Robot entry teaching method and experimental device

Abstract

The invention relates to a robot entry teaching method and an experiment device. The robot entry teaching method and the experiment device are characterized in that in a circuit part, connection of electronic components is realized without welding, and a mutual connection conversion mode of Dupont lines in six female joints and male joints, a joint conversion mode, a female joint thickness conversion mode and a Dupont line female joint, male joint and plug spring connection conversion mode are adopted; in the program part, a multifunctional short program is provided and comprises single-chip microcomputer port level height, delay time length setting, condition judgment and a circulation program; in a mechanical part, a direct-current motor is connected with a common end of a relay to realize a robot entry teaching method of forward and reverse conversion to transmission core content.

Description

Technical Field

[0001] This invention relates to a robot introductory teaching method and experimental device, particularly in the circuit part: achieving the connection of electronic components without soldering; in the program part: providing a multi-functional template program; and in the mechanical part: a robot introductory teaching method and device with the forward and reverse rotation of a motor as the core of the transmission. Background Technology

[0002] Currently, the teaching methods and devices for robot beginners, in the circuit section, mostly use breadboards to connect electronic components, with internal spring clips holding the component pins in place. The connection diagrams are sometimes unclear, and inserting component pins is inconvenient. Using conductive tape is unsuitable for integrated circuits. Direct soldering is cumbersome, and soldered components are not easily reused. The high temperature of the soldering iron must also be considered. DuPont wires, which are typically one-to-one or one-to-one, are sometimes unsuitable. For example, connecting the base of a transistor requires connecting an upper bias resistor, a lower bias resistor, and an input capacitor, requiring a four-to-one DuPont wire. The pins of transistors, some resistors, and capacitors are smaller than the female connector of the DuPont wire. Switch and relay pins are flip-flop shaped, and there are no dedicated DuPont wires for transistors, resistors, capacitors, switches, and relays. Learning the programming section is cumbersome and time-consuming. The mechanical section is also time-consuming and laborious to learn. Summary of the Invention

[0003] The technical problem to be solved and the technical solution adopted by the present invention to solve its technical problem are:

[0004] This invention provides a robot introductory teaching method and experimental device, comprising a circuit connection device, a multi-functional program, and a motor forward and reverse rotation control method. The circuit connection device includes a DuPont wire conversion mode section, a connector conversion mode section, a female connector size conversion mode section, a wire crimping crimping mode section, a spring-loaded female connector, a spring-loaded male connector, a battery box with a DuPont female connector, an 89c52 microcontroller circuit board, relays, motors, resistors, capacitors, LEDs, a 74LS00, and a 40... 69. Composed of transistors, solderless circuit experimental apparatus, and related equipment for a rice cooker, characterized in that: the circuit connection device, the DuPont wire conversion mode part and the connector conversion mode part can achieve communication within six heads, the DuPont wire conversion mode part is one to two, one to three, one to four, one to five, and can also be two to two, two to three, two to four, three to three, and male and female heads can be combined arbitrarily, such as one to two male heads to two male heads, one female head to two female heads, one male head to two female heads, one female head to two male heads, and so on;

[0005] Connector conversion mode section,

[0006] There are three-way one-to-two, four-way one-to-three, five-way one-to-four, and six-way one-to-five modes. It can also be four-way two-to-two, five-way two-to-three, six-way two-to-four, and six-way three-to-three modes. The male and female connectors can be combined arbitrarily. For example, for a three-way one-to-two converter, it can be one male connector to two male connectors, one female connector to two female connectors, one male connector to two female connectors, or one female connector to two male connectors. The rest are similar.

[0007] The female connector size conversion mode section is for converting between coarse and fine female connectors.

[0008] It is divided into female connector adapter and female DuPont wire adapter. The thick female connector is used to connect ordinary DuPont wires, and the thin female connector is used to connect transistors, resistors and capacitors with thin leads.

[0009] The crimping mechanism of the wire crimping pliers consists of the crimping pliers and a DuPont female connector housing with a crimping hole. One end of the crimping pliers has a groove into which the DuPont female connector housing fits perfectly. The other end has a crimping pin. The DuPont female connector housing has a crimping hole, below which are two overlapping metal plates of the DuPont female connector. In use, the thin leads of the resistor or transistor are inserted into the DuPont female connector. The DuPont female connector housing is placed in the groove, and the crimping pin on the other end of the crimping pliers is aligned with the crimping hole on the DuPont female connector housing to press firmly, ensuring secure contact between the thin leads of the resistor or transistor and the metal plates inside the DuPont female connector. It can also be used with crimping pliers to align with the crimping hole when there are no leads, making it suitable for electronic components with fine leads. The crimping pliers have a groove on one end and a crimping pin on the other. The groove has two widths, 2.54mm and 7.62 (2.54*3)mm. The crimping pin has two arrangements, single-headed and triple-headed. The spring-to-female connector has a spring on one end and a female on the other. The spring-to-male connector has a spring on one end and a male on the other. The features of the program section are: it has port, condition, loop, level, and delay content. The features of the mechanical section are: the motor connects to the common terminal of the relay. Attached Figure Description

[0010] The accompanying drawings in the instruction manual show the DuPont wire conversion mode section, the connector conversion mode section, and the female connector size conversion mode section with DuPont wires.

[0011] This is part of the connector size conversion mode section and the crimping mode section of the crimping tool.

[0012] See the diagram for the DuPont line conversion mode section. Figure 1 This is a schematic diagram of a transistor connected using three female DuPont wires in a switching mode. The transistor has three leads, each connected using one of the three wires. The transistor leads are inserted into the thin female connector, whose diameter matches the transistor leads. The thicker female connector is used to connect to the standard 2.54mm pitch DuPont wire male connector.

[0013] Figure 2This is a schematic diagram of a one-to-three female connector conversion mode using DuPont wire conversion, where the four female connectors are interconnected.

[0014] Figure 3 This is a spring-loaded to female connector wire. The spring-loaded connector is used to connect to the pins of switches and relays.

[0015] Figure 4 This is a schematic diagram of a one-to-two female-to-female converter in the DuPont wire conversion mode, where the three female connectors are interconnected. Figure 5 This is a schematic diagram of a DuPont wire conversion mode, specifically a one-to-two male-to-male configuration, where the three male connectors are interconnected.

[0016] Figure 6 This is the connector conversion mode section.

[0017] A schematic diagram of a tee connector with one female connector to two female connectors, where one female connector is perpendicular to the other two female connectors, and the three female connectors are interconnected. Figure 7 This is the connector conversion mode section.

[0018] The diagram shows a 4-to-3 female connector. The four female connectors are interconnected, with two female connectors perpendicular to the other two. The subsequent connector configuration is also shown in the diagram, with the connectors perpendicular to each other and interconnected.

[0019] Figure 8 This is the connector conversion mode section.

[0020] A diagram of a male tee to 2 adapter, where the three male connectors are interconnected.

[0021] Figure 9 This is the connector conversion mode section.

[0022] A diagram showing a male 4-pin to 3-pin adapter, with the four male pins interconnected. Figure 10 This is the connector conversion mode section.

[0023] A diagram showing a six-way connector with a one-to-five-way adapter; the six female connectors are interconnected. Figure 11 This is the connector conversion mode section.

[0024] A diagram showing a 6-pin male connector with a 1-to-5-pin adapter; the six male connectors are interconnected. Figure 12 This is the connector conversion mode section.

[0025] A diagram illustrating a six-way, three-turn, three-connector connector with three male and three female heads, showing the interconnectedness of the three male and three female heads. Figure 13 This is the connector conversion mode section.

[0026] A diagram illustrating a 2-male-4-female connector with a 6-way 2-to-4 converter, showing the two male and four female connectors interconnected. Figure 14 This is the connector conversion mode section.

[0027] A schematic diagram of a three-way connector with one female connector, two male connectors, and one-to-two adapter.

[0028] Figure 15 This is the connector conversion mode section.

[0029] A schematic diagram of a 2-male-2-female-head, 4-way, 2-to-2 converter. Figure 16 This is the connector conversion mode section.

[0030] A schematic diagram of a male connector, three female connectors, four-way connectors, and a three-way adapter. Figure 17 This is the connector conversion mode section.

[0031] A schematic diagram of a 2-male-2-female-head, 4-way, 2-to-2 converter. Figure 18 This is the connector conversion mode section.

[0032] A schematic diagram of a male connector, two female connectors, a three-way connector, and a two-way adapter. Figure 19 This is the connector conversion mode section.

[0033] A schematic diagram of a male connector, three female connectors, four-way connectors, and a three-way adapter. Figure 20 This is a schematic diagram of a battery box containing two DuPont female connectors. Figure 21 This is the connector conversion mode section.

[0034] A schematic diagram of a three-male-head, one-female-head, four-way, three-turn, one-way connector. Figure 22 This is the connector conversion mode section.

[0035] A diagram showing a five-pin connector with a five-way valve and a four-way valve. Figure 23 This is the connector conversion mode section.

[0036] A diagram showing a 5-pin connector with a 1-to-4-pin adapter. Figure 24 This is the connector conversion mode section.

[0037] A diagram of a 2-pin, 2-way, 1-to-1 adapter. Figure 25 This is the connector conversion mode section.

[0038] A schematic diagram of a two-way, two-pin, one-turn right-angle elbow. Figure 26 This is the connector conversion mode section.

[0039] A diagram of a two-male-two-part, one-turn, right-angle elbow. Figure 27 This is the female head size conversion mode section.

[0040] This diagram illustrates a female connector conversion from a 2-to-1 adapter to a 3-to-4 connector. The thicker female connector accepts standard 2.54mm pitch DuPont male connectors, while the thinner female connector accepts integrated circuit leads, transistor leads, resistor leads, and capacitor leads. Various jack sizes are available depending on the lead dimensions. Figure 28 It is a DuPont female connector housing with a crimping hole, where 281 is the crimping hole, the center of which is located 3mm above and 1.27mm below the end of the DuPont female connector housing, and the diameter is between 0.5mm and 1mm. Figure 29 It is a wire crimping tool. 291 is a groove, and 292 is a crimping pin. The diameter of the crimping pin is between 0.5mm and 1mm. Specific Implementation

[0041] In the circuit section, one of the problems this invention aims to solve is how to connect electronic components simply, quickly, and conveniently, while also facilitating their repeated use. If less time and effort is spent connecting electronic components, and circuit diagrams of interest can be easily connected to verify their actual effectiveness, then the extra time and effort can be used for further exploration and experimentation, thereby deepening the understanding of circuit principles. Otherwise, if most of the time and effort is spent on soldering or determining the continuity of springs inside the breadboard, the time and effort available for problem-solving will be significantly reduced. This invention provides a robot introductory teaching method and experimental device, comprising a circuit connection device, a multi-functional program, and a motor forward and reverse rotation control method. The circuit connection device includes a DuPont wire conversion mode section, a connector conversion mode section, a female connector size conversion mode section, a wire crimping crimping mode section, a spring-loaded female connector, a spring-loaded male connector, a battery box with a DuPont female connector, an 89c52 microcontroller circuit board, relays, motors, resistors, capacitors, LEDs, 74LS00, 4069, transistors, a solderless circuit experimental device, and related equipment for a rice cooker.

[0042] The circuit connection device is characterized in that: both the DuPont wire conversion mode part and the connector conversion mode part can achieve communication within six heads. The DuPont wire conversion mode part can be converted from one to two, one to three, one to four, or one to five, and can also be converted from two to two, two to three, two to four, or three to three. Moreover, male and female connectors can be combined arbitrarily. For example, for one to two, it can be one male connector to two male connectors, one female connector to two female connectors, one male connector to two female connectors, or one female connector to two male connectors, and so on.

[0043] Connector conversion mode section,

[0044] There are three-way one-to-two, four-way one-to-three, five-way one-to-four, and six-way one-to-five modes. It can also be four-way two-to-two, five-way two-to-three, six-way two-to-four, and six-way three-to-three modes. The male and female connectors can be combined arbitrarily. For example, for a three-way one-to-two converter, it can be one male connector to two male connectors, one female connector to two female connectors, one male connector to two female connectors, or one female connector to two male connectors. The rest are similar.

[0045] The female connector size conversion mode section is for converting between coarse and fine female connectors.

[0046] It is divided into female connector adapter and female DuPont wire adapter. The thick female connector is used to connect ordinary DuPont wires, and the thin female connector is used to connect transistors, resistors and capacitors with thin leads.

[0047] The crimping mechanism of the wire crimping pliers consists of the crimping pliers and a DuPont female connector housing with a crimping hole. One end of the crimping pliers has a groove into which the DuPont female connector housing fits perfectly. The other end has a crimping pin. The DuPont female connector housing has a crimping hole, below which are two overlapping metal plates inside the DuPont female connector. In use, the thinner lead of the resistor or transistor is inserted into the DuPont female connector. The DuPont female connector housing is placed in the groove, and the crimping pin on the other end of the crimping pliers is aligned with the crimping hole on the DuPont female connector housing to press the connector, causing the resistor to... The transistor's fine leads make reliable contact with the metal plate inside the DuPont female connector. Even without leads, the wire crimping pliers can be used to align the crimping holes on the DuPont female connector's casing, making it suitable for fine-lead electronic components. The wire crimping pliers have a groove on one end and a crimping pin on the other. The groove comes in two widths: 2.54mm and 7.62 (2.54*3)mm. The crimping pins come in two arrangements: single-headed and triple-headed. The spring-to-female connector has a spring on one end and a female connector on the other. The spring-to-male connector has a spring on one end and a male connector on the other.

[0048] The program section is characterized by the presence of port, condition, loop, level, and delay elements.

[0049] The mechanical part is characterized by the motor being connected to the common terminal of the relay;

[0050] The materials for the DuPont wire conversion mode section, connector conversion mode section, female connector size conversion mode section, crimping tool crimping mode section, and ordinary DuPont wire are each 50 sets.

[0051] To conduct an experiment using a 74ls00 RS flip-flop, DuPont wires were selected.

[0052] It is a solderless circuit experimental device with a spacing of 2.54mm, patent number 2020111015097. A 74LS00 is fixed on it, with pin 1 corresponding to pin 1, and pin 14 corresponding to pin 40. A female-to-female DuPont wire connects pins 3 and 4, and another female-to-female DuPont wire connects pins 2 and 6. Pin 1 is S, pin 3 is Q, pin 5 is R, and pin 6 is Q inverted (!Q). An experiment is conducted to observe the uncertain state of Q and Q inverted when S and R are both 1. The DuPont wire is used to switch the mode from one female to three female pairs (!Q). Figure 2 )

[0053] The three female connectors are connected to pins 1, 5, and 14 respectively. The first connector's mode conversion section uses a two-to-two male connector (2-way 1 to 2-way 2). Figure 24 One of the male connectors is inserted into the fourth female connector above, in the first connector mode conversion section.

[0054] Two male heads and two cross ( Figure 24 The other male connector is inserted into the first spring-loaded female connector wire. Figure 3 Inside the mother's head,

[0055] One pin of the switch is inserted into the first spring-loaded female connector wire. Figure 3 Inside the spring clip, the other pin of the switch is inserted into the second spring clip female connector wire. Figure 3 Inside the spring, the second connector conversion mode part has two male connectors, two through connectors, and one to one (…). Figure 24 One of the male connectors is inserted into the second spring-loaded female connector connecting wire. Figure 3 Inside the female connector, the second conversion mode section has two male connectors, one through-hole and one converter.

[0056] ( Figure 24 The other male connector is inserted into the female connector connected to the + phase of the battery box (20) containing two DuPont female connectors. The third connector is a two-male-two-to-one converter. Figure 24 One male connector is inserted into a battery box containing two DuPont female connectors. Figure 20 The third connector conversion mode part is a two-male two-way adapter with a two-to-one connection within the female connector connected to the male connector. Figure 24 The other male connector is inserted into the DuPont wire conversion mode section to convert one female to three female connectors. Figure 2 Of the three female connectors on the top, one connects to pin 7 (the pin header for pin 7 is inserted into one female connector), and the other connects to the negative terminal of the green LED (the negative terminal of the green LED is inserted into one female connector).

[0057] One connector is connected to the negative terminal of the red LED (the negative terminal of the red LED is inserted into a female connector), and the positive terminal of the green LED is inserted into the size conversion mode section of the female connector.

[0058] Female connector size conversion 2-to-1 ( Figure 27 Inside the thick female connector, one end of the 510-ohm resistor is inserted into the first female connector size conversion mode section.

[0059] Female connector size conversion 2-to-1 ( Figure 27 Inside the thin tip,

[0060] The other end of the 510-ohm resistor is inserted into the second female connector size conversion mode section.

[0061] Female connector size conversion 2-to-1 ( Figure 27 Inside the narrow end of the head, the second female head size conversion mode section.

[0062] Female connector size conversion 2-to-1 ( Figure 27 The thicker end of the connector is connected to pin 3, which is inserted into the corresponding pin header on the solderless circuit experimental device that connects to pin 3.

[0063] The positive terminal of the red LED is inserted in the third...

[0064] Female connector size conversion mode, part of the female connector thickness conversion 2-way to 1-way ( Figure 27 Inside the thick female connector, one end of the 470-ohm resistor is inserted into the third female connector size conversion mode section, which is a two-way to one-way female connector. Figure 27 Inside the thin end of the 470-ohm resistor, the other end of the resistor is inserted into the fourth female connector size conversion mode section, which is a two-way to one-way female connector. Figure 27 Inside the fine head of the fourth female head, the female head size conversion mode part is a two-way to one-way female head coarse-to-fine conversion. Figure 27 The thick end of the switch is connected to pin 6, and the corresponding pin header on the unsoldered circuit experimental device is inserted into the pin header connected to pin 6. Repeatedly turning the switch on and off produces an unpredictable phenomenon where sometimes the red LED lights up and sometimes the green LED lights up. Even after multiple experiments with 10 74Ls00 units, the same result was not obtained, demonstrating that even identical electronic components can have different conduction speeds. Through practical examples, we can understand the diversity and unpredictability of the world, expressed mathematically:

[0065] This also means that the Tao that can be spoken of is not the eternal Tao. Even particles that are not in the same spatial position are not the same. Suppose two particles, such as an electron and a photon, are they the same? Obviously, they are not in the same spatial position at the same time. Is being in the same spatial position the same time? Particles such as electrons are affected differently depending on their spatial position. Similarly, particles such as electrons in the same spatial position are affected differently depending on their time. Therefore: E1 ≠ E2.

[0066] Example 2

[0067] Delay circuit

[0068] Connecting a 9013 transistor, a 2K ohm resistor, a 470µF electrolytic capacitor, and a relay enables the relay to turn on and then off after a 3-second delay. The connection method between the 9013 transistor and the DuPont wires is as follows: Figure 1 As shown, the conversion mode section for connector #1

[0069] Two male heads, two through, one turn, one ( Figure 24 One end is inserted into the thick female connector (c), and the other end is inserted into the No. 1 spring-loaded female connector connecting wire. Figure 3 The negative terminal of the relay is inserted into the No. 1 spring-loaded female connector connecting wire () Figure 3 The positive terminal of the relay is inserted into the spring of the No. 2 spring-to-male connector, and the male end of the No. 2 spring-to-male connector is inserted into the battery box containing two DuPont female connectors. Figure 20 Inside the female connector where the positive terminal (+) is connected,

[0070] 2. Insert one end of the dry ohm resistor into the thick female connector of connection b, and place the thick female connector in the crimping pliers. Figure 29Inside the groove (291), the crimping pin (292) of the crimping pliers is aligned with the crimping hole (281) of the DuPont female connector housing with the crimping hole, and the crimping pliers are used to crimp and clamp it. The other end of the 2 dry ohm resistor is inserted into the female connector of the No. 2 female-to-female DuPont wire (ordinary DuPont wire), and the female connector is placed in the crimping pliers. Figure 29 Inside the groove (291), the crimping pin (292) of the crimping pliers is aligned with the crimping hole (281) of the DuPont female connector housing with the crimping hole, and the crimping pliers are used to crimp and clamp it.

[0071] The positive terminal of the 470µF electrolytic capacitor is inserted into the other female connector of the No. 2 female-to-female DuPont wire. The negative terminal of the 470µF electrolytic capacitor is inserted into the female connector of the No. 3 DuPont wire conversion mode section (one female to two male). The male connector is inserted into the battery box containing two DuPont wire female connectors. Figure 20 Insert the female connector (connected to the negative terminal) into the thick female connector of the DuPont wire connected to e. Then, use a male-to-male DuPont wire to simultaneously contact the positive terminal of the 470 electrolytic capacitor and the positive terminal of the relay, and then disconnect. You can see that the relay will disconnect after about 3 seconds of being engaged.

[0072] From the multiple DuPont wires converted from one to two, we know that: l = 2 n = 2^n, (2^n: 2 to the power of n).

[0073] Where did I come from?

[0074] If n = 1 and l = 2, it represents the father and mother (2 people); if n = 2 and l = 4, it represents the grandfather, grandmother, maternal grandfather, and maternal grandmother (4 people); ...; if n = 10000 and l = 2^10000; ...

[0075] It originated from countless ancestors who multiplied and nurtured it many years ago.

[0076] who I am?

[0077] n=0, l=1, I am just one person right now.

[0078] Where should I go?

[0079] n = -1, l = 1 / 2, represents the share of each child; n = -2, l = 1 / 4, represents the share of each grandchild; ...; n = -10000, l = 1 / 2^-10000; ...

[0080] Example 3

[0081] For the CD4069 experiment, fix the CD4069 to the solderless circuit experimental setup. Pin 1 of the CD4069 is fixed to pin 1, and pin 14 is fixed to pin 40. Insert the header connecting pin 1 of the CD4069 into one of the female connectors of the 21-pin DuPont wire conversion mode section (one male to two female adapter). Insert one end of the 2kΩ resistor into the other female connector. Use wire crimping pliers to press firmly the female connector's outer sleeve through the crimping hole, ensuring a secure contact between the female connector's metal tab and the resistor. Insert the other end of the 2kΩ resistor into one of the female connectors of the 22-pin DuPont wire conversion mode section (one male to two female adapter), and press firmly with wire crimping pliers. Insert the header connecting pin 14 of the CD4069 into pin 22.

[0082] DuPont wire conversion mode part one to two male to female

[0083] Inside the other female head of the (one male to two female converter cable) 22-gauge DuPont wire conversion mode section, the one-to-two male to two female converter is converted.

[0084] The male connector of the (one male to two female converter cable) is inserted into the female connector connected to the + (positive) terminal, which has two DuPont wire female connectors.

[0085] DuPont wire conversion mode part 1 to 2 male to female

[0086] Inserting the male connector of a (male-to-female adapter)

[0087] Insert one pin of switch #2 into the female connector of the #23 spring-loaded adapter cable, and insert the other pin of switch #2 into the spring-loaded adapter cable of the #24 spring-loaded adapter cable.

[0088] Connect the pin header of pin 7 of the 4069 to the female connector of the 25-pin DuPont wire conversion mode adapter (one female to four male). Connect the four male connectors as follows: one to the female connector of the 24-pin spring-loaded female connector; one to the female connector with two DuPont wire female connectors connected to the negative terminal; one to the female connector of the 26-pin female to female DuPont wire adapter; insert one end of the 1kΩ resistor into the other female connector of the 26-pin female to female DuPont wire adapter; and use wire crimping pliers to clamp the 1kΩ resistor into the 27-pin female to female DuPont wire adapter; and use wire crimping pliers to clamp the 1kΩ resistor into the 27-pin female to female DuPont wire adapter.

[0089] Insert the negative terminal of the blue LED into the other female connector of the 27 female-to-female DuPont wire, and the positive terminal of the blue LED into the first female connector of the 28 female-to-female DuPont wire. Connect the pin header of pin 4 of the 4069 and insert it into the other female connector of the 28 female-to-female DuPont wire. Insert the fourth male connector of the 25 DuPont wire (one-to-four female-to-male converter cable) into the first female connector of the 29 female-to-female DuPont wire.

[0090] Insert one end of the 1.2kΩ resistor into the other female connector of the No. 29 female-to-female DuPont wire. Use wire crimping pliers to align with the crimping hole on the outer sleeve of the DuPont wire connector and clamp it tightly. Insert the other end of the 1.2kΩ resistor into the female connector of the No. 30 female-to-female DuPont wire.

[0091] Use wire crimping pliers to squeeze and clamp the white LED. Insert the negative terminal of the white LED into the other female connector of the 30 female-to-female DuPont wire, and insert the positive terminal of the white LED into the 31 female connector.

[0092] DuPont wire conversion mode part one to two mother to mother

[0093] (Conversion line from one female to two females) Inside the two-one female head

[0094] Connect the header pins of pin 2 of the 4069 to the No. 31 DuPont wire in the mode conversion section (one-to-two female to female).

[0095] Inside the other female connector of the (one-female to two-female adapter cable), the header pins connected to pin 3 of the 4069 are inserted into the 31st DuPont wire conversion mode section of the one-to-two-female adapter cable.

[0096] The third female connector of the (one-female to two-female converter line)

[0097] After power is applied, pin 1 of the 4069 is at a high level, the white LED is off, and the blue LED is on. Switch #2 is pressed to connect.

[0098] When pin 1 of the 4069 is high or low, the white LED is on and the blue LED is off, which verifies the functionality of the 4069. When pin 1 of the 4069 is low, pin 2 is high.

[0099] When pin 1 of the 4069 is high, pin 2 is low. The same applies to pins 3 and 4, with the high and low levels reversed. This experiment illustrates that a circuit with only one high (low) input has only one function and will not change. However, if the same input has both high and low states, the circuit becomes more flexible. For example, regardless of whether switch 2 is pressed to connect or disconnect (i.e., pin 1 of the 4069 is high or low), pins 2 and 4 will always have either a high or low level. In other words, a high input can result in both high and low levels, and vice versa. The mathematical expression is: F = Q + !Q

[0100] Robotics technology involves mechanical transmission, circuit control, and programming. Below is a summary of 28 key principles. If you diligently follow these 28 principles, building a robot should be a relatively easy and enjoyable process. These 28 principles are:

[0101] When the condition is in a loop, the port controls the relay.

[0102] The motor connects to a common terminal, allowing it to roam freely in three-dimensional space.

[0103] I. Mechanical Transmission – Roaming Freely in Three-Dimensional Space

[0104] The definition of three-dimensional space: vertically up and down is the Y-axis, horizontally forward and backward is the X-axis, and horizontally to the left and right is the Z-axis. If mechanical transmission can realize the movement and rotation of an object in the X, Y, and Z axes, then a complete mechanical transmission is realized (for beginners), that is, realizing up, down, forward, backward, left, and right movements, as well as forward and reverse rotation.

[0105] This is achieved by fixing an electric telescopic rod in the X, Y, and Z axes. The electric telescopic rod has two wires: a red wire and a blue wire. If the red wire is connected to the positive terminal of the power supply and the blue wire to the negative terminal, it extends; if the red wire is connected to the negative terminal and the blue wire to the positive terminal, it retracts, and vice versa. The DC motor also has two wires: a red wire and a blue wire. If the red wire is connected to the positive terminal of the power supply and the blue wire to the negative terminal, it rotates forward; if the red wire is connected to the negative terminal and the blue wire to the positive terminal, it rotates in reverse, and vice versa.

[0106] II. Circuit Control --- Port Control Relay and Motor Connection Common Terminal

[0107] The 89C52 microcontroller's port is connected to the input terminal of the relay circuit board, selecting the low-level control mode to activate the relay. Controlling the motor's forward and reverse rotation requires two relays. The normally closed terminal of each relay is connected to the negative power supply, and the normally open terminal is connected to the positive power supply. The two wires from the DC motor are connected to the common terminal of each of the two relays.

[0108] III. Programming

[0109] Design a robotic rice cooker that has a pressure cooker function and controls the following operations:

[0110] 1. Take out the rice cooker (referred to as "pot out"). 2. Open the lid (referred to as "open lid"). 3. Move to the position below the rice, water, and rice rinsing sections (referred to as "pot back"). 4. The rice rinsing rod descends (referred to as "descend"). 5. The rice rinsing rod rises (referred to as "ascend"). 6. Add rice. 7. Add water. 8. Rinse rice. 9. Tilt to pour water (referred to as "pour water"). 10. Return to the correct position (referred to as "return to center"). 11. Close the lid (referred to as "close lid"). 12. Rotate the lid counterclockwise to lock it (referred to as "reverse"). 13. Turn on the rice cooker (referred to as "turn on"). 14. Start the rice cooking process (referred to as "cook rice"). 15. Rotate the lid clockwise to unlock it (referred to as "clockwise rotation").

[0111] For the 89C52 microcontroller, the core of learning C language programming is to arbitrarily specify the high and low levels of 32 ports and the delay time of the specified high and low levels during the time operation, where the high level is 5 volts and the low level is 0 volts.

[0112] When the 89C52 microcontroller is powered on, all 32 ports output a 5V high level without additional control. Each complete electrical action consists of three steps: start, delay, and stop. That is, setting the 89C52 microcontroller's output port to 0V low indicates the start of the action; maintaining the 0V low level for a certain period is the delay; and a 5V high level indicates the stop. In C language, 0 represents 0V low and 1 represents 5V high. In short, these three steps are: "0, delay, 1".

[0113] The following is a detailed explanation with examples. Even those unfamiliar with C can learn by copying and modifying code, gradually gaining a broader understanding and eventually mastering robotics. In C, there are two types of comments: 1. / / ......: The text after " / / " is a comment, but only one line can be commented; " / / " must be written before the next line. 2. / *......* / : This allows commenting on multiple lines, i.e., the text between " / *" and "* / ".

[0114] #include<reg52.h> / / Includes header text<reg52.h>

[0115] sbit W1 = P1^0; / * P1.0 is pin 1 of the microcontroller, here represented as P1.0-1, and so on. The keyword sbit defines W1 as representing port P1.0, which dispenses the rice cooker contents when the rice cooker is removed. Note that W1 can also be written as X1, etc., but P must be uppercase, P1.0 must be written as P1^0, and each statement must end with a ";". These are all rules. * /

[0116] sbit W2 = P1^1; / / Open the lid, i.e., open the lid, P1.1-2

[0117] sbit W3 = P1^2; / / Go to the area below the rice, water, and rice washing sections: pot back. P1.2-3

[0118] sbit W4 = P1^3; / / Rice washing rod descends: descends, P1.3-4

[0119] sbit W5=P1^4; / / add rice, P1.4-5

[0120] sbit W6 = P1^5; / / Add water, P1.5 - 6

[0121] sbit W7 = P1^6; / / Rice washing rod rotation for washing rice: Rice washing, P1.6-7

[0122] sbit W8 = P1^7; / / Rice washing rod rises: rises, P1.7-8

[0123] sbit W9 = P2^0; / / Tilt to pour water: Pour water, P2.0-21

[0124] sbit W10 = P2^1; / / Reset position: Reset, P2.1-22

[0125] sbit W11 = P2^2; / / Cover the lid: Close the lid, P2.2-23

[0126] sbit W12 = P2^3; / / Rice cooker powered on: Powered on, P2.3-24

[0127] sbit W13 = P2^4; / / Rotate counterclockwise to lock the lid: counterclockwise, P2.4-25

[0128] sbit W14 = P2^5; / / Start the rice cooking function: Rice Cooking, P2.5-26

[0129] sbit W15 = P2^6; / / Rotate clockwise to unlock the lid: clockwise, P2.6-27

[0130] sbit K1 = P2^7; / / Switch: P2.7-28

[0131] unsigned long int i, j, a; / * Define three unsigned long integer variables: i, j, a, with a value range of 0 to 4294967295 * /

[0132] void main() / * Main function with no return value. A program is only allowed one main function. The function name must be written inside the curly braces at the beginning and end of main. * /

[0133] {

[0134] while(1)

[0135] / *while(x){}

[0136] This is a loop expression. If x is 0, the code within the curly braces {} is skipped; if x is not 0, and is 1, 2, 3, etc., the code within the curly braces {} is executed. Each curly brace { must be followed by a corresponding}.

[0137] {if(K1!=1) / / P2.7=0,

[0138] {for(i=0;i<200;i++)for(j=0;j<1000;j++);

[0139] if (K1 != 1) {

[0140] / * if(K1!=1) is a conditional statement. ! and = indicate not equal to. It checks if K1 is not equal to 1, meaning it equals 0. This means it checks if P2.7 = 0. P2.7 is connected to the negative terminal of the power supply, and executes... * /

[0141] for(i=0;i<200;i++)for(j=0;j<10;j++);

[0142] After a delay of 0.09 seconds, check if P2.7 = 0, and then execute the following statements.

[0143] W1 = 0; / / P1.0 = 0, P1.0 pin outputs low level, pot output

[0144] for(i=0;i<450;i++)

[0145] for(j=0; j<1000; j++); / * The time to retrieve the rice cooker. The for loop statement has the following format: for(initialize variable; condition expression; increment or decrement variable). Here, i=0, 0<450, 0+1, the next step is i=1, 1<450, 1+1, ..., until i=450, then run the next step. There is no sign between the two for statements; the delay time is multiplied, such as for((i=0; i<450; i++)for(j=0; j<1000; j++); This takes approximately 21 seconds to execute 450*1000=450000 for statements. To adjust the time precisely, only change the values ​​of 450 and 1000. The exact delay time needs to be tested and adjusted. The crystal oscillator here is 12MHz. If very precise timing is required, a timer can be used. * /

[0146] W1 = 1; / / P1.0 = 1, P1.0 outputs a high level, stopping after the pot is finished.

[0147] W2 = 0; / / P1.1 = 0, open the lid.

[0148] for(i=0;i<200;i++)

[0149] for(j=0;j<1000;j++); / * This is the time for 200*1000=200000 operations of the for statement. The specific time adjustment only changes the size of 200 and 1000. Here, the delay time is 9 seconds. * /

[0150] * /

[0151] W2 = 1; / / P1.1 = 0, opening the lid stops.

[0152] W3 = 0; / / P1.2 = 0, the pot is below the rice, water, and rice rinsing sections, meaning the pot is retracting.

[0153] for((i=0;i<450;i++)

[0154] for(j=0; j<1000; j++); / * Delays the operation of the for statement for 450,000 times, which takes 21 seconds. * /

[0155] W3 = 1; / / P1.2 = 1, pot retraction stops.

[0156] W4 = 0; / / P1.3 = 0 Rice washing rod descends: descends

[0157] for(i=0;i<200;i++)

[0158] for(j=0;j<900;j++); / / Delays 200*900 operations in the for statement, which takes 8 seconds.

[0159] W4 = 1; / / P1.3 = 1, the rice-washing rod stops descending.

[0160] W5 = 0; / / P1.4 = 0, add rice.

[0161] for(i=0; i<80; i++)

[0162] for(j=0; j<1000; j++); / * The rice-adding time is the time for 80*1000 operations of the for statement, which is 4 seconds, hereinafter referred to as 80*1000. The rice-adding motor rotates, and the amount of rice added per unit time is basically equal. The amount of rice added is determined by setting the time according to specific conditions. * /

[0163] W5 = 1; / / P1.4 = 1, stop adding rice.

[0164] W6 = 0; / / P1.5 = 0, add water

[0165] for(i=0;i<300;i++)

[0166] for(j=0;j<1000;j++); / * The water addition time is 14 seconds, which is 300*1000. Since the water pump's flow rate is constant, controlling the addition time controls the amount of water added. * /

[0167] W6 = 1; / / P1.5 = 1, stop adding water.

[0168] W7 = 0; / / P1.6 = 0, Taomi

[0169] for(i=0;i<200;i++)

[0170] for(j=0;j<1000;j++); / / TaoMi time is 9 seconds, which is 200*1000.

[0171] W7 = 1; / / P1.6 = 1, rice washing stops.

[0172] W8 = 0; / / P1.7 = 0, the rice washing rod rises.

[0173] for(i=0;i<200;i++)

[0174] for(j=0;j<900;j++); / / The rice washing rod rises in 8 seconds, which is 200*900

[0175] W8 = 1; / / P1.7 = 1, the rice-washing rod stops rising.

[0176] W1 = 0; / / P1.0 = 0, remove the rice cooker.

[0177] for(i=0;i<450;i++)

[0178] for(j=0;j<1000;j++); / / The time to remove the electric pressure cooker is 21 seconds, which is 450*1000

[0179] W1 = 1; / / P1.0 = 1, stop after removing the rice cooker.

[0180] W9 = 0; / / P2.0 = 0, the rice cooker is tilted to pour water.

[0181] for(i=0;i<150;i++)

[0182] for(j=0;j<915;j++); / / The tilting and pouring time is 7 seconds, which is 150*915

[0183] W9 = 1; / / P2.0 = 1, tilting to pour water stops.

[0184] for(i=0;i<60;i++)

[0185] for(j=0;j<900;j++); / / The time for the tilting water to stop is 3 seconds, which is 60*900

[0186] W10 = 0; / / P2.1 = 0, rice cooker returns to center position.

[0187] for(i=0;i<150;i++)

[0188] for(j=0;j<915;j++); / / The rice cooker takes 7 seconds to return to its correct position, which is 150*915

[0189] W10 = 1; / / P2.1 = 1, the electric pressure cooker stops returning to the center position.

[0190] a = 1;

[0191] while(a--) / * If a is initialized to 1, it decrements by 1 each time the loop iterates, so it loops once. If a is initialized to 5, it decrements by 1 each time the loop iterates, so it loops 5 times. While(a--){} is a loop statement. If a-- is 0, the statements after {} are executed directly. If a is greater than 0, the program statements within {} are executed sequentially. a-- means that the value is decremented by 1 each time the loop iterates. * /

[0192] {

[0193] W3 = 0; / / P1.2 = 0, electric pressure cooker returns

[0194] for(i=0;i<450;i++)

[0195] for(j=0;j<1000;j++); / / The rice cooker returned 21 seconds, which is 450*1000

[0196] W3 = 1; / / P1.2 = 1, the rice cooker will stop after returning to normal.

[0197] W4 = 0; / / P1.3 = 0; The rice washing rod descends.

[0198] for(i=0;i<200;i++)

[0199] for(j=0;j<900;j++); / / The time for the rice washing rod to descend is 8 seconds, which is 200*900

[0200] W4 = 1; / / P1.3 = 1, the rice-washing rod stops descending.

[0201] W6 = 0; / / 6 P1.5 = 0, add water

[0202] for(i=0;i<300;i++)

[0203] for(j=0;j<1000;j++); / / Water addition time is 14 seconds, calculated as 300*1000

[0204] W6 = 1; / / 6 P1.5 = 1, stop adding water.

[0205] W7 = 0; / / P1.6 = 0, Taomi

[0206] for(i=0;i<200;i++)

[0207] for(j=0;j<1000;j++); / / Taomi time is 9 seconds, which is 200*1000

[0208] W7 = 1; / / P1.6 = 1, stop rice washing.

[0209] W8 = 0; / / P1.7 = 0, the rice washing rod rises.

[0210] for(i=0;i<200;i++)

[0211] for(j=0;j<900;j++); / / The rice washing rod rises in 8 seconds, which is 200*900

[0212] W8 = 1; / / P1.7 = 1, stop the rice washing rod from rising.

[0213] W1 = 0; / / P1.0 = 0, remove the electric pressure cooker.

[0214] for(i=0;i<450;i++)

[0215] for(j=0;j<1000;j++); / / The time to remove the electric pressure cooker is 21 seconds, which is 450*1000

[0216] W1 = 1; / / P1.0 = 1, stop after removing the rice cooker.

[0217] W9 = 0; / / P2.0 = 0, tilt the rice cooker to pour water.

[0218] for(i=0;i<150;i++)

[0219] for(j=0;j<915;j++); / / Rice cooker tilting to pour water takes 7 seconds.

[0220] W9 = 1; / / P2.0 = 1, tilting the rice cooker stops the water from pouring out.

[0221] for(i=0;i<60;i++)

[0222] for(j=0;j<900;j++); / / The rice cooker tilts and stops pouring water after 3 seconds, which is 60*900.

[0223] W10 = 0; / / P2.1 = 0, rice cooker returns to center position.

[0224] for(i=0;i<150;i++)

[0225] for(j=0;j<915;j++); / / The rice cooker takes 7 seconds to return to its correct position, which is 150*915

[0226] W10 = 1; / / P2.1 = 1, the electric pressure cooker stops returning to the center position.

[0227] / / a = 1, a--, after running once a = 0, the loop ends and the next program is executed.

[0228] W3 = 0; / / P1.2 = 0, rice cooker returns

[0229] for(i=0;i<450;i++)

[0230] for(j=0;j<1000;j++); / / The rice cooker returned 21 seconds, which is 450*1000

[0231] W3 = 1; / / P1.2 = 1, the rice cooker will stop after returning to normal.

[0232] W6 = 0; / / P1.5 = 0, add water

[0233] for(i=0;i<300;i++)

[0234] for(j=0;j<1000;j++); / / Water addition time is 14 seconds, calculated as 300*1000

[0235] W6 = 1; / / P1.5 = 1, stop adding water.

[0236] W1 = 0; / / P1.0 = 0, remove the rice cooker.

[0237] for(i=0;i<450;i++)

[0238] for(j=0;j<1000;j++); / / The time to remove the rice cooker is 21 seconds, which is 450*1000

[0239] W1 = 1; / / P1.0 = 1, stop after removing the rice cooker.

[0240] W11 = 0; / / P2.2 = 0, put the lid on.

[0241] for(i=0;i<300;i++)

[0242] for(j=0;j<1000;j++); / / The lid is closed in 14 seconds, which is 300*1000

[0243] W11 = 1; / / P2.2 = 1, stop after closing the lid.

[0244] W13 = 0; / / P2.4 = 0, the lid is locked by rotating counterclockwise.

[0245] for(i=0;i<200;i++)

[0246] for(j=0;j<1000;j++); / / The time for the pot lid to lock after rotating counterclockwise is 9 seconds, which is 200*1000

[0247] W13 = 1; / / P2.4 = 1, the lid stops after being rotated counterclockwise to lock.

[0248] W12 = 0; / / P2.3 = 0, the electric pressure cooker is powered on.

[0249] for(i=0;i<100;i++)

[0250] for(j=0;j<1000;j++); / / The rice cooker's power-on delay time is 4 seconds, which is 100*1000

[0251] W12 = 1; / / P2.3 = 1, the electric pressure cooker is powered on and ready to use.

[0252] for(i=0;i<100;i++)

[0253] for(j=0;j<1000;j++); / / Delay 4 seconds after the rice cooker is powered on.

[0254] W14 = 0; / / P2.5 = 0, the rice cooker starts cooking rice.

[0255] for(i=0;i<100;i++)

[0256] for(j=0;j<1000;j++); / / The rice cooker's start-up button closes for 4 seconds, which is 100*1000.

[0257] W14 = 1; / / P2.5 = 1, the electric pressure cooker's rice cooking start button is off.

[0258] while(1){;} / / The program loops repeatedly until this point, then stops and does not proceed further.

[0259] }}}}

[0260] Computer programs are a world of "0"s and "1"s. Can we get a glimpse of this through the above program?

[0261] This provides a short, multifunctional program that includes delay times and conditions for setting high and low levels on microcontroller ports, as well as loop statements. The program implements a loop where, when P3.7 is connected to the negative power supply, P3.6 controls an LED to light up for 3 seconds, then turn off for 3 seconds, repeating this cycle 5 times.

[0262]

[0263]

Claims

1. This invention provides a robot introductory teaching method and experimental device, comprising a circuit connection device, a multi-functional program, and a motor forward and reverse rotation control method. The circuit connection device consists of a DuPont wire conversion mode section, a connector conversion mode section, a female connector size conversion mode section, a wire crimping crimping mode section, a spring-loaded female connector, a spring-loaded male connector, a battery box with a DuPont female connector, an 89c52 microcontroller circuit board, relays, motors, resistors, capacitors, LEDs, 74LS00, 4069, transistors, a solderless circuit experimental device, and related equipment for a rice cooker. The characteristic of the circuit connection device is: Both the DuPont wire conversion mode section and the connector conversion mode section can achieve compatibility with up to six connectors. The DuPont wire conversion mode section has one to two, one to three, one to four, and one to five connectors, and can also be two to two, two to three, two to four, and three to three connectors. Male and female connectors can be combined arbitrarily. For example, for one to two, it can be one male to two male connectors, one female to two female connectors, one male to two female connectors, and one female to two male connectors. The rest are similar. Connector conversion mode section, There are three-way one-to-two, four-way one-to-three, five-way one-to-four, and six-way one-to-five modes. It can also be four-way two-to-two, five-way two-to-three, six-way two-to-four, and six-way three-to-three modes. The male and female connectors can be combined arbitrarily. For example, for a three-way one-to-two converter, it can be one male connector to two male connectors, one female connector to two female connectors, one male connector to two female connectors, or one female connector to two male connectors. The rest are similar. The female connector size conversion mode section is for converting between coarse and fine female connectors. It is divided into female connector adapter and female DuPont wire adapter. The thick female connector is used to connect ordinary DuPont wires, and the thin female connector is used to connect transistors, resistors and capacitors with thin leads. The crimping mechanism of the wire crimping pliers consists of the crimping pliers and a DuPont female connector housing with a crimping hole. One end of the crimping pliers has two grooves into which the DuPont female connector housing fits perfectly. The other end has a crimping pin. The DuPont female connector housing has a crimping hole, below which are two overlapping metal plates inside the DuPont female connector. In use, the thinner lead of the resistor or transistor is inserted into the DuPont female connector. The DuPont female connector housing is placed in the groove, and the crimping pin on the other end of the crimping pliers is aligned with the crimping hole on the DuPont female connector housing to press and compress the resistor. The transistor's fine leads make reliable contact with the metal plate inside the DuPont female connector. Even without leads, the wire crimping pliers can be used to align the crimping holes on the DuPont female connector's casing, making it suitable for fine-lead electronic components. The wire crimping pliers have a groove on one end and a crimping pin on the other. The groove comes in two widths: 2.54mm and 7.62 (2.54*3)mm. The crimping pins come in two arrangements: single-headed and triple-headed. The spring-to-female connector has a spring on one end and a female connector on the other. The spring-to-male connector has a spring on one end and a male connector on the other. The program section is characterized by the presence of port, condition, loop, level, and delay elements. The mechanical part is characterized by the motor being connected to the common terminal of the relay.

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