CN110561404B

CN110561404B - Modular reconfigurable robot teaching aid

Info

Publication number: CN110561404B
Application number: CN201910862930.0A
Authority: CN
Inventors: 张秀丽; 苏志强; 吴恒城
Original assignee: Beijing Jiaotong University
Current assignee: Beijing Jiaotong University
Priority date: 2019-09-12
Filing date: 2019-09-12
Publication date: 2021-08-13
Anticipated expiration: 2039-09-12
Also published as: CN110561404A

Abstract

The invention provides a modularized reconfigurable robot teaching aid which comprises a chassis, a connecting rod, an extension rod, a sliding block, an end effector, a rotating connecting piece and a fixed connecting piece, wherein any two of the chassis, the connecting rod, the sliding block and the end effector can be connected, the rotating connecting piece is used for realizing the rotatable connection between any two of the chassis, the connecting rod, the sliding block and the end effector, the fixed connecting piece is used for realizing the fixed connection between any two of the chassis, the connecting rod, the sliding block and the end effector, the extension rod is connected with the connecting rod, the sliding block can move along the connecting rod or the extension rod, and the teaching aid can complete various robot configurations by selecting proper parts from the chassis, the connecting rod, the extension rod, the sliding block, the end effector, the rotating connecting piece and the fixed connecting piece and combining the proper parts. By applying the technical scheme of the invention, the technical problems that teaching robots in colleges and universities are in shortage, expensive and few in types and cannot meet the teaching requirements of colleges and universities in the prior art are solved.

Description

Modular reconfigurable robot teaching aid

Technical Field

The invention relates to the technical field of robots, in particular to a modular reconfigurable robot teaching aid.

Background

With the wide application of robot technology, the development courses of domestic colleges and universities on the aspect of robot structures are rapidly increased, and a large amount of expensive equipment is often purchased in the colleges and universities to meet the teaching requirements. The equipment of purchase is mostly finished product industrial robot, and when the price is expensive, can not satisfy the teaching needs of the multiple industrial robot body structure of student's study, positive and negative kinematics. Due to the weak foundation, it is difficult for students to carefully understand the structures of various industrial robots within a short teaching time caused by the shortage of the number of the machines. Meanwhile, the theoretical knowledge of the robot is dull and abstract, but no suitable teaching equipment is available, and students often have few opportunities or even no opportunities to really know the industrial robots. Colleges and universities often because the boring of knowledge, are difficult to cultivate the student to the interest of robot subject, and the content of having lessons is not enough vivid, can't show the state when robot motion, is unfavorable for the study of student to the robot course. Industrial robots are widely used in a variety of robots, and have a very wide range of applications and a very typical structure. If the robot is modularized, productized, lightweight and practical, the robot can be greatly helpful for teaching tasks such as forward and backward kinematics, robot body structures and the like.

Disclosure of Invention

The invention provides a modularized reconfigurable robot teaching aid which can solve the technical problems that teaching robots in colleges and universities are in shortage, expensive and few in types and cannot meet teaching requirements of the colleges and the universities in the prior art.

The invention provides a modularized reconfigurable robot teaching aid, which comprises a chassis, a connecting rod, an extension rod, a sliding block, an end effector, a rotating connecting piece and a fixed connecting piece, wherein any two of the chassis, the connecting rod, the sliding block and the end effector can be connected, the rotating connecting piece is used for realizing the rotatable connection between any two of the chassis, the connecting rod, the sliding block and the end effector, the fixed connecting piece is used for realizing the fixed connection between any two of the chassis, the connecting rod, the sliding block and the end effector, the extension rod is connected with the connecting rod, the sliding block can move along the connecting rod or the extension rod, the modularized reconfigurable robot teaching aid can complete various robot configurations by selecting proper parts from the chassis, the connecting rod, the extension rod, the sliding block, the end effector, the rotating connecting piece and the fixed connecting piece and connecting and combining the proper parts, various robot configurations include ball coordinate robots, SCARA robots, and 6R robots.

Further, the chassis has first mating holes, the connecting rod has the second mating holes, third mating holes and first spout, the slider has the fourth mating holes, the slider includes the lug, the slider cooperatees through lug and first spout in order to realize its removal along the connecting rod, the extension rod has the second spout, the slider cooperatees through lug and second spout in order to realize its removal along the extension rod, end effector includes that first cooperation is protruding, it is protruding to rotate the connecting piece and include the second cooperation, it has the fifth mating holes to rotate the connecting piece, fixed connection has the third cooperation arch, first mating holes, the second mating holes, the third mating holes, the structure of fourth mating holes and fifth mating holes is all the same, first cooperation is protruding, the protruding and the protruding structure of third cooperation is all the same, arbitrary mating holes all can cooperate with arbitrary cooperation arch.

The connecting rod comprises a connecting rod main body, a first connecting head and a second connecting head, one end of the first connecting head is fixedly connected with the connecting rod main body, the second connecting head is detachably connected with the other end of the connecting rod main body, the first connecting head is provided with a second matching hole, the second connecting head is provided with a third matching hole and a first wedge-shaped matching hole, the connecting rod main body is provided with a plurality of first sliding chutes which are arranged at intervals along the length direction of the connecting body, the other end of the connecting rod main body is provided with a first wedge-shaped bulge, and the first wedge-shaped bulge is matched with the first wedge-shaped matching hole; one end of the extension rod is provided with a second wedge-shaped groove which is the same as the first wedge-shaped groove in structure, the second wedge-shaped groove can be matched with the first wedge-shaped protrusion, the other end of the extension rod is provided with a second wedge-shaped protrusion which is the same as the first wedge-shaped protrusion in structure, the second wedge-shaped protrusion can be matched with the first wedge-shaped groove, and the extension rod is provided with a plurality of second sliding grooves which are arranged at intervals along the length direction of the extension rod.

The sliding block further comprises a first sliding block unit and a second sliding block unit, the protruding block comprises a first friction strip and a second friction strip, the first sliding block unit is provided with a first friction strip accommodating hole, the second sliding block unit is provided with a second friction strip accommodating hole, the first friction strip accommodating hole and the second friction strip accommodating hole are oppositely arranged, the first friction strip is arranged in the first friction strip accommodating hole, the second friction strip is arranged in the second friction strip accommodating hole, the first sliding block unit and the second sliding block unit are connected through a mortise and tenon structure to form a sliding block body, and the fourth matching hole is formed in the sliding block body.

Furthermore, the sliding block further comprises a first damping adjusting unit and a second damping adjusting unit, the first damping adjusting unit is arranged on the first sliding block unit, and the first damping adjusting unit is used for adjusting the friction force between the first friction strip and the first sliding groove or the second sliding groove; the second damping adjusting unit is arranged on the second sliding block unit and used for adjusting the friction force between the second friction strip and the first sliding groove or the second sliding groove.

Further, the rotating connecting piece comprises a rotating shaft seat assembly and a rotating shaft main body assembly, one end of the rotating shaft main body assembly is rotatably arranged on the rotating shaft seat assembly, the other end of the rotating shaft main body assembly is a second matching protrusion, and a fifth matching hole is formed in the rotating shaft seat assembly.

Furthermore, the rotating connecting piece further comprises a third damping adjusting unit and a friction assembly, the third damping adjusting unit is arranged on the rotating shaft seat assembly, the friction assembly is arranged on the third damping adjusting unit, and the third damping adjusting unit is used for adjusting the friction force between the friction assembly and the rotating shaft main body assembly.

The rotating connecting piece further comprises a first spring, a first steel ball and a second steel ball, the first spring is arranged in the rotating shaft main body accommodating hole, the first steel ball is fixedly arranged at one end of the first spring and matched with the first steel ball accommodating hole, and the diameter of the first steel ball is larger than the aperture of the first steel ball accommodating hole; the second steel ball is fixedly arranged at the other end of the first spring and matched with the second steel ball accommodating hole, and the diameter of the second steel ball is larger than the aperture of the second steel ball accommodating hole.

The fixed connecting piece comprises a connecting piece main body, a second spring, a third steel ball, a fourth steel ball, a fifth steel ball and a sixth steel ball, wherein both ends of the connecting piece main body are third matching protrusions; the fourth steel ball is fixedly arranged at the other end of the second spring and matched with the fourth steel ball accommodating hole, and the diameter of the fourth steel ball is larger than the aperture of the fourth steel ball accommodating hole; the fifth steel ball is fixedly arranged at one end of the third spring and matched with the fifth steel ball accommodating hole, and the diameter of the fifth steel ball is larger than the aperture of the fifth steel ball accommodating hole; the sixth steel ball is fixedly arranged at the other end of the third spring and matched with the sixth steel ball accommodating hole, and the diameter of the sixth steel ball is larger than the aperture of the sixth steel ball accommodating hole.

Further, the end effector comprises a hand grip and an end connecting rod, one end of the end connecting rod is connected with the hand grip, and the other end of the end connecting rod is a first matching protrusion.

By applying the technical scheme of the invention, a modularized reconfigurable robot teaching aid is provided, the teaching aid adopts a modularized structure, any two of a chassis, a connecting rod, a sliding block and an end effector can be connected, a rotary connecting piece can be used for realizing the rotatable connection between any two of the chassis, the connecting rod, the sliding block and the end effector, a fixed connecting piece can be used for realizing the fixed connection between any two of the chassis, the connecting rod, the sliding block and the end effector, in this way, suitable parts can be selected from the chassis, the connecting rod, the extension rod, the sliding block, the end effector, the rotating connecting piece and the fixed connecting piece according to different requirements and are connected and combined to complete various robot configurations, thereby forming configurations such as ball coordinate robot, SCARA robot and 6R robot, realizing the reconfigurable ability of robot teaching aid.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Fig. 1 is a schematic structural diagram of a modular reconfigurable robot teaching aid provided according to a specific embodiment of the invention;

FIG. 2 shows a front view of the modular reconfigurable robotic teaching aid provided in FIG. 1;

FIG. 3 illustrates a schematic structural view of a chassis provided in accordance with an embodiment of the present invention;

FIG. 4 illustrates a schematic structural diagram of a connecting rod provided in accordance with a specific embodiment of the present invention;

FIG. 5 illustrates a schematic structural view of an extension pole provided in accordance with an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating a slider configuration provided in accordance with an exemplary embodiment of the present invention;

FIG. 7 shows a front view of the slider provided in FIG. 6;

FIG. 8 illustrates a schematic structural view of a rotational coupling provided in accordance with an exemplary embodiment of the present invention;

FIG. 9 shows an exploded view of the swivel connection provided in FIG. 8;

FIG. 10 illustrates a schematic structural view of a fixed connection provided in accordance with a specific embodiment of the present invention;

fig. 11 is a schematic structural diagram of an end effector provided according to an embodiment of the present invention.

Wherein the figures include the following reference numerals:

10. a chassis; 10a, a first mating hole; 11. a suction cup; 12. a sucker rod; 13. a hexagonal plate; 20. a connecting rod; 20a, a second mating hole; 20b, a third mating hole; 20c, a first chute; 21. a connecting rod main body; 22. a first connector; 23. a second connector; 30. an extension pole; 30a, a second chute; 30b, a second wedge-shaped groove; 301. a second wedge-shaped protrusion; 40. a slider; 40a, a fourth mating hole; 401. a slider body; 41. a bump; 411. a first rubbing strip; 412. a second rubbing strip; 42. a first slider unit; 42a, a first rub strip receiving hole; 43. a second slider unit; 43a, a second rub strip receiving hole; 44. a first damping adjustment unit; 441. a first high-headed knurled screw; 442. a first thin nut; 45. a second damping adjustment unit; 50. an end effector; 501. a first mating protrusion; 51. a gripper; 52. a terminal connecting rod; 60. rotating the connecting piece; 60a, a fifth mating hole; 601. a second mating protrusion; 61. a spindle base assembly; 611. a rotating shaft seat; 612. a large rotating shaft seat cover; 613. a small rotating shaft seat cover; 62. a spindle body assembly; 62a and a first steel ball accommodating hole; 62b and a second steel ball accommodating hole; 62c, a rotating shaft main body accommodating hole; 621. a rotating shaft main body; 622. a rotating shaft cover; 623. a rotating shaft disc; 624. a rotating shaft cylinder; 63. a third damping adjustment unit; 631. a second high-headed knurled screw; 632. a second thin nut; 64. a friction assembly; 641. pushing the head; 642. a third rubbing strip; 65. a first spring; 66. a first steel ball; 67. a second steel ball; 601. a second mating protrusion; 70. fixing the connecting piece; 701. a third mating protrusion; 71. a connector body; 711. a splice case; 712. a joint cover; 71a and a third steel ball accommodating hole; 71b and a fourth steel ball accommodating hole; 71c and a fifth steel ball accommodating hole; 71d and a sixth steel ball accommodating hole; 71e, a spring receiving hole; 72. a second spring; 73. a third spring; 74. a third steel ball; 75. a fourth steel ball; 76. a fifth steel ball; 77. and a sixth steel ball.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

As shown in fig. 1 to 5, according to an embodiment of the present invention, there is provided a modular reconfigurable robot teaching aid, which includes a chassis 10, a link 20, an extension rod 30, a slider 40, an end effector 50, a rotary connector 60 and a fixed connector 70, any two of the chassis 10, the link 20, the slider 40 and the end effector 50 may be connected, the rotary connector 60 is used for realizing rotatable connection between any two of the chassis 10, the link 20, the slider 40 and the end effector 50, the fixed connector 70 is used for realizing fixed connection between any two of the chassis 10, the link 20, the slider 40 and the end effector 50, the extension rod 30 is connected with the link 20, the slider 40 is movable along the link 20 or the extension rod 30, and the modular reconfigurable robot teaching aid is manufactured by connecting the chassis 10, the link 20 and the extension rod 30, The extension rod 30, the slider 40, the end effector 50, the rotary link 60, and the fixed link 70 select appropriate components and are connected in combination to complete a variety of robot configurations including a ball coordinate robot, a SCARA robot, and a 6R robot.

Use this kind of configuration, a modularization reconfigurable robot teaching aid is provided, this teaching aid adopts modular structure, the chassis, the connecting rod, arbitrary two in slider and the end effector can all realize connecting, it can be used to realize the chassis to rotate the connecting piece, the connecting rod, rotatable coupling between arbitrary two in slider and the end effector, fixed connection can be used to realize the chassis, the connecting rod, the fixed connection between arbitrary two in slider and the end effector, under this kind of mode, can be according to the demand of difference from the chassis, the connecting rod, the extension rod, the slider, the end effector, select suitable part and connect the combination in rotation connecting piece and the fixed connection in order to accomplish multiple robot configuration, thereby form configurations such as ball coordinate robot, SCARA robot and 6R robot, realize the reconfigurable ability of robot teaching aid.

Fig. 1 and 2 show a ball coordinate robot using the robot teaching aid of the present invention as a first embodiment of the present invention. The ball coordinate robot is composed of a base plate 10, a link 20, an extension bar 30, a slider 40, an end effector 50, a rotating link 60, and a fixed link 70. The chassis 10 is fixed on a plane, and one end of the fixed connecting piece 70 is installed on the chassis 10, and the other end is connected with the connecting rod 20. Two rotational joints 60 are connected to the connecting rod 20 to form a revolute pair, and are connected by two rotational shafts such that the two rotational axes are perpendicular to each other. The slide block 40 is installed on the rotary connecting piece 60 and connected with a combined rod formed by the extension rod 30 and the connecting rod 20 together to form a moving pair, two rotary connecting pieces 60 with mutually vertical axes are installed at one end of the combined rod, and then the end effector 50 is installed on the rotary connecting pieces 60, so that the construction of the ball coordinate robot configuration is completed.

As a second embodiment (not shown in the figures) of the present invention, there is provided a 6R robot using the robot teaching aid of the present invention, the 6R robot configuration is composed of a chassis 10, a link 20, an extension rod 30, a rotary link 60, an end effector 50, and a fixed link 70. The chassis 10 is fixed on a plane, a first rotary connector 60 is arranged on the chassis 10, and then a second rotary connector 60 is arranged on the first rotary connector 60 to form two rotary pairs with mutually vertical rotary axes. A first fixed link 70 is installed on the second rotary link 60, and then a first link 20 is connected to the first fixed link 70, and the first link 20 can be connected to the extension pole 30 to extend the length of the robot. The first link 20 is further connected to a third rotary joint 60 and a fourth rotary joint 60 which are spliced together. A second fixed link 70 is further installed on the fourth rotary link 60, and the second connecting rod 20 is connected to the second fixed link 70. The second link 20 is further connected to a pair of a fifth rotational connection member 60 and a sixth rotational connection member 60 having mutually perpendicular axes, and the end effector 50 is mounted on the sixth rotational connection member 60, thereby constituting a 6R robot configuration.

As a third embodiment (not shown in the figures), a SCARA robot using the teaching robot of the present invention is provided, and the configuration of the SCARA robot is composed of a chassis 10, a connecting rod 20, a sliding block 40, an extension rod 30, a rotary connecting member 60, an end effector 50 and a fixed connecting member 70. The chassis 10 is fixed on a plane, the first fixed connector 70 is installed on the chassis 10, then the first connecting rod 20 is matched with the first fixed connector 70, the second fixed connector 70 is installed at the other end of the first connecting rod 20, and then the first rotating connector 60 is connected with the first fixed connector 70. Then, the second connecting rod 20 is jointed with the first rotating connecting piece 60, the third fixed connecting piece 70 is installed at the other end of the second connecting rod 20, and then the second rotating connecting piece 60 is jointed with the third fixed connecting piece 70. The second rotary joint 60 is connected to the third link 20, and the slider 40 is mounted on the other end of the third link 20. And then, the fourth connecting rod 20 is matched with the sliding block 40 to form a sliding pair, a third rotary connecting piece 60 is arranged at one end of the fourth connecting rod 20, and finally, the end effector 50 is arranged on the third rotary connecting piece 60, so that the SCARA robot configuration is formed.

Further, in the present invention, in order to realize the connection between the components in the robot teaching aid, the chassis 10 may be configured to have a first fitting hole 10a, the link 20 has a second fitting hole 20a, a third fitting hole 20b and a first slide groove 20c, the slider 40 has a fourth fitting hole 40a, the slider 40 includes a projection 41, the slider 40 is fitted with the first slide groove 20c through the projection 41 to realize the movement thereof along the link 20, the extension rod 30 has a second slide groove 30a, the slider 40 is fitted with the second slide groove 30a through the projection 41 to realize the movement thereof along the extension rod 30, the end effector 50 includes a first fitting protrusion 501, the rotary connector 60 includes a second fitting protrusion 601, the rotary connector 60 has a fifth fitting hole 60a, the fixed connector 70 has a third fitting protrusion 701, the first fitting hole 10a, the second fitting hole 20a, the third fitting hole 20b, the third fitting hole 701, the third fitting hole 10 b, and the third fitting hole 20c, The fourth mating hole 40a and the fifth mating hole 60a have the same structure, the first mating protrusion 501, the second mating protrusion 601, and the third mating protrusion 701 have the same structure, and any mating hole can be mated with any mating protrusion.

By applying the configuration mode, each part is provided with the standardized matching groove or the matching protrusion with the same structure, so that in actual application, each part can be combined according to specific requirements, and the construction of various robot configurations is realized.

Further, in the present invention, as shown in fig. 3, in order to provide stability in the operation of the robot teaching aid, the base plate 10 may be configured to include a suction cup 11, a suction cup rod 12, and a hexagonal plate 13, and the base plate 10 may be fixed on a plane by the suction cup 11. The top of the sucker 11 is clamped in a groove designed at the tail end of the sucker rod 12 according to the characteristics of the sucker so that the sucker rod and the sucker rod are fixedly connected, and the other tail end of the sucker rod 12 is fixedly connected in a groove of the hexagonal plate 13. Hexagonal dish 13 is a hexagonal cylinder, and six sides all are provided with the recess that is used for installing sucking disc pole 12, have seted up first mating holes 10a at hexagonal dish 13 top surface, and in this embodiment, first mating holes 10a is cross section through-hole, is provided with spacing boss in the cross section through-hole in order to guarantee the accuracy of the mounted position of the part that is connected with the chassis, and first mating holes 10a is used for installing rotating connecting piece 60 or fixed connection 70.

Further, in the present invention, in order to realize the connection of the link and the extension bar and the movement of the slider relative to the link and the extension bar, the link 20 may be configured to include a link main body 21, a first connector 22 and a second connector 23, one end of the first connector 22 is fixedly connected to the link main body 21, the second connector 23 is detachably connected to the other end of the link main body 21, the first connector 22 has a second fitting hole 20a, the second connector 23 has a third fitting hole 20b and a first wedge-shaped fitting hole, the link main body 21 has a plurality of first sliding grooves 20c arranged at intervals in a length direction of the link main body, the other end of the link main body 21 is a first wedge-shaped protrusion, and the first wedge-shaped protrusion is fitted to the first wedge-shaped fitting hole; one end of the extension rod 30 is provided with a second wedge-shaped groove 30b, the second wedge-shaped groove 30b is the same as the first wedge-shaped groove in structure, the second wedge-shaped groove 30b can be matched with the first wedge-shaped protrusion, the other end of the extension rod 30 is provided with a second wedge-shaped protrusion 301, the second wedge-shaped protrusion 301 is the same as the first wedge-shaped protrusion in structure, the second wedge-shaped protrusion 301 can be matched with the first wedge-shaped groove, and the extension rod 30 is provided with a plurality of second sliding grooves 30a which are arranged at intervals along the length direction of the extension rod 30.

As a specific embodiment of the present invention, as shown in fig. 4 and 5, the first connector 22 and the second connector 23 are both of a cube structure, three second fitting holes 20a distributed in a T shape are provided on a side surface of the first connector 22, and a protrusion is provided at an intersection of any two second fitting holes 20a, and an installation position of the to-be-installed member of the first connector 22 can be limited by the protrusion. Be provided with three third mating holes 20b that the T type distributes on the side of second connector 23, be provided with the arch at the intersection of arbitrary two third mating holes 20b, can be spacing the mounted position of treating the installed part of second connector 23 through this arch. Connecting rod main part 21 is the cuboid structure, has all seted up first spout 20c on four sides of connecting rod main part 21, and weight reduction of teaching aid can be realized to first spout 20c, can provide four mounted positions for slider 40 simultaneously. The second connector 23 is connected with the connecting rod main body 21 through a mortise and tenon joint structure. Protruding 301 of second wedge of extension rod 30 can cooperate with the first wedge mating holes of second connector 23 and the protruding 301 of second wedge of another extension rod 30, the second wedge of extension rod 30b can cooperate with the protruding 301 of second wedge of the first wedge of connecting rod main part 21 and another extension rod 30, the extension rod also is the cuboid structure, second spout 30a has all been seted up on four sides of extension rod, the weight reduction of teaching aid can be realized to second spout 30a, simultaneously can provide four mounted positions for slider 40.

Further, in order to realize the movement of the slider along the connecting rod and the extension rod, as shown in fig. 6 and 7, the slider 40 may be configured to further include a first slider unit 42 and a second slider unit 43, the protrusion 41 includes a first rubbing strip 411 and a second rubbing strip 412, the first slider unit 42 has a first rubbing strip receiving hole 42a, the second slider unit 43 has a second rubbing strip receiving hole 43a, the first rubbing strip receiving hole 42a is disposed opposite to the second rubbing strip receiving hole 43a, the first rubbing strip 411 is disposed in the first rubbing strip receiving hole 42a, the second rubbing strip 412 is disposed in the second rubbing strip receiving hole 43a, the first slider unit 42 and the second slider unit 43 are connected by a mortise and tenon structure to form the slider body 401, and the fourth fitting hole 40a is disposed on the slider body 401.

In addition, in the present invention, in order to adjust the connection damping between the slide block and the connecting rod and the extension rod, so that the teaching aid can realize the driverless self-balancing function, the slide block 40 may be configured to further include a first damping adjusting unit 44 and a second damping adjusting unit 45, the first damping adjusting unit 44 is disposed on the first slide block unit 42, and the first damping adjusting unit 44 is configured to adjust the friction force between the first friction bar 411 and the first sliding chute 20c or the second sliding chute 30 a; the second damping adjusting unit 45 is provided on the second slider unit 43, and the second damping adjusting unit 45 is used to adjust the frictional force between the second rubbing strip 412 and the first runner 20c or the second runner 30 a.

As an embodiment of the present invention, the sliding block 40 is used to assemble a sliding pair with the connecting rod 20 and the extension rod 30, the first damping adjustment unit 44 and the second damping adjustment unit 45 have the same structure, and both of them are composed of a first high-head knurled screw 441 and a first thin nut 442, the first high-head knurled screw 441 and the first thin nut 442 are installed in a hole in the middle of the side wall of the first sliding block unit 42 (the second sliding block unit 43), and by screwing or loosening the first high-head knurled screw 441, the contact friction force between the internal friction strip of the sliding block and the connecting rod or the extension rod can be adjusted, so as to achieve the adjustment of the maximum static friction force, and achieve the purpose of fixing the position of the sliding block. The fourth fitting hole 40a is provided on the top surface of the slider body 401, and the fourth fitting hole 40a is used for connecting with the rotary connector 60 or the fixed connector 70, and in this embodiment, the fourth fitting hole 40a is a cross-section through hole.

Further, in the present invention, in order to realize the rotatable connection between any two components, the rotating connector 60 may be configured to include a shaft seat assembly 61 and a shaft body assembly 62, one end of the shaft body assembly 62 is rotatably disposed on the shaft seat assembly 61, the other end of the shaft body assembly 62 is a second fitting protrusion 601, and a fifth fitting hole 60a is disposed on the shaft seat assembly 61. The fifth mating hole 60a is used to connect with the rotating connector 60 or the fixed connector 70, and in this embodiment, the fifth mating hole 60a is a cross-section through hole.

In addition, in the present invention, in order to realize the self-stabilization function of the robot teaching aid, the rotary joint 60 may be configured to further include a third damping adjustment unit 63 and a friction member 64, the third damping adjustment unit 63 is provided on the rotary shaft holder assembly 61, the friction member 64 is provided on the third damping adjustment unit 63, and the third damping adjustment unit 63 is used to adjust the friction force between the friction member 64 and the rotary shaft main body assembly 62.

As an embodiment of the present invention, as shown in fig. 8 and 9, the third damping adjustment unit 63 includes a second high-headed knurled screw 631 and a second thin nut 632, the friction assembly 64 includes a push head 641 and a third friction strip 642, the push head 641 and the third friction strip 642 are disposed at the other end of the second high-headed knurled screw 631, and by loosening or tightening the second high-headed knurled screw, the contact friction between the third friction strip and the rotating shaft main body assembly 62 can be adjusted, so that the adjustment of the maximum static friction force is achieved, and the damping adjustment of the rotating connection member and the self-stabilizing function of the robot can be achieved.

Further, in the present invention, in order to improve the fastening property of the connection between the spindle body assembly and other components, the spindle body assembly 62 may be configured to have a first steel ball receiving hole 62a, a second steel ball receiving hole 62b, and a spindle body receiving hole 62c, the first steel ball receiving hole 62a and the second steel ball receiving hole 62b are oppositely disposed on the spindle body assembly 62, the rotary connector 60 further includes a first spring 65, a first steel ball 66, and a second steel ball 67, the first spring 65 is disposed in the spindle body receiving hole 62c, the first steel ball 66 is fixedly disposed at one end of the first spring 65 and is matched with the first steel ball receiving hole 62a, and the diameter of the first steel ball 66 is larger than the diameter of the first steel ball receiving hole 62 a; the second steel ball 67 is fixedly arranged at the other end of the first spring 65 and is matched with the second steel ball accommodating hole 62b, and the diameter of the second steel ball 67 is larger than the aperture of the second steel ball accommodating hole 62 b.

Under the configuration mode, when the second matching protrusion of the rotating shaft main body assembly is arranged in any matching groove, the rotating shaft main body assembly can be prevented from being separated from any matching groove through the interaction among the first steel ball, the second steel ball and the first spring, and further, the tightness of connection between the rotating shaft main body assembly and other components is improved.

As an embodiment of the present invention, as shown in fig. 8 and 9, the rotating shaft base assembly 61 includes a rotating shaft base 611, a large rotating shaft base cover 612 and a small rotating shaft base cover 613, the rotating shaft body assembly 62 includes a rotating shaft body 621, a rotating shaft cover 622, a rotating shaft disc 623 and a rotating shaft cylinder 624, the large rotating shaft base cover 612 and the small rotating shaft base cover 613 are fixedly disposed on the rotating shaft base 611, a through hole is formed between the large rotating shaft base cover 612 and the small rotating shaft base cover 613, the rotating shaft disc 623 is disposed at the through hole and can rotate relative to the rotating shaft base assembly 61, the rotating shaft body 611 is fixedly connected with the rotating shaft cover 622, the rotating shaft cylinder 624 is fixedly disposed on the rotating shaft disc 623, and by loosening or tightening the second high-head knurled screw, the contact friction between the third friction bar and the cylindrical surface of the rotating shaft cylinder 624 can be adjusted, thereby achieving adjustment of the maximum static friction.

Further, in the present invention, in order to realize the fixed connection between any two components, the fixed connector 70 may be configured to include a connector main body 71, a second spring 72, a third spring 73, a third steel ball 74, a fourth steel ball 75, a fifth steel ball 76, and a sixth steel ball 77, both ends of the connector main body 71 are third engaging protrusions 701, the connector main body 71 has a third steel ball receiving hole 71a, a fourth steel ball receiving hole 71b, a fifth steel ball receiving hole 71c, a sixth steel ball receiving hole 71d, and a spring receiving hole 71e, both the second spring 72 and the third spring 73 are disposed in the spring receiving hole 71e, the third steel ball 74 is fixedly disposed at one end of the second spring 72 and is engaged with the third steel ball receiving hole 71a, and the diameter of the third steel ball 74 is larger than the diameter of the third steel ball receiving hole 71 a; the fourth steel ball 75 is fixedly arranged at the other end of the second spring 72 and is matched with the fourth steel ball accommodating hole 71b, and the diameter of the fourth steel ball 75 is larger than the aperture of the fourth steel ball accommodating hole 71 b; the fifth steel ball 76 is fixedly arranged at one end of the third spring 73 and is matched with the fifth steel ball accommodating hole 71c, and the diameter of the fifth steel ball 76 is larger than the aperture of the fifth steel ball accommodating hole 71 c; the sixth steel ball 77 is fixedly disposed at the other end of the third spring 73 and is engaged with the sixth steel ball receiving hole 71d, and the diameter of the sixth steel ball 77 is larger than the diameter of the sixth steel ball receiving hole 71 d.

As an embodiment of the present invention, as shown in fig. 10, the connector body 71 includes a connector box 711 and a connector cover 712, the connector box 711 and the connector cover 712 are fixedly connected to form the connector body 71, and when the third engaging protrusion 701 of the fixed connector 70 is mounted in any one of the engaging grooves, the fixed connector 70 can be prevented from being removed from any one of the engaging grooves by the interaction among the third steel ball, the fourth steel ball, the fifth steel ball, the sixth steel ball, the second spring and the third spring, thereby improving the fastening performance of the connection between the fixed connector 70 and other components.

Further, in the present invention, as shown in fig. 11, in order to realize the grasping of the end object, the end effector 50 may be configured to include a hand grip 51 and an end connecting rod 52, one end of the end connecting rod 52 is connected to the hand grip 51, and the other end of the end connecting rod 52 is a first fitting protrusion 501. In the present embodiment, the end effector 50 functions as a demonstration, indicating the attitude position of the end effector. In the present invention, the robot teaching aid may be formed by 3D printing or injection molding in order to reduce the weight of the robot.

In order to further understand the present invention, the method for using the spherical robot shown in fig. 1 to 11 will be described in detail below.

As shown in fig. 1 to 11, according to an embodiment of the present invention, there is provided a robot teaching aid which can be assembled as a spherical robot composed of a base plate 10, a link 20, an extension bar 30, a slider 40, an end effector 50, a rotating link 60, and a fixed link 70. The chassis 10 is fixed on a plane through a sucker, so that the overall fixing effect is achieved. The fixed link 70 has one end mounted to the chassis 10 and the other end connected to the link 20. Two rotational joints 60 are connected to the connecting rod 20 to form a revolute pair, and are connected by two rotational shafts such that the two rotational axes are perpendicular to each other. The slide block 40 is installed on the rotary connecting piece 60 and connected with a combined rod formed by the extension rod 30 and the connecting rod 20 together to form a moving pair, two rotary connecting pieces 60 with mutually vertical axes are installed at one end of the combined rod, and then the end effector 50 is installed on the rotary connecting pieces 60, so that the construction of the ball coordinate robot configuration is completed.

In the practical application process of the robot teaching aid provided by the invention, students can form various robot configurations by assembling the seven different parts according to different industrial robot configurations. The robot can be adjusted to a designated pose after the configuration is formed, and the pose can be fixed by screwing the high-head knurled screw. The teaching aid is overall lighter as a result of the lightweight design of each module. The robot teaching aid provided by the invention visually displays industrial robots to students, children and other people, can realize the productization of the teaching aid by adopting 3D printing and injection molding in actual processing, and simultaneously realizes the hollowness of rod parts (the connecting rod 20 and the extension rod 30) so as to meet the requirement of light weight. The usability of the teaching aid is greatly improved for the using population such as teachers, parents and the like.

In summary, compared with the prior art, the modular reconfigurable robot teaching aid provided by the invention has the following advantages.

First, each joint of the robot provided by the invention has certain damping, and under the traction of a user, a non-driving self-balancing function can be realized.

Secondly, the robot teaching aid adopts a modular structure, can be combined into different robot types, and can greatly assist teaching tasks such as forward and backward kinematics, a robot body structure and the like.

Thirdly, the rotary connecting piece provided by the invention is provided with a damping adjusting device, and the maximum static friction force of the rotary shaft can be adjusted according to requirements, so that the self-stabilizing function is realized.

Fourthly, the robot teaching aid provided by the invention can be printed and injection molded in a 3D mode, the overall structure comprises reasonable designs such as hollow connecting rods and split sliding blocks, the overall structure is light in weight and convenient to assemble, and the practicability is very strong.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The modularized reconfigurable robot teaching aid is characterized by comprising a chassis (10), a connecting rod (20), an extension rod (30), a sliding block (40), an end effector (50), a rotating connecting piece (60) and a fixed connecting piece (70), wherein any two of the chassis (10), the connecting rod (20), the sliding block (40) and the end effector (50) can be connected, the rotating connecting piece (60) is used for realizing the rotatable connection between any two of the chassis (10), the connecting rod (20), the sliding block (40) and the end effector (50), the fixed connecting piece (70) is used for realizing the fixed connection between any two of the chassis (10), the connecting rod (20), the sliding block (40) and the end effector (50), the extension bar (30) is connected with the link (20), the slide block (40) is movable along the link (20) or the extension bar (30), and the modular reconfigurable robot teaching aid is used for completing a plurality of robot configurations by selecting and connecting and combining suitable components from the chassis (10), the link (20), the extension bar (30), the slide block (40), the end effector (50), the rotating connecting piece (60) and the fixed connecting piece (70), wherein the plurality of robot configurations comprise a ball coordinate robot, a SCARA robot and a 6R robot; the chassis (10) has a first fitting hole (10a), the link (20) has a second fitting hole (20a), a third fitting hole (20b) and a first slide groove (20c), the slider (40) has a fourth fitting hole (40a), the slider (40) includes a projection (41), the slider (40) cooperates with the first slide groove (20c) through the projection (41) to realize the movement thereof along the link (20), the extension bar (30) has a second slide groove (30a), the slider (40) cooperates with the second slide groove (30a) through the projection (41) to realize the movement thereof along the extension bar (30), the end effector (50) includes a first fitting projection (501), the rotational connector (60) includes a second fitting projection (601), the rotational connector (60) has a fifth fitting hole (60a), the fixed connecting piece (70) is provided with a third matching protrusion (701), the structures of the first matching hole (10a), the second matching hole (20a), the third matching hole (20b), the fourth matching hole (40a) and the fifth matching hole (60a) are the same, the structures of the first matching protrusion (501), the second matching protrusion (601) and the third matching protrusion (701) are the same, and any matching hole can be matched with any matching protrusion; the connecting rod (20) comprises a connecting rod main body (21), a first connecting head (22) and a second connecting head (23), one end of the first connecting head (22) is fixedly connected with the connecting rod main body (21), the second connecting head (23) is detachably connected with the other end of the connecting rod main body (21), the first connecting head (22) is provided with a second matching hole (20a), the second connecting head (23) is provided with a third matching hole (20b) and a first wedge-shaped matching hole, the connecting rod main body (21) is provided with a plurality of first sliding grooves (20c) which are arranged at intervals along the length direction of the connecting rod main body (21), the other end of the connecting rod main body (21) is provided with a first wedge-shaped protrusion, and the first wedge-shaped protrusion is matched with the first wedge-shaped matching hole; one end of the extension rod (30) is provided with a second wedge-shaped groove (30b), the second wedge-shaped groove (30b) is identical to the first wedge-shaped matching hole in structure, the second wedge-shaped groove (30b) can be matched with the first wedge-shaped protrusion, the other end of the extension rod (30) is provided with a second wedge-shaped protrusion (301), the second wedge-shaped protrusion (301) is identical to the first wedge-shaped protrusion in structure, the second wedge-shaped protrusion (301) can be matched with the first wedge-shaped matching hole, and the extension rod (30) is provided with a plurality of second sliding grooves (30a) which are arranged at intervals along the length direction of the extension rod (30); the slide (40) further comprises a first slide unit (42) and a second slide unit (43), the projection (41) comprises a first rubbing strip (411) and a second rubbing strip (412), the first slider unit (42) has a first rubbing strip receiving hole (42a), the second slider unit (43) has a second rubbing strip receiving hole (43a), the first rubbing strip receiving hole (42a) is disposed opposite to the second rubbing strip receiving hole (43a), the first rubbing strip (411) is disposed in the first rubbing strip receiving hole (42a), the second rubbing strip (412) is disposed in the second rubbing strip receiving hole (43a), the first sliding block unit (42) and the second sliding block unit (43) are connected through a mortise and tenon structure to form a sliding block body (401), the fourth matching hole (40a) is arranged on the slider body (401); the slider (40) further comprises a first damping adjustment unit (44) and a second damping adjustment unit (45), the first damping adjustment unit (44) is disposed on the first slider unit (42), and the first damping adjustment unit (44) is used for adjusting the friction force between the first friction bar (411) and the first runner (20c) or the second runner (30 a); the second damping adjustment unit (45) is provided on the second slider unit (43), and the second damping adjustment unit (45) is used to adjust a frictional force between the second friction bar (412) and the first runner (20c) or the second runner (30 a).

2. The modular reconfigurable robot teaching aid according to claim 1, wherein the rotating connector (60) comprises a rotating shaft seat component (61) and a rotating shaft main body component (62), one end of the rotating shaft main body component (62) is rotatably arranged on the rotating shaft seat component (61), the other end of the rotating shaft main body component (62) is the second matching protrusion (601), and the fifth matching hole (60a) is arranged on the rotating shaft seat component (61).

3. The modular reconfigurable robot teaching aid according to claim 2, wherein the rotating connection member (60) further comprises a third damping adjustment unit (63) and a friction assembly (64), the third damping adjustment unit (63) is disposed on the rotating shaft base assembly (61), the friction assembly (64) is disposed on the third damping adjustment unit (63), and the third damping adjustment unit (63) is used for adjusting the friction force between the friction assembly (64) and the rotating shaft main body assembly (62).

4. The modular reconfigurable robot teaching aid of claim 3, wherein the spindle body assembly (62) has a first ball receiving hole (62a), a second ball receiving hole (62b), and a spindle body receiving hole (62c), the first steel ball containing hole (62a) and the second steel ball containing hole (62b) are oppositely arranged on the rotating shaft main body component (62), the rotary connecting piece (60) also comprises a first spring (65), a first steel ball (66) and a second steel ball (67), the first spring (65) is disposed in the rotation shaft main body accommodation hole (62c), the first steel ball (66) is fixedly arranged at one end of the first spring (65) and is matched with the first steel ball accommodating hole (62a), the diameter of the first steel ball (66) is larger than the bore diameter of the first steel ball accommodating hole (62 a); the second steel ball (67) is fixedly arranged at the other end of the first spring (65) and is matched with the second steel ball accommodating hole (62b), and the diameter of the second steel ball (67) is larger than the aperture of the second steel ball accommodating hole (62 b).

5. The modular reconfigurable robot teaching aid of claim 2, wherein the fixed connector (70) comprises a connector main body (71), a second spring (72), a third spring (73), a third steel ball (74), a fourth steel ball (75), a fifth steel ball (76) and a sixth steel ball (77), the two ends of the connector main body (71) are both the third matching protrusion (701), the connector main body (71) is provided with a third steel ball accommodating hole (71a), a fourth steel ball accommodating hole (71b), a fifth steel ball accommodating hole (71c), a sixth steel ball accommodating hole (71d) and a spring accommodating hole (71e), the second spring (72) and the third spring (73) are both arranged in the spring accommodating hole (71e), the third steel ball (74) is fixedly arranged at one end of the second spring (72) and is matched with the third steel ball accommodating hole (71a), the diameter of the third steel ball (74) is larger than the aperture of the third steel ball accommodating hole (71 a); the fourth steel ball (75) is fixedly arranged at the other end of the second spring (72) and is matched with the fourth steel ball accommodating hole (71b), and the diameter of the fourth steel ball (75) is larger than the aperture of the fourth steel ball accommodating hole (71 b); the fifth steel ball (76) is fixedly arranged at one end of the third spring (73) and is matched with the fifth steel ball accommodating hole (71c), and the diameter of the fifth steel ball (76) is larger than the aperture of the fifth steel ball accommodating hole (71 c); the sixth steel ball (77) is fixedly arranged at the other end of the third spring (73) and is matched with the sixth steel ball accommodating hole (71d), and the diameter of the sixth steel ball (77) is larger than the aperture of the sixth steel ball accommodating hole (71 d).

6. The modular reconfigurable robot teaching aid according to claim 2, wherein the end effector (50) comprises a hand grip (51) and an end connecting rod (52), one end of the end connecting rod (52) is connected with the hand grip (51), and the other end of the end connecting rod (52) is the first mating protrusion (501).