CN200988222Y - Servo driven combined robot external member - Google Patents
Servo driven combined robot external member Download PDFInfo
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- CN200988222Y CN200988222Y CN 200620045339 CN200620045339U CN200988222Y CN 200988222 Y CN200988222 Y CN 200988222Y CN 200620045339 CN200620045339 CN 200620045339 CN 200620045339 U CN200620045339 U CN 200620045339U CN 200988222 Y CN200988222 Y CN 200988222Y
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- servomotor
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Abstract
The utility model relates to a combined robot kit especially relates to a servo drive combined robot kit. The technology problem which the utility model aims to solve is providing a combined robot kit with parts of fewer categories, parts of good generality, little difficulty in building, a compact and beautiful model together with a high precision of control. The utility model comprises at least one servo motor, at least one multifunctional motor frame, and/or at least one base which can be fixed on the AS-EI kit. The base comprises a base motor frame and a base shell. The advantages of the utility model lie in: 1. As the servo motor is adopted as the power source, the built model has a high precision in work. 2. The utility model has fewer categories of parts, good generality of parts, little difficulty in building and a compact and beautiful model.
Description
Technical field
The utility model relates to a kind of combined type robot external member, relates in particular to a kind of combined type robot external member of servo-drive.
Background technology
Combined type robot external member is very universal as the teaching practice instrument of each robot of school course.This external member is by designing the model that different assembling schemes can build various functions, different modeling.These models generally can be made corresponding action according to the program of design in advance under motor-driven.The student can give full play to the imagination of oneself in the process that designs a model, the knowledge that utilization was learned, and by building, the procedural learning of operation arrives machinery, electronics and robot relevant knowledge, and obtain manipulative ability, many-sided exercise such as team collaboration.
Existing domestic robot external member commonly used has happy high, intelligent fish, and the senior external members of AS-EI engineering innovation module etc. also have lasy abroad, multiple teaching, science popularization, the similar external member of extracurricular activities of being used for such as Robix.But these external members are direct current generator and drive except that Robix, at the performance mechanical arm, need loaded down with trivial details modelling and build process on the models such as mobile robot.And the model bulky complex of building out mostly is open loop control, and operation precision is not high, can not finish the accurate control of a plurality of frees degree.Though the Robix external member has also adopted servomotor control, but its Element Design is simple, function is poor, limited by part, and version yet poorness and institute's established model is not attractive in appearance, be unsuitable for expansion student thinking in the education of middle and primary schools, the basic demand of performance students ' imagination.
The utility model content
Technical problem to be solved in the utility model provides that a kind of part kind is few, part universality is strong, build that difficulty is little, compact attractive in appearance and the combined type robot external member that control accuracy is high of model, it comprises: the combined type robot external member of a cover servo-drive comprises:
At least one servomotor, described servomotor are a cuboid that has both wings, and described both wings are provided with the servomotor connecting hole, and described servomotor comprises a joint shaft, and described joint shaft is provided with the servomotor installing hole;
At least one multifunction electric frame, described motor frame is provided with motor frame connecting hole, is used for and described servomotor connecting hole coupling, also is provided with one group of motor frame linkage unit that mates with described servomotor installing hole on the described motor frame at least; And/or
At least one pedestal can be fixed on the AS-EI external member, and described pedestal comprises:
Pedestal motor frame, described pedestal motor frame is provided with pedestal connecting hole and motor frame installing hole, and described pedestal connecting hole is used for and described servomotor connecting hole coupling; And
Base shell, described base shell is provided with shell installing hole and pedestal installing hole, the former cooperates with described motor frame installing hole, be used to connect described pedestal motor frame and base shell, the latter is used for being connected with described AS-EI external member, also be provided with the pedestal through hole on the described base shell, when described base shell, described pedestal motor frame and described servomotor linked together, the joint shaft of described servomotor exposed housing by described pedestal through hole.
In above-mentioned combined type robot external member, described motor frame is synthetic by a U type link and the bracing frame one with two mutual vertical planes, and two arms of described U type link are provided with and are provided with one group of motor frame linkage unit that mates with described servomotor installing hole on the motor frame connecting hole support frame as described above at least.
In above-mentioned combined type robot external member, also comprise oblique U type rocking arm, synthetic with the brace one that is connected two arms by two arms, described two arms are equipped with at least one group of rocking arm installing hole that mates with described servomotor installing hole to the lopsidedness of brace on described two arms and the described brace.
In above-mentioned combined type robot external member, described two arms and plane, described brace place are predetermined angular.
In above-mentioned combined type robot external member, also comprise straight U type rocking arm, synthetic by two arms with the brace one that is connected two arms, be the U type, be equipped with at least one group of rocking arm installing hole that mates with described servomotor installing hole on two arms of described straight U type rocking arm and the described brace.
In above-mentioned combined type robot external member, also comprise the strip type connector, described strip type connector is provided with the strip type connector installing hole of at least two groups and described servomotor installing hole coupling.
In above-mentioned combined type robot external member, also comprise X type support, be the X type, on described support, be provided with the X type support installing hole of at least four groups and described servomotor installing hole coupling.
Advantage of the present utility model is: 1. because the employing servomotor serves as power source, so the model operation precision height of building out.2. the part kind of the utility model design is few, part universality strong, build that difficulty is little, model is compact attractive in appearance.
Description of drawings
Below in conjunction with accompanying drawing the specific embodiment of the present utility model is described in further detail, wherein:
Figure 1A is the schematic diagram according to the multifunction electric frame of an embodiment of the present utility model;
Figure 1B is the schematic diagram of an embodiment of the combination of Figure 1A and servomotor;
Fig. 2 A is the schematic diagram according to the oblique U type rocking arm of an embodiment of the present utility model;
Fig. 2 B is the side schematic view according to the oblique U type rocking arm of an embodiment of the present utility model;
Fig. 2 C is the schematic diagram of an embodiment of the combination of Figure 1B and Fig. 2 A;
Fig. 2 D is the schematic diagram of another embodiment of the combination of Figure 1B and Fig. 2 A;
Fig. 3 A is the schematic diagram according to the straight U type rocking arm of an embodiment of the present utility model;
Fig. 3 B is the schematic diagram of an embodiment of the combination of Figure 1B and Fig. 3 A;
Fig. 3 C is the schematic diagram of another embodiment of the combination of Figure 1B and Fig. 3 A;
Fig. 4 A is the schematic diagram according to the strip type connector of an embodiment of the present utility model;
Fig. 4 B is the schematic diagram of an embodiment of the combination of Figure 1B and Fig. 4 A;
Fig. 4 C is the schematic diagram of another embodiment of the combination of Figure 1B and Fig. 4 A;
Fig. 5 A is the schematic diagram according to the X type support of an embodiment of the present utility model;
Fig. 5 B is the schematic diagram of an embodiment of the combination of Figure 1B and Fig. 5 A;
Fig. 6 A is the schematic diagram according to the base shell of an embodiment of the present utility model;
Fig. 6 B is the schematic diagram according to the pedestal motor frame of an embodiment of the present utility model;
Fig. 6 C is the schematic diagram of an embodiment of the pedestal that combines of Fig. 6 A and Fig. 6 B;
Fig. 6 D is the schematic diagram of an embodiment of pedestal and the combination of AS-EI external member;
Fig. 7 illustrates the AS-EI joint pin;
Fig. 8 is the schematic diagram of the simple and mechanical hand that combines of the embodiment according to the utility model part;
Fig. 9 is the schematic diagram of the mechanical hand of ladling out coffee that combines of the embodiment according to the utility model part;
Figure 10 is the schematic diagram of the apery dance robot that combines of the embodiment according to the utility model part;
Figure 11 is the schematic diagram of the snake robot that combines of the embodiment according to the utility model part;
Figure 12 is the schematic diagram of the Four-feet creeping robot that combines of the embodiment according to the utility model part;
Figure 13 is the schematic diagram of the anthropomorphic robot that combines of the embodiment according to the utility model part;
Figure 14 is the schematic diagram of the six sufficient spiders that combine of the embodiment according to the utility model part.
The specific embodiment
The utility model adopts servomotor to serve as power source.Micro servo motor is actually a power plant module that comprises power source (direct current generator), closed control circuit, deceleration system.This module can substitute on function needs the manual motor one gear-box dynamical system of building of student in most of in the past robot suit, build burden thereby simplified a part.Simultaneously, adopt another purpose of servomotor to be to attempt to allow the student in build process, understand notions such as standard component, modular system, and association concentrates on energy and builds novelty, model cleverly, rather than energy expended pondering uninteresting simple question such as gear ratio.
See also Figure 1B, Figure 1B is the schematic diagram of an embodiment of the combination of Figure 1A and servomotor.As shown in the figure, servomotor 8 is a cuboid that has both wings 81 and 82, both wings 81 and 82 are provided with servomotor connecting hole (position of inserting for screw 83 among the figure), servomotor 8 also comprises a joint shaft 84, joint shaft 84 is provided with servomotor installing hole 85, and it is that four apertures are around a macropore.
Because micro servo motor profile standardization, for autgmentability and the ease for use that improves external member, the utility model is not made special modification to existing profile, but utilizes the own connecting hole of servomotor to design 6 kinds of that can work in coordination and the profile function is different parts.Below we are described each part.
See also Figure 1A-1B earlier, Figure 1A is the schematic diagram according to the multifunction electric frame of an embodiment of the present utility model.
Multifunction electric frame 1 provides support and has been connected expansion for servomotor 8, and it is synthetic by a U type link 11 and bracing frame 12 one with two mutual vertical planes.Respectively be provided with two motor frame connecting holes 111 on two arms of U type link 11, be used for and servomotor connecting hole (position that Figure 1B inserts for screw 83) coupling, bracing frame 12 is provided with the motor frame linkage unit 121 of many groups and servomotor installing hole 85 couplings, be presented as staggered macropore and aperture on the ad-hoc location that is positioned at side and bottom surface of bracing frame 12 in the present embodiment, these motor frame linkage units 121 can be used to interconnecting between part, also can be used as the axis hole of rotation and the joint shaft 84 of servomotor and form the joint driver module.Shown in Figure 1B, four motor frame connecting holes 111 on four servomotor connecting holes of servomotor 8 (position of inserting for screw 83 among Figure 1B) and the motor frame 1 on two galianconism are complementary, and by screw-nut 13 servomotor 8 and multifunction electric frame 1 are fastenedly connected.
Now see also Fig. 2 A-2B.Fig. 2 A is the schematic diagram according to the oblique U type rocking arm of an embodiment of the present utility model; Fig. 2 B is the side schematic view according to the oblique U type rocking arm of an embodiment of the present utility model.
This part is the important structure part in the external member, and as shown in the figure, tiltedly U type rocking arm 2 is synthetic with brace 23 one that are connected two arms by two arm 21-22, and the design of U type makes it pass through screw can form the joint with servomotor joint shaft 84 easily.Two arm 21-22 are all to the lopsidedness of brace 23, in the present embodiment, two arm 21-22 and plane, described brace place are 62 ° (shown in Fig. 2 B), and 62 ° inclination angle had both increased the manifestation mode in joint, also make the model of building break away from horizontal flat vertical stiff moulding.Be equipped with one group of rocking arm installing hole 211,221 and 231 that mates with servomotor installing hole 85 (as Figure 1B) on two arms 21,22 and the brace 23, wherein, installing hole 231 provides the space for the expansion in joint.See also Fig. 2 C-2D again, Fig. 2 C is the schematic diagram of an embodiment of the combination of Figure 1B and Fig. 2 A; Fig. 2 D is the schematic diagram of another embodiment of the combination of Figure 1B and Fig. 2 A.Above-mentioned two figure for example understand the partial function of oblique U type rocking arm 2.
Introduce the part straight U type rocking arm 3 similar below with oblique U type rocking arm 2.See also Fig. 3 A, Fig. 3 A is the schematic diagram according to the straight U type rocking arm of an embodiment of the present utility model.As shown in the figure, straight U type rocking arm 3 and the oblique difference of U type rocking arm 2 are that the angle on the plane at two arms 31,32 of straight U type rocking arm 3 and brace 33 places is 90 °, its both arms 31 and 32 shorter and smaller than the both arms 21 and 22 of oblique U type rocking arm 2, can make that the model of building is compact more, directly alleviated the motor burden and tiltedly U type rocking arm form complementation.Now see also Fig. 3 B and Fig. 3 C, Fig. 3 B is the schematic diagram of an embodiment of the combination of Figure 1B and Fig. 3 A; Fig. 3 C is the schematic diagram of another embodiment of the combination of Figure 1B and Fig. 3 A.Above-mentioned two figure for example understand the partial function of straight U type rocking arm 3.
Then see also Fig. 4 A, Fig. 4 A is the schematic diagram according to the strip type connector of an embodiment of the present utility model.Strip type connector 4 among Fig. 4 A is the important structure parts in the external member, strip type connector 4 is provided with the strip type connector installing hole 41-43 of at least three groups and servomotor installing hole 85 (shown in Figure 1B) coupling, installing hole 41-43 can combine by screw and servomotor joint shaft 84, as the joint action part, the expansion that installing hole 41-43 also can be structure provides the space, as the connector of two different parts.Now see also Fig. 4 B and Fig. 4 C, Fig. 4 B is the schematic diagram of an embodiment of the combination of Figure 1B and Fig. 4 A; Fig. 4 C is the schematic diagram of another embodiment of the combination of Figure 1B and Fig. 4 A.Above-mentioned two figure for example understand the partial function of strip type connector 4.
Introduce X type trestle component then.See also Fig. 5 A, Fig. 5 A is the schematic diagram according to the X type support of an embodiment of the present utility model.X type support 5 among the figure is the X type, on the arm of support 5 and the infall of each arm be provided with five groups of X type support installing hole 51-55 with servomotor installing hole 85 (shown in Figure 1B) coupling.This part is designed to as model main body or pedestal, and the installing hole 51-55 of symmetrical distribution can be connected with other parts by screw.See also Fig. 5 B, Fig. 5 B is the schematic diagram of an embodiment of the combination of Figure 1B and Fig. 5 A, and it has illustrated the partial function of X type trestle component 5.
Last part is a pedestal.Please be simultaneously referring to Fig. 6 A-6D, Fig. 6 A is the schematic diagram according to the base shell of an embodiment of the present utility model; Fig. 6 B is the schematic diagram according to the pedestal motor frame of an embodiment of the present utility model; Fig. 6 C is the schematic diagram of an embodiment of the pedestal that combines of Fig. 6 A and Fig. 6 B; Fig. 6 D is the schematic diagram of an embodiment of pedestal and the combination of AS-EI external member.
Certainly, be not only the model of building could be connected on the AS-EI external member 9 by pedestal 6 parts.See also Fig. 7, Fig. 7 illustrates the AS-EI joint pin.This part is designed to be connected with the AS-EI external member, can be fixed on above-mentioned 6 kinds of parts on the square hole of AS-EL by it, thereby make a lot of models directly to be stood by pedestal.
For above-mentioned part, metallic plate punching or the manual metal plate system that can choose suitable thickness in processing form, but form for the rational material of intensity also integrally casting.On connected mode, because above-mentioned part is equipped with locating hole, therefore when part need connect, can adopt the fastening means of screw-nut, also can design specific part and fix according to locating hole.
Now please refer to Fig. 8-Figure 14, these models are to be built by different permutation and combination by above-mentioned 6 kinds of parts.
Fig. 8 is the schematic diagram of the simple and mechanical hand that combines of the embodiment according to the utility model part.Fig. 9 is the schematic diagram of the mechanical hand of ladling out coffee that combines of the embodiment according to the utility model part.Figure 10 is the schematic diagram of the apery dance robot that combines of the embodiment according to the utility model part.Figure 11 is the schematic diagram of the snake robot that combines of the embodiment according to the utility model part.
Figure 12 is the schematic diagram of the Four-feet creeping robot that combines of the embodiment according to the utility model part.Figure 13 is the schematic diagram of the anthropomorphic robot that combines of the embodiment according to the utility model part.Figure 14 is the schematic diagram of the six sufficient spiders that combine of the embodiment according to the utility model part.
No matter should be understood that in the foregoing description that the utility model provides, be that the introduction of the model of building to the introduction of part or to part is only given an example for convenience of description, and it is not the restriction to scope of the present utility model.For the general personnel in present technique field, can under the situation that does not break away from spirit of the present utility model, make many variations.For example, tiltedly the gradient of two arm 21-22 of U type rocking arm 2 can change as required; The number of installing hole all can be done additions and deletions as required on the kind of part of the present utility model, each part and the part.Therefore, the scope advocated of the utility model should be as the criterion so that the claim in claims is described.
Claims (11)
1. the combined type robot external member of a cover servo-drive is characterized in that, comprising:
At least one servomotor, described servomotor are a cuboid that has both wings, and described both wings are provided with the servomotor connecting hole, and described servomotor comprises a joint shaft, and described joint shaft is provided with the servomotor installing hole;
At least one multifunction electric frame, described motor frame is provided with motor frame connecting hole, is used for and described servomotor connecting hole coupling, also is provided with one group of motor frame linkage unit that mates with described servomotor installing hole on the described motor frame at least; And/or
At least one pedestal can be fixed on the AS-EI external member, and described pedestal comprises:
Pedestal motor frame, described pedestal motor frame is provided with pedestal connecting hole and motor frame installing hole, and described pedestal connecting hole is used for and described servomotor connecting hole coupling; And
Base shell, described base shell is provided with shell installing hole and pedestal installing hole, the former cooperates with described motor frame installing hole, be used to connect described pedestal motor frame and base shell, the latter is used for being connected with described AS-EI external member, also be provided with the pedestal through hole on the described base shell, when described base shell, described pedestal motor frame and described servomotor linked together, the joint shaft of described servomotor exposed housing by described pedestal through hole.
2. combined type as claimed in claim 1 robot external member, it is characterized in that, described motor frame is synthetic by a U type link and the bracing frame one with two mutual vertical planes, and two arms of described U type link are provided with and are provided with one group of motor frame linkage unit that mates with described servomotor installing hole on the motor frame connecting hole support frame as described above at least.
3. combined type as claimed in claim 1 robot external member, it is characterized in that, also comprise oblique U type rocking arm, synthetic by two arms with the brace one that is connected two arms, described two arms are equipped with at least one group of rocking arm installing hole that mates with described servomotor installing hole to the lopsidedness of brace on described two arms and the described brace.
4. combined type as claimed in claim 3 robot external member is characterized in that described two arms and plane, described brace place are predetermined angular.
5. as claim 1,2,3 or 4 described combined type robot external members, it is characterized in that, also comprise straight U type rocking arm, synthetic by two arms with the brace one that is connected two arms, be the U type, be equipped with at least one group of rocking arm installing hole that mates with described servomotor installing hole on two arms of described straight U type rocking arm and the described brace.
6. as claim 1,2,3 or 4 described combined type robot external members, it is characterized in that also comprise the strip type connector, described strip type connector is provided with the strip type connector installing hole of at least two groups and described servomotor installing hole coupling.
7. as claim 1,2,3 or 4 described combined type robot external members, it is characterized in that, also comprise X type support, be the X type, on described support, be provided with the X type support installing hole of at least four groups and described servomotor installing hole coupling.
8. combined type as claimed in claim 5 robot external member is characterized in that, also comprises the strip type connector, and described strip type connector is provided with the strip type connector installing hole of at least two groups and described servomotor installing hole coupling.
9. combined type as claimed in claim 5 robot external member is characterized in that, also comprises X type support, is the X type, is provided with the X type support installing hole of at least four groups and described servomotor installing hole coupling on described support.
10. combined type as claimed in claim 6 robot external member is characterized in that, also comprises X type support, is the X type, is provided with the X type support installing hole of at least four groups and described servomotor installing hole coupling on described support.
11. combined type as claimed in claim 8 robot external member is characterized in that, also comprises X type support, is the X type, is provided with the X type support installing hole of at least four groups and described servomotor installing hole coupling on described support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620045339 CN200988222Y (en) | 2006-08-31 | 2006-08-31 | Servo driven combined robot external member |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620045339 CN200988222Y (en) | 2006-08-31 | 2006-08-31 | Servo driven combined robot external member |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200988222Y true CN200988222Y (en) | 2007-12-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620045339 Expired - Fee Related CN200988222Y (en) | 2006-08-31 | 2006-08-31 | Servo driven combined robot external member |
Country Status (1)
| Country | Link |
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| CN (1) | CN200988222Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104108099A (en) * | 2013-04-22 | 2014-10-22 | 焦浩 | Extensible multi-degree-of-freedom explosive ordnance disposal robot |
-
2006
- 2006-08-31 CN CN 200620045339 patent/CN200988222Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104108099A (en) * | 2013-04-22 | 2014-10-22 | 焦浩 | Extensible multi-degree-of-freedom explosive ordnance disposal robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: SHANGHAI FUTURE PARTNER ROBOTS CO., LTD. Free format text: FORMER NAME: SHANGHAI GRANDAR XPARTNER ROBOT CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 200233, No. 1122 North Qinzhou Road, Shanghai, 90 11F Patentee after: Shanghai xPartner Robotics Co., Ltd. Address before: 200233, No. 1122 North Qinzhou Road, Shanghai, 90 11F Patentee before: Shanghai Grandar Robotics Co., Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Servo driven combined robot external member Effective date of registration: 20101230 Granted publication date: 20071212 Pledgee: Shanghai, Xuhui, Company limited by guarantee Pledgor: Shanghai xPartner Robotics Co., Ltd. Registration number: 2010990001035 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20120221 Granted publication date: 20071212 Pledgee: Shanghai, Xuhui, Company limited by guarantee Pledgor: Shanghai xPartner Robotics Co., Ltd. Registration number: 2010990001035 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071212 Termination date: 20150831 |
|
| EXPY | Termination of patent right or utility model |