CN111168692A - Multifunctional science and education robot - Google Patents
Multifunctional science and education robot Download PDFInfo
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- CN111168692A CN111168692A CN202010055738.3A CN202010055738A CN111168692A CN 111168692 A CN111168692 A CN 111168692A CN 202010055738 A CN202010055738 A CN 202010055738A CN 111168692 A CN111168692 A CN 111168692A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Business, Economics & Management (AREA)
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Abstract
The application provides a multi-functional science and education robot, include: the chassis mechanism comprises a base and a moving assembly which is connected with the base and is used for enabling the chassis mechanism to move on the ground; the flying mechanism comprises a fixed frame fixed on the base and a plurality of rotor wing assemblies uniformly distributed on the fixed frame in the circumferential direction; and the mechanical arm is rotationally connected with the fixed frame. The application provides a multi-functional science and education robot can be subaerial motion, can fly in the air again, and the function is abundant, both can regard as the product to use in industrial field, can regard as the teaching aid again and use in the education field. Moreover, compare in the multi-functional science and education robot of current science and education have more drive structure and mounting structure, more be favorable to the student to carry out the model and dismantle and trade and function study.
Description
Technical Field
The application belongs to the technical field of mechanical teaching aid articles for use, and more specifically relates to a multi-functional science and education robot.
Background
Along with the continuous development of multi-functional science and education robot, wheeled and crawler-type multi-functional science and education robot is very common, and the application is also comparatively extensive, no matter be industrial application fields such as automated processing field, building field, still at education application fields such as scientific education, all have multi-functional science and education robot's shadow. However, the structure and the function of the multi-functional science and education robot in the science and education field are too simple, the diversified demands of teaching aids cannot be met, and the multi-functional science and education robot cannot be used as an industrial product.
Disclosure of Invention
An object of the embodiment of this application is to provide a multi-functional science and education robot to solve the multi-functional science and education robot function singleness's of the science and education technical problem who exists among the prior art.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: provided is a multifunctional science and education robot, including:
the chassis mechanism comprises a base and a moving assembly which is connected with the base and is used for enabling the chassis mechanism to move on the ground;
the flying mechanism comprises a fixed frame fixed on the base and a plurality of rotor wing assemblies uniformly distributed on the fixed frame in the circumferential direction; and
and the mechanical arm is rotationally connected with the fixed frame.
In one embodiment, the moving assembly includes two wheel structures and a universal wheel structure, the wheel structures including a motor and a rolling wheel driven by the motor.
In one embodiment, the base comprises an upper cover plate, a lower cover plate and a plurality of supporting columns, wherein one ends of the supporting columns are fixed on the upper cover plate, and the other ends of the supporting columns are fixed on the lower cover plate; and a motor bracket is arranged between the upper cover plate and the lower cover plate, and the motor is fixed on the motor bracket.
In one embodiment, the fixing frame comprises a lower clamping plate fixed on the upper cover plate, an upper clamping plate and a plurality of radial structures, a first end of each radial structure is arranged between the lower clamping plate and the upper clamping plate, a second end of each radial structure extends to the edge of the lower cover plate, the rotor wing assembly is fixed at a second end of each radial structure, and the strut penetrates through the upper cover plate and is fixedly connected with the second end of each radial structure.
In one embodiment, a sensor for distance measurement and obstacle avoidance and a camera for image shooting are further arranged on the base.
In one embodiment, the mechanical arm comprises a rotary steering engine fixed on a fixed frame, a connecting arm assembly driven by the rotary steering engine to rotate, and a clamping jaw assembly connected to the connecting arm assembly.
In one embodiment, the connecting arm assembly comprises a first steering engine, a first rotating arm, a second steering engine, a second rotating arm, a third steering engine and a third rotating arm, wherein the first steering engine, the first rotating arm, the second rotating arm, the third rotating arm and the third rotating arm are fixed on the rotating steering engine, the fixed end of the first steering engine is fixed on the moving end of the rotating steering engine, one end of the first rotating arm is fixedly connected with the moving end of the first steering engine, the other end of the first rotating arm is fixedly connected with the moving end of the second steering engine, the fixed end of the second steering engine is fixed on one end of the second rotating arm, the other end of the second rotating arm is fixedly connected with the fixed end of the third steering engine, the moving end of the third steering engine is fixed on one end of the third rotating arm, and the other end of the third rotating arm is connected.
In one embodiment, the clamping jaw assembly comprises a fourth steering engine, a first tooth-shaped part connected to the moving end of the fourth steering engine, and a second tooth-shaped part meshed with the first tooth-shaped part, wherein the first tooth-shaped part is connected with a first clamping jaw, and the second tooth-shaped part is connected with a second clamping jaw.
In one embodiment, the clamping jaw assembly further comprises a mounting plate fixed to the fixed end of the fourth steering engine, a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the mounting plate, the other end of the first connecting rod is rotatably connected to the first clamping jaw, one end of the second connecting rod is rotatably connected to the mounting plate, and the other end of the second connecting rod is connected to the second clamping jaw; the first tooth-shaped part is provided with a first radial part formed by extending along the radial direction of the first tooth-shaped part, the first clamping jaw is connected to the first radial part, and the first radial part and the first connecting rod are arranged in parallel, so that the first radial part, the first connecting rod, the mounting plate and the first clamping jaw are enclosed to form a quadrilateral structure; the second tooth-shaped part is provided with a second radial part formed by extending along the radial direction of the second tooth-shaped part, the second clamping jaw is connected to the second radial part, and the second radial part and the second connecting rod are arranged in parallel, so that the second radial part, the second connecting rod, the mounting plate and the second clamping jaw are enclosed to form a quadrilateral structure.
In one embodiment, the jaw assembly and the connecting arm assembly are removably connected.
The application provides a multi-functional science and education robot's beneficial effect lies in: compared with the prior art, this multi-functional science and education robot of application includes chassis mechanism, flight mechanism and arm, and chassis mechanism includes the base and removes the subassembly, and the work that removes the subassembly can drive whole multi-functional science and education robot and remove, and flight mechanism is including being fixed in the mount and a plurality of rotor subassembly of base, and the arm rotates to be connected in the mount. The multifunctional science and education robot can move on the ground and fly in the air, is rich in functions, can be used in the industrial field as a product, and can be used in the education field as a teaching aid. Moreover, compare in the multi-functional science and education robot of current science and education have more drive structure and mounting structure, more be favorable to the student to carry out the model and dismantle and trade and function study, can also control chassis mechanism, flight mechanism and arm respectively, the reinforcing is interesting.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a perspective view of a multifunctional science and education robot provided in an embodiment of the present application;
fig. 2 is a perspective structural view of a chassis mechanism provided in an embodiment of the present application;
fig. 3 is a perspective structural view of a flight mechanism provided in the embodiment of the present application;
fig. 4 is a perspective structural view of a robot arm provided in an embodiment of the present application;
fig. 5 is a perspective view of a jaw assembly according to an embodiment of the present disclosure.
Wherein, in the figures, the respective reference numerals:
1-a chassis mechanism; 11-a base; 111-upper cover plate; 112-a pillar; 113-a lower cover plate; 12-a moving assembly; 121-wheel structure; 1211-motor; 1212-a rolling wheel; 122-a universal wheel configuration; 13-a camera; 14-a sensor; 15-a battery; 16-a motor support; 2-a flying mechanism; 21-a fixing frame; 211-upper splint; 212-lower clamping plate; 213-a radial structure; 22-a rotor assembly; 221-a rotor motor; 222-rotating blades; 3, a mechanical arm; 31-a rotary steering engine; 32-a connecting arm assembly; 321-a first steering engine; 322-a first rotation arm; 323-a second steering engine; 324-a second rotating arm; 325-a third steering engine; 326-third rotating arm; 33-a jaw assembly; 331-a fourth steering engine; 332-a mounting plate; 333-a first tooth; 3331-first radial portion; 3332-first connecting rod; 3333-first jaw; 334-a second toothing; 3341-second radial portion; 3342-second connecting rod; 3343-second jaw.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The multifunctional science and education robot provided by the embodiment of the application is explained.
Referring to fig. 1 to 3, the multifunctional science and education robot includes a chassis mechanism 1, a flight mechanism 2 and a mechanical arm 3, the chassis mechanism 1 can drive the whole multifunctional science and education robot to move on the ground, the flight mechanism 2 can enable the multifunctional science and education robot to fly, and the mechanical arm 3 is used for grabbing, cutting, pushing and the like. The chassis mechanism 1, the flying mechanism 2 and the mechanical arm 3 are connected in sequence. The chassis mechanism 1 comprises a base 11 and a moving assembly 12, wherein the moving assembly 12 is connected to the base 11, the moving assembly 12 enables the multifunctional science and education robot to integrally move when in work, and the moving assembly 12 can be a wheel type moving assembly 12 or a crawler type moving assembly 12. The flying mechanism 2 comprises a fixing frame 21 and a plurality of rotor assemblies 22, the fixing frame 21 is fixedly connected to the base 11, and the rotor assemblies 22 are circumferentially and uniformly distributed on the fixing frame 21. The number of the rotor assemblies 22 is not limited herein, and may be two, three, four, etc., and the rotor assemblies are circumferentially and uniformly distributed on the fixing frame 21. The mechanical arm 3 is rotatably connected to the fixed frame 21, and can optionally rotate 360 degrees relative to the fixed frame 21, so that actions can be performed in various directions of the multifunctional science and education robot.
The multi-functional science and education robot in the above-mentioned embodiment, including chassis mechanism 1, flight mechanism 2 and arm 3, chassis mechanism 1 includes base 11 and removal subassembly 12, and the work of removing subassembly 12 can drive whole multi-functional science and education robot and remove, and flight mechanism 2 is including being fixed in mount 21 and a plurality of rotor subassembly 22 of base 11, and arm 3 rotates to be connected in mount 21. The multifunctional science and education robot can move on the ground and fly in the air, is rich in functions, can be used in the industrial field as a product, and can be used in the education field as a teaching aid. Moreover, compare in the multi-functional science and education robot of current science and education have more drive structure and mounting structure, more be favorable to the student to carry out model dismantlement, function study, can also control chassis mechanism 1, flight mechanism 2 and arm 3 respectively, the reinforcing is interesting. The multifunctional science and education robot has more functions, can not only teach relevant knowledge to students according to the chassis mechanism 1, the flight mechanism 2, the mechanical arm 3 and the control system, but also disassemble all structures, is used as an entertainment product, and has wider application field.
Optionally, be equipped with on chassis mechanism 1's the base 11 and be used for the range finding and keep away the sensor 14 of barrier, the sensor of range finding can be ultrasonic sensor, keeps away the optional infrared sensor that is of barrier sensor, can make multi-functional science and education robot avoid the barrier by oneself in the motion process, can regard as to patrol and examine products such as multi-functional science and education robot, the multi-functional science and education robot of service and use. Be equipped with electrical system in the multi-functional science and education robot in this embodiment, electrical system adopts the STM32 singlechip, and accessible cell-phone app, handle etc. (all adopt 2.4GHz communication) control chassis mechanism 1, flight mechanism 2 and arm 3 respectively. And a plurality of modes, such as a control mode or an autonomous operation mode, can be set for the multifunctional science and education robot through the mobile phone app or the handle. In the autonomous operation mode, the sensor 14 can enable the multifunctional science and education robot to have an obstacle avoidance function.
Optionally, a camera 13 is further arranged on the base 11 of the chassis mechanism 1, the camera 13 is used for shooting images, and the shot images can be viewed through a terminal in communication connection with the multifunctional science and education robot.
In another embodiment of the present application, referring to fig. 2, in the chassis mechanism 1, the moving assembly 12 includes two wheel structures 121 and a universal wheel structure 122, and the wheel moving assembly 12 can make the multifunctional science and education robot move and turn faster. The two vehicle structures 121 are arranged side by side, and are a left wheel structure and a right wheel structure, respectively. The vehicle structure 121 includes a motor 1211 and a scroll wheel 1212, and the motor 1211 drives the scroll wheel 1212 to rotate, thereby moving the multi-functional science and education robot. The two scroll wheels 1212 may be controlled by two motors 1211, respectively, or share one motor 1211. The universal wheel structure 122 is used for guiding the multifunctional science and education robot, the specific structure of the universal wheel structure 122 is not limited here, and the existing universal wheels with any structures can be applied to the embodiment. A universal wheel structure 122 and two vehicle structures 121 arrange into the triangle-shaped structure, guarantee the stability of multi-functional science and education robot operation.
In another embodiment of the present application, referring to fig. 2, in the chassis mechanism 1, the base 11 includes an upper cover plate 111, a lower cover plate 113 and a plurality of pillars 112. The upper cover plate 111 and the lower cover plate 113 may be disposed in parallel, one end of the support column 112 is fixed to the lower cover plate 113, and the other end of the support column 112 is fixed to the upper cover plate 111, so that a placement space is formed between the upper cover plate 111 and the lower cover plate 113. The motor bracket 16 is disposed in the space between the upper cover plate 111 and the lower cover plate 113, the motor bracket 16 may be fixed to the upper cover plate 111 or the lower cover plate 113, and the motor 1211 is fixed to the motor bracket 16. Still be equipped with battery 15 between upper cover plate 111 and the lower cover plate 113, battery 15 is the lithium cell optionally, for this multi-functional science and education robot power supply. The electronic control system may also be placed between the upper cover plate 111 and the lower cover plate 113.
In another embodiment of the present application, referring to fig. 3, in the flying mechanism 2, the fixing frame 21 includes a lower clamping plate 212, an upper clamping plate 211 and a plurality of radial structures 213. Lower clamping plate 212 is fixed to upper cover plate 111, and upper clamping plate 211 and lower clamping plate 212 can parallel arrangement, and the first end of radial structure 213 is located between upper clamping plate 211 and lower clamping plate 212, is fixed by upper clamping plate 211 and lower clamping plate 212 centre gripping, and the second end of radial structure 213 extends to the edge setting of lower cover plate 113 outside the space that upper clamping plate 211 and lower clamping plate 212 formed. The strut 112 extends through the upper cover plate 111, the second end of the radial structure 213 is fixedly connected to the strut 112 extending through the upper cover plate 111, and the strut 112 extends through the upper cover plate 111 and supports the radial structure 213, so that the radial structure 213 is more stable and the rotor assembly 22 is more stable. The number of radial structures 213 is the same as the number of rotor assemblies 22, and each radial structure 213 has a rotor assembly 22 secured thereto.
Optionally, the rotor assembly 22 includes a rotor motor 221 and a rotary blade 222, and the rotor motor 221 is optionally a brushless high-speed motor, and when the rotation speed of the rotary blade 222 reaches a certain value, the whole multifunctional science and education robot can be driven to take off.
Alternatively, the lower clamping plate 212 is fixed to the upper cover plate 111 by a detachable connection manner such as a screw connection, so that the chassis mechanism 1 and the flying mechanism 2 are detachably connected and used in a modularized manner.
In another embodiment of the present application, referring to fig. 4, in the robot arm 3, the robot arm 3 includes a rotary actuator 31, a connecting arm assembly 32 and a clamping jaw assembly 33 connected in sequence. The rotary steering engine 31 can be detachably connected to the fixed frame 21 through bolts and the like, so that the flying mechanism 2 and the mechanical arm 3 can be detachably connected and can be used in a modularized mode. The connecting arm assembly 32 is connected to the moving end of the rotary steering engine 31, so that the connecting arm assembly 32 and the clamping jaw assembly 33 rotate along with the moving end of the rotary steering engine 31. The rotation angle of the rotary steering gear 31 can be 360 degrees, so that the connecting arm assembly 32 and the clamping jaw assembly 33 can rotate 360 degrees, and more specifically, the rotation axis of the moving end of the rotary steering gear 31 is perpendicular to the surface of the chassis mechanism 11. The jaw assembly 33 is connected to the connecting arm assembly 32, and the jaw assembly 33 is used for gripping an object.
In another embodiment of the present application, referring to fig. 3, the connecting arm assembly 32 includes a first steering gear 321, a first rotating arm 322, a second steering gear 323, a second rotating arm 324, a third steering gear 325, and a third rotating arm 326. The fixed end of the first steering engine 321 is fixed at the moving end of the rotary steering engine 31, one end of the first rotating arm 322 is fixedly connected with the moving end of the first steering engine 321, the other end of the first rotating arm 322 is fixedly connected with the moving end of the second steering engine 323, the fixed end of the second steering engine 323 is fixed at one end of the second rotating arm 324, the other end of the second rotating arm 324 is fixedly connected with the fixed end of the third steering engine 325, the moving end of the third steering engine 325 is fixed at one end of the third rotating arm 326, and the other end of the third rotating arm 326 is connected with the clamping jaw assembly 33. The rotation of the first steering engine 321 drives the first rotating arm 322 to rotate relative to the rotary steering engine 31, and the moving end of the first steering engine 321 may be perpendicular to the moving end of the rotary steering engine 31. Because the fixed end of the second steering engine 323 is fixed to the second rotating arm 324, and the moving end of the second steering engine 323 is connected to the end of the first rotating arm 322, the fixed end of the second steering engine 323 and the second rotating arm 324 are driven to rotate in opposite directions relative to the first rotating arm 322 when the moving end of the second steering engine 323 works. The direction of rotation of the moving end of the second steering engine 323 and the moving end of the first steering engine 321 may be selected to be the same. The fixed end of the third steering engine 325 is fixed to one end of the second rotating arm 324, and the moving end of the third steering engine 325 is connected to the third rotating arm 326, so that the third rotating arm 326 can rotate relative to the second rotating arm 324 by the rotation of the moving end of the third steering engine 325. In summary, the connecting arm assembly 32 can rotate relative to the flying mechanism 2, the first rotating arm 322 can rotate relative to the flying mechanism, the second rotating arm 324 can rotate relative to the first rotating arm 322, the third rotating arm 326 can rotate relative to the second rotating arm 324, and the clamping jaw assembly 33 can clamp the article, thereby forming a five-degree-of-freedom manipulator, so that the clamping jaw assembly 33 at the tail end of the manipulator can quickly clamp the article.
In another embodiment of the present application, referring to fig. 5, the jaw assembly 33 includes a fourth steering gear 331, a first toothed member 333, a second toothed member 334, a first jaw 3333, and a second jaw 3343. The fourth steering gear 331 drives the first tooth member 333 to rotate, the second tooth member 334 is engaged with the first tooth member 333, and the second tooth member 334 also rotates with the first tooth member 333. And the first clamping jaw 3333 is connected to the first tooth-shaped member 333, the second clamping jaw 3343 is connected to the second tooth-shaped member 334, and the rotation directions of the first tooth-shaped member 333 and the second tooth-shaped member 334 are opposite, so that when the fourth steering gear 331 operates, the first clamping jaw 3333 and the second clamping jaw 3343 approach to each other or move away from each other to clamp or place an object. By using the engagement of the first and second toothed members 333,334, the jaws can be controlled to move toward and away from each other simultaneously, without using a less precise mechanism such as a cylinder.
Further, referring to fig. 5, the clamping jaw assembly 33 further includes a mounting plate 332, a first connecting rod 3332 and a second connecting rod 3342. The mounting plate 332 is fixed to the stationary end of the fourth steering engine 331, and is convenient for mounting the first tooth-shaped member 333, the second tooth-shaped member 334, the first connecting rod 3332, and the second connecting rod 3342. One end of the first connecting rod 3332 is rotatably connected to the mounting plate 332, the other end of the first connecting rod 3332 is rotatably connected to the first clamping jaw 3333, one end of the second connecting rod 3342 is rotatably connected to the mounting plate 332, and the other end of the second connecting rod 3342 is connected to the second clamping jaw 3343, the first clamping jaw 3333 and the second clamping jaw 3343. The first tooth 333 has a first radial portion 3331 formed by extending along a radial direction thereof, the first clamping jaw 3333 is connected to the first radial portion 3331, the first radial portion 3331 and the first connecting rod 3332 are arranged in parallel, so that the first radial portion 3331, the first connecting rod 3332, the mounting plate 332 and the first clamping jaw 3333 are enclosed to form a quadrilateral structure, and when the first tooth 333 rotates, the first clamping jaw 3333 is rotationally connected with the first radial portion 3331 and the first connecting rod 3332, so as to form stable rotation of the first clamping jaw 3333. The second tooth member 334 has a second radial portion 3341 formed to extend in a radial direction thereof, the second clamping jaw 3343 is connected to the second radial portion 3341, the second radial portion 3341 and the second connecting rod 3342 are arranged in parallel, so that the second radial portion 3341, the second connecting rod 3342, the mounting plate 332 and the second clamping jaw 3343 enclose to form a quadrilateral structure, and when the first tooth member 333 rotates, the second clamping jaw 3343 is rotatably connected to both the second radial portion 3341 and the second connecting rod 3342, so that the second clamping jaw 3343 is stably rotated. The first jaw 3333 and the second jaw 3343 cooperate to grip an object.
Optionally, the clamping jaw assembly 33 and the connecting arm assembly 32 are detachably connected, so that the clamping jaw assembly 33 can be replaced, and the replacement is of other structures capable of achieving actions such as shearing, cutting and digging. The clamping jaw assembly 33 and the connecting arm assembly 32 adopt connecting structures such as screw connection, snap connection and the like.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A multi-functional science and education robot, characterized by comprising:
the chassis mechanism comprises a base and a moving assembly which is connected with the base and is used for enabling the chassis mechanism to move on the ground;
the flying mechanism comprises a fixed frame fixed on the base and a plurality of rotor wing assemblies uniformly distributed on the fixed frame in the circumferential direction; and
and the mechanical arm is rotationally connected with the fixed frame.
2. The multi-functional science and education robot of claim 1 wherein: the moving assembly comprises two wheel structures and a universal wheel structure, wherein the wheel structures comprise motors and rolling wheels driven by the motors.
3. The multi-functional science and education robot of claim 2 wherein: the base comprises an upper cover plate, a lower cover plate and a plurality of supporting columns, wherein one ends of the supporting columns are fixed on the upper cover plate, and the other ends of the supporting columns are fixed on the lower cover plate; and a motor bracket is arranged between the upper cover plate and the lower cover plate, and the motor is fixed on the motor bracket.
4. The multi-functional science and education robot of claim 3 wherein: the mount is including being fixed in lower plate, the punch holder and a plurality of radial structure of upper cover plate, radial structure's first end set up in between lower plate and the punch holder, radial structure's second end extends to the edge setting of lower cover plate, the rotor subassembly is fixed in radial structure's second end, the pillar passes the upper cover plate with radial structure's second end fixed connection.
5. The multi-functional science and education robot of claim 1 wherein: and the base is also provided with a sensor for distance measurement and obstacle avoidance and a camera for shooting images.
6. The multi-functional science and education robot of claim 1 wherein: the arm is including being fixed in rotatory steering wheel on the mount, by rotatory steering wheel drive rotatory connection arm subassembly and connect in connect the clamping jaw subassembly of arm subassembly.
7. The multi-functional science and education robot of claim 6 wherein: the connecting arm assembly comprises a first steering engine, a first rotating arm, a second steering engine, a second rotating arm, a third steering engine and a third rotating arm, wherein the first steering engine, the first rotating arm, the second steering engine, the second rotating arm, the third steering engine and the third rotating arm are fixed on the rotating steering engine, the fixed end of the first steering engine is fixed at the moving end of the rotating steering engine, one end of the first rotating arm is fixedly connected with the moving end of the first steering engine, the other end of the first rotating arm is fixedly connected with the moving end of the second steering engine, the fixed end of the second steering engine is fixed at one end of the second rotating arm, the other end of the second rotating arm is fixedly connected with the fixed end of the third steering engine, the moving end of the third steering engine is fixed at one end of the third rotating arm, and the other end of the.
8. The multi-functional science and education robot of claim 6 wherein: the clamping jaw assembly comprises a fourth steering engine, a first tooth-shaped part connected to the motion end of the fourth steering engine and a second tooth-shaped part meshed with the first tooth-shaped part, the first tooth-shaped part is connected with a first clamping jaw, and the second tooth-shaped part is connected with a second clamping jaw.
9. The multi-functional science and education robot of claim 8 wherein: the clamping jaw assembly further comprises a mounting plate, a first connecting rod and a second connecting rod, wherein the mounting plate, the first connecting rod and the second connecting rod are fixed at the fixed end of the fourth steering engine; the first tooth-shaped part is provided with a first radial part formed by extending along the radial direction of the first tooth-shaped part, the first clamping jaw is connected to the first radial part, and the first radial part and the first connecting rod are arranged in parallel, so that the first radial part, the first connecting rod, the mounting plate and the first clamping jaw are enclosed to form a quadrilateral structure; the second tooth-shaped part is provided with a second radial part formed by extending along the radial direction of the second tooth-shaped part, the second clamping jaw is connected to the second radial part, and the second radial part and the second connecting rod are arranged in parallel, so that the second radial part, the second connecting rod, the mounting plate and the second clamping jaw are enclosed to form a quadrilateral structure.
10. The multi-functional science and education robot of claim 6 wherein: the clamping jaw assembly is detachably connected with the connecting arm assembly.
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| CN202010055738.3A CN111168692A (en) | 2020-01-17 | 2020-01-17 | Multifunctional science and education robot |
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| CN202010055738.3A CN111168692A (en) | 2020-01-17 | 2020-01-17 | Multifunctional science and education robot |
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