CN103252773A - Modularized robot kit - Google Patents
Modularized robot kit Download PDFInfo
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- CN103252773A CN103252773A CN2012102085058A CN201210208505A CN103252773A CN 103252773 A CN103252773 A CN 103252773A CN 2012102085058 A CN2012102085058 A CN 2012102085058A CN 201210208505 A CN201210208505 A CN 201210208505A CN 103252773 A CN103252773 A CN 103252773A
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Abstract
The invention discloses a modularized robot kit which comprises at least one steering engine, at least one appearance structural component, at least one connector, at least one controller and at least one controller base. At least one surface of each steering engine and each appearance structural component is provided with an inserting slot which allows each steering engine to be fixedly connected with each connector in an inserted manner. The controllers are as many as the controller bases. The bottom of each controller corresponds to and can be clamped to the top of each controller base. At least one side of each controller base is provided with an inserting slot which allows each controller base to be fixedly connected with each connector in an inserted manner. By the inserting slots, screw fixation is replaced by insertion fixation, robot building procedures using the modularized robot kit are simplified, and robot building can be completed by workers efficiently and conveniently.
Description
Technical field
The present invention relates to a kind of modularization robot external member, particularly a kind of modularization robot external member of not having the quick connection of screw.
Background technology
Robot has entered the widely known epoch now, and robot serves not only in industry, and every profession and trades such as military affairs play an important role, and it is in education, and more and more important effect is also being brought into play in research and toy aspect; Robot is an integrated machinery, electronics, software, sensing, the comprehensive very strong product of technology such as control; It is well suited for for teaching to excite the student to the ability of the interest of these technology and raising student each side; Robot itself also is a good carrier for the used various technology of research robot, and particularly some bio-robots also help the research of bionical behavior; The interest of robot makes it also will capture more and more important position in the toy field.
Robot of the prior art external member all is the structure that adopts a large amount of screws to connect, and also needs a large amount of structure members for this reason, and dismounting is very loaded down with trivial details time-consuming, has limited the practicality of its use to a great extent.This has influenced the interest of people to robot greatly, is unfavorable for application and the popularization of robot, and particularly the applied robot imparts knowledge to students, and loaded down with trivial details tediously long robot build process too expends time in and lacks practicality.
Summary of the invention
The technical problem to be solved in the present invention is in order to overcome in the prior art, utilizing the robot external member to build robot need use the structure of a large amount of screws connections and need a large amount of structure members, cause all very loaded down with trivial details time-consuming defectives of dismounting robot, a kind of novel modularized robot external member is provided, utilize the modularization robot external member to build the operation of robot with simplification, make things convenient for the fixedly connected of steering wheel to be connected with output, reduce and to build robot spent man-hour, thereby make and use the more robot build process of modularization robot external member to simplify greatly, so that workmen's high efficient and convenient is finished building of robot.
The present invention solves above-mentioned technical problem by following technical proposals:
A kind of modularization robot external member, its characteristics are, comprise at least one steering wheel, at least one contour structures spare, at least one connector, at least one controller and at least one controller base, described steering wheel and described contour structures spare have at least one surface to be provided with for fixing inserting groove that described steering wheel and described connector are pegged graft respectively, described controller is identical with the quantity of described controller base, and the bottom surface of described controller is corresponding with the structure of described controller base top surface can to connect and fix mutually, and at least one side of described controller base is provided with for fixing inserting groove that described controller and described connector are pegged graft.At least one steering wheel, at least one surface of described steering wheel are provided with for fixing inserting groove that described steering wheel and described connector are pegged graft.
Preferably, described modularization robot external member also comprises at least one integrated sensor module, and at least one surface of described integrated sensor module is provided with for fixing inserting groove that described integrated sensor module and described connector are pegged graft.
Preferably, the end face of described controller base is provided with at least one buckling groove, and the relevant position is provided with all at least one clamping blocks corresponding with described buckling groove of quantity, shape, structure on the described controller bottom surface.。
Preferably, described connector is the I-shaped piece, and described inserting groove is half I shape, has a bottom surface and two " L " shape edge, and the shape of described inserting groove, size are all identical.
Preferably, described steering wheel also comprises a steering wheel output panel, has some spliced eyes and some snap grooves on this steering wheel output panel.
Preferably, described modularization robot external member also comprises at least one buckle closure, described buckle closure has bottom surface and side, described bottom surface be provided with some for described spliced eye grafting and quantity, position, shape grafting pins corresponding with described spliced eye all, described bottom surface also has a barb groove, be provided with in this barb groove two slidably, be used for the barb with described snap groove snapping, be provided with elastic component in the middle of the described barb, the outside of described barb is connected with button, described side is provided with the button groove, and described button stretches out in described button groove.
Preferably, described buckle closure upper surface is provided with one for the half I shape piece that is connected with contour structures spare.The output panel of described steering wheel can directly be connected the output rotating torque by half I shape piece on the described buckle closure with contour structures spare, this has not only simplified connection simultaneously owing to only used attaching parts also to significantly reduce taking the space.
Preferably, have at least one public buckle end on the bottom surface of described inserting groove, the upper surface of described half I shape piece has the master card end of thread that at least one and described public buckle end matches and is connected.
Preferably, described steering wheel and steering wheel output panel facing surfaces are provided with cylindrical boss, the embedded bearing of described boss.
Preferably, described steering wheel has 6 faces, also is provided with cylindrical boss, the embedded bearing of described boss on adjacent 2 sides in 6 faces with before and after the described steering wheel output panel.
Preferably, described modularization robot external member also comprises at least one clutch plate, this clutch plate center is provided with one and the straight pin that matches of described bearing, have on the described clutch plate with described steering wheel output panel on position, shape and size the same some spliced eyes and some snap grooves all.
Preferably, the upper and lower surface of described I-shaped piece is respectively arranged with the master card end of thread that at least one and described public buckle end matches and is connected.
Preferably, described public buckle end is some concave points or elasticity salient point, and described master card end of thread is elasticity salient point or the concave point corresponding with described public buckle terminal number amount, shape, position.
Preferably, described I-shaped piece comprises two and half I shape pieces up and down, the described preset angles that forms between the two and half I shape pieces up and down, and this angle is the 0-180 degree.According to different contour structures spares, can select the up and down suitable I-shaped piece of preset angles of two and half I shape interblocks, fix and connect described steering wheel and contour structures spare, make and utilize the connection of I-shaped piece can be pervasive in various contour structures spare.
Preferably, described modularization robot external member also comprises at least one U-shaped for the rotating torque of exporting described steering wheel, and described U-shaped comprises that two sides in correspondence with each other are connected the crossbeam of two sides with one.
Preferably, two sides on described U-shaped all have the some spliced eyes corresponding with described steering wheel output panel and the some snappings hole corresponding with described some snap grooves.
Preferably, also be provided with on the described crossbeam for fixing inserting groove that described steering wheel and described connector are pegged graft.
Preferably, the inserting groove on the described crossbeam is half I shape, has a bottom surface and two " L " shape edge, has at least one public buckle end on this bottom surface.
Among the present invention, but above-mentioned optimum condition any combination on the basis that meets this area general knowledge namely gets each preferred embodiment of the present invention.
Positive progressive effect of the present invention is: the present invention proposes a kind of novel modularization robot external member, this modularization robot external member has replaced the nut connection that utilizes fixing hole by connected structure is set, make the fixing of self with the convenient and efficient more that is connected all of contour structures spare, make building of modularization robot external member connect when a large amount of nuts connect to shorten greatly the man-hour of expending having saved.
Description of drawings
Fig. 1 is the assembly schematic diagram of modularization robot external member of the present invention
Fig. 2 is the schematic diagram of the steering wheel in the embodiment of the invention 1.
Fig. 3 is the schematic diagram of the contour structures spare in the embodiment of the invention 1
Fig. 4 is the schematic diagram of the controller in the embodiment of the invention 1.
Fig. 5 is the schematic diagram of the controller base in the embodiment of the invention 1.
Fig. 6 is the schematic diagram of the integrated sensor module in the embodiment of the invention 1.
Fig. 7 is the schematic diagram of the I-shaped piece in the embodiment of the invention 1.
Fig. 7 a, 7b, 7c, 7d are the schematic diagram of the I shape piece of the preset angles in the embodiment of the invention 1, show the I shape piece of several different preset angles respectively.
Fig. 8 is the schematic diagram of the clutch plate in the embodiment of the invention 1.
Fig. 9 is the schematic diagram of the buckle closure in the embodiment of the invention 1.
Figure 10 is the schematic diagram of half I shape buckle closure in the embodiment of the invention 1.
Figure 11 is U-shaped schematic diagram in the embodiment of the invention 1.
Figure 12 is the schematic diagram of the single-ended way of output of the embodiment of the invention 2.
Figure 13 be the embodiment of the invention 3 the both-end way of output schematic diagram.
Figure 14 is the schematic diagram of double steering engine module of the 2DOF of the embodiment of the invention 4.
Figure 15 is the schematic diagram of U-shaped of the length in the embodiment of the invention 4.
Figure 16 is the schematic diagram of the wide-u-shaped spare in the embodiment of the invention 4.
Figure 17 is the schematic diagram of the assembly that comprises controller, controller base and steering wheel in the embodiment of the invention 5.
Figure 18 is U-shaped schematic diagram that is connected with steering wheel in the embodiment of the invention 5.
Figure 19 is U-shaped schematic diagram that is connected with contour structures spare in the embodiment of the invention 5.
Figure 20-26 is the schematic diagram of building the bio-robot example of finishing.
The specific embodiment
Embodiments of the invention describe with reference to the accompanying drawings.Accompanying drawing is each embodiment of the present invention for convenience of explanation just, is not to carry out the explanation of exhaustive to the present invention, neither limit scope of the present invention.Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to describe technical scheme of the present invention in detail.
Be illustrated in figure 1 as a preferred embodiment of the present invention.In this embodiment, at least one steering wheel 1 of described modularization robot external member, at least one contour structures spare 8, at least one connector 5, at least one controller 71 and at least one controller base 72.As shown in Figures 2 and 3, described steering wheel 1 and described contour structures spare 8 have at least one surface to be provided with inserting groove 11 and 81 respectively, described steering wheel 1 or described connector 8 can be fixed with described connector.Be appreciated that ground, the planform of contour structures spare as shown in Figure 3 just illustrates, and other design also can be arranged, and only need comprise an inserting groove that can be used to peg graft, and is all applicable.Described controller 71 as shown in Figure 4, described controller base can connect and fix mutually thereby the bottom surface of described controller 71 is corresponding with the structure of described controller base top surface as shown in Figure 5.For convenience and firm described controller 71 is snapped fit onto on the described controller base 72, at least one buckling groove 722 can be set at the end face of controller base 72, and the relevant position is provided with all at least one clamping blocks corresponding with described buckling groove 722 of quantity, shape, structure on described controller 71 bottom surfaces.
At least one side of described controller base 72 is provided with for fixing inserting groove 721 that described controller 71 and described connector 5 are pegged graft.All inserting grooves in the described modularization robot external member, shape, the size of inserting groove 721 that comprises the inserting groove 81 of the inserting groove 11 of described steering wheel 1, described contour structures spare and described controller base is all identical, can fixedly connected with any one inserting groove in the external member with the connector 5 of same specification.
In a preferred embodiment, described modularization robot external member also comprises an integrated sensor module, and at least one surface of described integrated sensor module is provided with for fixing inserting groove that described integrated sensor module and described connector are pegged graft.Be appreciated that ground, the inserting groove on the described integrated sensor module is arranged to identical with the specification of inserting groove on described steering wheel 1 and other assemblies, can make described connector 5 can fixedly be plugged in the inserting groove of random component among the present invention.
Be illustrated in figure 2 as the steering wheel 1 in the present embodiment, for more flexible fixedly grafting steering wheel 1, can inserting groove 11 all be set on each surface of steering wheel 1, thereby can any direction steering wheel 1 is pegged graft fix.The shape of inserting groove 11 can be half I shape, corresponding described connector 5 can for I-shaped piece 5(as shown in Figure 7), inserting groove 11 has a bottom surface and two " L " shape edge.In order to make fixedlying connected that inserting groove 11 and I-shaped piece 5 can be more firm, has at least one public buckle end 111 on the inserting groove bottom surface, I-shaped piece upper and lower surface is provided with it corresponding master card end of thread, utilizes the grafting between the next further fixed die blocking of being connected of the male and female buckle end robot external member.Those skilled in the art will appreciate that for the fixing inserting groove of pegging graft also can be other shapes such as arc, swallow-tail form, only need the shape of connector, size corresponding with inserting groove, thereby can realize pegging graft fixed function, all applicable.Connect steering wheel 1 and contour structures spare 8 by I-shaped piece 5, the upper surface of I-shaped piece inserts half I shape inserting groove 11, and the master card end of thread 51 of I-shaped piece upper surface and the public buckle end 111 on inserting groove 11 bottom surfaces are connected and have reinforced socket connection simultaneously.The lower surface of I-shaped piece 5 is connected with contour structures spare in the same way, thus fixedly connected steering wheel 1 and contour structures spare 8.Arranging more flexibly for I-shaped piece 5 can be as shown in Figure 7, described I-shaped piece 5 can comprise two and half I shape pieces up and down, the described preset angles that forms between the two and half I shape pieces up and down, this angle can be predetermined to be arbitrarily angled (shown in Fig. 7 a, 7b, 7c, the 7d) in the 0-180 degree scope, thereby can be applicable to various external structure.Preferably, male and female buckle end is arranged to all corresponding concave point and elasticity salient points of quantity, shape, position respectively, and when the elasticity salient point moves to when overlapping with the concave point position, the elastic deformation minimum is by match connection between the reinforcement assembly of shape.Those skilled in the art will appreciate that adopting concave point and elasticity salient point is a kind of better simply reinforcement by connection structure as male and female buckle end, also can adopt the male and female buckle end of other structures, reinforce the effect of pegging graft as long as can reach, all applicable.
Can have on the steering wheel output panel 12 of steering wheel 1 some spliced eyes 121 and some snap grooves 122 with more convenient, more firmly described steering wheel output panel 12 is connected with other assemblies.In 6 faces of steering wheel 1, the face relative with described steering wheel output panel is provided with cylindrical boss 13, described boss 13 embedded bearings 131 on 2 sides adjacent with front and back.Be appreciated that ground, steering wheel does not need to use certain several lip-deep boss and bearing in some cases, on those surfaces boss and bearing can be set.In addition, described modularization robot external member can also comprise at least one clutch plate 4 (as shown in Figure 8), clutch plate 4 centers are provided with one and the straight pin 43 that matches of bearing 131, also have on the clutch plate 4 with steering wheel output panel 12 on position, shape and size the same some spliced eyes 41 and some snap grooves 42 all.Clutch plate 4 inserts bearing 131 by straight pin 43 and is connected on the steering wheel 1, and arrange on the clutch plate 4 with steering wheel output panel 12 on position, shape and size the same some spliced eyes 41 and some snap grooves 42 all, make any assembly that is used for fixedlying connected with steering wheel output panel 12 to fixedly connected with clutch plate 4 fully equally, greatly facilitate the connection of modularization robot external member.
Described modularization robot external member can also comprise a buckle closure 2.As shown in Figure 9, buckle closure 2 has bottom surface and side, described bottom surface be provided with some for clutch plate 4 on spliced eye 41 or the spliced eye on the steering wheel output panel 12 121 peg graft and quantity, the position, shape is the grafting pin 21 corresponding with spliced eye 41 and spliced eye 121 all, pin 21 insertion spliced eyes 41 or spliced eye 121 just can be plugged on buckle closure on clutch plate 4 or the steering wheel output panel 12 by pegging graft, described bottom surface also has a barb groove, be provided with two slidably in this barb groove, be used for the barb 22 with described snap groove snapping, be provided with elastic component 23 in the middle of the barb 22, the outside of barb 22 is connected with button 25, described side is provided with button groove 24, and button 25 stretches out in button groove 24.After pressing the button 25 compression elastic pieces 23, barb 22 move to clutch plate 4 on snap groove 42 or the corresponding position of the snap groove on the steering wheel output panel 12 122, make barb 22 can put into snap groove 42 or snap groove 122, thereby release-push 25 back barbs 22 are reset to the outside by elastic component 23 and catch on snap groove 42 or snap groove 122, and buckle closure 2 is fixedlyed connected with clutch plate 4 or steering wheel output panel 12.Connect the more convenient space of more saving in order to make, buckle closure in the described modularization robot external member can for half I shape buckle closure 3(as shown in figure 10), the bottom surface of half I shape buckle closure 3 and side structure and buckle closure 2 are identical, and the upper surface of half I shape buckle closure 3 is provided with a upper surface for half I shape piece, 32, the half I shape pieces 32 that are connected with contour structures spare and has the master card end of thread that at least one and described public buckle end matches and is connected.Half I shape buckle closure 3 is identical with fixedlying connected with buckle closure 2 of clutch plate or steering wheel output panel 12, simultaneously can fixedly connected contour structures spare by half I shape piece 32, thus the rotating torque of steering wheel output panel outputs to contour structures spare as on the mechanical arm by half I shape buckle closure 3.
Described modularization robot external member can also comprise at least one U-shaped 6 for the rotating torque of exporting steering wheel 1, as shown in figure 11, comprise that two sides in correspondence with each other are connected the crossbeam of two sides with one for U-shaped 6, all have the snapping hole 62 corresponding with the snap groove 122 on the steering wheel output panel 12 and the spliced eye 61 corresponding with spliced eye 121 on two sides.Be placed on the position that two sides all overlap fully with steering wheel output panel 12 and clutch plate 4 respectively with U-shaped 6, use buckle closure 2 fixedly connected U-shaped 6 and steering wheel 1 and clutch plates 4 outside two sides respectively, grafting pin 21 on the buckle closure 2 passes the spliced eye 61 of U-shaped 6 sides, peg graft fixing with the spliced eye 41 of clutch plate 4 and the spliced eye 121 of steering wheel output panel 12 respectively, barb 22 passes the snapping hole 62 of U-shaped 6 two sides and catches on the snap groove 42 of clutch plate 4 and the snap groove 122 of steering wheel output panel 12 respectively, thereby by U-shaped 6 rotating torque that just can export steering wheel 1.U-shaped 6 crossbeam is provided with for fixing inserting groove 63 that steering wheel 1 and described connector are pegged graft.Preferably, inserting groove 63 is half I shape, has a bottom surface and two " L " shape edge, has at least one public buckle end on this bottom surface.Can fixedly connected contour structures spare by inserting groove 63, thus the rotating torque of steering wheel 1 is outputed to this contour structures spare 8.
Embodiment 2
Below in conjunction with Figure 12 another preferred embodiment of the present invention is described.The difference of the modularization robot external member in the present embodiment is that it connects steering wheel 1 and contour structures spare 8 by using half I shape buckle closure 3, can use the quick connection of the single-ended way of output, remaining component in the external member is existing the description in embodiment 1, do not repeat them here.Foregoing, the bottom surface of half I shape buckle closure 3 and side structure and buckle closure 2 are identical, so can be to fixedly connected with steering wheel output panel 12 with buckle closure 2 identical modes.Half I shape piece 31 of half I shape buckle closure, 3 upper surfaces can be fixedlyed connected with contour structures spare 8.Quick connection by the single-ended way of output, the rotating torque of steering wheel 1 output can output to contour structures spare 8 with fixedlying connected of half I shape piece 3 by steering wheel output panel 12, building of this way of output of while is the simplest, only use one and half I shape buckle closures 3 as connector, can be applicable to the situation that the space is narrow and small.
Below in conjunction with Figure 13 another preferred embodiment of the present invention is described.The difference of the modularization robot external member in the present embodiment is that it also comprises one U-shaped 6, a clutch plate 4 and two buckle closures 2, can realize the quick connection of the both-end way of output, remaining component in the external member is existing the description in embodiment 1, do not repeat them here.In the present embodiment, clutch plate 4 matches by the bearing 131 in the cylinder boss 13 of center one straight pin 43 and steering wheel 1, foregoing, the shape and structure of two sides of U-shaped 6 is corresponding with clutch plate 4 and steering wheel output panel 12, two sides of U-shaped 6 are aimed at clutch plate 4 and steering wheel output panel 12 respectively, make the grafting pin 21 of buckle closure 2 penetrate U-shaped 6 spliced eye 61, and penetrate the spliced eye 41 of clutch plate 4 and the spliced eye 121 of steering wheel output panel respectively, the barb 22 of buckle closure 2 passes U-shaped 6 snapping hole 62, catch on the snap groove 42 of clutch plate 4 and the snap groove 122 of steering wheel output panel respectively, this is just with U-shaped 6, steering wheel output panel 12 is fixedlyed connected with clutch plate 4.When steering wheel 1 output one rotating torque, the rotation of steering wheel output panel 12 can drive U-shaped rotation, and clutch plate 4 is 6 fixedly connected and only limited the movement of clutch plate 4 and can not limit its rotation with cooperating of bearing 131 with U-shaped.A fixedly connected contour structures spare again on U-shaped can be exported rotating torque.
Below in conjunction with Figure 14-16 explanation another preferred embodiment of the present invention.The difference of the modularization robot external member in the present embodiment is that it has comprised that two steering wheels 91,92, one long U-shaped 94(are as shown in figure 15), a wide-u-shaped spare 95(as shown in figure 16) thereby, an I-shaped piece 93, two clutch plates and 4 buckle closures can realize 2DOF double steering engine output module.A side of long U-shaped 94 is by the output panel of buckle closure 96 connection steering wheels 91, and another side also connects the clutch plate that is inserted on the cylinder boss bearing of back by a buckle closure, thereby realizes the both-end output of steering wheel 91.(concrete connected mode preamble illustrates, do not repeat them here) side of steering wheel 91 and the one side with respect to output panel of steering wheel 92, by an I-shaped piece 93 half I-groove that arranges on these two surfaces of pegging graft respectively steering wheel 91 is fixedlyed connected with steering wheel 92.Fixedly connected with the output panel of steering wheel 92 by a buckle closure 98 in a side of wide-u-shaped spare 95, another side is fixedly connected with a clutch plate that links to each other with the cylinder boss bearing of steering wheel 91 sides by a buckle closure 97, thereby has realized the both-end output (as shown in figure 14) of steering wheel 92.The both-end outbound course of steering wheel 92 is different with the both-end outbound course of steering wheel 91, and these two kinds of both-end outputs are separate, and compact conformation is easy to connect simultaneously.
Building method below in conjunction with Figure 17-19 explanation one embodiment of the present invention.Modularization robot external member in the present embodiment comprises 72, two steering wheels 1 of a controller 71, one controller bases, some I-shaped piece 5, one I shape buckle closures 3, some clutch plates 4, some buckle closures 2, some U-shaped 6 and some contour structures spares 8.The existing explanation of feature preambles such as the structure of above-mentioned parts, shape does not repeat them here.As shown in figure 17, described robot external member builds and can carry out as following step.At first, described controller 71 is fixedly connected on the described controller base 72, the side of described controller base is provided with inserting groove 721, in two steering wheels 1 one fixedly is plugged in described inserting groove 721 by an I-shaped piece 5, another steering wheel output panel 12 and an I shape buckle closure 3 are pegged graft fixing, are plugged on the described inserting groove 721 by this I shape buckle closure 3.As shown in figure 17, by described clutch plate 4 and described buckle closure 2 described U-shaped 6 is connected with described steering wheel 1.As previously mentioned, be provided with inserting groove on described steering wheel 1 and described U-shaped 6 crossbeam, so utilize I-shaped piece 5 described contour structures spare 8 can be fixedly attached on described steering wheel 1 or described U-shaped 6 crossbeam (shown in Figure 18,19), also can utilize described I-shaped piece 5 and other steering wheel or other assemblies to be fixedly connected.It will be appreciated by those skilled in the art that, each is provided with the assembly of inserting groove in the fixedly connected described modularization robot external member of I-shaped piece by utilizing, can as required new assembly be fixedly attached on the assembly of having built, thereby can build the robot of various different structures, function.Build the bio-robot example finished shown in Figure 20,21.
From above-described embodiment as can be seen, the present invention is connected and fixed convenient and efficient, has simplified the operation that the modularization robot external member is built, and can significantly reduce human cost.
Though more than described the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is limited by appended claims.Those skilled in the art can make numerous variations or modification to these embodiments under the prerequisite that does not deviate from principle of the present invention and essence, but these changes and modification all fall into protection scope of the present invention.
Claims (18)
1. modularization robot external member, it comprises: at least one steering wheel, at least one contour structures spare, at least one connector, at least one controller and at least one controller base, it is characterized in that, described steering wheel and described contour structures spare have at least one surface to be provided with for fixing inserting groove that described steering wheel and described connector are pegged graft respectively, described controller is identical with the quantity of described controller base, and the bottom surface of described controller is corresponding with the structure of described controller base top surface can to connect and fix mutually, and at least one side of described controller base is provided with the inserting groove of pegging graft and fixing with described connector.
2. modularization robot external member as claimed in claim 1, it is characterized in that, described modularization robot external member also comprises at least one integrated sensor module, and at least one surface of described integrated sensor module is provided with for fixing inserting groove that described integrated sensor module and described connector are pegged graft.
3. modularization robot external member as claimed in claim 1, it is characterized in that, the end face of described controller base is provided with at least one buckling groove, and the relevant position is provided with all at least one clamping blocks corresponding with described buckling groove of quantity, shape, structure on the described controller bottom surface.
4. modularization robot external member as claimed in claim 1 or 2 is characterized in that, described connector is the I-shaped piece, and described inserting groove is half I shape, has a bottom surface and two " L " shape edge, and the shape of described inserting groove, size are all identical.
5. modularization robot external member as claimed in claim 4 is characterized in that, described steering wheel also comprises a steering wheel output panel, has some spliced eyes and some snap grooves on this steering wheel output panel.
6. modularization robot external member as claimed in claim 5, it is characterized in that, described modularization robot external member also comprises a buckle closure, described buckle closure has bottom surface and side, described bottom surface is provided with some for pegging graft and quantity with described spliced eye, the position, shape is the grafting pin corresponding with described spliced eye all, described bottom surface also has a barb groove, be provided with two slidably in this barb groove, be used for the barb with described snap groove snapping, be provided with elastic component in the middle of the described barb, the outside of described barb is connected with button, described side is provided with the button groove, and described button stretches out in described button groove.
7. modularization robot external member as claimed in claim 6 is characterized in that, described buckle closure upper surface is provided with one for the half I shape piece that is connected with contour structures spare.
8. modularization robot external member as claimed in claim 7 is characterized in that, has at least one public buckle end on the bottom surface of described inserting groove, and the upper surface of described half I shape piece has the master card end of thread that at least one and described public buckle end matches and is connected.
9. modularization robot external member as claimed in claim 8 is characterized in that, described steering wheel and steering wheel output panel facing surfaces are provided with cylindrical boss, the embedded bearing of described boss.
10. modularization robot external member as claimed in claim 9 is characterized in that, described steering wheel has 6 faces, also is provided with cylindrical boss, the embedded bearing of described boss on adjacent 2 sides in 6 faces with before and after the described steering wheel output panel.
11. modularization robot external member as claimed in claim 9, it is characterized in that, described modularization robot external member also comprises at least one clutch plate, this clutch plate center is provided with one and the straight pin that matches of described bearing, have on the described clutch plate with described steering wheel output panel on position, shape and size the same some spliced eyes and some snap grooves all.
12. modularization robot external member as claimed in claim 8 is characterized in that, the upper and lower surface of described I-shaped piece is respectively arranged with the master card end of thread that at least one and described public buckle end matches and is connected.
13. modularization robot external member as claimed in claim 12 is characterized in that, described public buckle end is some concave points or elasticity salient point, and described master card end of thread is elasticity salient point or the concave point corresponding with described public buckle terminal number amount, shape, position.
14. modularization robot external member as claimed in claim 12 is characterized in that, described I-shaped piece comprises two and half I shape pieces up and down, the described preset angles that forms between the two and half I shape pieces up and down, and this angle is the 0-180 degree.
15. modularization robot external member as claimed in claim 5, it is characterized in that, described modularization robot external member also comprises at least one U-shaped for the rotating torque of exporting described steering wheel, and described U-shaped comprises that two sides in correspondence with each other are connected the crossbeam of two sides with one.
16. modularization robot external member as claimed in claim 15 is characterized in that, two sides on described U-shaped all have the some spliced eyes corresponding with described steering wheel output panel and the some snappings hole corresponding with described some snap grooves.
17. modularization robot external member as claimed in claim 15 is characterized in that, also is provided with on the described crossbeam for fixing inserting groove that described steering wheel and described connector are pegged graft.
18. modularization robot external member as claimed in claim 17 is characterized in that the inserting groove on the described crossbeam is half I shape, has a bottom surface and two " L " shape edge, has at least one public buckle end on this bottom surface.
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| CN201210208505.8A CN103252773B (en) | 2012-06-21 | 2012-06-21 | Modularized robot kit |
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| CN201210208505.8A CN103252773B (en) | 2012-06-21 | 2012-06-21 | Modularized robot kit |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895039A (en) * | 2014-04-14 | 2014-07-02 | 格物斯坦（上海）机器人有限公司 | Boltless fast-assembling/disassembling steering engine output shaft structure |
| CN105710748A (en) * | 2016-03-21 | 2016-06-29 | 浙江亚恩材料工程技术有限公司 | Accurate-grinding device for valve plate |
| CN105798946A (en) * | 2016-05-06 | 2016-07-27 | 广州途道信息科技有限公司 | Connecting piece for steering engine |
| CN106901665A (en) * | 2017-04-17 | 2017-06-30 | 沈昱成 | Multifunctional modular smart home service robot |
| WO2017206799A1 (en) * | 2016-05-31 | 2017-12-07 | 上海未来伙伴机器人有限公司 | Method and device for establishing three-dimensional robot model |
| CN109834699A (en) * | 2019-01-29 | 2019-06-04 | 南开大学 | Hook-baffle-bolt docking mechanism |
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| EP3103595A1 (en) * | 2015-06-11 | 2016-12-14 | Shanghai Xpartner Robotics Co., Ltd. | Screw-free assembled modular robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895039A (en) * | 2014-04-14 | 2014-07-02 | 格物斯坦（上海）机器人有限公司 | Boltless fast-assembling/disassembling steering engine output shaft structure |
| CN105710748A (en) * | 2016-03-21 | 2016-06-29 | 浙江亚恩材料工程技术有限公司 | Accurate-grinding device for valve plate |
| CN105798946A (en) * | 2016-05-06 | 2016-07-27 | 广州途道信息科技有限公司 | Connecting piece for steering engine |
| WO2017206799A1 (en) * | 2016-05-31 | 2017-12-07 | 上海未来伙伴机器人有限公司 | Method and device for establishing three-dimensional robot model |
| CN106901665A (en) * | 2017-04-17 | 2017-06-30 | 沈昱成 | Multifunctional modular smart home service robot |
| CN109834699A (en) * | 2019-01-29 | 2019-06-04 | 南开大学 | Hook-baffle-bolt docking mechanism |
| CN109834699B (en) * | 2019-01-29 | 2022-03-01 | 南开大学 | Hook-baffle-bolt butt-joint mechanism |
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