CN218488394U

CN218488394U - Robot body part capable of being regularly expanded and body mechanism

Info

Publication number: CN218488394U
Application number: CN202222368533.8U
Authority: CN
Inventors: 黄威; 张丽
Original assignee: Tianma Chenggong Beijing Education Technology Co ltd
Current assignee: Tianma Chenggong Beijing Education Technology Co ltd
Priority date: 2022-09-06
Filing date: 2022-09-06
Publication date: 2023-02-17
Anticipated expiration: 2032-09-06

Abstract

The application provides a robot body part and a body mechanism capable of being regularly expanded, wherein the body part is used for installing an auxiliary part of a robot, and the body part is a regular polygon part; arc notches are formed in the vertex angles of the regular polygonal part, and a plurality of arc notches can be combined to form a combined through hole for a fastening piece to pass through; a connecting through hole for a fastener to pass through is formed in the regular polygon part close to the arc notch; the regular polygon part is provided with a plurality of holes for being fixedly inserted with the auxiliary piece. This application is through inciting somebody to action the organism part sets up to regular polygon, makes the organism part can effectively reduce the construction degree of difficulty following symmetry and firm rule down, and easy nimble, the extension to still keep symmetry and fastness.

Description

Regularly-expandable robot body part and body mechanism

Technical Field

The utility model relates to the technical field of robot, especially, relate to a but robot organism part and organism mechanism of rule extension.

Background

The machine body structure and the mechanical transmission system jointly form a robot body, the machine body structure is used as a supporting platform for bearing other functional systems of the robot, therefore, the machine body structure needs to be constructed according to certain rules including but not limited to symmetry, firmness and easy expansion, so that the balance and stability of the robot are guaranteed, and smooth movement of the robot is facilitated. At present, the body structure of the robot body for teaching in primary and secondary schools is mainly divided into three types according to the implementation mode: the first is a body structure which is integrally fixed and formed; the second type is a machine body structure formed by adopting a mortise-tenon joint mode; the third is a machine body structure formed by adopting a threaded connection mode. The three body structures of the robot have corresponding teaching applicability, but have obvious defects.

The integrated fixed and formed body structure does not support change or expansion generally, and the change or expansion of the body structure changes the installation position of the functional module, so that the functional module cannot be installed in place, and the integrated fixed and formed body structure has the defect of difficult change and difficult expansion, thereby limiting the function expansion and innovation improvement of the constructed robot.

The organism structure that adopts mortise-tenon joint mode to constitute is applied to plastics and is pieced together education robot field more, and the organism structure that adopts threaded connection mode to constitute is applied to metal equipment education robot field more. Whether the body structure is constructed in a mortise and tenon mode or in a thread mode, the essence of the body structure is the same, a certain number of parts are adopted, and the body structure is constructed by connecting the parts according to the rules of firmness, symmetry and the like.

The machine body structure of the supporting robot constructed by adopting the tenon-and-mortise or threaded connection mode has the defect of difficult expansion, the number of parts required when the machine body structure is constructed is large, and the balance stability of the machine body structure formed by more connecting parts is poorer, so the balance stability and the motion fluency of the robot can be influenced by the tenon-and-mortise or threaded connection mode.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a but robot organism part and organism mechanism of rule extension to solve the poor problem of robot organism mechanism stability and scalability difference.

Based on the above purpose, the utility model provides a robot body part capable of being regularly expanded, which is used for installing an auxiliary part of a robot and is a regular polygon part;

arc notches are formed in the vertex angles of the regular polygonal part, and a plurality of arc notches can be combined to form a combined through hole for a fastening piece to pass through;

a connecting through hole for a fastener to pass through is formed in the regular polygon part close to the arc notch;

the regular polygon part is provided with a plurality of holes for being fixedly inserted with the auxiliary piece.

Further, regular polygon part is regular hexagon part, and the radian of the circular arc breach of its apex angle department is 120, is close to every circular arc breach department is equipped with two connect the through-hole, connect the through-hole and be circular, two connect the through-hole for its correspond the angular bisector symmetry setting of apex angle.

Furthermore, the holes in the regular hexagon part are elongated holes, the elongated holes are located on the inner side of the edge of the regular hexagon part and are parallel to the edge, and the elongated holes are matched with the auxiliary pieces to penetrate through the elongated holes, so that the auxiliary pieces are fixedly inserted into the machine body part.

Furthermore, the holes in the regular hexagon part are round-corner rectangular holes, and the round-corner rectangular holes are two and are symmetrically arranged relative to a central line of the regular hexagon part.

Furthermore, the holes in the regular hexagon part are round holes, and the round holes are symmetrically arranged relative to a central line of the regular hexagon part.

Furthermore, regular polygon part is square part, and the radian of the circular arc breach of its apex angle department is 90, is close to every circular arc breach department is equipped with one connect the through-hole, connect the through-hole and be the arc hole, connect the through-hole for its correspond the angular bisector symmetry setting of apex angle.

Furthermore, the holes in the square part comprise a flange hole and a plurality of round holes, the flange hole is located in the middle of the square part, and the round holes are uniformly arranged around the flange hole.

Furthermore, the regular polygon part is a regular triangle part, the radian of the arc notch at the vertex angle is 60 degrees, one connecting through hole is arranged at the position close to each arc notch, the connecting through hole is circular, and the circle center of the connecting through hole is positioned on the angle bisector of the corresponding vertex angle; the holes in the regular triangle part are symmetrically arranged along an axis of the regular triangle part.

Further, when the auxiliary member is a flange, the hole in the middle of the regular triangle part is a flange hole, and the flange hole is used for connecting the flange.

The application still provides a but robot body mechanism of rule extension, include the connecting piece and as above the robot body part of a but rule extension, be equipped with on the connecting piece with the first through-hole of combination through-hole adaptation, just first through-hole periphery be equipped with the second through-hole of connecting hole adaptation, the second through-hole is equipped with a plurality ofly, the fastener passes and corresponds the setting combination through-hole with first through-hole and correspond the setting connecting hole with the second through-hole is in order that fixed connection is a plurality of in the plane the body part.

From the above, can see out, the utility model provides a pair of but robot body part and organism mechanism of rule extension wherein, but through setting up the body part into the close regular polygon structure who spreads in plane for but it can rule extension be for the organism structure who accords with requirements such as robot symmetry, just be equipped with on the body part a plurality of holes can satisfy under the principle of symmetry with the auxiliary member is connected, makes the constitution the organism structure both satisfies scalability, possesses the good function of stability again. The machine body part can effectively reduce the construction difficulty under the condition of following the symmetry and firmness rules, is easy, flexible and expandable, and still keeps symmetry and firmness.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or 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 regularly expandable robot body part according to an embodiment of the present invention, which is a regular hexagon part;

fig. 2 is a schematic structural diagram of a robot body part capable of regular expansion according to an embodiment of the present invention, which is a square part;

fig. 3 is a schematic structural diagram of the robot body component capable of regularly expanding according to the embodiment of the present invention, which is a regular triangle component;

fig. 4 is a schematic structural diagram of a robot body structure capable of regularly expanding according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a robot body structure capable of regular expansion according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a connecting member according to an embodiment of the present invention.

In the figure: 01. a body part; 1. a circular arc notch; 2. a connecting through hole; 3. a strip-shaped hole; 4. a rounded rectangular hole; 5. a round hole; 6. a flange hole; 61. a large through hole; 62. a small through hole; 7. a connecting member; 71. a first through hole; 72. a second through hole; 8. a body mechanism; 9. and combining the through holes.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings.

It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present invention should have the ordinary meaning as understood by those having ordinary skill in the art to which the present application belongs. As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

One or more embodiments of the present application provide a robot body part and a body structure capable of rule extension, which can satisfy the principle of symmetry, so that the body structure can implement rule extension.

In the following, the technical solution of one or more embodiments of the present invention will be described in detail by using specific embodiments, as shown in fig. 1, 2 and 3, a robot body part that can be regularly expanded, wherein the body part 01 is used to mount an auxiliary of a robot, the body part 01 is a regular polygon part, and a plurality of the body parts 01 can be densely paved on a plane when combined together.

The apex angle department of regular polygon part is equipped with circular arc breach 1, and is a plurality of circular arc breach 1 combination can form the combination through-hole 9 that supplies the fastener to pass, and is a plurality of when organism part 01 was densely paved on the plane, a plurality of that press close to each other circular arc breach 1 on the organism part 01 apex angle butt each other forms combination through-hole 9.

When the fastener is provided with a bolt, the tail part of the bolt penetrates through the combined through hole 9, the head part of the bolt is attached to the regular polygon parts forming the combined through hole 9 and cannot penetrate through the combined through hole 9, the tail part of the bolt is screwed and fixed by a nut, and the regular polygon parts are connected together under the connecting action of the bolt.

Regular polygon part is close to circular arc breach 1 department is equipped with the connect the via hole 2 that supplies the fastener to pass, connect the via hole 2 with combination through-hole 9 all supplies the fastener passes, and it is a plurality of to exert fixed connection regular polygon part's effect.

The regular polygon part is provided with a plurality of holes for being fixedly connected with the auxiliary piece in an inserting mode, so that the regular polygon part is connected with the auxiliary piece and has an expandable function.

The machine body part 01 can effectively reduce the construction difficulty under the condition of following the symmetry and firmness rules, is easy, flexible and expandable, and still keeps symmetry and firmness.

In some embodiments, as shown in fig. 1, the regular polygon part is a regular hexagon part, the radian of the arc notch 1 at the vertex angle is 120 °, and is close to each arc notch 1, two connecting through holes 2 are provided, each connecting through hole 2 is circular, and two connecting through holes 2 are symmetrically arranged relative to the corresponding angular bisector of the vertex angle, when the regular polygon part is a regular hexagon part, the angle of the vertex angle is 120 °, correspondingly, when 3 vertex angles of the regular hexagon part are close together, the angle of three vertex angles is 360 °, and just one circular combined through hole 9 is formed, so that the fastener passes through. The connecting through holes 2 and the holes in the regular hexagon part are uniformly arranged, so that the regular hexagon part meets the symmetry principle.

In some embodiments, the holes on the regular hexagon part are elongated holes 3, the elongated holes 3 are located inside edges of the regular hexagon part and are parallel to the edges, and the elongated holes 3 are used for the auxiliary member adapted to the elongated holes 3 to pass through, so that the auxiliary member is inserted and fixed on the machine body part 01. Rectangular shape hole 3 evenly sets up and makes regular hexagon part satisfies the symmetry principle, can insert unified height in rectangular shape hole 3 and rather than the adaptation auxiliary member (for example curb plate), it covers another again to go up regular hexagon part makes the other end of auxiliary member (for example curb plate) inserts on this another shown regular hexagon part rectangular shape hole 3 will again the fastener passes two connect the through-hole 2 that corresponds on the regular hexagon part, with two regular hexagon part fixed connection forms six cylinders, and its inside can install circuit module or other modules that need the protection. The regular hexagon meets the requirement of regular expansion of the body mechanism 8 which constitutes the robot.

In some embodiments, the holes on the regular hexagon part are rounded rectangular holes 4, two rounded rectangular holes 4 are provided and are symmetrically arranged relative to a central line of the regular hexagon part, so that the regular hexagon part satisfies the symmetry principle, and the rounded rectangular holes 4 are large and can be used for inserting cables, so that the cables can pass through conveniently.

In some embodiments, the holes of the regular hexagon part are round holes 5, and a plurality of round holes 5 are symmetrically arranged relative to a central line of the regular hexagon part. The round hole 5 can be inserted with the auxiliary member (such as round rod) matched with the round hole to form a support structure for supporting and connecting other objects (such as acrylic plates).

In some embodiments, as shown in fig. 2, the regular polygon part is a square part, the radian of the arc notch 1 at the vertex angle is 90 °, one of the connection through holes 2 is arranged near each arc notch 1, the connection through hole 2 is an arc-shaped hole, and the connection through holes 2 are symmetrically arranged relative to the angle bisector of the corresponding vertex angle. Correspondingly, 4 circular arc breach 1 on the square part links together and can form the combination through-hole 9 that supplies the fastener to pass through, connect through-hole 2 for the installation that the fastener can be convenient for in the arc hole. The holes and the connecting through holes 2 in the square parts are uniformly arranged, so that the square parts meet the requirement of forming the symmetry required by the robot.

In some embodiments, the holes of the square part include a flange hole 6 and a plurality of round holes 5, the flange hole 6 is located in the middle of the square part, and the round holes 5 are uniformly arranged around the flange hole 6. When the auxiliary member is a flange, the flange hole 6 can be connected with the flange, the circular holes 5 can be connected with other auxiliary members, so that the square part can still meet the symmetry when being connected with different auxiliary members, and the rule-expandable principle is met.

In some embodiments, as shown in fig. 3, the regular polygon part is a regular triangle part, the radian of the arc notch 1 at the vertex angle is 60 °, one connecting through hole 2 is arranged near each arc notch 1, the connecting through hole 2 is circular, and the center of the connecting through hole 2 is located on the angle bisector of the corresponding vertex angle; the holes in the regular triangle part are symmetrically arranged along an axis of the regular triangle part. Correspondingly, the combined through holes 9 can be formed when the circular arc notches 1 on the 6 regular triangle parts are sequentially attached, the holes on the regular triangle parts meet the symmetry principle, so that the regular triangle parts meet the principle of regular expansion, compared with the regular hexagon parts and the square parts, only one symmetry axis of the regular triangle parts is needed, when the regular triangle parts are used for forming the machine body mechanism 8 of the robot, the machine body mechanism 8 formed by the regular triangle parts needs to be installed according to the symmetry axis, and the symmetry principle is met.

In some embodiments, when the auxiliary member is a flange, the hole in the middle of the regular triangle part is a flange hole 6, and the flange hole 6 is used for connecting the flange. The flange holes 6 and the other holes of the regular triangle part are symmetrically arranged along an axis of the regular triangle part.

Regular triangle part with on the square part flange hole 6 structure is the same, flange hole 6 includes a big hole and around its eight little holes that evenly set up, wherein four little holes for the axis is located 12 points, 3 points, 6 points and 9 point directions, is used for connecting the steering wheel ring flange, and other four little hole are located the intermediate position of above-mentioned four little holes respectively, and connect and form the square structure, are used for connecting the gear motor ring flange.

The application still provides a but robot body mechanism of rule extension, as shown in fig. 4 and 5, include connecting piece 7 and as above a but robot body part 01 of rule extension, as shown in fig. 6, be equipped with on connecting piece 7 with the first through-hole 71 of combination through-hole 9 adaptation, just first through-hole 71 periphery be equipped with the second through-hole 72 of connecting hole 2 adaptation, second through-hole 72 is equipped with a plurality ofly, the fastener passes and corresponds the setting combination through-hole 9 with first through-hole 71 and correspond the setting connecting hole 2 with second through-hole 72 is with it is a plurality of in a plane fixed connection body part 01. The fastening piece passes through the combined through hole 9 and the first through hole 71, connects a plurality of the machine body parts 01 forming the combined through hole 9 together, and the fastening piece passes through the second through hole 72 and the connecting through hole 2, fixes the connecting piece 7 and the machine body parts 01, so that the machine body parts 01 cannot rotate around the fastening piece passing through the combined through hole 9 and the first through hole 71, and the machine body mechanism 8 formed by combining a plurality of the machine body parts 01 is more stable.

In some embodiments, two opposite second through holes 72 of the connecting member 7 are waist-shaped holes, and when the fastening member passes through the second through holes 72 and the connecting through holes 2, the second through holes 72 are waist-shaped holes, which can overcome the relative error between the connecting through holes 2 and the second through holes 72, facilitate the passage of the fastening member, and make the connection between the connecting member 7 and the body part 01 easier.

As shown in fig. 4, the four regular hexagonal parts and the four regular triangular parts are combined to form the body mechanism 8, the body mechanism 8 can be tightly attached to a plane so that the formed body mechanism 8 is densely paved on the plane to meet the requirement of the robot that the robot can be regularly expanded, the arc notches 1 of the two regular hexagonal parts and the arc notches 1 of the two regular triangular parts form the combined through hole 9, the connecting member 7 is installed at the combined through hole 9, and the regular hexagonal part and the regular triangular part which form the arc notches 1 are fixedly connected by installing a fastening member.

As shown in fig. 5, the machine body mechanism 8 is formed by combining four square parts, the arc notches 1 of the four square parts are combined to form the combined through hole 9, the connecting piece 7 is installed at the combined through hole 9, and a fastener is installed to fixedly connect the four square parts.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also technical features in the above embodiments or in different embodiments can be combined, steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.

The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omission, modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot body part capable of regularly expanding, which is used for installing an auxiliary part of a robot, is characterized in that the body part is a regular polygon part;

2. A regularly extendable robot body part according to claim 1, wherein the regular polygon part is a regular hexagon part, the arc degree of the arc notch at the vertex angle is 120 °, two connecting through holes are provided near each arc notch, the connecting through holes are circular, and the two connecting through holes are symmetrically provided with respect to the bisector of the vertex angle corresponding to the connecting through holes.

3. The regularly-expandable robot body part according to claim 2, wherein the holes on the regular hexagon part are elongated holes, the elongated holes are located inside the edges of the regular hexagon part and parallel to the edges, and the elongated holes are used for the auxiliary members adapted to the elongated holes to pass through, so that the auxiliary members are inserted and fixed on the body part.

4. A regularly expandable robot body part according to claim 2, wherein the holes in the regular hexagonal part are rounded rectangular holes, two of which are symmetrically arranged with respect to a center line of the regular hexagonal part.

5. A regularly expandable robot body element as claimed in claim 2, wherein said holes in said regular hexagonal element are circular holes, and a plurality of said circular holes are symmetrically arranged with respect to a central line of said regular hexagonal element.

6. The regularly expandable robot body part according to claim 1, wherein the regular polygon part is a square part, the arc degree of the arc notch at the vertex angle is 90 °, one of the connecting through holes is provided near each of the arc notches, the connecting through holes are arc-shaped holes, and the connecting through holes are symmetrically arranged relative to the bisector of the corresponding vertex angle.

7. A regularly expandable robot body part according to claim 6, wherein the holes in the square part comprise a flange hole and a plurality of circular holes, the flange hole is located in the middle of the square part, and the circular holes are evenly arranged around the flange hole.

8. The regularly expandable robot body part according to claim 1, wherein the regular polygon part is a regular triangle part, the radian of the arc notch at the vertex angle is 60 °, one connecting through hole is arranged near each arc notch, the connecting through hole is circular, and the center of the connecting through hole is positioned on the angle bisector of the corresponding vertex angle; the holes in the regular triangle part are symmetrically arranged along an axis of the regular triangle part.

9. A regularly extendable robot body part according to claim 8, wherein when the auxiliary member is a flange, the hole in the middle of the regular triangle part is a flange hole for connecting the flange.

10. A robot mechanism capable of regularly expanding, characterized by comprising a connecting piece and the robot body parts capable of regularly expanding according to any one of claims 1 to 9, wherein a first through hole matched with the combined through hole is formed in the connecting piece, a second through hole matched with the connecting through hole is formed in the periphery of the first through hole, a plurality of second through holes are formed in the periphery of the first through hole, and fasteners penetrate through the combined through hole and the first through hole which are correspondingly arranged and the connecting through hole and the second through hole which are correspondingly arranged so as to fixedly connect the body parts in a plane.