight line
Motor（14）, the second servo motor（9）, the first electric telescopic rod（33）, third servo motor（30）, the second electric telescopic rod
（29）, the 4th servo motor（27）With second straight line motor（44）It is method commonly used in the prior art.
When in use：It increases income microcontroller（4）The information of processing passes through signal amplifier（6）Amplification, the signal of amplification pass through
Wireless transceiver（7）It is transmitted on remote control equipment, remote control equipment handles information, and passes through wireless transceiver（7）To this
Apparatus for demonstrating carries out wireless control.
IR evading obstacle sensors（21）Barrier around the apparatus for demonstrating is detected, GPS locator（3）This is drilled
Spatial position where showing device is positioned, and the information for positioning and detecting passes to microcontroller of increasing income（4）, microcontroller of increasing income
（4）Analyzing processing is carried out to information, and the shift position of the apparatus for demonstrating is positioned.
It increases income microcontroller（4）First servo motor is controlled according to location information（17）Work, first servo motor（17）'s
Output shaft drives wheel carrier（16）It is rotated, to driving wheel（18）Direction of travel be adjusted, microcontroller of increasing income（4）Root
Stepper motor is controlled according to location information（15）Work, stepper motor（15）Output shaft drive driving wheel（18）It is rotated, from
And to machinery chassis（1）It is moved.
Pass through microcontroller of increasing income（4）Control laser scanner（22）Shape to object is clamped is scanned, and controls laser
Measuring instrument（24）Size to object is clamped measures, and the information for measuring and scanning passes to microcontroller of increasing income（4）, increase income
Microcontroller（4）Analyzing processing is carried out to information, and to clamping device（47）Operating position positioned.
It increases income microcontroller（4）First straight line motor is controlled according to location information（14）In ring-shaped guide rail（13）On do circumference fortune
It is dynamic, first straight line motor（14）Pass through supporting rod（12）Drive mounting bracket（8）It is rotated, to clamping device（47）Water
Flat operating angle is adjusted.
It increases income microcontroller（4）The second servo motor is controlled according to location information（9）Work, the second servo motor（9）It is defeated
Shaft drives driving gear（10）Rotation, driving gear（10）With driven gear（11）Engaged transmission, driven gear（11）It drives
Rotary shaft（37）In bearing（36）Interior rotation, rotary shaft（37）Drive the first connecting seat（34）Rotation, to clamping device
（47）The first vertical angles be adjusted.
It increases income microcontroller（4）The first electric telescopic rod is controlled according to location information（33）Work, the first electric telescopic rod
（33）Telescopic end drive the second connecting seat（32）Stretching motion is carried out, to clamping device（47）Working depth adjusted
Section.
It increases income microcontroller（4）Third servo motor is controlled according to location information（30）Work, third servo motor（30）'s
Output shaft drives third connecting seat（31）Rotation, to clamping device（47）The second vertical angles be adjusted.
It increases income microcontroller（4）The second electric telescopic rod is controlled according to location information（29）Work, the second electric telescopic rod
（29）Telescopic end drive the 4th connecting seat（28）Stretching motion is carried out, to clamping device（47）Horizontal service position into
Row is adjusted.
It increases income microcontroller（4）The 4th servo motor is controlled according to location information（27）Work, the 4th servo motor（27）'s
Output shaft passes through connecting rod（26）Drive the second mounting base（43）Rotation, to clamping device（47）Third vertical angles carry out
It adjusts.
It increases income microcontroller（4）Second straight line motor is controlled according to location information（44）In linear type guide rail（46）On do straight line
Movement, second straight line motor（44）Drive fixture（45）It mutually draws close, to which object be clamped.
The present invention will increase income microcontroller（4）The information of processing passes through signal amplifier（6）Amplification, the signal of amplification pass through nothing
Line transceiver（7）It is transmitted on remote control equipment, remote control equipment handles information, and passes through wireless transceiver（7）This is drilled
Showing device is fed back into row information, easy to control to realize the wireless control to the apparatus for demonstrating, disclosure satisfy that era development
Trend.
Pass through IR evading obstacle sensors（21）Barrier around the apparatus for demonstrating is detected, GPS locator（3）It is right
Spatial position where the apparatus for demonstrating is positioned, and the information for positioning and detecting passes to microcontroller of increasing income（4）, list of increasing income
Piece machine（4）Analyzing processing is carried out to information, and the shift position of the apparatus for demonstrating is positioned, registration carries significantly
The high intelligent level of the apparatus for demonstrating.
It increases income microcontroller（4）First servo motor is controlled according to location information（17）Work, first servo motor（17）'s
Output shaft drives wheel carrier（16）It is rotated, to driving wheel（18）Direction of travel be adjusted, microcontroller of increasing income（4）Root
Stepper motor is controlled according to location information（15）Work, stepper motor（15）Output shaft drive driving wheel（18）It is rotated, from
And to machinery chassis（1）It is moved, conveniently moving, substantially increases the interest of the apparatus for demonstrating.
Pass through microcontroller of increasing income（4）Control laser scanner（22）Shape to object is clamped is scanned, and controls laser
Measuring instrument（24）Size to object is clamped measures, and the information for measuring and scanning passes to microcontroller of increasing income（4）, increase income
Microcontroller（4）Analyzing processing is carried out to information, and to clamping device（47）Operating position positioned, substantially increase this and drill
The operating accuracy of showing device.
Pass through level angle regulating device（20）To clamping device（47）Horizontal operation angle be adjusted, pass through second
Servo motor（9）To clamping device（47）The first vertical angles be adjusted, pass through the first telescoping mechanism（41）To clamping machine
Structure（47）Working depth be adjusted, pass through first angle regulating device（40）To clamping device（47）The second vertical angles
It is adjusted, passes through the second telescoping mechanism（39）Clamping device（47）Horizontal service position be adjusted, pass through second angle
Regulating device（38）To clamping device（47）Third vertical angles be adjusted, flexibility is good, and degree of freedom is high, greatly improves
The demonstrating effect of the apparatus for demonstrating and the quality of teaching.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of education and science's mechanical arm for teaching apparatus for demonstrating, including machinery chassis（1）, it is characterised in that：The machinery bottom
Disk（1）Bottom power supply is installed（42）；
The machinery chassis（1）Bottom first servo motor is installed（17）；
The first servo motor（17）There are four groups, four groups of first servo motors（17）Rotation array is arranged；
The first servo motor（17）Output shaft on be fixed with wheel carrier（16）, wheel carrier（16）On stepper motor is installed
（15）；
The stepper motor（15）Output shaft on driving wheel is installed（18）；
The machinery chassis（1）Side IR evading obstacle sensors are installed（21）；
The machinery chassis（1）Top be fixed with supporting rack（2）, supporting rack（2）End be connected with mounting plate（5）；
The mounting plate（5）Side be separately installed with microcontroller of increasing income（4）, GPS locator（3）And wireless transceiver（7）, nothing
Line transceiver（7）Side signal amplifier is installed（6）；
The machinery chassis（1）Top level angle regulating device is installed（20）；
The level angle regulating device（20）Top be fixed with supporting rod（12）, supporting rod（12）End be connected with installation
Frame（8）；
The mounting bracket（8）Top be fixed with the first mounting base（35）, the first mounting base（35）Side be separately installed with
Two servo motors（9）And bearing（36）；
The bearing（36）Pass through rotary shaft（37）It is rotatably connected to the first connecting seat（34）, rotary shaft（37）Pass through transmission mechanism
（19）With the second servo motor（9）Output shaft be sequentially connected；
First connecting seat（34）Top the first telescoping mechanism is installed（41）；
First telescoping mechanism（41）End first angle regulating device is installed（40）；
The first angle regulating device（40）End the second telescoping mechanism is installed（39）；
Second telescoping mechanism（39）End second angle regulating device is installed（38）；
The second angle regulating device（38）End be fixed with the second mounting base（43）；
Second mounting base（43）Bottom clamping device is installed（47）；
The second angle regulating device（38）Side pass through the first link（23）It is connected with laser scanner（22）；
The second angle regulating device（38）The other side pass through the second link（25）It is connected with laser measuring apparatus（24）；
The laser scanner（22）, laser measuring apparatus（24）, power supply（42）, IR evading obstacle sensors（21）And GPS locator
（3）Output end with microcontroller of increasing income（4）Input terminal electrical connection, microcontroller of increasing income（4）Output end watched respectively with first
Take motor（17）, signal amplifier（6）, stepper motor（15）With the second servo motor（9）Input terminal electrical connection, the signal
Amplifier（6）Output end be electrically connected wireless transceiver（7）Input terminal.
2. a kind of education and science's mechanical arm for teaching apparatus for demonstrating according to claim 1, it is characterised in that：The level
Angle regulator（20）Including ring-shaped guide rail（13）, ring-shaped guide rail（13）It is fixed on machinery chassis（1）Top, the annular
Guide rail（13）On be connected with first straight line motor（14）, supporting rod（12）It is fixed on first straight line motor（14）Top,
The first straight line motor（14）Scope of activities be 0 ° -360 °, the microcontroller of increasing income（4）Output end electrical connection first it is straight
Line motor（14）Input terminal.
3. a kind of education and science's mechanical arm for teaching apparatus for demonstrating according to claim 1, it is characterised in that：The transmission
Mechanism（19）Including driving gear（10）And driven gear（11）, driven gear（11）Mounted on rotary shaft（37）On, the master
Moving gear（10）Mounted on the second servo motor（9）Output shaft on, driving gear（10）With driven gear（11）Engagement.
4. a kind of education and science's mechanical arm for teaching apparatus for demonstrating according to claim 1, it is characterised in that：Described first
Telescoping mechanism（41）Including the first electric telescopic rod（33）, the first electric telescopic rod（33）Mounted on the first connecting seat（34）Top
Portion, first electric telescopic rod（33）Telescopic end be fixed with the second connecting seat（32）, first angle regulating device（40）Peace
Mounted in the second connecting seat（32）Side, the microcontroller of increasing income（4）Output end be electrically connected the first electric telescopic rod（33）'s
Input terminal.
5. a kind of education and science's mechanical arm for teaching apparatus for demonstrating according to claim 1, it is characterised in that：Described first
Angle regulator（40）Including third servo motor（30）, third servo motor（30）Mounted on the second connecting seat（32）Side
Face, the third servo motor（30）Output shaft on be fixed with third connecting seat（31）, the second telescoping mechanism（39）It is mounted on
Third connecting seat（31）End, the microcontroller of increasing income（4）Output end be electrically connected third servo motor（30）Input terminal.
6. a kind of education and science's mechanical arm for teaching apparatus for demonstrating according to claim 1, it is characterised in that：Described second
Telescoping mechanism（39）Including the second electric telescopic rod（29）, the second electric telescopic rod（29）Mounted on third connecting seat（31）End
Portion, second electric telescopic rod（29）Telescopic end be fixed with the 4th connecting seat（28）, second angle regulating device（38）Peace
Mounted in the 4th connecting seat（28）On, the microcontroller of increasing income（4）Output end be electrically connected the second electric telescopic rod（29）Input
End.
7. a kind of education and science's mechanical arm for teaching apparatus for demonstrating according to claim 1, it is characterised in that：Described second
Angle regulator（38）Including the 4th servo motor（27）, the 4th servo motor（27）Mounted on the 4th connecting seat（28）On,
4th servo motor（27）Output shaft on be fixed with connecting rod（26）, the second mounting base（43）It is fixed on connecting rod（26）End
Portion, the microcontroller of increasing income（4）Output end be electrically connected the 4th servo motor（27）Input terminal.
8. a kind of education and science's mechanical arm for teaching apparatus for demonstrating according to claim 1, it is characterised in that：The clamping
Mechanism（47）Including linear type guide rail（46）, linear type guide rail（46）It is fixed on the second mounting base（43）Bottom, the straight line
Type guide rail（46）There are four groups, four groups of linear type guide rails（46）Rotation array is arranged, the linear type guide rail（46）Upper flexible connection
There is second straight line motor（44）, second straight line motor（44）Bottom be fixed with fixture（45）, the microcontroller of increasing income（4）It is defeated
Outlet is electrically connected second straight line motor（44）Input terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810665161.0A CN108597347A (en) | 2018-06-26 | 2018-06-26 | A kind of education and science's mechanical arm for teaching apparatus for demonstrating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810665161.0A CN108597347A (en) | 2018-06-26 | 2018-06-26 | A kind of education and science's mechanical arm for teaching apparatus for demonstrating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108597347A true CN108597347A (en) | 2018-09-28 |
Family
ID=63633847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810665161.0A Pending CN108597347A (en) | 2018-06-26 | 2018-06-26 | A kind of education and science's mechanical arm for teaching apparatus for demonstrating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108597347A (en) |
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| CN109596384A (en) * | 2018-12-10 | 2019-04-09 | 贵州省生物研究所 | A kind of mechanization water plant sampling apparatus that flexibility is high and its method of sampling |
| CN111681528A (en) * | 2020-07-14 | 2020-09-18 | 郑州工业应用技术学院 | Mechanical arm demonstration device for education and science and technology teaching |
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| US20020164566A1 (en) * | 2001-05-07 | 2002-11-07 | Mc Govern James R. | Hand held, hand operated, mechanical, rosary prayer sequence symbol prompter |
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Application publication date: 20180928 |