CN204965821U - Teaching is with assembling subassembly and robot - Google Patents

Abstract

The utility model discloses a teaching should be assembled the subassembly and include with being assembled the subassembly: the motion piece, it includes: porous member, the proportion of its width and thickness is 4: 1, porous plectane, it has the centre bore and distributes a plurality of fixed orificess on its periphery, the mounting, it includes: a plurality of perforated plates, its thickness with porous member keeps unanimous, be provided with a plurality of fixed orificess of matrix arrangement on the perforated plate, a plurality of porous boards of bending, the porous board of bending becomes the portion of bending through its at least one end relief of bending, a plurality of fixed orificess of matrix distribution on the porous board of bending, the shaping is assembled through a plurality of connecting pieces to motion piece and mounting. The invention the teaching is strong with assembling the subassembly commonality, can freely assemble, realizes the function of assembling of multiple structure, the configuration abundance, and extended functionality is powerful.

Description

A kind of teaching assembly component and robot

Technical field

The present invention relates to assembled teaching aid.More particularly, the present invention relates to a kind of assembly highly versatile, can freely assemble, configuration enriches, the teaching assembly component that expanded function is powerful and robot.

Background technology

Along with developing rapidly of robot, scientific and technological industry both domestic and external have developed various robot, enters all trades and professions such as school provide necessary material conditions for robot.But existing robot product, various in style, quality is uneven, in order to adapt to building of different configuration, many robots have included a large amount of parts, its applicability and the ratio of performance to price are all lower, for the unit of all trades and professions such as school, Faculty and Students and personnel bring larger burden.

Summary of the invention

An object of the present invention is to solve at least the problems referred to above and/or defect, and the advantage will illustrated at least is below provided.

A further object of the invention is to provide a kind of teaching assembly component, and its various modular construction is accurate, can connect arbitrarily, and can select multiple connection angle between each assembly.Assembly highly versatile, can freely be assembled into hundreds of different robots such as mechanical arm, mechanical paw, dolly, multi-foot robot, snake-shaped robot, and configuration enriches, and expanded function is powerful.

A further object of the invention is to provide a kind of robot with described teaching assembly component, and it has each side beneficial effect of described assembly component.

In order to realize according to these objects of the present invention and other advantage, provide a kind of teaching assembly component, it comprises:

Movement parts, it comprises: porous rod member, and the ratio of its width and thickness is 4:1; The such as width 9.8-10cm of described porous rod member; Thickness is 2.4-2.5cm; Porous plectane, it has center pit and is distributed in the multiple fixed orifices on its periphery; The width of described movement parts and the setting of thickness, what make described movement parts achieve with multiple assembly is assembled.

And fixture, it comprises: multiple porous plate, and the thickness of its thickness and described porous rod member is consistent, and the thickness of described porous plate is such as 2.4-2.5cm, described porous plate is provided with multiple fixed orifices of matrix arrangement; Multiple porous bending plate, described porous bending plate forms bending part by its at least one end of bending; The multiple fixed orifice of matrix distribution on described porous bending plate;

It is assembled shaping that described movement parts and fixture pass through multiple web member.

Preferably, wherein, described fixed orifice comprises: the first fixed orifice, and it is circular, and aperture is 3-3.2mm;

Second fixed orifice, it is circular, and aperture is 4-4.2mm;

3rd fixed orifice, it is circular, and aperture is 10-10.2mm;

4th fixed orifice, it is strip, and in hole, electrical path length is 13-13.2 or 14-14.2mm; Internal diameter width is 3-3.2 or 4-4.2mm.Described fixed orifice such as also comprises the square opening for fixed eccentric, and the aperture of described square opening is such as 15mm, four corner place fillets of falling 2.5mm respectively of square opening.Described fixed orifice such as also comprises the circular hole that aperture is 15mm, and it is for fixed drive eccentric wheel.Described porous rod member comprises: at least one first rod member, the first fixed orifice spaced apart and the second fixed orifice on it; Described first rod member is such as three fixed orifices, comprises the second fixed orifice being arranged on its two ends respectively, and be positioned at the first fixed orifice of central authorities.Pitch of holes between described fixed orifice is 4 times of thickness, and such as, in 2.5 thickness of slab situations, pitch-row is 10mm.Certainly, on described first rod member, the quantity of fixed orifice also can be multiple, such as, be 5,6,7 or even multiple.

At least one second rod member, two end arranges the second fixed orifice respectively; Adjacent with described second fixed orifice the 4th fixed orifice is set respectively; Described second rod member is often provided with the 4th fixed orifice of the strip that can adjust module position.

At least one the 3rd rod member, described 3rd rod member is comer pieces, and it is 135 degree that the extended line of its at least one end and the axis of body form angle angle described in angle.Described bending angle can be formed at one end of described 3rd rod member, also can form the two ends with described 3rd rod member.Described porous rod member can also be deformed into offers in its one end the porous rod member that aperture is 15-15.4mm circular hole.Certainly, the described described circular hole for fixed drive wheel can also be arranged on any position, centre of described porous rod member.

Preferably, wherein, described porous plectane comprises: at least one first plectane, and the multiple fixed orifices on its side face circumferentially arrange; Wherein the first fixed orifice and the 4th fixed orifice spaced apart; The center pit of described porous plectane such as can connect driven unit, and receive the Power output of driven unit, now described porous plectane serves as the driving wheel in assembly, drives and moves in conjunction with other assemblies on it.

At least one second plectane, its circumferential outer edge is provided with driving cog.When the circumferential outer edge of described second plectane is provided with driving cog, described driving cog coordinates a gear to realize the function driven.It can also be the 4th fixed orifice arranging a series of strips circumferentially distributed on the circumferential face near circumferential edges that fixed orifice on described first plectane offers mode, then with the center of circle concentrically circle a series of first fixed orifice of distribution or the second fixed orifice.The setting of this first plectane can realize connecting a greater variety of assembly on the drive wheel, realizes the assembled of more structures.

Preferably, wherein, described porous plate comprises: at least one porous side's plate, and it offers two circular fixed orifices along midline position, and the pitch of holes of described fixed orifice is wall thickness 4 times; The fixed orifice of two group leader's bar shapeds is set respectively in described two fixed orifice both sides.

Preferably, wherein, described porous bending plate comprises: at least one first bending part, and two end vertical bending forms bending part; Bending part is offered multiple fixed orifice; Bending part on described first bending part is such as triangle, and leg-of-mutton drift angle does chamfering.The second fixed orifice or the 3rd fixed orifice is offered at leg-of-mutton top; It is assembled into fixed space for coordinating with other bending parts, and described fixed space is by fixing within it for driven unit such as drive motor.

At least one second bending part, the vertical bending of one end thereof forms bending part, bending part starts multiple fixed orifices arranged in parallel.Each end of described second bending part can be the narrower plate being only provided with single fixed orifice; Also can be the wider plate having many row's fixed orifices respectively.Certainly, described second bending part also can be the plate of mutual vertically disposed single fixed orifice, and this plate is generally used for the fixing of flexible component.Especially there is following bending plate in described second bending part, wherein three orifice plates of base plate to be width be 9.8-10mm, its bending plate installs perpendicular to described base plate its middle fixed hole position corresponding.This second bending part scope of application is larger, is applicable to the assembled of multiple assembly.

Preferably, wherein, described first rod member is corresponding forms flange with the both sides of the second fixed orifice.

Preferably, wherein, described web member is one or more in screw, bolt and bearing pin.

Present invention also offers a kind of robot, described robot comprises one or more in Power Component, power supply module or control system assembly, also comprises described teaching assembly component.

Preferably, described Power Component, power supply module or control system assembly are arranged on by described fixture and the assembled inner space limited of web member.Teaching assembly component of the present invention comprises multiple fixture, multiple movement parts and multiple web member, and described web member is such as screw, and the connection between every two assemblies can only by a screw; Multiple fixture and movement parts can go out multiple configuration by screw assembling combination; Hundreds of different robots such as such as mechanical arm, mechanical paw, dolly, multi-foot robot, snake-shaped robot, configuration enriches, and expanded function is powerful.Teaching assembly component of the present invention is on designed size basis, and after all parts do the adjustment of equal proportion, it still can normally work.

Fixture described in teaching assembly component of the present invention can coordinate the support of configuration any shape with oneself.Movement parts is fixed on support usually, and output terminal is connected with movement parts.Movement parts also can be connected arbitrarily with movement parts and fixture, and the movement parts being combined into other kinds is carried out output services or is connected with other parts.Movement parts also can be connected with bending part in some cases, and bending part can connect and compose new driving member with movement parts or fixture and carry out transmission.Teaching assembly component of the present invention utilizes thickness to be based on the plate of 2.4-2.5mm, the hole of different pore size and shape is set thereon, to expand the versatility of described assembly, in varying degrees its ratio is being expanded, also can realize the assembled of multiple configuration.The basis of described plate is done some limited modification, the modification of such as bending part and rod member, make the robot of assembled structure various shape become possibility.In use, user can utilize a few components to realize the design of polytype robot, has the effect utilizing and improve designing and making.

Part is embodied by explanation below by other advantage of the present invention, target and feature, part also will by research and practice of the present invention by those skilled in the art is understood.

Accompanying drawing explanation

Fig. 1 is the structural representation of the movement parts of teaching assembly component described in one of them embodiment of the present invention;

Fig. 2 is the structural representation of the fixture of teaching assembly component described in one of them embodiment of the present invention;

Fig. 3 is the structural representation of teaching assembly component described in one of them embodiment of the present invention;

Fig. 4 is the structural representation of teaching assembly component described in one of them embodiment of the present invention;

Fig. 5 is the structural representation of teaching assembly component described in one of them embodiment of the present invention;

Fig. 6 is the structural representation of teaching assembly component described in one of them embodiment of the present invention;

Fig. 7 is the structural representation of teaching assembly component described in one of them embodiment of the present invention;

Fig. 8 is the structural representation of the assembled modeling machines people of teaching assembly component described in one of them embodiment of the present invention;

Fig. 9 is the structural representation of the assembled modeling machines people of teaching assembly component described in one of them embodiment of the present invention;

Figure 10 is the structural representation of the assembled modeling machines people of teaching assembly component described in one of them embodiment of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail, can implement according to this with reference to instructions word to make those skilled in the art.

Should be appreciated that used hereinly such as " to have ", other element one or more do not allotted in " comprising " and " comprising " term or the existence of its combination or interpolation.

Be to be understood that; herein for specifically describe embodiments of the invention in detail; implementation of the present invention is further illustrated especially with the teaching assembly component of teaching; but should be noted that; the teaching teaching assembly component that the embodiment of the present invention relates to and robot; be not to a restriction of the present invention; and the present invention can be useful in the robot field of other purposes; include but not limited to as industrial robot; the various aspects such as life robot, the claims in the present invention protection domain is as the criterion with the every claim of claims.

Fig. 1 shows according to a kind of way of realization of the present invention, and wherein said teaching assembly component comprises: movement parts, and it comprises: porous rod member 100, its width 9.8-10cm; Thickness is 2.4-2.5cm; Porous plectane 200, it has center pit and is distributed in the multiple fixed orifices 600 on its periphery;

Fixture, it comprises: multiple porous plate 300, and its thickness is 2.5cm, is provided with multiple fixed orifices 600 of matrix arrangement; Multiple porous bending plate 400, described porous bending plate forms bending part by its at least one end of bending; The multiple fixed orifice 600 of matrix distribution on described porous bending plate;

It is assembled shaping that described movement parts and fixture pass through multiple web member 500.

Described fixed orifice 600 such as comprises: the first fixed orifice 601, and it is circular, and aperture is 3mm;

Second fixed orifice 602, it is circular, and aperture is 4mm;

3rd fixed orifice 603, it is circular, and aperture is 10mm;

4th fixed orifice 604, it is strip, and in hole, electrical path length is 13.2 or 14.2mm; Internal diameter width is 3 or 4mm.Described fixed orifice such as also comprises the square opening 605 for fixed eccentric, and the aperture of described square opening is such as 15mm, four corner place fillets of falling 2.5mm respectively of square opening.Described fixed orifice such as also comprises the circular hole that aperture is 15mm, and it is for the fixing driving wheel be configured to by circular slab.

As shown in Figure 2, described porous rod member 100 such as comprises at least one first rod member 101,102,103, the first fixed orifice 601 and the second fixed orifice 602 spaced apart on it; As shown in the figure the first rod member 101 is such as three fixed orifices, comprises the second fixed orifice 602 being arranged on its two ends respectively, and be positioned at the first fixed orifice 601 of central authorities.Pitch of holes between described fixed orifice is such as 10mm.First rod member 102 is such as provided with five fixed orifices, wherein two ends distribution is the second fixed orifice 602, and centre is that the first fixed orifice 601 and the second fixed orifice 602 are spaced apart.And the first rod member 103 is six fixed orifices, be that the first fixed orifice 601 and the second fixed orifice 602 are spaced apart respectively.Certainly, on described first rod member, the quantity of fixed orifice also can be multiple, such as, be 5,6,7 or even multiple.

At least one second rod member 104, two end arranges the second fixed orifice 601 respectively; Adjacent with described second fixed orifice the 4th fixed orifice 604 is set respectively; Described second rod member 104 is provided with the 4th fixed orifice 604 of the strip that can adjust module position.Be convenient to the ground-engaging element or the arm member that realize being assembled into robot.

And at least one the 3rd rod member 105, described 3rd rod member 105 is such as comer pieces, and the extended line of its at least one end and the axis of body form angle, and described angle angle is such as 135 degree.Certain 3rd rod member also can be two ends form angle, described angle can be formed at one end of described 3rd rod member, also can form the two ends with described 3rd rod member.Described porous rod member can also be deformed into offers in its one end the porous rod member that aperture is 15mm circular hole.Certainly, the described described circular hole for fixed drive wheel can also be arranged on any position, centre of described porous rod member.

As shown in Figure 3, described porous plectane comprises porous plectane 201, and its center pit is the second fixed orifice 602, take center pit as the center of circle, concentrically circle arranges the first fixed orifice 601 and the 4th fixed orifice 604 on the circumferential face, described first fixed orifice 601 and the 4th fixed orifice 604 spaced apart.Described porous plectane also comprises, porous plectane 202, and its circumferential outer edges is provided with caterpillar teeth, and described caterpillar teeth realizes the function of driving wheel for coordinating corresponding porous rod member.

As shown in Figure 4, described porous rod member can also comprise, porous rod member 106, and one lateral edges has caterpillar teeth, and its plate face equidistantly distributes the first fixed orifice 601, and described spacing is such as 10mm.Described porous plectane can also comprise: porous plectane 203, and on it, multiple the first fixed orifice 601 in concentric arrays of distribution, is provided with caterpillar teeth in its circumferential outer edges.The periphery of its second fixed orifice can also stretch out by described porous rod member, form porous rod member as shown in Figure 4, width the widest part of described porous rod member 107 is no more than 10cm, distortion like this, it not only can reduce cost of manufacture, simultaneously assembled be that more assembled space can be provided, more assembled structure is provided.

As shown in Figure 5, the fixture of teaching assembly component of the present invention comprises: porous plate 301, it is rectangle plate, its plate face is provided with the first fixed orifice of the arrangement in matrix, along on a round of its midline position, wherein two is the 3rd fixed orifice 603, and the pitch of holes of described fixed orifice is 10mm.Porous plate 302, it is rectangle, and along being that surrounding arranges equally spaced first fixed orifice 601 on its plate face, line position is also provided with equally spaced row first fixed orifice 601 wherein.Porous plate 303, its plate face is such as provided with the first fixed orifice that 7 row equidistantly distribute, and is wherein arranged in a middle row fixed orifice, is distributed with four the 3rd fixed orifices 603, and its structure provides possibility to fixing more eurypalynous movement parts.Porous side's plate 304, it offers two circular fixed orifice such as the first fixed orifices 601 along midline position, and the pitch of holes of described fixed orifice is 10mm; The fixed orifice 604 of two group leader's bar shapeds is set respectively in described two fixed orifice both sides.

As shown in Figure 6, the porous bending plate 400 of teaching assembly component of the present invention comprises: at least one first bending part 401, and two end vertical bending forms bending part; Bending part is offered multiple fixed orifice; Bending part on described first bending part 401 is such as triangle, and leg-of-mutton drift angle does chamfering.The second fixed orifice or the 3rd fixed orifice is offered at leg-of-mutton top; It is assembled into fixed space for coordinating with other bending parts, and described fixed space is by fixing within it for driven unit such as drive motor.

At least one second bending part comprises: the second bending part 402, for bending part is along center line bending, each bending part has equally spaced first fixed orifice or the second fixed orifice; Second bending part 403 is the upwards vertical bendings of bending part both ends, and bending part distributes equally spaced first fixed orifice of row and second fixed orifice; One of them bending part of second bending part 404 only has the plate of a fixed orifice, and its width is 10cm, its another bending part is arranged three the first fixed orifices that a row equidistantly distributes; Second bending part 405 is such as the plate of 25cm for width, and along midline position doubling, it distributes equally spaced first fixed orifice.Each end of described second bending part can be the narrower plate being only provided with single fixed orifice; Also can be the wider plate having many row's fixed orifices respectively.Certainly, described second bending part also can be the plate of mutual vertically disposed single fixed orifice, and this plate is generally used for the fixing of flexible component.Especially there is following bending plate in described second bending part, wherein three orifice plates of base plate to be width be 9.8-10mm, its bending plate installs perpendicular to described base plate its middle fixed hole position corresponding.This second bending part scope of application is larger, is applicable to the assembled of multiple assembly.

As shown in Figure 7, teaching assembly component of the present invention also comprises: one or more in Power Component, power supply module or control system assembly.Wherein, described Power Component 703 is arranged on by described fixture 700 and the assembled inner space limited of web member 701.

As shown in Figure 8, teaching assembly component of the present invention can select porous bending part 801, porous rod member 802, porous plectane 803,804, porous rod member 805,806, porous plate 807 and porous rod member 808 utilize web member such as multiple screw 809, by its assembled connection, be assembled into modeling machines people as shown in Figure 9.The modeling machines people utilizing teaching assembly component of the present invention assembled has been shown in Figure 10.Certainly, utilize different teaching assembly components, constantly bringing forth new ideas by user, can assembled go out etc. many moulding.Utilize teaching assembly component of the present invention, the multidisciplinary interspersed fusion of user can be encouraged, encouragement is started, the Teaching Ideas of encouraging innovations, for user provides a unprecedented hands-on platform, by the constantly design to robot mechanism, assembling, debugging, dismounting, give the performance leeway that user is wide, excite learning enthusiasm and the creativity consciousness of user, along the road development of " study---practice---summarys---innovate ".Product is enable to be widely used in the demand in the directions such as machinery, electromechanical integration, electrical engineering, automation engineering.And the combination of physical construction and high-performance, multiple types electronic unit, software platform cleverly, the intelligent robot of original creation can be designed, complete the research topic with deep development character, and provide good hardware and software platform for user.

Although embodiment of the present invention are open as above, it is not restricted to listed in instructions and embodiment utilization.It can be applied to various applicable the field of the invention completely.For those skilled in the art, can easily realize other amendment.Therefore do not deviating under the universal that claim and equivalency range limit, the present invention is not limited to specific details and illustrates here and the legend described.

Claims (10)

1. a teaching assembly component, is characterized in that, comprising:

Movement parts, it comprises: porous rod member, and the ratio of its width and thickness is 4:1; Porous plectane, it has center pit and is distributed in the multiple fixed orifices on its periphery;

Fixture, it comprises: multiple porous plate, and the thickness of its thickness and described porous rod member is consistent, and described porous plate is provided with multiple fixed orifices of matrix arrangement; Multiple porous bending plate, described porous bending plate forms bending part by its at least one end of bending; The multiple fixed orifice of matrix distribution on described porous bending plate;

It is assembled shaping that described movement parts and fixture pass through multiple web member.

2. teaching assembly component as claimed in claim 1, it is characterized in that, described fixed orifice comprises: the first fixed orifice, and it is circular, and aperture is 3-3.2mm;

Second fixed orifice, it is circular, and aperture is 4-4.2mm;

3rd fixed orifice, it is circular, and aperture is 10-10.2mm;

4th fixed orifice, it is strip, and in hole, electrical path length is 13-13.2 or 14-14.2mm; Internal diameter width is 3-3.2 or 4-4.2mm.

3. teaching assembly component as claimed in claim 2, it is characterized in that, described porous rod member comprises: at least one first rod member, the first fixed orifice spaced apart and the second fixed orifice on it;

At least one second rod member, two end arranges the second fixed orifice respectively; Adjacent with described second fixed orifice the 4th fixed orifice is set respectively;

At least one the 3rd rod member, described 3rd rod member is comer pieces, and the extended line of its at least one end and the axis of body form angle, and described angle angle is 135 degree.

4. teaching assembly component as claimed in claim 2 or claim 3, it is characterized in that, described porous plectane comprises: at least one first plectane, and the multiple fixed orifices on described first plectane side face circumferentially arrange; Wherein the first fixed orifice and the 4th fixed orifice spaced apart;

At least one second plectane, its circumferential outer edge is provided with driving cog.

5. teaching assembly component as claimed in claim 4, it is characterized in that, described porous plate comprises: at least one porous side's plate, and it offers two circular fixed orifices along midline position, and the pitch of holes of described fixed orifice is 4 times of thickness; In described two fixed orifice both sides, two group of the 4th fixed orifice is set respectively.

6. teaching assembly component as claimed in claim 5, it is characterized in that, described porous bending plate comprises: at least one first bending part, and two end vertical bending forms bending part; Bending part is offered multiple fixed orifice;

At least one second bending part, the vertical bending of one end thereof forms bending part, bending part is offered multiple fixed orifices arranged in parallel.

7. teaching assembly component as claimed in claim 3, is characterized in that, described first rod member is corresponding forms flange with the both sides of the second fixed orifice.

8. teaching assembly component as claimed in claim 1, it is characterized in that, described web member is one or more in screw, bolt and bearing pin.

9. a robot, teaching assembly component it comprise in Power Component, power supply module or control system assembly one or more, it is characterized in that, also comprise the teaching assembly component according to any one of claim 1 ~ 8.

10. robot as claimed in claim 9, it is characterized in that, described Power Component, power supply module or control system assembly are arranged on by described fixture and the assembled inner space limited of web member.