CN111055270A - Small-size modularization robot end holder model - Google Patents
Small-size modularization robot end holder model Download PDFInfo
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- CN111055270A CN111055270A CN201911245187.0A CN201911245187A CN111055270A CN 111055270 A CN111055270 A CN 111055270A CN 201911245187 A CN201911245187 A CN 201911245187A CN 111055270 A CN111055270 A CN 111055270A
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- 210000000078 claw Anatomy 0.000 claims description 52
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000036544 posture Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention discloses a small-sized modular robot tail end clamp holder model, which comprises a left shell, a right shell, a first adapter and a second adapter, wherein the left shell and the right shell are respectively provided with a left shell and a right shell; the left shell and the right shell are identical in structure and size and are buckled with each other to form a complete shell; a cavity is formed inside the complete shell, and a concave round hole and a convex cylinder are integrally formed on the side wall of the cavity and are used for connecting and fixing the left shell and the right shell; the upper end and the lower end of the complete shell are provided with openings, and the first adapter and the second adapter are respectively arranged at the openings at the upper end and the lower end of the complete shell and do rotary motion relative to the complete shell. The invention can be connected with other functional module models with the same adapter through the first adapter and the second adapter at two ends to assemble a modularized robot model, thereby realizing the actions with different functions and postures, being used as a robot toy, a robot configuration teaching aid or an ornamental gift and being beneficial to the popularization and the promotion of robot concepts and technologies.
Description
Technical Field
The invention relates to the technical field of robot toys, in particular to a small modular robot tail end clamp holder model.
Background
With the rapid development and wide application of the robot technology, the robot is widely concerned by the whole society, thereby arousing great interest of people, and the robot education is more and more valued. On one hand, each college and university head dispute establishes a robot engineering specialty, purchases various robot platforms, and develops robot adult education; on the other hand, robot education also starts to be low-aged, robot education is performed on children by setting up various interest classes and small-sized robot competitions, and teaching through lively activities of robots is performed through robot toy. The education of children needs proper robot teaching aids, and at present, some robot toys and small robot kits are commonly used, and the most typical is a happy high model. However, the existing robot suite and the existing robot model are actually far from the actual robot in appearance and configuration, and have a large distance from the concept and technology of the robot, so that the practical requirements of robot education of children are difficult to meet.
An important development direction of the robot technology is modularization, namely, the robot is divided into modules to carry out unit design, a robot joint or an end effector is designed into an independent and complete electromechanical unit with certain functions, and a robot system with various forms and functions can be constructed through the combined connection between the modules; in other words, the modular robot can change the degree of freedom and configuration by increasing or decreasing modules and different combinations thereof, thereby satisfying the requirements of multitasking, wide application and high flexibility. The modular design facilitates large-scale and standardized production, reduces production and maintenance costs, and is therefore of great interest. A series of robot joint modules have been developed at home and abroad. For example, ZL201010242196.7 and ZL201010242208.6 disclose a swing joint and a swing joint module, respectively, which have good performance, can meet certain requirements, and can be used for robot research and adult education.
There are many end effectors available on the market, and their actuators include translation, finger press, rotation, and the like. Typically, a conventional end effector for passively grasping fruits (patent No. CN201510146233.7) has a working mode that a push switch fixed on a grasping finger is pressed to extend one end of a switch pressing block, and three fingers are rotated by mechanical motion to grasp fruits.
The modularized reconfigurable robot is very suitable for robot innovation education due to the fact that various robot systems can be derived, and has good interestingness due to the fact that the configuration and the degree of freedom are changeable. However, the existing real robot module and modular robot are not suitable for education of children due to high technical requirements, complex structure, complex use, high cost, large volume and heavy weight.
Aiming at the defects of the existing robot toy and model and the discomfort of the existing robot module in children education, the invention combines the robot modularization and the toy modularization and discloses a tooth-engaged robot tail end execution module model. And the modules are connected into a robot model which is used as a robot toy, a robot configuration teaching aid or an ornamental gift.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a small modular robot tail end clamp holder model, all parts of the model are quickly assembled and disassembled by connecting modes such as clamping grooves, buckles, hole shafts and the like, an adapter of the tooth-meshed tail end clamp holder model can be connected to interfaces of other functional modules, the posture of the adapter can be adjusted according to the needs of a target object, and the movable clamping of objects with various specifications is realized.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a small-sized modular robot tail end clamp holder model comprises a left tooth-shaped claw, a right tooth-shaped claw, a left U-shaped base, a right U-shaped base, a front cover plate, a rear cover plate and an adapter;
the U-shaped openings of the left U-shaped base and the right U-shaped base are opposite, and the left U-shaped base and the right U-shaped base are spliced together through a hole shaft; a semicircular groove is formed in one side face of each of the left U-shaped base and the right U-shaped base, after the left U-shaped base and the right U-shaped base are spliced, the semicircular grooves in the left U-shaped base and the right U-shaped base form a circular through hole, and the adapter is installed on the circular through hole;
the front cover plate and the rear cover plate are fixed on the front side and the rear side of the spliced left U-shaped base and the spliced right U-shaped base;
the left and right tooth-shaped claws comprise claw parts, incomplete tooth sheets are integrally formed on two sides of the bottom of each claw part, and mounting round holes are formed in the centers of the tooth sheets; the left and right tooth-shaped claws are meshed with each other through the tooth sheets and matched with the short round shafts of the front and rear cover plates through the mounting round holes, so that the left and right tooth-shaped claws are fixed with the spliced left and right U-shaped bases.
Further, the left tooth-shaped claw and the right tooth-shaped claw rotate around the hole shaft so as to form the opening and closing of the tooth-shaped claws;
the inner side walls of the left tooth-shaped claw and the right tooth-shaped claw are provided with convex stripes for preventing a clamped object from falling off and rotating relatively.
Furthermore, symmetrical mounting holes are formed in the front side and the rear side of the left U-shaped base and the right U-shaped base, and are used for axially fixing and positioning the front cover plate and the rear cover plate; the left U-shaped base and the right U-shaped base are connected through symmetrical cylindrical clamping holes on the side of the U-shaped opening; the inner cavity configuration after the left and right U-shaped bases are spliced is consistent with the side shapes of the left and right tooth-shaped claws, and is used for limiting the positions of the left and right tooth-shaped claws.
Furthermore, the adapter is of a three-layer structure, and the cross section of the adapter forms an I shape; the upper boss and the lower boss form a rotary pair to realize relative rotation; the bottom of the adapter is provided with a wheel shaft mounting hole for mounting a wheel shaft; the side surface is provided with a circumferential fixed bayonet; the top is equipped with the notch opening and the convex body of equidimension, interval, supplies to carry out seamless butt joint between the adapter, realizes the connection of interface between the module through limiting displacement.
Furthermore, the semicircular groove middle part integrated into one piece of left and right U-shaped base has the screens boss, and the semicircular groove is arranged in to the upper and lower boss of adapter, screens boss card between upper and lower boss to make the adapter install on the circular through-hole of constituteing by two semicircular groove.
Furthermore, the upper part and the lower part of one side of the front cover plate and the rear cover plate are provided with cylindrical bosses, and the short circular shaft is arranged in the middle of the side of the front cover plate and the rear cover plate.
Compared with the prior art, the principle and the advantages of the scheme are as follows:
during the installation, arrange the adapter in the semicircular groove of left U-shaped base, screens boss card is between the upper and lower boss of adapter, then through the hole axle with left and right U-shaped base concatenation together, the left and right U-shaped base after the concatenation blocks the adapter, the rotary motion is made round the hole center of circular through-hole to the adapter.
Then, the left and right tooth-shaped claws are arranged on the short circular shafts of the front and rear cover plates, and the left and right tooth-shaped claws are meshed with each other through the tooth sheets;
and then, a front cover plate and a rear cover plate which are sleeved with the left tooth-shaped claw and the right tooth-shaped claw are matched with mounting holes on the front side and the rear side of the left U-shaped base and the right U-shaped base through cylindrical bosses, so that the front cover plate and the rear cover plate are fixedly connected with the left U-shaped base and the right U-shaped base.
This scheme is through the left and right tooth shape claw of meshing and can do rotary motion's adapter round the hole center of circular through-hole, can realize the operation of many gestures.
When the execution module needs to be disassembled after the operation is completed, the notch of the adapter and the convex body are axially separated, the front cover plate and the rear cover plate are disassembled along the axial direction of the left tooth-shaped claw and the right tooth-shaped claw installation round holes, and finally the left U-shaped base and the right U-shaped base are separated along two sides, so that the module can be quickly separated.
In addition, the bottom of the adapter is provided with a wheel shaft mounting hole, so that multifunctional purposes such as walking and the like can be realized.
This scheme can swiftly dismantle the module main part through multiple connected mode, can adjust the gesture as required, realizes the removal clamping to multiple specification object.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the services required for the embodiments or the technical solutions in the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a small modular robot end gripper model of the present invention;
FIG. 2 is an exploded view of a small modular robot end gripper model of the present invention;
FIG. 3 is a schematic structural diagram of a right U-shaped base in a small modular robot end gripper model according to the present invention;
FIG. 4 is a schematic structural diagram of a transfer joint in a small modular robot end gripper model according to the present invention;
fig. 5 shows a modular robot model formed by connecting a gripper model G with other models according to the embodiment of the present invention.
Reference numerals:
1-left toothed claw, 2-right toothed claw, 3-left U-shaped base, 4-right U-shaped base, 5-front cover plate, 6-rear cover plate, 7-adapter, 331-axle mounting hole, 332-convex body, 333-circumferential fixing bayonet, 334-notch, 335-upper boss and 336-lower boss.
Detailed Description
The invention will be further illustrated with reference to specific examples:
as shown in fig. 1-5, a small modular robot end gripper model comprises left and right toothed claws 1 and 2, left and right U-shaped bases 3 and 4, front and rear cover plates 5 and 6, and an adapter 7;
symmetrical mounting holes are formed in the front side and the rear side of the left U-shaped base 3 and the right U-shaped base 4, and are used for axially fixing and positioning the front cover plate 5 and the rear cover plate 6; and semicircular grooves are formed in one side surfaces of the left U-shaped base 3 and the right U-shaped base 4.
The U-shaped openings of the left U-shaped base 3 and the right U-shaped base 4 are opposite, and are spliced through symmetrical cylindrical clamping holes on the opening side of the U-shaped base; after the left and right U-shaped bases 3 and 4 are spliced, the inner cavity configuration of the bases is consistent with the side shapes of the left and right tooth- shaped claws 1 and 2, and the bases are used for limiting the positions of the left and right tooth- shaped claws 1 and 2; a circular through hole is formed by semicircular grooves on the left U-shaped base 3 and the right U-shaped base 4, and the adapter 7 is installed on the circular through hole.
The upper part and the lower part of one side of the front cover plate 5 and the rear cover plate 6 are provided with cylindrical bosses, and the short circular shaft is arranged in the middle of the side of the front cover plate 5 and the rear cover plate 6; the front cover plate 5 and the rear cover plate 6 are matched with the mounting holes of the left U-shaped base and the right U-shaped base through cylindrical bosses and are fixed on the front side and the rear side of the spliced left U-shaped base 3 and the spliced right U-shaped base 4.
The left and right tooth- shaped claws 1 and 2 comprise claw parts, incomplete tooth sheets 5 are integrally formed at two sides of the bottom of the claw parts, and a mounting round hole 6 is formed in the center of each tooth sheet 5; the left and right tooth- shaped claws 1 and 2 are meshed with each other through the tooth piece 5 and are matched with the short round shafts of the front and rear cover plates 5 and 6 through the mounting round hole 6, so that the left and right U-shaped claws are fixed with the left and right U-shaped bases 3 and 4 after being spliced. The meshed left and right tooth- shaped claws 1 and 2 rotate around the hole shaft to form the opening and closing of the tooth-shaped claws. In addition, the inner side walls of the left and right tooth- shaped claws 1 and 2 are provided with convex stripes for preventing the clamped object from falling off and rotating relatively.
The adapter 7 is of a three-layer structure, and the section of the adapter forms an I shape; the upper and lower bosses 335, 336 form a rotating pair to realize relative rotation; the bottom of the adapter 7 is provided with a wheel shaft mounting hole 331 for mounting a wheel shaft; the side surface is provided with a circumferential fixed bayonet 333; the top is equipped with the notch 334 and the convex body 332 of equidimension, interval, supplies to carry out seamless butt joint between the adapter, realizes the connection of interface between the module through limiting displacement.
Specifically, the clamping bosses are integrally formed in the middle of the semicircular grooves of the left and right U-shaped bases 3 and 4, the upper and lower bosses 335 and 336 of the adapter 7 are arranged in the semicircular grooves, and the clamping bosses are clamped between the upper and lower bosses 335 and 336, so that the adapter 7 is mounted on a circular through hole formed by the two semicircular grooves.
The specific principle is as follows:
during the installation, arrange adapter 7 in the semicircular groove of left U-shaped base 3, screens boss card is between adapter upper and lower boss 335, 336, then splices left and right U-shaped base 3, 4 together through the hole axle, and left and right U-shaped base 3, 4 after the concatenation block adapter 7, and rotary motion is made round the hole center of circular through-hole to adapter 7.
Then, the left and right tooth- shaped claws 1 and 2 are arranged on the short circular shafts of the front and rear cover plates 5 and 6, and the left and right tooth- shaped claws 1 and 2 are meshed with each other through tooth sheets;
then, the front and rear cover plates 5 and 6 sleeved with the left and right tooth- shaped claws 1 and 2 are matched with the mounting holes on the front and rear sides of the left and right U-shaped bases 3 and 4 through the cylindrical bosses, so that the front and rear cover plates are fixedly connected with the left and right U-shaped bases 3 and 4.
The multi-posture operation can be realized by the left and right meshed toothed claws 1 and 2 and the adapter 7 which can rotate around the hole center of the circular through hole.
When the execution module needs to be disassembled after the operation is completed, the groove opening 334 and the convex body 332 of the adapter 7 are axially separated, the front cover plate 5 and the rear cover plate 6 are disassembled along the axial direction of the mounting circular holes of the left tooth-shaped claw 1 and the right tooth-shaped claw 2, and finally the left U-shaped base 3 and the right U-shaped base 4 are separated along two sides, so that the module is quickly separated.
In addition, the bottom of the adapter 7 is provided with a wheel shaft mounting hole 331, so that multifunctional purposes such as walking and the like can be realized.
This embodiment can swiftly dismantle the module main part through multiple connected mode, can adjust the gesture as required, realizes the removal clamping to multiple specification object.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that variations based on the shape and principle of the present invention should be covered within the scope of the present invention.
Claims (6)
1. A small-sized modularized robot tail end clamp holder model is characterized by comprising a left tooth-shaped claw, a right tooth-shaped claw (1, 2), a left U-shaped base, a right U-shaped base (3, 4), a front cover plate, a rear cover plate (5, 6) and an adapter (7);
the U-shaped openings of the left U-shaped base (3) and the right U-shaped base (4) are opposite, and the left U-shaped base and the right U-shaped base are spliced together; a semicircular groove is formed in one side face of each of the left U-shaped base (3) and the right U-shaped base (4), after the left U-shaped base (3) and the right U-shaped base (4) are spliced, the semicircular grooves in the left U-shaped base (3) and the right U-shaped base (4) form a circular through hole, and the adapter (7) is installed on the circular through hole;
the front cover plate and the rear cover plate (5, 6) are fixed on the front side and the rear side of the spliced left U-shaped base and the spliced right U-shaped base (3, 4);
the left and right tooth-shaped claws (1 and 2) comprise claw parts, incomplete tooth sheets (5) are integrally formed on two sides of the bottom of each claw part, and a mounting round hole (6) is formed in the center of each tooth sheet (5); the left and right tooth-shaped claws (1, 2) are meshed with each other through the tooth piece (5) and matched with the short round shafts of the front and rear cover plates (5, 6) through the mounting round hole (6), so that the left and right tooth-shaped claws are fixed with the left and right U-shaped bases (3, 4) after being spliced.
2. A small modular robot end gripper model according to claim 1, characterized in that the left and right toothed claws (1, 2) rotate around the axis of the hole to form the opening and closing of the toothed claws;
the inner side walls of the left and right tooth-shaped claws (1 and 2) are provided with convex stripes for preventing the clamped object from falling off and rotating relatively.
3. The end gripper model of a small modular robot as claimed in claim 1, characterized in that the left and right U-shaped bases (3, 4) are provided with symmetrical mounting holes at the front and rear sides for axially fixing and positioning the front and rear cover plates (5, 6); the left U-shaped base (3) and the right U-shaped base (4) are connected through symmetrical cylindrical clamping holes on the side of the U-shaped opening; the inner cavity configuration of the spliced left and right U-shaped bases (3, 4) is consistent with the side shapes of the left and right tooth-shaped claws (1, 2) and is used for limiting the positions of the left and right tooth-shaped claws (1, 2).
4. A small modular robot end gripper model according to claim 1, characterized in that the adapter (7) is a three-layer structure, the cross section forms an i-shape; the upper and lower bosses (335, 336) form a rotating pair to realize relative rotation; the bottom of the adapter (7) is provided with a wheel shaft mounting hole (331) for mounting a wheel shaft; the side surface is provided with a circumferential fixed bayonet (333); the top is equipped with the notch (334) and the convex body (332) of equidimension, interval, supplies to carry out seamless butt joint between the adapter, realizes the connection of interface between the module through limiting displacement.
5. The end gripper module of claim 4, wherein the semicircular grooves of the left and right U-shaped bases (3, 4) are formed with a locking projection integrally, the upper and lower projections (335, 336) of the adapter (7) are disposed in the semicircular grooves, and the locking projection is locked between the upper and lower projections (335, 336), so that the adapter (7) is mounted on the circular through hole formed by the two semicircular grooves.
6. The end gripper module of a compact modular robot as claimed in claim 1, wherein the front and rear cover plates (5, 6) have cylindrical bosses at their upper and lower portions, and the short circular shaft is provided at the middle portion of the front and rear cover plates (5, 6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911245187.0A CN111055270A (en) | 2019-12-06 | 2019-12-06 | Small-size modularization robot end holder model |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911245187.0A CN111055270A (en) | 2019-12-06 | 2019-12-06 | Small-size modularization robot end holder model |
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| CN111055270A true CN111055270A (en) | 2020-04-24 |
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| CN201911245187.0A Pending CN111055270A (en) | 2019-12-06 | 2019-12-06 | Small-size modularization robot end holder model |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149081A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular handheld double-operating-end master robot |
| US20160361813A1 (en) * | 2015-06-09 | 2016-12-15 | Abilix Educational Robot Co., Ltd. | Screw-free assembled modular robot |
| CN207273222U (en) * | 2017-09-19 | 2018-04-27 | 佛山博文机器人自动化科技有限公司 | A kind of modularization snake-shaped robot |
| CN208392055U (en) * | 2018-03-21 | 2019-01-18 | 知行高科（北京）科技有限公司 | A kind of modular end effector of robot |
| CN211940939U (en) * | 2019-12-06 | 2020-11-17 | 广东工业大学 | Small-size modularization robot end holder model |
-
2019
- 2019-12-06 CN CN201911245187.0A patent/CN111055270A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149081A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular handheld double-operating-end master robot |
| US20160361813A1 (en) * | 2015-06-09 | 2016-12-15 | Abilix Educational Robot Co., Ltd. | Screw-free assembled modular robot |
| CN207273222U (en) * | 2017-09-19 | 2018-04-27 | 佛山博文机器人自动化科技有限公司 | A kind of modularization snake-shaped robot |
| CN208392055U (en) * | 2018-03-21 | 2019-01-18 | 知行高科（北京）科技有限公司 | A kind of modular end effector of robot |
| CN211940939U (en) * | 2019-12-06 | 2020-11-17 | 广东工业大学 | Small-size modularization robot end holder model |
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