CN111055270B - Terminal holder model of small-size modularized robot - Google Patents
Terminal holder model of small-size modularized robot Download PDFInfo
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- CN111055270B CN111055270B CN201911245187.0A CN201911245187A CN111055270B CN 111055270 B CN111055270 B CN 111055270B CN 201911245187 A CN201911245187 A CN 201911245187A CN 111055270 B CN111055270 B CN 111055270B
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- 210000000078 claw Anatomy 0.000 claims description 64
- 230000000670 limiting effect Effects 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000036544 posture Effects 0.000 abstract 1
- 239000012636 effector Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 244000141359 Malus pumila Species 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a small modular robot tail end clamp holder model, which comprises a left shell, a right shell, a first adapter and a second adapter; the left shell and the right shell are identical in structure and size, and are mutually buckled to form a complete shell; a cavity is formed in the complete shell, and a concave round hole and a convex cylinder are integrally formed on the side wall of the cavity and used for connecting and fixing the left shell and the right shell; the upper end and the lower end of the complete shell are provided with openings, and the first adapter and the second adapter are respectively arranged at the openings at the upper end and the lower end of the complete shell and do rotary motion relative to the complete shell. The invention can be connected with other functional module models with the same adapter through the first adapter and the second adapter at two ends to assemble the modularized robot model, realize actions with different functions and postures, be used as a robot toy, a robot configuration teaching aid or an ornamental gift, and be beneficial to popularization and popularization of robot concepts and technologies.
Description
Technical Field
The invention relates to the technical field of robot toys, in particular to a small modular robot tail end clamp holder model.
Background
With the rapid development and wide application of robot technology, robots are widely focused on by the whole society, and great interest is brought to people, and robot education is also becoming more and more important. On one hand, the robot engineering professions are established in each university and high-speed department, various robot platforms are purchased, and the adult education of the robots is developed; on the other hand, robot education is also beginning to be of low-age, by offering various interesting class and small-sized robot games, children are educated by robots, and robots are educated in lively activities by robot toy formation. The childhood education requires a suitable robotic teaching aid, and some robotic toys and small robot kits are currently in common use, most typically in the music height model. However, the existing robot kit and the music model are actually far away from the actual robot in appearance or configuration, and have a large distance from the concept and technology of the robot, so that the practical needs of the children robot education are difficult to be met.
One important development direction of the robot technology is modularization, namely, a robot is divided into modules to carry out unit design, a robot joint or an end effector is designed into independent and complete electromechanical units with certain functions, and a robot system with various forms and functions can be constructed through combined connection among the modules; in other words, the modular robot is capable of changing degrees of freedom and configuration by increasing or decreasing modules and different combinations thereof, thereby satisfying the demands of multitasking, wide application, and high flexibility. The modular design is convenient for large-scale and standardized production, reduces production and maintenance costs, and is therefore of great interest. A series of robot joint modules have been developed at home and abroad. For example, ZL201010242196.7 and ZL201010242208.6 disclose a swing joint and a swing joint module, respectively, which perform well, can meet certain requirements, and can also be used for robot scientific research and adult education.
There are a number of end effectors available in the market, and the actuating mechanism thereof includes translational, finger-pressing, rotational, and the like. Typically, an existing fruit passive grabbing end effector (patent number: CN 201510146233.7) has a working mode that a pressing switch fixed on a grabbing finger is pressed to enable one end of a switch pressing block to extend, three fingers are rotated by means of mechanical motion to grab fruits, and due to the limitation of the movement mode of the effector, only the grabbing of a target object with a larger diameter can be achieved, and objects with smooth surfaces such as apples need to be regulated through a complex buffer device, so that more time and mechanisms are consumed in actual operation, and practicality is poor.
The modularized reconfigurable robot is very suitable for innovation education of robots because of being capable of deriving various robot systems, and has good interestingness because of changeable configuration and freedom degree. However, the existing real robot modules and modularized robots are unsuitable for education of children due to high technical requirements, complex structures, complicated use, high cost, large volume and weight.
Aiming at the defects of the existing robot toy and model and the discomfort of the existing robot module in children education, the invention combines the modularization and toy of the robot and discloses a model of a tooth-engaged type robot end execution module. The robot model is connected with the module and used as a robot toy, a robot configuration teaching aid or an ornamental gift.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a small modular robot tail end clamp holder model, wherein a module main body is quickly assembled and disassembled through connection modes such as clamping grooves, buckles, hole shafts and the like among parts of the model, an adapter of a tooth-meshing type tail end clamp holder model can be connected to interfaces of other functional modules, and the gesture is regulated according to the requirements of target objects, so that the movable clamping of objects with various specifications is realized.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
a small modular robot end gripper model comprises a left tooth claw, a right tooth claw, a left U-shaped base, a right U-shaped base, a front cover plate, a rear cover plate and an adapter;
The U-shaped openings of the left U-shaped base and the right U-shaped base are opposite and spliced together through a hole shaft; the semicircular grooves are formed in one side surfaces of the left U-shaped base and the right U-shaped base, after the left U-shaped base and the right U-shaped base are spliced, the semicircular grooves on the left U-shaped base and the right U-shaped base form a circular through hole, and the adapter is arranged on the circular through hole;
The front cover plate and the rear cover plate are fixed on the front side and the rear side of the spliced left U-shaped base and the spliced right U-shaped base;
The left tooth-shaped claw and the right tooth-shaped claw comprise claw parts, incomplete tooth plates are integrally formed on two sides of the bottom of each claw part, and a mounting round hole is formed in the center of each tooth plate; the left tooth-shaped claw and the right tooth-shaped claw are meshed with each other through tooth sheets and are matched with the short circular shafts of the front cover plate and the rear cover plate through mounting circular holes, so that the left tooth-shaped claw and the right tooth-shaped claw are fixed with the spliced left U-shaped base and the spliced right U-shaped base.
Further, the left tooth-shaped claw and the right tooth-shaped claw rotate around the hole shaft so as to form opening and closing of the tooth-shaped claws;
the inner side walls of the left tooth-shaped claw and the right tooth-shaped claw are provided with protruding stripes for preventing the clamping object from falling off and rotating relatively.
Further, symmetrical mounting holes are formed in the front side and the rear side of the left U-shaped base and the right U-shaped base, and the front cover plate and the rear cover plate are axially fixed and positioned; the left U-shaped base and the right U-shaped base are connected through symmetrical cylindrical clamping holes at the sides of the U-shaped openings; the configuration of the inner cavity formed by splicing the left U-shaped base and the right U-shaped base is consistent with the shape of the side surfaces of the left tooth-shaped claw and the right tooth-shaped claw, and the inner cavity is used for limiting the positions of the left tooth-shaped claw and the right tooth-shaped claw.
Further, the adapter is of a three-layer structure, and the section of the adapter forms an I shape; the upper boss and the lower boss form a rotating pair to realize relative rotation; the bottom of the adapter is provided with an axle mounting hole for mounting an axle; the side surface is provided with a circumferential fixing bayonet; the top is equipped with recess mouth and convex body of equidimension, interval, supplies seamless butt joint between the adapter, realizes the connection of interface between the module through spacing effect.
Further, the middle parts of the semicircular grooves of the left U-shaped base and the right U-shaped base are integrally formed with clamping bosses, the upper boss and the lower boss of the adapter are arranged in the semicircular grooves, and the clamping bosses are clamped between the upper boss and the lower boss, so that the adapter is arranged on a circular through hole formed by the two semicircular grooves.
Further, the upper and lower parts of one side of the front cover plate and the rear cover plate are provided with cylindrical bosses, and the short round shaft is arranged in the middle of the one side of the front cover plate and the rear cover plate.
Compared with the prior art, the scheme has the following principle and advantages:
During installation, the adapter is placed in the semicircular groove of the left U-shaped base, the clamping boss is clamped between the upper boss and the lower boss of the adapter, then the left U-shaped base and the right U-shaped base are spliced together through the hole shaft, the spliced left U-shaped base and right U-shaped base clamp the adapter, and the adapter rotates around the hole center of the circular through hole.
Then, the left and right tooth-shaped claws are arranged on the short circular shafts of the front cover plate and the rear cover plate, and the left and right tooth-shaped claws are meshed with each other through tooth sheets;
Then, the front cover plate and the rear cover plate which are sleeved with the left tooth-shaped claw and the right tooth-shaped claw are matched with the mounting holes on the front side and the rear side of the left U-shaped base and the right U-shaped base through the cylindrical bosses so as to be fixedly connected with the left U-shaped base and the right U-shaped base.
The scheme can realize multi-pose operation through the meshed left tooth-shaped claw, the meshed right tooth-shaped claw and the adapter capable of rotating around the hole center of the circular through hole.
When the execution module is required to be disassembled after the operation is finished, only the groove opening and the convex body of the adapter are required to be axially separated, the front cover plate and the rear cover plate are required to be axially disassembled along the mounting round holes of the left tooth-shaped claw and the right tooth-shaped claw, and finally the left U-shaped base and the right U-shaped base are required to be separated along the two sides, so that the module is rapidly separated.
In addition, the bottom of the adapter is provided with a wheel axle mounting hole, so that the multifunctional purposes such as walking and the like can be realized.
According to the scheme, the module main body can be quickly assembled and disassembled in various connection modes, the gesture can be adjusted according to requirements, and movable clamping of objects with various specifications is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the services required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the figures in the following description are only some embodiments of the present invention, and that other figures can be obtained according to these figures without inventive effort to a person skilled in the art.
FIG. 1 is a schematic view of the structure of a small modular robot end holder model of the present invention;
FIG. 2 is an exploded view of a small modular robotic end holder model of the present invention;
FIG. 3 is a schematic view of the structure of the right U-shaped base in a small modular robot end holder model according to the present invention;
FIG. 4 is a schematic view of the transfer joint in the end gripper model of a small modular robot according to the present invention;
fig. 5 shows a modular robot model formed by connecting the gripper model G with other models in an embodiment of the invention.
Reference numerals:
1-left tooth claw, 2-right tooth claw, 3-left U-shaped base, 4-right U-shaped base, 5-front cover plate, 6-back cover plate, 7-adapter, 331-axle mounting hole, 332-convex body, 333-circumferential fixed bayonet, 334-concave slot, 335-upper boss and 336-lower boss.
Detailed Description
The invention is further illustrated by the following examples:
as shown in fig. 1-5, a small modular robot end gripper model includes left and right toothed jaws 1,2, left and right U-shaped bases 3, 4, front and rear cover plates 5, 6, and an adapter 7;
Wherein, symmetrical mounting holes are arranged on the front side and the rear side of the left U-shaped base 3 and the right U-shaped base 4 for axially fixing and positioning the front cover plate 5 and the rear cover plate 6; a semicircular groove is formed on one side surface of the left U-shaped base 3 and the right U-shaped base 4.
The U-shaped openings of the left U-shaped base 3 and the right U-shaped base 4 are opposite, and are spliced through symmetrical cylindrical clamping holes at the sides of the U-shaped openings; after the left U-shaped base 3 and the right U-shaped base 4 are spliced, the internal cavity configuration of the U-shaped base is consistent with the side shape of the left tooth-shaped claw 1 and the right tooth-shaped claw 2, and the U-shaped base is used for limiting the positions of the left tooth-shaped claw 1 and the right tooth-shaped claw 2; the semicircular grooves on the left and right U-shaped bases 3,4 form a circular through hole on which the adapter 7 is mounted.
The upper and lower parts of one side of the front and rear cover plates 5 and 6 are provided with cylindrical bosses, and a short round shaft is arranged in the middle of the side of the front and rear cover plates 5 and 6; the front cover plate 5 and the rear cover plate 6 are matched with the mounting holes of the left U-shaped base and the right U-shaped base through cylindrical bosses and are fixed on the front side and the rear side of the spliced left U-shaped base 3 and the spliced right U-shaped base 4.
The left tooth-shaped claw 1 and the right tooth-shaped claw 2 comprise claw parts, incomplete tooth plates 5 are integrally formed on two sides of the bottom of each claw part, and a mounting round hole 6 is formed in the center of each tooth plate 5; the left and right tooth-shaped claws 1 and 2 are meshed with each other through a tooth piece 5 and are matched with the short circular shafts of the front cover plate 5 and the rear cover plate 6 through a mounting circular hole 6, so that the left and right tooth-shaped claws are fixed with the spliced left and right U-shaped bases 3 and 4. The engaged left and right tooth-shaped claws 1 and 2 rotate around the hole shaft to form the opening and closing of the tooth-shaped claws. In addition, the inner side walls of the left and right tooth-shaped claws 1,2 are provided with protruding stripes for preventing the clamping object from falling off and rotating relatively.
The adapter 7 is of a three-layer structure, and the section of the adapter forms an I shape; the upper and lower bosses 335, 336 form a rotating pair to realize relative rotation; the bottom of the adapter 7 is provided with an axle mounting hole 331 for mounting an axle; the side surface is provided with a circumferential fixing bayonet 333; the top is equipped with equi-sized, spaced recess mouth 334 and convex body 332, supplies seamless butt joint between the adapter, realizes the connection of interface between the module through spacing effect.
Specifically, the middle parts of the semicircular grooves of the left and right U-shaped bases 3 and 4 are integrally formed with clamping bosses, the upper and lower bosses 335 and 336 of the adapter 7 are arranged in the semicircular grooves, and the clamping bosses are clamped between the upper and lower bosses 335 and 336, so that the adapter 7 is arranged on a circular through hole formed by the two semicircular grooves.
The specific principle is as follows:
During installation, the adapter 7 is placed in the semicircular groove of the left U-shaped base 3, the clamping convex table is clamped between the upper boss 335 and the lower boss 336 of the adapter, then the left U-shaped base 3 and the right U-shaped base 4 are spliced together through the hole shaft, the spliced left U-shaped base 3 and the spliced right U-shaped base 4 clamp the adapter 7, and the adapter 7 rotates around the hole center of the circular through hole.
Then, the left and right tooth-shaped claws 1, 2 are mounted on the short circular shafts of the front and rear cover plates 5, 6, and the left and right tooth-shaped claws 1, 2 are meshed with each other through tooth sheets;
then, the front cover plate 5 and the rear cover plate 6 sleeved with the left tooth-shaped claw 1 and the right tooth-shaped claw 2 are matched with the mounting holes on the front side and the rear side of the left U-shaped base 3 and the right U-shaped base 4 through the cylindrical bosses so as to be fixedly connected with the left U-shaped base 3 and the right U-shaped base 4.
The present embodiment can realize multi-posture work by the engaged left and right tooth claws 1, 2 and the adapter 7 capable of rotating around the hole center of the circular through hole.
When the execution module is required to be disassembled after the operation is completed, the groove opening 334 and the convex body 332 of the adapter 7 are axially separated, the front cover plate 5 and the rear cover plate 6 are axially disassembled along the installation round holes of the left tooth claw 1 and the right tooth claw 2, and finally the left U-shaped base 3 and the right U-shaped base 4 are separated along two sides, namely the module is quickly separated.
In addition, the bottom of the adapter 7 is provided with an axle mounting hole 331, so that the multifunctional purposes such as walking and the like can be realized.
According to the embodiment, the module main body can be quickly assembled and disassembled in various connection modes, the gesture can be adjusted according to requirements, and movable clamping of objects with various specifications is achieved.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, so variations in shape and principles of the present invention should be covered.
Claims (3)
1. A small modular robot end gripper model, which is characterized by comprising left and right tooth-shaped claws (1, 2), left and right U-shaped bases (3, 4), front and rear cover plates (5, 6) and an adapter (7);
Wherein the U-shaped openings of the left U-shaped base (3) and the right U-shaped base (4) are opposite, and the two U-shaped openings are spliced together; a semicircular groove is formed in one side surface of the left U-shaped base (3) and one side surface of the right U-shaped base (4), after the left U-shaped base (3) and the right U-shaped base (4) are spliced, the semicircular grooves on the left U-shaped base (3) and the right U-shaped base (4) form a circular through hole, and the adapter (7) is arranged on the circular through hole;
The front cover plate (5) and the rear cover plate (6) are fixed on the front side and the rear side of the spliced left U-shaped base (3) and the spliced right U-shaped base (4);
The left tooth-shaped claw (1) and the right tooth-shaped claw (2) comprise claw parts, incomplete tooth sheets (5) are integrally formed on two sides of the bottom of each claw part, and a mounting round hole (6) is formed in the center of each tooth sheet (5); the left tooth-shaped claw (1) and the right tooth-shaped claw (2) are meshed with each other through a tooth piece (5) and are matched with the short round shafts of the front cover plate (5) and the rear cover plate (6) through a mounting round hole (6), so that the left tooth-shaped claw is fixed with the left U-shaped base (3) and the right tooth-shaped claw is fixed with the right U-shaped base (4) after being spliced;
Symmetrical mounting holes are formed in the front side and the rear side of the left U-shaped base (3) and the right U-shaped base (4) for axially fixing and positioning the front cover plate (5) and the rear cover plate (6); the left U-shaped base (3) and the right U-shaped base (4) are connected through symmetrical cylindrical clamping holes at the side of the U-shaped opening; the configuration of the inner cavity formed by splicing the left U-shaped base (3) and the right U-shaped base (4) is consistent with the shape of the side surfaces of the left tooth-shaped claw (1) and the right tooth-shaped claw (2), and is used for limiting the positions of the left tooth-shaped claw and the right tooth-shaped claw (1, 2);
The adapter (7) is of a three-layer structure, and the section of the adapter is in an I shape; the upper and lower bosses (335, 336) form a rotating pair to realize relative rotation; the bottom of the adapter (7) is provided with an axle mounting hole (331) for mounting an axle; the side surface is provided with a circumferential fixing bayonet (333); the top is provided with groove openings (334) and convex bodies (332) with equal size and interval for seamless butt joint between the adapters, and the connection of interfaces between the modules is realized through the limiting effect;
The middle parts of the semicircular grooves of the left U-shaped base (3) and the right U-shaped base (4) are integrally formed with clamping bosses, the upper boss (335) and the lower boss (336) of the adapter (7) are arranged in the semicircular grooves, and the clamping bosses are clamped between the upper boss (335) and the lower boss (336), so that the adapter (7) is arranged on a circular through hole formed by the two semicircular grooves.
2. A miniature modular robot end gripper model according to claim 1, characterized in that the left and right toothed jaws (1, 2) are turned around the hole axis to form the opening and closing of the toothed jaws;
The inner side walls of the left tooth-shaped claw (1) and the right tooth-shaped claw (2) are provided with protruding stripes for preventing the clamping object from falling off and rotating relatively.
3. A miniature modular robot end holder model according to claim 1, characterized in that the upper and lower parts of one side of the front and rear cover plates (5, 6) are provided with cylindrical bosses, and the short circular shaft is provided in the middle of the one side of the front and rear cover plates (5, 6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911245187.0A CN111055270B (en) | 2019-12-06 | 2019-12-06 | Terminal holder model of small-size modularized robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911245187.0A CN111055270B (en) | 2019-12-06 | 2019-12-06 | Terminal holder model of small-size modularized robot |
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| Publication Number | Publication Date |
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| CN111055270A CN111055270A (en) | 2020-04-24 |
| CN111055270B true CN111055270B (en) | 2024-07-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN211940939U (en) * | 2019-12-06 | 2020-11-17 | 广东工业大学 | Small-size modularization robot end holder model |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149081B (en) * | 2014-07-28 | 2017-01-18 | 广东工业大学 | Modular handheld double-operating-end master robot |
| US9975238B2 (en) * | 2015-06-09 | 2018-05-22 | Shanghai Xpartner Robotics Co., Ltd. | Screw-free assembled modular robot |
| CN207273222U (en) * | 2017-09-19 | 2018-04-27 | 佛山博文机器人自动化科技有限公司 | A kind of modularization snake-shaped robot |
| CN208392055U (en) * | 2018-03-21 | 2019-01-18 | 知行高科（北京）科技有限公司 | A kind of modular end effector of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN211940939U (en) * | 2019-12-06 | 2020-11-17 | 广东工业大学 | Small-size modularization robot end holder model |
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