Interdisciplinary project cooperation teaching assisting robot

Abstract

The invention discloses an interdisciplinary project cooperation teaching-assistant robot, and belongs to the technical field of robot design. The problems that most existing education robots aim at a single professional scene, the modular expansion capacity is poor, and interdisciplinary experiment requirements cannot be met are solved. The system comprises a movable operation platform, a visual guidance module and an experiment execution module, the visual guidance module and the experiment execution module are installed on the movable operation platform, the experiment execution module is used for carrying out experiment operation, and the visual guidance module is used for identifying the experiment process of the experiment execution module; the experiment execution module comprises a mechanical arm, a quick-change interface and an experiment tool, one end of the mechanical arm is installed on the movable operation platform, and the other end of the mechanical arm is connected with the experiment tool through the quick-change interface.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robot design, and particularly relates to a cross-disciplinary project collaboration teaching assistant robot. BACKGROUND

[0002] With the increasing requirements of higher education on the comprehensive practical ability and engineering thinking of science and engineering students, cross-disciplinary experiments have become the core link for cultivating students' cross-disciplinary collaboration ability, which puts forward higher requirements on the flexibility, collaboration and safety of experimental teaching tools. However, in the current science and engineering experiment teaching, the traditional experimental equipment is mostly designed for professional customization, and a large number of hardware components need to be replaced for cross-disciplinary experiments, which is tedious and time-consuming. Small group experimental collaboration mostly relies on students' self-negotiation, lacks intelligent guidance, and often has problems such as "uneven division of labor and lagging progress". Experimental safety supervision is mostly manual inspection, which cannot identify unsafe operations and environmental abnormalities in real time, and there are great safety hazards.

[0003] Teaching robots can assist students in experiments, improve the flexibility and safety of experiments, and intelligently guide experimental operations. For example, the AI intelligent education robot disclosed in CN119871491A and the multifunctional education robot disclosed in CN221149473U. However, the above-mentioned education robots are mostly for single professional scenarios, have weak modular expansion capability, and cannot meet the needs of cross-disciplinary experiments. And lack of intelligent collaboration engine, cannot realize task optimization allocation and progress synchronization; safety monitoring is mostly simple sensor alarm, without combination of AI behavior recognition and mechanical intervention, the protection effect is limited. SUMMARY

[0004] Therefore, the application provides a cross-disciplinary project collaboration teaching assistant robot, which can assist students in completing experimental operations in different fields through a visual guidance module and an experimental execution module, improving the flexibility of experiments.

[0005] To solve the above technical problems, the technical scheme adopted by the application is as follows:

[0006] A cross-disciplinary project collaboration teaching assistant robot, comprising a movable operation platform, a visual guidance module and an experimental execution module, the visual guidance module and the experimental execution module being installed on the movable operation platform, the experimental execution module being used for experimental operation, and the visual guidance module being used for identifying the experimental process of the experimental execution module; the experimental execution module comprises a mechanical arm, a quick-change interface and an experimental tool, one end of the mechanical arm being installed on the movable operation platform, and the other end being connected with the experimental tool through the quick-change interface.

[0007] Further, the quick-change interface comprises a plurality of containing bases, a plurality of mating sockets, a plurality of mating plugs and a plurality of electrical connectors, the containing bases and the mating sockets are all provided with a plurality of, the containing bases are fixed on the movable operation platform, the mating sockets are connected with the experimental tools and are inserted into the corresponding containing bases, and the mating plugs are connected with the mechanical arm; the mechanical arm drives the mating plugs to be inserted into the mating sockets, and the mating sockets lock the mating plugs, so as to realize the connection between the mechanical arm and the experimental tools.

[0008] Further, the mating socket comprises a socket shell, a locking assembly and a triggering assembly, the socket shell can be inserted into the containing base, the top of the socket shell is provided with a socket, a plurality of mounting screw holes are formed in the circumferential direction on the side wall of the socket shell, one locking assembly is arranged in each mounting screw hole, the triggering assembly is arranged in the connecting seat and is connected with each locking assembly, and the triggering assembly is used for triggering the locking assembly to lock the mating plug.

[0009] Further, the locking assembly comprises a locking ball, a magnetorheological fluid spring, an excitation coil and a plug; the locking ball and the plug are arranged in the mounting screw hole in sequence, the end of the plug facing the locking ball is provided with a sleeve, the excitation coil is wound outside the sleeve and is electrically connected with the electrical connector through the triggering assembly; the magnetorheological fluid spring is arranged in the sleeve and can extrude the locking ball to be partially inserted into the socket of the socket shell; the mating plug is provided with a locking surface and an inclined extrusion surface; when the mechanical arm drives the mating plug to be inserted into the socket shell, the inclined extrusion surface of the mating plug contacts and extrudes the locking ball to be inserted into the mounting screw hole, when the mating plug is completely inserted into the socket shell, the magnetorheological fluid spring drives the locking ball to be extended, the electrical connector supplies power to the magnetorheological fluid spring through the triggering assembly, the locking ball is extruded at the locking surface of the mating plug and remains stationary, so as to realize the locking of the mating socket to the mating plug.

[0010] Further, the trigger assembly comprises a trigger cylinder, a first air passage, a second air passage, a one-way valve, an electrical connection block and two contacts; the trigger cylinder is provided with a first reset spring, a second reset spring, an upper piston rod and a lower piston rod, the upper piston rod and the lower piston rod are oppositely arranged and are respectively in sliding connection with the cylinder cavity of the trigger cylinder, and a closed air cavity is formed between the upper piston rod and the lower piston rod; the top end of the upper piston rod extends into the socket of the socket shell, the first reset spring is sleeved on the upper piston rod for resetting the upper piston rod; the second reset spring is sleeved on the lower piston rod for resetting the lower piston rod; a mounting cavity is further arranged below the trigger cylinder, the electrical connection block is arranged in the mounting cavity, the two contacts are symmetrically arranged on the left and right sides of the electrical connection block and are mounted on the inner wall of the mounting cavity, the left contact is connected with the excitation coil through a power line, and the right contact is connected with the electrical connector through a power line; the lower end of the lower piston rod is connected with the electrical connection block and can drive the electrical connection block to move up and down; one end of the first air passage is communicated with the closed air cavity, the other end extends to the bottom of the socket shell and is connected with the one-way valve, and the one-way valve is used for plugging the first air passage and the closed air cavity; the second air passage is arranged on the top of the containing base, one end of the second air passage is communicated with the top of the containing base, and the other end is communicated with the outside atmosphere; and the end of the second air passage communicated with the top is further provided with a steel ball and a compression spring, the steel ball is arranged at the port of the second air passage and is used for triggering the one-way valve to open, one end of the compression spring is connected with the steel ball, and the other end is connected to the inside of the second air passage and is used for resetting the steel ball; a gas hole is formed in the steel ball.

[0011] Further, a positioning key is arranged at the inner wall of the socket of the socket shell, a key groove is arranged on the mating plug, and the positioning key is arranged in the key groove when the mating plug is inserted into the socket shell.

[0012] Further, the electrical connector comprises an electrical socket and an electrical plug which are matched with each other, the electrical plug is mounted in the socket shell and is electrically connected with the experimental tool, and the electrical socket is mounted on the mating plug.

[0013] Further, the electrical plug comprises two spring pin male sockets, the electrical socket comprises two pin female sockets matched with the spring pin male sockets, and the spring pin male sockets and the pin female sockets which are oppositely arranged form a group, one group is used for providing power supply for the experimental tool, and the other group is used for information transmission between the experimental tool and the visual guidance module.

[0014] Further, the visual guidance module comprises a touchable display screen, a camera and a PLC control system, the touchable display screen and the camera are mounted on the movable operation platform, and the camera can acquire the operation process of the student experiment in real time and upload to the PLC control system.

[0015] Further, the safety monitoring module comprises a pressure sensor, a temperature and humidity sensor, and a smoke alarm. The pressure sensor is installed at the end of the mechanical arm, and is used to measure the pressure applied by the experimental tool during the experiment. The temperature and humidity sensor and the smoke alarm are installed above the movable operation platform, and are used to monitor the temperature and humidity of the experimental environment and whether smoke is generated.

[0016] The application has the following beneficial effects compared with the prior art:

[0017] 1. The application can assist students in completing experimental operations in different fields through the visual guidance module and the experiment execution module, thereby improving the flexibility of the experiment.

[0018] 2. The quick-change interface of the application realizes the quick disassembly and assembly of the mechanical arm and the experimental tool through the cooperation of the containing base, the docking socket, the docking plug, and the electrical connector. The locking assembly between the docking socket and the docking plug changes the mechanical properties of the spring by using the rheological properties of the magnetorheological fluid, so that the magnetorheological fluid spring has the same elasticity as the ordinary spring in the case of de-energizing the excitation coil. The locking ball can be compressed back into the mounting screw hole. The magnetorheological fluid spring becomes rigid in the case of energizing the excitation coil, so that the locking ball remains in the extended state and does not move, thereby realizing the locking of the docking socket and the docking plug. The design of the trigger cylinder and the one-way valve in the trigger assembly can trigger the electrical connection block and the two contacts when the docking plug is inserted into the docking socket, thereby realizing the power supply of the excitation coil by the electrical connector. Through the cooperation of the trigger cylinder, the one-way valve, the two air channels, and the steel ball, as well as the rotation of the docking socket and the containing base, the electrical connection block and the two contacts are disconnected, thereby realizing the de-energization of the excitation coil. The connection process of the entire mechanical arm and the experimental tool is convenient to operate, and quick disassembly and assembly can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are part of the present application and serve to provide a further understanding of the present application.

[0020] Figure 1 It is a structural schematic diagram of a cross-disciplinary project collaboration teaching robot.

[0021] Figure 2 It is a state diagram during the insertion of the docking plug into the docking socket.

[0022] Figure 3 It is a state diagram when the docking socket locks the docking plug.

[0023] Figure 4 It is a state diagram when the steel ball starts the one-way valve to open.

[0024] Figure 5 It is a state diagram when the docking plug and the docking socket are unlocked.

[0025] Figure 6 Fig. 1 is a structural schematic diagram of a base.

[0026] Figure 7 Fig. 2 is a structural schematic diagram of a docking socket. Figure 1 .

[0027] Figure 8 Fig. 3 is a structural schematic diagram of a docking socket. Figure 2 .

[0028] Figure 9 Fig. 4 is a structural schematic diagram of a docking plug.

[0029] Figure 10 Fig. 5 is a structural schematic diagram of a mechanical arm.

[0030] Figure 11 Fig. 6 is a structural schematic diagram of an electrical socket.

[0031] Figure 12 Fig. 7 is a structural schematic diagram of an electrical plug.

[0032] Figure 13 Fig. 8 is a partial enlarged view of A in Fig. 6. Figure 2 DETAILED DESCRIPTION

[0033] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Referring to Figure 1 , the interdisciplinary project collaboration teaching robot of the embodiment is mainly used for assisting students in completing multidisciplinary experiments. It includes a movable operation platform 1, a visual guidance module 2, an experiment execution module and a safety monitoring module, wherein the visual guidance module 2, the experiment execution module and the safety monitoring module are all installed on the movable operation platform 1, and the experiment execution module is used for experimental operation. The visual guidance module 2 is used for identifying the experimental process of the experiment execution module, and can realize the monitoring of the experimental process and the operation of the students through the existing artificial intelligence such as deep learning model or AI large model, and give the optimal experimental allocation and task scheduling suggestion to assist the students in completing the experiment. The safety monitoring module is used for monitoring and prompting the danger of experimental operation.

[0035] ​When the experiment is needed, the movable operation platform 1 is moved to the experiment table and locked to ensure the stability of the movable operation platform 1. The height of the movable operation platform 1 is adjusted to the appropriate position. The teaching robot is started, the experiment project to be performed is selected, and the preset steps are loaded. The visualization guidance module 2 gives the experiment steps and real-time data, and pushes the task allocation suggestion to the group students and synchronizes the cloud progress. The student controls the experiment execution module to perform the experiment on the movable operation platform 1. During the experiment, if the student takes unsafe operation or triggers the smoke and temperature alarm, the safety monitoring module issues an alarm and controls the experiment execution module to stop the experiment. After the experiment is completed, the experiment data is saved to the cloud and the experiment report is generated, and the experiment execution module is returned to the original position.

[0036] Since the visualization guidance module 2 of the embodiment can give the experiment steps and real-time data, the student can perform the experiment according to the given steps and data, and at the same time, the experiment execution module can assist the student to complete the experiment, thereby realizing the experiment operation in different fields, improving the flexibility of the experiment, and increasing the significance of teaching.

[0037] Referring to Figure 1 The movable operation platform 1 of the embodiment includes an experiment table 11, a chassis 12, universal wheels 13, and an expansion table 14. The experiment table 11 is installed on the chassis 12 through a liftable support, and the tabletop of the experiment table 11 is within the information collection range of the visualization guidance module 2. The universal wheels 13 are provided with four and are uniformly installed on the bottom of the chassis 12. The universal wheels 13 are provided with brake pedals, and the universal wheels 13 can be prevented from rolling by stepping on the brake pedals. The expansion table 14 is provided with two and is respectively installed on the left and right sides of the experiment table 11. The visualization guidance module 2, the experiment execution module, and the safety monitoring module are all installed on the experiment table 11.

[0038] The embodiment designs the chassis 12 and the universal wheels 13 to make the movable operation platform 1 have the ability of flexible movement, which is convenient for the movement of the teaching robot, and the design of the expansion table 14 increases the area of the movable operation platform 1.

[0039] Referring to Figure 1 The experiment execution module of the embodiment includes two execution units which are oppositely arranged on the experiment table 11 and within the visualization range of the visualization guidance module 2. In combination with Figure 1Each execution unit includes a mechanical arm 3, a quick-change interface 4 and an experimental tool 5. One end of the mechanical arm 3 is mounted on the experimental table 11, and the other end is detachably connected with the experimental tool 5 through the quick-change interface 4. The experimental tool 5 has multiple types and is placed on the expansion table 14 respectively. The experimental tool 5 can be a drill bit, a wrench, a screwdriver, an electric rubber-headed dropper, a mechanical hand, etc. Different experimental tools 5 can be suitable for different experimental stages of the same experimental process, and can also be suitable for different types of interdisciplinary experiments. The mechanical arm 3 is a six-degree-of-freedom mechanical arm. The multiple degrees of freedom of the mechanical arm 3 can increase the flexibility of the experimental tool 5 to meet the operation requirements of complex experiments. The mechanical arm 3 is connected with the experimental tool 5 through the quick-change interface 4, which facilitates the replacement of the experimental tool 5.

[0040] Referring to Figures 2 to 5 The quick-change interface 4 of the embodiment includes a containing base 41, a mating socket 42, a mating plug 43 and an electrical connector. In combination with Figure 1 The containing base 41 is provided with multiple ones and is arrayed and fixed on the expansion table 14. The mating socket 42 is also provided with multiple ones, each of which corresponds to an experimental tool 5. The mating socket 42 is connected with the experimental tool 5 and is inserted into the corresponding containing base 41, and the containing base 41 supports the mating socket 42 and the experimental tool 5. The mating plug 43 is connected with the mechanical arm 3. Through the quick disassembly and assembly of the mating socket 42 and the mating plug 43, the mechanical arm 3 and the experimental tool 5 can be quickly installed and quickly disassembled.

[0041] In combination with Figure 2 , Figure 11 and Figure 12 The electrical connector includes an electrical socket 44 and an electrical plug 45. The electrical plug 45 is installed in the mating socket 42 and is electrically connected with the experimental tool 5. The electrical socket 44 is installed at the bottom of the mating plug 43. The cooperation of the electrical socket 44 and the electrical plug 45 can realize the electrical connection of the mating socket 42 and the mating plug 43. In combination with Figure 11 and Figure 12 The electrical plug 45 of the embodiment includes two spring contact pin male seats 451. The electrical socket 44 includes two contact pin female seats 441 which cooperate with the spring contact pin male seats 451. The oppositely arranged spring contact pin male seats 451 and contact pin female seats 441 form a group. One group is used to provide power supply for the experimental tool 5, and the other group is used for information transmission between the experimental tool 5 and the visual guidance module 2.

[0042] When the electrical plug 45 and the electrical socket 44 of the embodiment are connected, power supply can be provided for the experimental tool 5, and data transmission can also be realized to ensure the use of the experimental tool 5. The electrical connector adopts a male seat with a spring contact pin and a matching female seat, which can save space, reduce assembly height, withstand repeated mating operations, and resist mechanical impact and vibration, thereby ensuring stable and reliable connection.

[0043] When experimental tool 5 needs to be replaced during the experiment, robotic arm 3 moves the docking plug 43 to the docking socket 42 and inserts it into the socket 42. The socket 42 locks the plug 43 in place, thus connecting robotic arm 3 to experimental tool 5. Simultaneously, the power socket 44 and power plug 45 are connected, enabling power supply and signal transmission for experimental tool 5. Robotic arm 3 then drives experimental tool 5 away from the holding base 41 via quick-change interface 4, and performs the experimental operation. When experimental tool 5 is no longer needed and another tool 5 requires replacement, robotic arm 3 first moves the tool 5 to its corresponding holding base 41, inserts it into the base, and pulls upwards the docking plug 43, separating it from the socket 42, thus detaching robotic arm 3 from experimental tool 5. Then, robotic arm 3 re-inserts the docking plug 43 into the corresponding socket 42 of the new tool 5 to connect it.

[0044] See Figure 6 In this embodiment, the holding base 41 is provided with a placement cavity 411 for placing the experimental tool 5. An opening is provided on one side of the placement cavity 411, and a slot 412 communicating with the placement cavity 411 and the opening is provided on the top of the holding base 41. The bottom of the holding base 41 is fixed on the extension platform 14 and remains stationary.

[0045] See Figures 2 to 5 In this embodiment, the docking socket 42 includes a socket housing 421, a locking assembly 422, and a triggering assembly 423. The socket housing 421 can be inserted into the holding base 41. Specifically, in conjunction with... Figure 7 and Figure 8The socket housing 421 includes a connecting base 4211, a connecting post 4212, and a support plate 4213 arranged and connected sequentially from top to bottom. The outer diameter of the connecting post 4212 is slightly smaller than the minimum inner diameter of the slot 412 of the holding base 41, and the connecting post 4212 can be inserted into the slot 412 of the holding base 41. The experimental tool 5 is mounted on the support plate 4213 and can be placed in the placement cavity 411 of the holding base 41 through the opening on the holding base 41. The connecting base 4211 can be placed on top of the holding base 41 and supported by the holding base 41. When the robotic arm 3 drives the docking socket 42 and the experimental tool 5 to be inserted into the holding base 41, the connecting post 4212 is aligned with the slot 412 of the holding base 41, and the experimental tool 5 is aligned with the insertion port of the holding base 41. The robotic arm 3 moves the docking socket 42 and the experimental tool 5 horizontally until the connecting post 4212 is inserted into the slot 412 of the holding base 41. At this time, the connecting seat 4211 is placed on top of the holding base 41 and supported by the holding base 41. Then the robotic arm 3 drives the docking plug 43 to move upward. Since the support plate 4213 of the socket housing 421 is inside the holding base 41, the robotic arm 3 can pull the docking plug 43 out of the docking socket 42.

[0046] Combination Figure 2 and Figure 7 The connector 4211 has a cylindrical structure. Multiple mounting screw holes 4214 are formed along the circumference of the side wall of the connector 4211, and a locking component 422 is installed in each mounting screw hole 4214. The trigger component 423 is disposed within the connector 4211 and is used to trigger the locking component 422 to lock the mating plug 43. A mounting groove is also formed at the bottom of the connector 4211, into which the electrical plug 45 is inserted. A positioning key 4215 is also provided on the inner wall of the connector 4211, and a keyway 431 is provided on the mating plug 43. When the mating plug 43 is inserted into the mating socket 42, the positioning key 4215 is positioned within the keyway 431.

[0047] See Figure 2In this embodiment, the locking assembly 422 includes a locking ball 4221, a magnetorheological fluid spring 4222, an excitation coil 4223, and a plug 4224. The diameter of one end of the mounting screw hole 4214 within the connecting seat 4211 is smaller than the maximum diameter of the locking ball 4221. The locking ball 4221 is disposed within the mounting screw hole 4214 and can partially extend out of the mounting screw hole 4214. One end of the plug 4224 has an external thread, and the plug 4224 can be screwed into the mounting screw hole 4214 of the connecting seat 4211. The end of the plug 4224 facing the locking ball 4221 also has a sleeve. The excitation coil 4223 is wound around the sleeve and electrically connected to the electrical plug 45 through the trigger assembly 423. The magnetorheological fluid spring 4222 is located inside the sleeve and can push the locking ball 4221 out of the mounting screw hole 4214. The magnetorheological fluid spring 4222 is obtained by creating a channel inside the spring and injecting magnetorheological fluid into the channel. Combined with... Figure 2 and Figure 9 The connector 43 is provided with a locking surface 432, a vertical surface 433 and an oblique pressing surface 434 from top to bottom.

[0048] When the robotic arm 3 pre-drives the docking plug 43 into the docking socket 42, the keyway 431 on the docking plug 43 is aligned with the positioning key 4215 on the docking socket 42. Then, the robotic arm 3 drives the docking plug 43 to move downwards, and the positioning key 4215 is inserted into the keyway 431. As the docking plug 43 moves downwards, the inclined pressing surface 434 of the docking plug 43 contacts and presses the locking ball 4221 to overcome the rebound force of the magnetorheological fluid spring 4222 and retract into the mounting screw hole 4214 of the connector 4211. When the locking ball 4221 is fully retracted into the mounting screw hole 4214, the vertical surface 433 of the docking plug 43 contacts the locking ball 4221. When the docking plug 43 is fully inserted into the docking socket 42, the magnetorheological fluid spring 4222 drives the locking ball 4221 to extend and press against the locking surface 432 of the docking plug 43. At the same time, the plug 45 is connected to the socket 44 and energized. The excitation coil 4223 is energized and generates a magnetic field. The magnetorheological fluid spring 4222 changes from elastic to rigid under this magnetic field. At this time, the locking ball 4221 remains stationary and locks the plug 43, thus achieving the locking and fixing of the plug 43 and the socket 42.

[0049] This embodiment utilizes the rheological properties of magnetorheological fluid to alter the mechanical properties of the spring. When the excitation coil 4223 is de-energized, the magnetorheological fluid spring 4222 exhibits the same elasticity as a regular spring, allowing the locking ball 4221 to be compressed back into the mounting screw hole 4214. When the excitation coil 4223 is energized, the magnetorheological fluid spring 4222 becomes rigid, keeping the locking ball 4221 in its extended state. Furthermore, the rheological properties of the magnetorheological fluid are reversible; when the magnetic field disappears, the magnetorheological fluid can instantly change from a solid to a liquid state, achieving a rapid response.

[0050] See Figure 2 In this embodiment, the triggering component 423 includes a trigger cylinder, a first air passage 424, a second air passage 425, a one-way valve 426, an electrical connection block 427, two contacts 428, and several power lines. Combined with... Figure 13 The trigger cylinder is equipped with a first return spring 4231, a second return spring 4232, an upper piston rod 4233, and a lower piston rod 4234. The upper piston rod 4233 and the lower piston rod 4234 are arranged opposite to each other and are slidably connected to the inner cavity of the trigger cylinder, forming a sealed air chamber 4235 between them. The top end of the upper piston rod 4233 extends into the inner cavity of the connecting seat 4211. The first return spring 4231 is sleeved on the upper piston rod 4233 for resetting the upper piston rod 4233. The second return spring 4232 is sleeved on the lower piston rod 4234 for resetting the lower piston rod 4234. Below the trigger cylinder, there is a mounting cavity. An electrical connection block 427 is located within this cavity. Two contacts 428 are symmetrically positioned on the left and right sides of the electrical connection block 427 and mounted on the inner wall of the mounting cavity. The left contact 428 is connected to the excitation coil 4223 via a power line, and the right contact 428 is connected to the electrical plug 45 via a power line. Additionally, another power line directly connects the electrical plug 45 and the excitation coil 4223. The excitation coil 4223, the two contacts 428, the electrical plug 45, and the three power lines form a closed circuit. The lower end of the lower piston rod 4234 is connected to the electrical connection block 427 and can drive the electrical connection block 427 to move up and down. One end of the first air passage 424 connects to the sealed air chamber 4235, and the other end extends to the bottom of the connecting seat 4211 and connects to the one-way valve 426. The one-way valve 426 is used to seal the first air passage 424 and the sealed air chamber 4235. A second air passage 425 is disposed within the holding base 41. One end of the second air passage 425 is connected to the top of the holding base 41, and the other end is connected to the outside atmosphere. A steel ball 429 and a compression spring 430 are also provided at the end of the second air passage 425 connected to the top of the holding base 41. The steel ball 429 is located at the port of the second air passage 425 and is used to trigger the opening of the one-way valve 426. One end of the compression spring 430 is connected to the steel ball 429, and the other end is connected to the interior of the second air passage 425 for resetting the steel ball 429. Air holes are provided on the steel ball 429.

[0051] When the plug 43 is inserted to the bottom of the socket 42, the bottom of the plug 43 presses the upper piston rod 4233 downward. The upper piston rod 4233 presses the sealed air chamber 4235, which in turn presses the lower piston rod 4234 downward. During this process, the one-way valve 426 is closed to ensure the air pressure in the sealed air chamber 4235. The electrical connector 427 moves downward with the lower piston rod 4234 and gradually inserts between the two contacts 428. When the plug 45 is connected to the socket 44, the electrical connector 427 contacts the left and right contacts 428 and connects the left and right power lines, thereby enabling the electrical connector to supply power to the excitation coil 4223. When the robotic arm 3 needs to change the experimental tool 5, the robotic arm 3 moves the quick-change interface 4 and the experimental tool 5 to the corresponding holding base 41. The connecting post 4212 is inserted into the slot 412 of the holding base 41. At this time, the top of the holding base 41 supports the connecting seat 4211, and the bottom of the connecting seat 4211 overcomes the elastic force of the compression spring 430 to press the steel ball 429 on the top of the holding base 41 into the second air passage 425. The robotic arm 3 rotates the docking socket 42 through the cooperation of the keyway 431 on the docking plug 43 and the positioning key 4215 on the connecting seat 4211 until the steel ball 429 on the top of the holding base 41 is aligned with the one-way valve 426. The steel ball 429 moves upward under the elastic force of the compression spring 430 and squeezes the one-way valve 426 to open. The sealed air chamber 4235 is connected to the outside atmosphere through the first air passage 424, the air hole on the steel ball 429 and the second air passage 425, and the air pressure in the sealed air chamber 4235 decreases. The second reset spring 4232 drives the lower piston rod 4234 to move upward, and the electrical connection block 427 moves upward with the lower piston rod 4234 and separates from the contacts 428 on the left and right sides, thereby de-energizing the excitation coil 4223. The magnetorheological fluid spring 4222 changes from rigid to elastic. The robotic arm 3 drives the docking plug 43 to move upward and squeezes the locking ball 4221 back into the mounting screw hole 4214, thereby unlocking the docking plug 43 from the docking socket 42. Before the docking plug 43 moves out of the docking socket 42, the robotic arm 3 rotates the docking socket 42 through the docking plug 43, causing the steel ball 429 on the holding base 41 to disengage from the one-way valve 426, and the one-way valve 426 resets and closes. The docking socket 42 returns to its initial state. It should be noted that the first air passage 424 has a ramp at one end of the connector 4211 at the bottom. When the rotating docking socket 42 is reset, the ramp can squeeze the steel ball 429 back into the second air passage 425, thus preventing the steel ball 429 from locking the position of the connector.

[0052] In this embodiment, the design of the trigger cylinder and the one-way valve 426 allows the electrical connector block 427 and the two contacts 428 to connect when the connector 43 is inserted into the connector socket 42, energizing the electrical connector and the excitation coil 4223, thereby locking the connector socket 42 onto the connector 43. Through the coordination of the trigger cylinder, the one-way valve 426, the two air passages, and the steel ball 429, along with the rotation of the connector socket 42 and the holding base 41, the electrical connector block 427 and the two contacts 428 are disconnected, de-energizing the electrical connector and the excitation coil 4223, thus unlocking the connector socket 42 from the connector 43. It can be seen that the energization of the electrical connector and the excitation coil 4223 is entirely achieved by the driving force of the robotic arm 3, without the need for other power sources or human control.

[0053] See Figure 6 , Figure 7 and Figure 8 In this embodiment, the opening diameter of the holding base 41 is smaller than the inner diameter of the placement cavity 411. The support plate 4213 is obtained by cutting off the opposite two arc edges of a circular plate, and a reference block 4216 is provided on the support plate 4213. When the docking socket 42 is inserted into the holding base 41, the support plate 4213 is inserted from the socket of the holding base 41 into the placement cavity 411. At this time, the reference block 4216 abuts against the end face a on the right side of the socket. When the robotic arm 3 rotates the docking socket 42 through the docking plug 43 to open the one-way valve 426 by pressing the steel ball 429, the reference block 4216 abuts against the end face b on the left side of the socket. That is to say, the reference block 4216, the end face a on the right side of the socket and the end face b on the left side of the socket form a positioning reference, ensuring that the docking socket 42 and the docking plug 43 can be unlocked smoothly.

[0054] See Figure 1 The experimental execution module in this embodiment also includes a remote control handle 6 and a control button 7. The remote control handle 6 is used to control the movement of the robotic arm 3, and the control button 7 is used to start the experimental tool 5. With this design, students can control the experimental execution module to conduct experiments on the operating table through the control button 7 and the remote control handle 6, realizing a human-computer interaction mode.

[0055] See Figure 1 The visualization guidance module 2 in this embodiment includes a touch screen 21, a camera 22 and a PLC control system. The touch screen 21 is installed near the rear of the experimental platform 11, and the camera 22 is installed on the top of the experimental platform 11 by a bracket. It can acquire the student's experimental operation process in real time and upload it to the PLC control system.

[0056] In this embodiment, the touchscreen display 21 allows users to select experimental projects and confirm the replacement of experimental tools 5. The touchscreen display 21 also provides experimental operation procedures to guide students in conducting experiments in different fields. The camera 22 captures the students' experimental procedures, which are then intelligently analyzed by a cloud-based AI engine to determine the correctness of the operation process and provide guidance via the display screen.

[0057] The safety monitoring module in this embodiment includes a pressure sensor, a temperature and humidity sensor, and a smoke alarm. The pressure sensor is installed at the connection between the robotic arm 3 and the docking plug 43 to measure the pressure applied by the experimental tool 5 during the experiment. The temperature and humidity sensor and the smoke alarm are installed above the experimental platform 11 to monitor the temperature and humidity of the experimental environment and whether smoke is generated.

[0058] The following is combined with Figures 1 to 12 This application provides a detailed explanation of the working principle and workflow of a cross-disciplinary project collaboration teaching assistant robot.

[0059] First, the movable operating platform 1 is moved to the side of the experimental table and locked, and its height is adjusted to a suitable position. The teaching assistant robot is then activated, and the PLC control system automatically completes the self-checks and initialization of the experiment execution module, safety monitoring module, and visual guidance module 2. Students select the experimental project and confirm the experimental tool 5 through the touchscreen display 21. Then, students control the robotic arm 3 using the remote control handle 6, which connects to the required experimental tool 5 via the docking plug 43 and docking socket 42. Students conduct the experiment using the remote control handle 6 and control buttons 7. The camera 22 captures the student's experimental process in real time and uploads it to the PLC control system. The cloud-based AI engine performs intelligent analysis to determine if the operation is correct and provides guidance through the display screen. After the experiment is completed, the student clicks the end button on the display panel to save the data to the cloud and generate an experimental report. The robotic arm 3 unloads the experimental tool 5 and places it on the holding base 41, then automatically returns to its original position.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created in this application, and are not intended to limit the scope of protection of this application. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created in this application without departing from the substance and scope of the technical solutions created in this application.

Claims

1. A cross-disciplinary project collaborative teaching assistant robot, characterized in that, It includes a mobile operating platform, a visual guidance module, and an experiment execution module. The visual guidance module and the experiment execution module are installed on the mobile operating platform. The experiment execution module is used to perform experimental operations, and the visual guidance module is used to identify the experimental procedures of the experiment execution module. The experiment execution module includes a robotic arm, a quick-change interface, and experimental tools. One end of the robotic arm is installed on the mobile operating platform, and the other end is connected to the experimental tools through the quick-change interface.

2. The interdisciplinary project collaboration teaching assistant robot according to claim 1, characterized in that, The quick-change interface includes a holding base, a docking socket, a docking plug, and an electrical connector. There are multiple holding bases and docking sockets. The holding base is fixed on a movable operating platform. The docking socket is connected to the experimental tool and inserted into the corresponding holding base. The docking plug is connected to the robotic arm. The robotic arm drives the docking plug to be inserted into the docking socket, and the docking socket locks the docking plug to realize the connection between the robotic arm and the experimental tool.

3. The interdisciplinary project collaboration teaching assistant robot according to claim 2, characterized in that, The docking socket includes a socket housing, a locking component, and a triggering component. The socket housing can be inserted into the holding base. The top of the socket housing has a socket. Multiple mounting screw holes are opened along the circumferential direction on the side wall of the socket housing. A locking component is installed in each mounting screw hole. The triggering component is located in the connector and connected to each locking component. The triggering component is used to trigger the locking component to lock the docking plug.

4. The interdisciplinary project collaboration teaching assistant robot according to claim 3, characterized in that, The locking assembly includes a locking ball, a magnetorheological fluid spring, an excitation coil, and a plug. The locking ball and the plug are sequentially arranged in the mounting screw hole. The end of the plug facing the locking ball has a sleeve. The excitation coil is wound around the sleeve and electrically connected to the electrical connector through a trigger assembly. The magnetorheological fluid spring is located inside the sleeve and can compress the locking ball into the socket housing. The mating plug has a locking surface and an oblique pressing surface. When the robotic arm drives the mating plug to be inserted into the socket housing, the oblique pressing surface of the mating plug contacts and compresses the locking ball into the mounting screw hole. When the mating plug is fully inserted into the socket housing, the magnetorheological fluid spring drives the locking ball to extend. The electrical connector supplies power to the magnetorheological fluid spring through the trigger assembly. The locking ball is pressed against the locking surface of the mating plug and remains stationary, thereby achieving the locking of the mating socket onto the mating plug.

5. The interdisciplinary project collaboration teaching assistant robot according to claim 4, characterized in that, The trigger assembly includes a trigger cylinder, a first air passage, a second air passage, a one-way valve, an electrical connection block, and two contacts. The trigger cylinder is equipped with a first return spring, a second return spring, an upper piston rod, and a lower piston rod. The upper and lower piston rods are arranged opposite each other and are slidably connected to the inner cavity of the trigger cylinder, forming a sealed air chamber between them. The top end of the upper piston rod extends into the socket housing. The first return spring is sleeved on the upper piston rod for resetting it. The second return spring is sleeved on the lower piston rod for resetting it. A mounting cavity is also provided below the trigger cylinder. The electrical connection block is located within the mounting cavity. Two contacts are symmetrically arranged on the left and right sides of the electrical connection block and installed on the inner wall of the mounting cavity. The left contact is open to the air. The power cord connects to the excitation coil, and the right-side contact connects to the electrical connector via the power cord. The lower end of the lower piston rod connects to the electrical connector block and can drive the electrical connector block to move up and down. One end of the first air passage connects to the sealed air chamber, and the other end extends to the bottom of the socket housing and connects to the one-way valve. The one-way valve is used to seal the first air passage and the sealed air chamber. The second air passage is located at the top of the holding base. One end of the second air passage connects to the top of the holding base, and the other end connects to the outside atmosphere. The end of the second air passage that connects to the top of the holding base is also equipped with a steel ball and a compression spring. The steel ball is located at the port of the second air passage and is used to trigger the one-way valve to open. One end of the compression spring is connected to the steel ball, and the other end is connected to the inside of the second air passage for the steel ball to reset. Air holes are opened on the steel ball.

6. The interdisciplinary collaborative teaching assistant robot according to claim 5, characterized in that, The socket housing has a positioning key on the inner wall of the socket, and the mating plug has a key groove. When the mating plug is inserted into the socket housing, the positioning key is in the key groove.

7. The interdisciplinary project collaboration teaching assistant robot according to claim 4, characterized in that, The electrical connector includes a mating electrical socket and an electrical plug. The electrical plug is installed inside the socket housing and is electrically connected to the experimental tool. The electrical socket is installed on the mating plug.

8. The interdisciplinary project collaborative teaching assistant robot according to claim 7, characterized in that, The electrical plug includes two spring-loaded male contacts, and the electrical socket includes two female contacts that mate with the spring-loaded male contacts. The opposing spring-loaded male contacts and female contacts form a set, one set of which is used to provide power to the experimental tool, and the other set is used for information transmission between the experimental tool and the visualization guidance module.

9. The interdisciplinary project collaboration teaching assistant robot according to claim 1, characterized in that, The visual guidance module includes a touch screen, a camera, and a PLC control system. The touch screen and camera are installed on a mobile operating platform. The camera can capture the students' experimental operation process in real time and upload it to the PLC control system.

10. The interdisciplinary project collaboration teaching assistant robot according to claim 1, characterized in that, The safety monitoring module includes a pressure sensor, a temperature and humidity sensor, and a smoke alarm. The pressure sensor is installed at the end of the robotic arm to measure the pressure applied by the experimental tools during the experiment. The temperature and humidity sensor and the smoke alarm are installed above the movable operating platform to monitor the temperature and humidity of the experimental environment and whether smoke is generated.

Images