技术领域Technical Field
本发明涉及教学演示设备技术领域，尤其涉及一种智能化教学演示终端。The present invention relates to the technical field of teaching demonstration equipment, and in particular to an intelligent teaching demonstration terminal.
背景技术Background Art
现今，机械臂已在工业装配、安全防爆等领域得到广泛应用。很多高校都有开设机械臂实训课程，让学生了解机械臂运动原理和学习机械臂编程语言。现有机械臂实训课程主要是让学生在课堂上使用计算机软件Robot Master或其它应用软件进行编程和电脑仿真，教师在课堂演示时，同样对着计算机软件进行操作演示，但是教师实际演示时通常是投影或者电视上播放，学生需要观看投影或者电视看来观察分析，由于没有实物演示，不够直观，不容易激发学生学习兴趣。Nowadays, robotic arms have been widely used in industrial assembly, safety and explosion-proof and other fields. Many universities have set up robotic arm training courses to let students understand the movement principle of robotic arms and learn robotic arm programming languages. The existing robotic arm training courses mainly allow students to use computer software Robot Master or other application software for programming and computer simulation in class. When teachers demonstrate in class, they also demonstrate the operation of computer software. However, when teachers actually demonstrate, they usually play it on projection or TV. Students need to watch the projection or TV to observe and analyze. Since there is no physical demonstration, it is not intuitive enough and it is not easy to stimulate students' interest in learning.
发明内容Summary of the invention
因此，针对上述的问题，本发明提出一种智能化教学演示终端，可以更直观展示教学实训机械臂设备运行。Therefore, in order to solve the above problems, the present invention proposes an intelligent teaching demonstration terminal, which can more intuitively display the operation of a teaching and training robotic arm device.
为实现上述目的，本发明采用了以下技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种智能化教学演示终端，包括演示终端机架、滑动设于演示终端机架顶面横向一侧的第一支撑板和第二支撑板、设于第一支撑板下方的第三支撑板、滑动设于演示终端机架顶面横向另一侧的第四支撑板和第五支撑板、设于第四支撑板下方的第六支撑板、用于驱动第三支撑板移动到演示终端机架顶面的驱动机构、设于第三支撑板上的教学实训机械臂设备、设于第六支撑板上的多个圆盘、转动设于第一支撑板底部的第一连杆、转动设于第四支撑板底部的第二连杆、以及设于演示终端机架横向两侧的方孔，所述第三支撑板和第六支撑板之间可拆卸连接；An intelligent teaching demonstration terminal comprises a demonstration terminal frame, a first support plate and a second support plate slidably arranged on one lateral side of the top surface of the demonstration terminal frame, a third support plate arranged below the first support plate, a fourth support plate and a fifth support plate slidably arranged on the other lateral side of the top surface of the demonstration terminal frame, a sixth support plate arranged below the fourth support plate, a driving mechanism for driving the third support plate to move to the top surface of the demonstration terminal frame, a teaching and training mechanical arm device arranged on the third support plate, a plurality of discs arranged on the sixth support plate, a first connecting rod rotatably arranged at the bottom of the first supporting plate, a second connecting rod rotatably arranged at the bottom of the fourth supporting plate, and square holes arranged at both lateral sides of the demonstration terminal frame, wherein the third support plate and the sixth support plate are detachably connected;
所述教学实训机械臂设备包括设于第三支撑板上的第一连接板、间隔设于第一连接板上方的第二连接板、转动设于第二连接板上的底座、用于驱动底座旋转的第一驱动装置、转动设于底座顶部的第一摆臂、用于驱动第一摆臂旋转的第二驱动装置、转动设于第一摆臂远离底座一侧的第二摆臂、用于驱动第二摆臂旋转的第三驱动装置、转动设于第二摆臂远离第一摆臂一侧的第三摆臂、用于驱动第三摆臂旋转的第四驱动装置、转动设于第三摆臂远离第二摆臂一侧的第一夹块、转动设于第三摆臂远离第二摆臂一侧的第二夹块、固设于第一夹块一侧的第一圆齿、固设于第二夹块一侧且与第一圆齿啮合的第二圆齿、以及用于驱动第一圆齿旋转的第五驱动装置；The teaching and training mechanical arm equipment includes a first connecting plate arranged on a third supporting plate, a second connecting plate arranged above the first connecting plate at an interval, a base rotatably arranged on the second connecting plate, a first driving device for driving the base to rotate, a first swing arm rotatably arranged on the top of the base, a second driving device for driving the first swing arm to rotate, a second swing arm rotatably arranged on a side of the first swing arm away from the base, a third driving device for driving the second swing arm to rotate, a third swing arm rotatably arranged on a side of the second swing arm away from the first swing arm, a fourth driving device for driving the third swing arm to rotate, a first clamping block rotatably arranged on a side of the third swing arm away from the second swing arm, a second clamping block rotatably arranged on a side of the third swing arm away from the second swing arm, a first spherical tooth fixedly arranged on one side of the first clamping block, a second spherical tooth fixedly arranged on one side of the second clamping block and meshing with the first spherical tooth, and a fifth driving device for driving the first spherical tooth to rotate;
所述第六支撑板下方设有理盘装置，所述理盘装置包括设于第六支撑板下方的支架、可转动地设于支架中部的驱动轮、用于带动驱动轮旋转的驱动电机、设于支架上且与驱动轮间隔的转臂、设于支架横向两侧的套筒、与套筒滑动连接的移动杆、滑动设于移动杆内的导向块、转动设于转臂和导向块之间的连接杆、以及设于连接杆顶部的L型杆，所述驱动轮顶面设有导槽，所述导槽一半形状为半圆弧线，所述导槽另一半形状为v字弧线，所述移动杆内设有与导槽顶部贴合的第一滑轮，所述转臂包括长臂和短臂，所述短臂靠近导槽一侧设有第二滑轮，所述长臂远离短臂一侧与连接杆转动连接。A disk sorting device is provided under the sixth support plate, and the disk sorting device includes a bracket provided under the sixth support plate, a driving wheel rotatably provided in the middle of the bracket, a driving motor for driving the driving wheel to rotate, a swivel arm provided on the bracket and spaced from the driving wheel, a sleeve provided on both lateral sides of the bracket, a moving rod slidably connected to the sleeve, a guide block slidably provided in the moving rod, a connecting rod rotatably provided between the swivel arm and the guide block, and an L-shaped rod provided at the top of the connecting rod, a guide groove is provided on the top surface of the driving wheel, half of the guide groove is shaped as a semicircular arc, and the other half of the guide groove is shaped as a V-shaped arc, a first pulley is provided in the moving rod that fits with the top of the guide groove, the swivel arm includes a long arm and a short arm, a second pulley is provided on the short arm close to the guide groove, and the long arm is rotatably connected to the connecting rod away from the short arm.
进一步的，所述第六支撑板外围设有凸起部。Furthermore, a protrusion is provided on the periphery of the sixth support plate.
进一步的，所述驱动机构包括驱动外壳、转动地设于驱动外壳内的丝杆、设于丝杆外侧的滑块、设于滑块和驱动外壳之间的内推杆、设于丝杆一侧的传动齿轮、与传动齿轮啮合的齿轮组件、以及用于驱动齿轮组件旋转的第二电机；Further, the driving mechanism includes a driving housing, a screw rotatably disposed in the driving housing, a slider disposed outside the screw, an inner push rod disposed between the slider and the driving housing, a transmission gear disposed on one side of the screw, a gear assembly meshing with the transmission gear, and a second motor for driving the gear assembly to rotate;
所述驱动外壳远离丝杆一侧与演示终端机架铰接，所述内推杆远离丝杆一侧与第三支撑板底部进行铰接，所述第一连杆远离第一支撑板一侧与第三支撑板转动连接，所述第二连杆远离第四支撑板一侧与第三支撑板转动连接，所述第一连杆和第二连杆结构相同，所述第一连杆形状为“L”字形。The driving housing is hinged to the demonstration terminal frame on the side away from the screw rod, the inner push rod is hinged to the bottom of the third support plate on the side away from the screw rod, the first connecting rod is rotatably connected to the third support plate on the side away from the first support plate, the second connecting rod is rotatably connected to the third support plate on the side away from the fourth support plate, the first connecting rod and the second connecting rod have the same structure, and the first connecting rod is in an "L" shape.
进一步的，所述第一支撑板上设有第一红外栅栏，所述第二支撑板上设有第二红外栅栏，所述第四支撑板上设有第三红外栅栏，所述第五支撑板上设有第四红外栅栏。Furthermore, the first support plate is provided with a first infrared fence, the second support plate is provided with a second infrared fence, the fourth support plate is provided with a third infrared fence, and the fifth support plate is provided with a fourth infrared fence.
进一步的，所述演示终端机架内部设有单板计算机，所述演示终端机架前端设有摄像头组件，所述演示终端机架前端设有用于驱动摄像头组件升降的升降装置，所述摄像头组件包括广角镜头和长焦镜头。Furthermore, a single-board computer is provided inside the demonstration terminal rack, a camera assembly is provided at the front end of the demonstration terminal rack, and a lifting device for driving the camera assembly to rise and fall is provided at the front end of the demonstration terminal rack, and the camera assembly includes a wide-angle lens and a telephoto lens.
进一步的，所述升降装置包括设于演示终端机架前面的升降外壳、转动地设于升降外壳中部的第一齿轮、转动设于升降外壳上且位于第一齿轮一侧的第二齿轮、转动设于升降外壳上且位于第一齿轮另一侧的第三齿轮、设于第二齿轮内的第二转轴、设于第三齿轮内的第三转轴、设于第二转轴远离第二齿轮一侧的第一半齿轮、设于第三转轴远离第三齿轮一侧的第二半齿轮、位于升降外壳远离第一齿轮一侧的滑轨、滑动设于滑轨中部的移动块、设于移动块靠近第一齿轮一侧的第二齿条、转动设于第二齿条远离第一齿轮一侧的导向轴、设于导向轴外侧的导向槽、设于升降外壳侧顶部的延伸板、设于延伸板顶部的固定座、设于固定座中部且与导向槽贴合的导向柱、设于移动块远离第一齿轮一侧的延长板、以及用于驱动第一齿轮旋转的第三电机；Furthermore, the lifting device includes a lifting shell arranged in front of the demonstration terminal rack, a first gear rotatably arranged in the middle of the lifting shell, a second gear rotatably arranged on the lifting shell and located on one side of the first gear, a third gear rotatably arranged on the lifting shell and located on the other side of the first gear, a second rotating shaft arranged in the second gear, a third rotating shaft arranged in the third gear, a first half gear arranged on the side of the second rotating shaft away from the second gear, a second half gear arranged on the side of the third rotating shaft away from the third gear, a slide rail located on the side of the lifting shell away from the first gear, a moving block slidably arranged in the middle of the slide rail, a second rack arranged on the side of the moving block close to the first gear, a guide shaft rotatably arranged on the side of the second rack away from the first gear, a guide groove arranged on the outside of the guide shaft, an extension plate arranged on the top of the lifting shell side, a fixed seat arranged on the top of the extension plate, a guide column arranged in the middle of the fixed seat and fitted with the guide groove, an extension plate arranged on the side of the moving block away from the first gear, and a third motor for driving the first gear to rotate;
所述滑轨与第一半齿轮间隔设置，所述第一半齿轮与第二齿条相啮合，所述第二半齿轮与第二齿条相啮合，所述导向槽位于导向轴一半外侧面且形状为左右往复弯曲的曲线。The slide rail is spaced apart from the first half gear, the first half gear is meshed with the second rack, the second half gear is meshed with the second rack, and the guide groove is located on one half of the outer side of the guide shaft and is shaped as a curve that bends back and forth.
通过采用前述技术方案，本发明的有益效果是：By adopting the above technical solution, the beneficial effects of the present invention are:
（1）本智能化教学演示终端在不需要进行教学实训机械臂设备演示的时候，可以将教学实训机械臂设备收纳在演示终端机架内部，防止教学实训机械臂设备损坏。使用教学实训机械臂设备时，通过驱动机构带动第三支撑板和第六支撑板上升，带动教学实训机械臂设备升起展示。(1) When the teaching training robot arm equipment demonstration is not needed, the teaching training robot arm equipment can be stored inside the demonstration terminal rack to prevent damage to the teaching training robot arm equipment. When the teaching training robot arm equipment is used, the third support plate and the sixth support plate are driven up by the driving mechanism to drive the teaching training robot arm equipment to rise for display.
（2）通过第一红外栅栏、第二红外栅栏、第三红外栅栏和第四红外栅栏将对演示终端机架顶面四个边角处进行包围，教学实训机械臂设备运动过程中，人员或物体挡住了任意红外栅栏发出的光线时，教学实训机械臂设备将停止运动，保证使用时的安全。(2) The four corners of the top surface of the demonstration terminal rack are surrounded by the first infrared fence, the second infrared fence, the third infrared fence and the fourth infrared fence. During the movement of the teaching and training robot arm equipment, if a person or an object blocks the light emitted by any infrared fence, the teaching and training robot arm equipment will stop moving to ensure safety during use.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明的结构示意图。FIG. 1 is a schematic structural diagram of the present invention.
图2是本发明的第一支撑板和第四支撑板展开状态结构示意图。FIG. 2 is a schematic structural diagram of the first support plate and the fourth support plate of the present invention in an unfolded state.
图3是本发明的教学实训机械臂设备前部视角结构示意图。FIG. 3 is a schematic diagram of the front view structure of the teaching and training mechanical arm device of the present invention.
图4是本发明的教学实训机械臂设备后部视角结构示意图。FIG. 4 is a schematic diagram of the rear view structure of the teaching and training robot arm device of the present invention.
图5是本发明的演示终端机架内部结构剖面结构示意图。FIG. 5 is a schematic diagram of the cross-sectional structure of the internal structure of the demonstration terminal rack of the present invention.
图6是本发明的第一支撑板和第四支撑板展开状态结构平面示意图。FIG. 6 is a schematic plan view of the structure of the first support plate and the fourth support plate of the present invention in an unfolded state.
图7是本发明的驱动机构局部结构示意图。FIG. 7 is a schematic diagram of a partial structure of a driving mechanism of the present invention.
图8是本发明的传动齿轮和组轮组件结构平面示意图。FIG. 8 is a schematic plan view of the transmission gear and wheel assembly structure of the present invention.
图9是本发明的升降装置结构局部示意图。FIG. 9 is a partial schematic diagram of the lifting device structure of the present invention.
图10是本发明的升降装置内部结构示意图。FIG. 10 is a schematic diagram of the internal structure of the lifting device of the present invention.
图11是本发明的固定座结构示意图。FIG. 11 is a schematic diagram of the structure of the fixing seat of the present invention.
图12是本发明的第六支撑板局部结构示意图。FIG. 12 is a schematic diagram of a partial structure of a sixth support plate of the present invention.
图13是本发明的理盘装置结构正视示意图。FIG. 13 is a front view schematic diagram of the disk arrangement device of the present invention.
图14是本发明的理盘装置结构示意图。FIG. 14 is a schematic diagram of the structure of the disk arrangement device of the present invention.
图15是本发明的理盘装置局部结构示意图。FIG. 15 is a schematic diagram of a partial structure of the disk arrangement device of the present invention.
图16是本发明的理盘装置底部视角结构示意图。FIG. 16 is a schematic diagram of the structure of the disk arrangement device of the present invention from a bottom perspective.
图中标号：Numbers in the figure:
1、演示终端机架；2、第一支撑板；3、第二支撑板；4、第三支撑板；5、第四支撑板；6、第五支撑板；7、第六支撑板；8、教学实训机械臂设备；9、圆盘；10、凸起部；11、第一连杆；12、第二连杆；13、方孔；14、第一红外栅栏；15、第二红外栅栏；16、第三红外栅栏；17、第四红外栅栏；18、广角镜头；19、长焦镜头；20、升降装置；21、理盘装置；1. Demonstration terminal rack; 2. First support plate; 3. Second support plate; 4. Third support plate; 5. Fourth support plate; 6. Fifth support plate; 7. Sixth support plate; 8. Teaching and training mechanical arm equipment; 9. Disc; 10. Raised part; 11. First connecting rod; 12. Second connecting rod; 13. Square hole; 14. First infrared fence; 15. Second infrared fence; 16. Third infrared fence; 17. Fourth infrared fence; 18. Wide-angle lens; 19. Telephoto lens; 20. Lifting device; 21. Disk handling device;
101、驱动外壳；102、丝杆；103、滑块；104、内推杆；105、传动齿轮；106、齿轮组件；107、第二电机；101, driving housing; 102, screw rod; 103, slider; 104, inner push rod; 105, transmission gear; 106, gear assembly; 107, second motor;
201、升降外壳；202、第一齿轮；203、第二齿轮；204、第三齿轮；205、第二转轴；206、第三转轴；207、第一半齿轮；208、第二半齿轮；209、滑轨；210、移动块；211、第二齿条；212、导向轴；213、导向槽；214、延伸板；215、固定座；216、导向柱；217、延长板；218、第三电机；201, lifting housing; 202, first gear; 203, second gear; 204, third gear; 205, second rotating shaft; 206, third rotating shaft; 207, first half gear; 208, second half gear; 209, slide rail; 210, moving block; 211, second rack; 212, guide shaft; 213, guide groove; 214, extension plate; 215, fixed seat; 216, guide column; 217, extension plate; 218, third motor;
801、第一连接板；802、第二连接板；803、底座；804、第一驱动装置；805、第一摆臂；806、第二驱动装置；807、第二摆臂；808、第三驱动装置；809、第三摆臂；810、第四驱动装置；811、第一夹块；812、第二夹块；813、第一圆齿；814、第二圆齿；815、第五驱动装置；801, first connecting plate; 802, second connecting plate; 803, base; 804, first driving device; 805, first swing arm; 806, second driving device; 807, second swing arm; 808, third driving device; 809, third swing arm; 810, fourth driving device; 811, first clamping block; 812, second clamping block; 813, first round tooth; 814, second round tooth; 815, fifth driving device;
2101、支架；2102、驱动轮；2103、驱动电机；2104、转臂；2105、套筒；2106、移动杆；2107、导向块；2108、连接杆；2109、L型杆；2110、导槽；2111、半圆弧线；2112、v字弧线；2113、第一滑轮；2114、长臂；2115、短臂；2116、第二滑轮；2117、导向开孔；2118、电磁铁；2119、磁块。2101, bracket; 2102, driving wheel; 2103, driving motor; 2104, rotating arm; 2105, sleeve; 2106, moving rod; 2107, guide block; 2108, connecting rod; 2109, L-shaped rod; 2110, guide groove; 2111, semicircular arc; 2112, V-shaped arc; 2113, first pulley; 2114, long arm; 2115, short arm; 2116, second pulley; 2117, guide opening; 2118, electromagnet; 2119, magnetic block.
具体实施方式DETAILED DESCRIPTION
现结合附图和具体实施方式对本发明进一步说明。The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.
参考图1至图16，本实施例提供一种智能化教学演示终端，包括演示终端机架1、滑动设于演示终端机架1顶面横向一侧的第一支撑板2和第二支撑板3、设于第一支撑板2下方的第三支撑板4、滑动设于演示终端机架1顶面横向另一侧的第四支撑板5和第五支撑板6、设于第四支撑板5下方的第六支撑板7、用于驱动第三支撑板4移动到演示终端机架1顶面的驱动机构、设于第三支撑板4上的教学实训机械臂设备8、设于第六支撑板7上的多个圆盘9、转动设于第一支撑板2底部的第一连杆11、转动设于第四支撑板5底部的第二连杆12、以及设于演示终端机架1横向两侧的方孔13；所述第三支撑板4和第六支撑板7之间可拆卸连接，所述第六支撑板7外围设有凸起部10。1 to 16, the present embodiment provides an intelligent teaching demonstration terminal, comprising a demonstration terminal rack 1, a first support plate 2 and a second support plate 3 slidably arranged on one lateral side of the top surface of the demonstration terminal rack 1, a third support plate 4 arranged below the first support plate 2, a fourth support plate 5 and a fifth support plate 6 slidably arranged on the other lateral side of the top surface of the demonstration terminal rack 1, a sixth support plate 7 arranged below the fourth support plate 5, a driving mechanism for driving the third support plate 4 to move to the top surface of the demonstration terminal rack 1, a teaching training mechanical arm device 8 arranged on the third support plate 4, a plurality of discs 9 arranged on the sixth support plate 7, a first connecting rod 11 rotatably arranged at the bottom of the first support plate 2, a second connecting rod 12 rotatably arranged at the bottom of the fourth support plate 5, and square holes 13 arranged on both lateral sides of the demonstration terminal rack 1; the third support plate 4 and the sixth support plate 7 are detachably connected, and a protrusion 10 is arranged on the periphery of the sixth support plate 7.
所述教学实训机械臂设备8包括设于第三支撑板4上的第一连接板801、间隔设于第一连接板801上方的第二连接板802、转动设于第二连接板802上的底座803、用于驱动底座803旋转的第一驱动装置804、转动设于底座803顶部的第一摆臂805、用于驱动第一摆臂805旋转的第二驱动装置806、转动设于第一摆臂805远离底座803一侧的第二摆臂807、用于驱动第二摆臂807旋转的第三驱动装置808、转动设于第二摆臂807远离第一摆臂805一侧的第三摆臂809、用于驱动第三摆臂809旋转的第四驱动装置810、转动设于第三摆臂809远离第二摆臂807一侧的第一夹块811、转动设于第三摆臂809远离第二摆臂807一侧的第二夹块812、固设于第一夹块811一侧的第一圆齿813、固设于第二夹块812一侧且与第一圆齿813啮合的第二圆齿814、以及用于驱动第一圆齿813旋转的第五驱动装置815。The teaching and training mechanical arm device 8 includes a first connecting plate 801 arranged on the third supporting plate 4, a second connecting plate 802 arranged above the first connecting plate 801, a base 803 rotatably arranged on the second connecting plate 802, a first driving device 804 for driving the base 803 to rotate, a first swing arm 805 rotatably arranged on the top of the base 803, a second driving device 806 for driving the first swing arm 805 to rotate, a second swing arm 807 rotatably arranged on the side of the first swing arm 805 away from the base 803, and a third driving device 808 for driving the second swing arm 807 to rotate. A third swing arm 809 rotatably disposed on the side of the second swing arm 807 away from the first swing arm 805, a fourth driving device 810 for driving the third swing arm 809 to rotate, a first clamping block 811 rotatably disposed on the side of the third swing arm 809 away from the second swing arm 807, a second clamping block 812 rotatably disposed on the side of the third swing arm 809 away from the second swing arm 807, a first round tooth 813 fixedly disposed on one side of the first clamping block 811, a second round tooth 814 fixedly disposed on one side of the second clamping block 812 and meshing with the first round tooth 813, and a fifth driving device 815 for driving the first round tooth 813 to rotate.
当需要控制教学实训机械臂设备8进行运动演示时，第一驱动装置804带动底座803旋转使第一夹块811和第二夹块812朝向需要夹取的圆盘9位置，然后第二驱动装置806和第三驱动装置808通过调整第一摆臂805和第二摆臂807角度，使第二摆臂807置于需要夹取圆盘9的上方，然后第四驱动装置810带动第三摆臂809旋转，使第一夹块811和第二夹块812置于圆盘9外侧，第五驱动装置815带动第一圆齿813旋转，第一圆齿813同时带动啮合的第二圆齿814，第一夹块811和第二夹块812对中旋转对圆盘9进行夹取，通过第二驱动装置806和第三驱动装置808调整第一摆臂805和第二摆臂807使第三摆臂809置于第六支撑板7上空，然后通过第一驱动装置804带动第三摆臂809旋转到所需位置上，再通过第二驱动装置806和第三驱动装置808调整第一摆臂805和第二摆臂807使第三摆臂809下降到指定位置，控制第五驱动装置815使圆盘9从第一夹块811和第二夹块812上脱落，该结构教学实训机械臂设备8体积占用小，使用时，将第一支撑板2和第二支撑板3向左侧拉开，第四支撑板5和第五支撑板6向右拉开，再通过驱动机构带动第三支撑板4和第六支撑板7上升，带动教学实训机械臂设备8升起展示。When it is necessary to control the teaching and training robot arm device 8 to perform a motion demonstration, the first driving device 804 drives the base 803 to rotate so that the first clamping block 811 and the second clamping block 812 are oriented to the position of the disk 9 to be clamped, and then the second driving device 806 and the third driving device 808 adjust the angles of the first swing arm 805 and the second swing arm 807 to place the second swing arm 807 above the disk 9 to be clamped, and then the fourth driving device 810 drives the third swing arm 809 to rotate so that the first clamping block 811 and the second clamping block 812 are placed on the outside of the disk 9, and the fifth driving device 815 drives the first spherical tooth 813 to rotate, and the first spherical tooth 813 simultaneously drives the meshing second spherical tooth 814, and the first clamping block 811 and the second clamping block 812 rotate in an aligned manner to clamp the disk 9, and the second driving device 806 and the third driving device 808 are used to drive the third swing arm 809 to rotate. The driving device 808 adjusts the first swing arm 805 and the second swing arm 807 to place the third swing arm 809 above the sixth support plate 7, and then drives the third swing arm 809 to rotate to the desired position through the first driving device 804, and then adjusts the first swing arm 805 and the second swing arm 807 through the second driving device 806 and the third driving device 808 to make the third swing arm 809 descend to the specified position, and controls the fifth driving device 815 to make the disc 9 fall off from the first clamping block 811 and the second clamping block 812. The teaching and training mechanical arm equipment 8 with this structure occupies a small volume. When in use, the first support plate 2 and the second support plate 3 are pulled to the left, and the fourth support plate 5 and the fifth support plate 6 are pulled to the right, and then the third support plate 4 and the sixth support plate 7 are driven to rise through the driving mechanism, and the teaching and training mechanical arm equipment 8 is driven to rise for display.
所述第六支撑板7下方设有理盘装置21，所述理盘装置21包括设于第六支撑板7下方的支架2101、可转动地设于支架2101中部的驱动轮2102、用于带动驱动轮2102旋转的驱动电机2103、设于支架2101上且与驱动轮2102间隔的转臂2104、设于支架2101横向两侧的套筒2105、与套筒2105滑动连接的移动杆2106、滑动设于移动杆2106内的导向块2107、转动设于转臂2104和导向块2107之间的连接杆2108、以及设于连接杆2108顶部的L型杆2109，所述驱动轮2102顶面设有导槽2110，所述导槽2110一半形状为半圆弧线2111，半圆弧线2111到驱动轮2102圆心位置距离相等，所述导槽2110另一半形状为v字弧线2112，所述v字弧线2112两侧到中部逐渐靠近驱动轮2102圆心位置，所述移动杆2106内设有与导槽2110顶部贴合的第一滑轮2113，所述转臂2104包括长臂2114和短臂2115，所述短臂2115靠近导槽2110一侧设有第二滑轮2116，所述长臂2114远离短臂2115一侧与连接杆2108转动连接，所述第六支撑板7上设有用于L型杆2109导向移动的导向开孔2117，所述第六支撑板7上靠近侧边处设有两个间隔设置电磁铁2118，各所述圆盘9内设有与电磁铁2118吸合的磁块2119。A disk sorting device 21 is provided below the sixth support plate 7, and the disk sorting device 21 includes a bracket 2101 provided below the sixth support plate 7, a driving wheel 2102 rotatably provided in the middle of the bracket 2101, a driving motor 2103 for driving the driving wheel 2102 to rotate, a rotating arm 2104 provided on the bracket 2101 and spaced from the driving wheel 2102, a sleeve 2105 provided on both lateral sides of the bracket 2101, a moving rod 2106 slidably connected to the sleeve 2105, a guide block 2107 slidably provided in the moving rod 2106, a connecting rod 2108 rotatably provided between the rotating arm 2104 and the guide block 2107, and an L-shaped rod 2109 provided on the top of the connecting rod 2108, and a guide groove 2110 is provided on the top surface of the driving wheel 2102, and a half of the guide groove 2110 is shaped as a semicircular arc 2111, and the semicircular arc 21 11 is equal to the distance from the center of the driving wheel 2102, the other half of the guide groove 2110 is in the shape of a V-shaped arc 2112, and the two sides of the V-shaped arc 2112 gradually approach the center of the driving wheel 2102 to the middle, the moving rod 2106 is provided with a first pulley 2113 that is in contact with the top of the guide groove 2110, the rotating arm 2104 includes a long arm 2114 and a short arm 2115, the short arm 2115 is provided with a second pulley 2116 on the side close to the guide groove 2110, and the long arm 2114 is rotatably connected to the connecting rod 2108 on the side away from the short arm 2115, the sixth support plate 7 is provided with a guide opening 2117 for guiding the movement of the L-shaped rod 2109, and two electromagnets 2118 are arranged at intervals on the sixth support plate 7 near the side, and each of the disks 9 is provided with a magnetic block 2119 that is attracted to the electromagnet 2118.
驱动轮2102初始状态下，导槽2110的半圆弧线2111位置与第一滑轮2113接触，导槽2110的v字弧线2112与第二滑轮2116接触，驱动电机2103带动驱动轮2102旋转，带动第二滑轮2116从导槽2110的v字弧线2112位置移动到半圆弧线2111位置，由于v字弧线2112两侧远离驱动轮2102圆心位置，转臂2104一侧的短臂2115通过导槽2110导向旋转，另一侧的长臂2114通过连接杆2108带动导向块2107横移，导向块2107带动L型杆2109移动到靠近第六支撑板7靠近侧边的位置，L型板将带动多个圆盘9移动到靠近第六支撑板7一侧，随着驱动轮2102继续旋转，第一滑轮2113离开导槽2110的半圆弧线2111位置与v字弧线2112接触，第一滑轮2113顶部的移动杆2106将向前移动，第二滑轮2116由于与导槽2110的半圆弧线2111接触后位置将保持不变，L型杆2109带动多个圆盘9移动到靠近第六支撑板7一角，L型杆2109移动过程中靠近第六支撑板7的一个电磁铁2118通电，将两个圆盘9吸附到电磁铁2118位置，然后电磁铁2118断电，然后随着L型杆2109移动到极限位置后，另一个电磁铁2118通电，将另外两个圆盘9吸引到电磁铁2118位置，完成后两个电磁铁2118断电，利于自动完成对第六支撑板7顶面的圆盘9进行整理，通过电磁铁2118的设置，可以将整理后四个大小不一的圆盘9形成保持相同间隔且放置在第六支撑板7一角，方便第一夹块811和第二夹块812夹持，完成后驱动电机2103继续带动驱动轮2102旋转，第一滑轮2113从导槽2110的v字弧线2112移动到半圆弧线2111位置，移动杆2106将向后移动，使导向块2107向后移动到原来位置，然后第二滑轮2116从半圆弧线2111位置移动到v字弧线2112位置，短臂2115将带动长臂2114旋转，长臂2114带动导向块2107和L型杆2109移动到右侧初始位置。In the initial state of the driving wheel 2102, the semicircular arc 2111 position of the guide groove 2110 contacts the first pulley 2113, and the V-shaped arc 2112 of the guide groove 2110 contacts the second pulley 2116. The driving motor 2103 drives the driving wheel 2102 to rotate, and drives the second pulley 2116 to move from the V-shaped arc 2112 position of the guide groove 2110 to the semicircular arc 2111 position. Since both sides of the V-shaped arc 2112 are far away from the center of the driving wheel 2102, the short arm 2115 on one side of the rotating arm 2104 is guided to rotate by the guide groove 2110, and the long arm 2114 on the other side is driven by the connecting rod 2108. The guide block 2107 moves laterally, and the guide block 2107 drives the L-shaped rod 2109 to move to a position close to the side of the sixth support plate 7. The L-shaped plate will drive multiple disks 9 to move to the side close to the sixth support plate 7. As the driving wheel 2102 continues to rotate, the first pulley 2113 leaves the semicircular arc 2111 position of the guide groove 2110 and contacts the V-shaped arc 2112. The moving rod 2106 at the top of the first pulley 2113 will move forward, and the second pulley 2116 will remain in position after contacting the semicircular arc 2111 of the guide groove 2110. The L-shaped rod 2109 drives multiple disks 9 to move to a position close to the sixth support plate 7. At one corner of the support plate 7, during the movement of the L-shaped rod 2109, an electromagnet 2118 close to the sixth support plate 7 is energized to adsorb the two discs 9 to the position of the electromagnet 2118, and then the electromagnet 2118 is de-energized. Then, as the L-shaped rod 2109 moves to the limit position, another electromagnet 2118 is energized to attract the other two discs 9 to the position of the electromagnet 2118. After completion, the two electromagnets 2118 are de-energized, which is conducive to automatically completing the arrangement of the discs 9 on the top surface of the sixth support plate 7. Through the setting of the electromagnet 2118, the four discs 9 of different sizes after arrangement can be formed to maintain the same interval and be placed on the sixth support plate 7. A corner of the support plate 7 is convenient for the first clamping block 811 and the second clamping block 812 to clamp. After completion, the driving motor 2103 continues to drive the driving wheel 2102 to rotate, and the first pulley 2113 moves from the V-arc 2112 of the guide groove 2110 to the semi-circular arc 2111 position, and the moving rod 2106 will move backward to make the guide block 2107 move backward to the original position, and then the second pulley 2116 moves from the semi-circular arc 2111 position to the V-arc 2112 position, and the short arm 2115 will drive the long arm 2114 to rotate, and the long arm 2114 drives the guide block 2107 and the L-shaped rod 2109 to move to the initial position on the right.
所述驱动机构包括驱动外壳101、转动地设于驱动外壳101内的丝杆102、设于丝杆102外侧的滑块103、设于滑块103和驱动外壳101之间的内推杆104、设于丝杆102一侧的传动齿轮105、与传动齿轮105啮合的齿轮组件106、以及用于驱动齿轮组件106旋转的第二电机107；所述驱动外壳101远离丝杆102一侧与演示终端机架1铰接，所述内推杆104远离丝杆102一侧与第三支撑板4底部进行铰接，所述第一连杆11远离第一支撑板2一侧与第三支撑板4转动连接，所述第二连杆12远离第四支撑板5一侧与第三支撑板4转动连接，所述第一连杆11和第二连杆12结构相同，所述第一连杆11形状为“L”字形。The driving mechanism includes a driving housing 101, a screw rod 102 rotatably arranged in the driving housing 101, a slider 103 arranged on the outside of the screw rod 102, an inner push rod 104 arranged between the slider 103 and the driving housing 101, a transmission gear 105 arranged on one side of the screw rod 102, a gear assembly 106 meshing with the transmission gear 105, and a second motor 107 for driving the gear assembly 106 to rotate; the driving housing 101 is hinged to the demonstration terminal rack 1 on the side away from the screw rod 102, the inner push rod 104 is hinged to the bottom of the third support plate 4 on the side away from the screw rod 102, the first connecting rod 11 is rotatably connected to the third support plate 4 on the side away from the first support plate 2, the second connecting rod 12 is rotatably connected to the third support plate 4 on the side away from the fourth support plate 5, the first connecting rod 11 and the second connecting rod 12 have the same structure, and the first connecting rod 11 is in an "L" shape.
第二电机107通过齿轮组件106带动传动齿轮105旋转，传动齿轮105旋转带动丝杆102旋转，丝杆102带动外侧的滑块103移动，由于内推杆104与滑块103可拆卸连接，滑块103移动将带动内推杆104移出驱动外壳101，随着内推杆104的推出，第三支撑板4将逐渐向上移动。The second motor 107 drives the transmission gear 105 to rotate through the gear assembly 106. The rotation of the transmission gear 105 drives the screw rod 102 to rotate. The screw rod 102 drives the outer slider 103 to move. Since the inner push rod 104 is detachably connected to the slider 103, the movement of the slider 103 will drive the inner push rod 104 to move out of the drive housing 101. As the inner push rod 104 is pushed out, the third support plate 4 will gradually move upward.
第三支撑板4上升过程中通过第一连杆11和第二连杆12带动第一支撑板2和第四支撑板5向两侧移开，直至第三支撑板4上升到与第一支撑板2和第四支撑板5平行。During the rising process of the third support plate 4 , the first support plate 2 and the fourth support plate 5 are driven to move to both sides by the first connecting rod 11 and the second connecting rod 12 until the third support plate 4 rises to be parallel to the first support plate 2 and the fourth support plate 5 .
由于第三支撑板4和第六支撑板7相连接，第一支撑板2前端与第二支撑板3相连接，第四支撑板5前端与第五支撑板6相连接，将同时带动第六支撑板7向上移动，第二支撑板3和第五支撑板6也将跟随第一支撑板2和第四支撑板5移动，第三支撑板4和第六支撑板7上升过程中将带动教学实训机械臂设备8和圆盘9同时上升，第三支撑板4升降过程中可以自动对第一支撑板2和第四支撑板5开合，同时第三支撑板4与第一支撑板2也将保持大的间隔距离，可以容纳教学实训机械臂设备8，通过驱动机构方便快捷收纳教学实训机械臂设备8，使用更方便快捷。Since the third support plate 4 and the sixth support plate 7 are connected, the front end of the first support plate 2 is connected to the second support plate 3, and the front end of the fourth support plate 5 is connected to the fifth support plate 6, the sixth support plate 7 will be driven to move upward at the same time, and the second support plate 3 and the fifth support plate 6 will also move with the first support plate 2 and the fourth support plate 5. During the rising process of the third support plate 4 and the sixth support plate 7, the teaching and training mechanical arm equipment 8 and the disc 9 will be driven to rise at the same time. During the lifting process of the third support plate 4, the first support plate 2 and the fourth support plate 5 can be automatically opened and closed. At the same time, the third support plate 4 and the first support plate 2 will also maintain a large spacing distance, which can accommodate the teaching and training mechanical arm equipment 8. The teaching and training mechanical arm equipment 8 can be conveniently and quickly stored through the driving mechanism, which is more convenient and quick to use.
所述第一支撑板2上设有第一红外栅栏14，所述第二支撑板3上设有第二红外栅栏15，所述第四支撑板5上设有第三红外栅栏16，所述第五支撑板6上设有第四红外栅栏17。The first support plate 2 is provided with a first infrared fence 14 , the second support plate 3 is provided with a second infrared fence 15 , the fourth support plate 5 is provided with a third infrared fence 16 , and the fifth support plate 6 is provided with a fourth infrared fence 17 .
第一红外栅栏14、第二红外栅栏15、第三红外栅栏16和第四红外栅栏17将对演示终端机架1顶面四个边角处进行包围，教学实训机械臂设备8运动过程中，人员或物体挡住了任意红外栅栏发出的光线时，教学实训机械臂设备8将停止运动，保证使用时的安全。The first infrared fence 14, the second infrared fence 15, the third infrared fence 16 and the fourth infrared fence 17 will surround the four corners of the top surface of the demonstration terminal rack 1. During the movement of the teaching and training robot arm device 8, if a person or object blocks the light emitted by any infrared fence, the teaching and training robot arm device 8 will stop moving to ensure safety during use.
所述演示终端机架1内部设有单板计算机，所述演示终端机架1前端设有摄像头组件，所述演示终端机架1前端设有用于驱动摄像头组件升降的升降装置20，所述摄像头组件包括广角镜头18和长焦镜头19。The demonstration terminal rack 1 has a single-board computer inside, a camera assembly at the front end, a lifting device 20 for driving the camera assembly to rise and fall, and the camera assembly includes a wide-angle lens 18 and a telephoto lens 19.
所述升降装置20包括设于演示终端机架1前面的升降外壳201、转动地设于升降外壳201中部的第一齿轮202、转动设于升降外壳201上且位于第一齿轮202一侧的第二齿轮203、转动设于升降外壳201上且位于第一齿轮202另一侧的第三齿轮204、设于第二齿轮203内的第二转轴205、设于第三齿轮204内的第三转轴206、设于第二转轴205远离第二齿轮203一侧的第一半齿轮207、设于第三转轴206远离第三齿轮204一侧的第二半齿轮208、位于升降外壳201远离第一齿轮202一侧的滑轨209、滑动设于滑轨209中部的移动块210、设于移动块210靠近第一齿轮202一侧的第二齿条211、转动设于第二齿条211远离第一齿轮202一侧的导向轴212、设于导向轴212外侧的导向槽213、设于升降外壳201侧顶部的延伸板214、设于延伸板214顶部的固定座215、设于固定座215中部且与导向槽213贴合的导向柱216、设于移动块210远离第一齿轮202一侧的延长板217、以及用于驱动第一齿轮202旋转的第三电机218。所述滑轨209与第一半齿轮207间隔设置，所述第一半齿轮207与第二齿条211相啮合，所述第二半齿轮208与第二齿条211相啮合，所述导向槽213位于导向轴212一半外侧面且形状为左右往复弯曲的曲线。The lifting device 20 includes a lifting shell 201 disposed in front of the demonstration terminal rack 1, a first gear 202 rotatably disposed in the middle of the lifting shell 201, a second gear 203 rotatably disposed on the lifting shell 201 and located on one side of the first gear 202, a third gear 204 rotatably disposed on the lifting shell 201 and located on the other side of the first gear 202, a second rotating shaft 205 disposed in the second gear 203, a third rotating shaft 206 disposed in the third gear 204, a first half gear 207 disposed on the side of the second rotating shaft 205 away from the second gear 203, a second half gear 208 disposed on the side of the third rotating shaft 206 away from the third gear 204, and a gear 209 disposed on the lifting shell 201 away from the second gear 203. A slide rail 209 on the side away from the first gear 202, a moving block 210 slidingly arranged in the middle of the slide rail 209, a second rack 211 arranged on the side of the moving block 210 close to the first gear 202, a guide shaft 212 rotatably arranged on the side of the second rack 211 away from the first gear 202, a guide groove 213 arranged on the outer side of the guide shaft 212, an extension plate 214 arranged on the top of the lifting shell 201 side, a fixed seat 215 arranged on the top of the extension plate 214, a guide column 216 arranged in the middle of the fixed seat 215 and fitted with the guide groove 213, an extension plate 217 arranged on the side of the moving block 210 away from the first gear 202, and a third motor 218 for driving the first gear 202 to rotate. The slide rail 209 is spaced apart from the first half gear 207 , the first half gear 207 is meshed with the second rack 211 , the second half gear 208 is meshed with the second rack 211 , and the guide groove 213 is located on half of the outer side of the guide shaft 212 and is shaped as a curve that bends back and forth.
单板计算机为具有Raspberry Pi4或NVIDIA Jetson Nano的主机，广角镜头18、长焦镜头19和升降装置20通过USB接口连接到单板计算机。The single board computer is a host computer having a Raspberry Pi 4 or an NVIDIA Jetson Nano, and the wide angle lens 18, the telephoto lens 19 and the lifting device 20 are connected to the single board computer via a USB interface.
在一些大的容纳多人的教室，距离讲台近到远的学生座位具有一定梯度，并且教室长度和宽度相比普通教室也更大，单靠广角镜头18会导致部分学生人脸模糊无法识别的情况，而现有长焦镜头19画面裁切小，无法有效定位到具体模糊无法识别的学生，而通过升降装置20的设置，使用前，先连接到数据库文件，创建各班级学生信息表、考勤记录表和教师信息表，然后定义登录页面，处理登录请求，验证教室账号和密码，将各班级信息存入会话，然后记录指定学生的考勤信息。In some large classrooms that accommodate many people, there is a certain gradient in the distance between student seats near and far from the podium, and the length and width of the classroom are also larger than those of ordinary classrooms. Relying solely on the wide-angle lens 18 will cause some students' faces to be blurred and unrecognizable, and the existing telephoto lens 19 has a small screen crop and cannot effectively locate the specific blurred and unrecognizable students. Through the setting of the lifting device 20, before use, first connect to the database file, create student information tables, attendance record tables and teacher information tables for each class, then define the login page, process the login request, verify the classroom account and password, store the information of each class in the session, and then record the attendance information of the designated students.
使用时，第三电机218带动第一齿轮202旋转，第一齿轮202带动第二齿轮203和第三齿轮204旋转，第三齿轮204通过第三转轴206带动第二半齿轮208旋转，第二齿轮203通过第二转轴205带动第一半齿轮207旋转，此时第一半齿轮207的断面朝向第二齿条211且不与第二齿条211接触，第二半齿轮208与第二齿条211啮合带动第二齿条211上升，第二齿条211带动移动块210向上移动，移动块210带动延长板217和导向轴212上升，延伸板214上的广角镜头18将上升至设定高度后，第三电机218停止运行，广角镜头18对教室进行拍摄；单板计算机读取拍摄图像，使用人脸检测器检测出图像中的所有人脸，显示带有人脸矩形框的图像，然后使用Dlib获取人脸检测器，使用Dlib获取人脸关键点预测器，使用Dlib获取人脸识别模型，从图像中提取人脸特征，比较已知特征和未知特征，判断是否为同一人，记录指定学生的考勤信息，当出现面部受到前面的人遮挡或者模糊时，标记模糊人脸的位置，模糊人脸坐标：左上角{x},{y},右下角{x+w},{y+h}，初始化长焦镜头19，并调整其焦距和方向，以捕捉模糊人脸的清晰图像，升降装置20带动长焦镜头19升起到模糊人脸坐标位置:左上角{x},{y},右下角{x+w},{y+h}，然后使用Dlib的面部识别模型提取清晰图像中的人脸特征，并进行识别。When in use, the third motor 218 drives the first gear 202 to rotate, the first gear 202 drives the second gear 203 and the third gear 204 to rotate, the third gear 204 drives the second half gear 208 to rotate through the third rotating shaft 206, and the second gear 203 drives the first half gear 207 to rotate through the second rotating shaft 205. At this time, the cross section of the first half gear 207 faces the second rack 211 and does not contact the second rack 211. The second half gear 208 is engaged with the second rack 211 to drive the second rack 211 to rise, and the second rack 211 drives the moving block 210 to move upward, and the moving block 210 drives the extension plate 217 and the guide shaft 212 to rise. After the wide-angle lens 18 on the extension plate 214 rises to the set height, the third motor 218 stops running, and the wide-angle lens 18 shoots the classroom; the single-board computer reads the captured image, and uses the face detector to detect the face in the image All faces of the image are displayed with a rectangular frame of the face, and then Dlib is used to obtain the face detector, Dlib is used to obtain the face key point predictor, and Dlib is used to obtain the face recognition model. Face features are extracted from the image, and known features and unknown features are compared to determine whether they are the same person. The attendance information of the specified student is recorded. When the face is blocked or blurred by the person in front, the position of the blurred face is marked, and the blurred face coordinates are: upper left corner {x}, {y}, lower right corner {x+w}, {y+h}. The telephoto lens 19 is initialized and its focal length and direction are adjusted to capture a clear image of the blurred face. The lifting device 20 drives the telephoto lens 19 to rise to the blurred face coordinate position: upper left corner {x}, {y}, lower right corner {x+w}, {y+h}, and then the face recognition model of Dlib is used to extract the face features in the clear image and identify it.
当拍摄时继续出现面部受到前面的人遮挡或者模糊时，根据该模糊人脸坐标，第三电机218继续带动第二齿轮203和第三齿轮204旋转，第二半齿轮208带动第二齿条211慢速上升，第二齿条211带动移动块210慢速向上移动，移动块210带动导向轴212上升，由于导向轴212内的导向槽213与固定座215内的导向柱216贴合，导向轴212逐级上升过程中将左右往复旋转，长焦镜头19内置有陀螺仪传感器，接近模糊人脸坐标高度和朝向时，第三电机218停止旋转，长焦镜头19根据人脸坐标捕捉模糊人脸的清晰图像，当捕捉失败后，第三电机218继续旋转，导向轴212通过导向柱216导向，导向柱216带动长焦镜头19逐级上升，直至没有遮挡，由于位于后排的学生存在遮挡较多问题，导向轴212上升过程中，左右来回扫描对多个模糊人脸坐标进行同时识别，考勤完成后，第二齿条211移动到最顶端，第二半齿轮208此时离开第二齿条211，第一半齿轮207与第二齿条211接触，然后带动第二齿条211向下移动，第二齿条211下降后带动移动块210下降，移动块210带动延长板217和导向轴212下降，直至滑入升降外壳201，通过升降装置20智能升降可以实现对后排遮挡学生快速识别，便于在使用。When the face is still blocked or blurred by the person in front during shooting, the third motor 218 continues to drive the second gear 203 and the third gear 204 to rotate according to the blurred face coordinates, the second half gear 208 drives the second rack 211 to rise slowly, the second rack 211 drives the moving block 210 to move upward slowly, and the moving block 210 drives the guide shaft 212 to rise. Since the guide groove 213 in the guide shaft 212 fits with the guide column 216 in the fixing seat 215, the guide shaft 212 will rotate back and forth during the step-by-step rise. The telephoto lens 19 has a built-in gyroscope sensor. When it approaches the height and direction of the blurred face coordinates, the third motor 218 stops rotating, and the telephoto lens 19 captures a clear image of the blurred face according to the face coordinates. When the capture fails, the third motor 218 continues to rotate. The guide shaft 212 is guided by the guide column 216, and the guide column 216 drives the telephoto lens 19 to rise step by step until there is no obstruction. Since there are many obstructions among the students in the back row, the guide shaft 212 scans back and forth to simultaneously identify multiple blurred face coordinates during the rising process. After the attendance is completed, the second rack 211 moves to the top, and the second half gear 208 leaves the second rack 211 at this time. The first half gear 207 contacts the second rack 211, and then drives the second rack 211 to move downward. After the second rack 211 descends, it drives the moving block 210 to descend. The moving block 210 drives the extension plate 217 and the guide shaft 212 to descend until they slide into the lifting shell 201. The intelligent lifting of the lifting device 20 can realize the rapid identification of the students in the back row, which is convenient for use.
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
尽管结合优选实施方案具体展示和介绍了本发明，但所属领域的技术人员应该明白，在不脱离所附权利要求书所限定的本发明的精神和范围内，在形式上和细节上可以对本发明做出各种变化，均为本发明的保护范围。Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN202411245085.XACN118762578B (en) | 2024-09-06 | 2024-09-06 | An intelligent teaching demonstration terminal |
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| CN202411245085.XACN118762578B (en) | 2024-09-06 | 2024-09-06 | An intelligent teaching demonstration terminal |
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| CN119541330A (en)* | 2025-01-22 | 2025-02-28 | 泉州工艺美术职业学院 | An intelligent ceramic conveying demonstration terminal |
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| US20090253110A1 (en)* | 2008-04-07 | 2009-10-08 | Ludwig Franz Hurtado | School focus |
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| CN214653188U (en)* | 2020-09-25 | 2021-11-09 | 江苏企想科技有限公司 | Real dolly device of instructing based on artificial intelligence |
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| US20090253110A1 (en)* | 2008-04-07 | 2009-10-08 | Ludwig Franz Hurtado | School focus |
| CN107946211A (en)* | 2017-11-16 | 2018-04-20 | 盐城盈信通科技有限公司 | A kind of chip manufacture system |
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