A small modular robot swing joint model

Abstract

The present invention discloses a small modular robot swing joint model, including a swing body, a main body, and first and second adapters; wherein, the main body is provided with a transverse shaft hole; the swing body is provided with a concave mounting groove and a transverse circular shaft; one end of the main body is connected with the transverse circular shaft of the swing body through its transverse shaft hole to form a two-way rotation around the axis of the connecting hole; and the other end of the main body is fixedly connected with the first adapter through an annular groove; the second adapter is installed in the concave mounting groove of the swing body. The present invention can be connected with other functional module models having the same adapter through the first and second adapters at both ends to assemble into a modular robot model, realize actions with different functions and postures, and be used as a robot toy, a robot configuration teaching aid, or an ornamental gift, which is conducive to the popularization and promotion of robot concepts and technologies.

Description

Technical Field

[0001] The invention relates to the technical field of robot toys, in particular to a small modular robot swing joint model. Background Art

[0002] With the rapid development and wide application of robot technology, robots have received widespread attention from the whole society and aroused great interest among people. Robot education has also received more and more attention. On the one hand, various colleges and universities have set up robot engineering majors, purchased various robot platforms, and carried out robot adult education; on the other hand, robot education has also begun to move towards younger age, through the establishment of various interest classes and small robot competitions, to provide robot education for children and teenagers, and through the robot toy, the robot is taught in an entertaining way. Children and teenagers need suitable robot teaching aids. At present, some robot toys and small robot kits are commonly used, the most typical of which is the Lego model. However, the existing robot kits and Lego models are actually too different from the actual robots in terms of appearance and configuration. There is still a long way to go from the concept and technology of robots, and it is difficult to meet the actual needs of children and teenagers for robot education.

[0003] An important development direction of robotics is modularization, which means dividing the robot into modules for unit design, designing the robot joint or end effector into an independent and complete electromechanical unit with certain functions, and building a robot system of various forms and functions through the combination and connection between modules; in other words, modular robots can change the degree of freedom and configuration by adding or removing modules and their different combinations, so as to meet the needs of multi-task, wide application and high flexibility. Modular design facilitates large-scale and standardized production, reduces production and maintenance costs, and therefore has received widespread attention. 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 rotary joint module respectively. These joint modules have good performance, can meet certain requirements, and can also be used in robot scientific research and adult education.

[0004] Modular reconfigurable robots are very suitable for robot innovation education because they can be derived into a variety of robot systems. They are also very interesting because of their variable configurations and degrees of freedom. However, existing real robot modules and modular robots are not suitable for children's education because of their high technical requirements, complex structures, difficult use, high costs, large size and weight.

[0005] In view of this, in view of the shortcomings of current robot toys and models, and the incompatibility of existing robot modules in children's education, the present invention combines robot modularization and toyization, and discloses a small modular robot swing joint model. The swing joint model can be connected with other models with the same interface in sequence to form a robot model, which can be used as a robot toy, a robot configuration teaching aid, or an ornamental gift. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a small modular robot swing joint model. The joint model is unpowered and can be connected to other functional module models with the same adapters through adapters at both ends.

[0007] To achieve the above purpose, the technical solution provided by the present invention is:

[0008] A small modular robot swing joint model, comprising a swing body, a main body, and a first and a second rotation joint;

[0009] Wherein, the main body is provided with a transverse axial hole;

[0010] The swinging body is provided with a concave mounting groove and a transverse circular shaft;

[0011] One end of the main body is connected to the horizontal circular axis of the swinging body through its horizontal shaft hole to form a two-way rotation around the axis of the connecting hole; and the other end of the main body is fixedly connected to the first adapter through an annular groove;

[0012] The second adapter is installed in the concave installation groove of the swinging and rotating body.

[0013] Furthermore, the main body is a combination of two half shells of the same structure and size that are buckled together and fixedly connected through small round holes and small cylinders on the side walls of the inner cavity to form a front-to-back and left-to-right symmetrical assembly.

[0014] Furthermore, the half shell of the main body is provided with a snap-on mounting slot, a slot port, a slot snap, a slot middle layer, an embedded platform, a positioning hole, a positioning column, an external platform, a platform limiting hole, a platform limiting column, and a transverse shaft hole;

[0015] Among them, the snap-on mounting slot is located at the bottom of the semi-shell; the slot port, the slot middle layer, and the slot snap together form the mounting slot of the adapter, and the first adapter is circumferentially limited by the slot snap; the embedded platform is located at the lower side of the mounting slot and is externally connected to the slot, with a platform on each side; the embedded platform on the left is provided with a positioning hole, and the same position on the right is provided with a positioning column; the top of the semi-shell is an external platform, and its upper end is provided with a circular shaft limiting groove, a platform limiting hole, and a platform limiting column which together with the swing swivel form an axial constraint and a rotation pair.

[0016] Furthermore, the oscillating body is a U-shaped oscillating body, a through hole is opened on the top of the U-shaped oscillating body, a concave mounting groove is arranged below the through hole, and a part of the second adapter installed in the concave mounting groove passes through the through hole; and the transverse circular axis is arranged on the opposite inner sides of the U-shaped oscillating body.

[0017] Furthermore, the first and second adapters are both three-layer structures, and the cross-section forms an "I"-shaped configuration, with upper and lower bosses forming a revolving pair to achieve relative rotation; the first and second adapters are provided with axle mounting holes at the bottom for the installation of the axles; circumferential fixing bayonet holes are provided on the sides; and grooves and protrusions of equal size and spacing are provided on the top to allow seamless docking between the adapters, and the connection of the interfaces between the modules is achieved through the limiting effect.

[0018] Compared with the existing technology, the principle and advantages of this solution are as follows:

[0019] The model described in this scheme has no power itself, and can be connected with other functional module models with the same adapters through the first and second adapters at its two ends to be assembled into a modular robot model, which can be used as a robot toy, a robot configuration teaching aid, or an ornamental gift, which is conducive to the popularization and promotion of robot concepts and technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the services required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of a small modular robot swing joint model of the present invention;

[0022] Figure 2 It is a decomposed schematic diagram of a small modular robot swing joint model of the present invention;

[0023] Figure 3 It is an assembly diagram of a swinging body and a second adapter in a swinging joint model of a small modular robot of the present invention;

[0024] Figure 4 It is a structural schematic diagram of a half shell constituting a main body in a small modular robot swing joint model of the present invention;

[0025] Figure 5 It is a structural schematic diagram of the first and second rotating joints in a small modular robot swing joint model of the present invention;

[0026] Figure 6It is a schematic diagram of a modular robot model formed by connecting the swing joint model T in a specific embodiment of the present invention with other models.

[0027] Reference numerals:

[0028] 1-swinging swivel, 2-main body, 3-first adapter, 4-second adapter, 12-concave mounting groove, 132-transverse circular shaft, 21-snap-on mounting groove, 211-slot port, 212-slot buckle, 213-slot middle layer, 22-embedded platform, 221-positioning hole, 222-positioning column, 23-external platform, 231-circular shaft limiting groove, 232-platform limiting column, 233-platform limiting hole, 331-axle mounting hole, 332-convex body, 333-circumferential fixing bayonet, 334-groove mouth, 335-upper boss, 336-lower boss. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with specific embodiments:

[0030] like Figure 1-6 As shown, a small modular robot swing joint model includes a swing body 1, a main body 2, and a first and a second transfer joint 3, 4;

[0031] The main body 2 is a combination of two half shells of the same structure and size that are buckled together and fixedly connected by the small round holes and small cylinders on the side walls of the inner cavity to form a front-to-back and left-to-right symmetrical assembly;

[0032] The half shell of the main body 2 is provided with a snap-on mounting slot 21, a slot port 211, a slot buckle 212, a slot middle layer 213, an embedded platform 22, a positioning hole 221, a positioning column 222, an external platform 23, a platform limiting hole 233), a platform limiting column 232), and a transverse axis hole;

[0033] Specifically, the snap-on mounting slot 21 is located at the bottom of the semi-shell; the slot port 211, the slot middle layer 213, and the slot snap 212 together form the mounting slot of the adapter, and the first adapter 3 is circumferentially limited by the slot snap 212; the embedded platform 22 is located at the lower side of the mounting slot 21 and is externally connected to the slot, with a platform on each side; the embedded platform 22 on the left side is provided with a positioning hole 221, and the same position on the right side is provided with a positioning column 222; the top of the semi-shell is an external platform 23, and the upper end of which is provided with a circular shaft limiting groove 231, a platform limiting hole 233, and a platform limiting column 232, which together with the swinging body 1 form an axial constraint and a rotation pair;

[0034] The oscillating body 1 is a U-shaped oscillating body, with a through hole on the top, a concave mounting groove 12 arranged below the through hole, and a portion of the second adapter 4 installed in the concave mounting groove 12 passes through the through hole; and the transverse circular shaft 132 is arranged on the opposite inner sides of the U-shaped oscillating body.

[0035] During splicing, one end of the main body 2 is connected with the horizontal circular axis 132 of the swing body 1 through its horizontal axis hole, forming a two-way rotation around the axis of the connecting hole; and the other end of the main body 2 is fixedly connected with the first adapter 3 through the annular groove;

[0036] In this embodiment, the first and second adapters 3 and 4 are both three-layer structures, and the cross-section forms an "I"-shaped configuration. The upper and lower bosses 335 and 336 constitute a rotating pair to achieve relative rotation; the first and second adapters 3 and 4 are provided with a wheel axle mounting hole 331 at the bottom for the installation of the wheel axle; the side is provided with a circumferential fixing bayonet 333; the top is provided with grooves 334 and protrusions 332 of equal size and spacing, so that the adapters can be seamlessly connected, and the connection of the interfaces between the modules is achieved through the limiting effect.

[0037] During actual installation, the second adapter 4 is first installed in the concave installation groove 12 of the swing body 1, and then the two ends of a half shell of the main body 2 are respectively connected to the swing body 1 and the first adapter 3, and finally the other half shell is buckled to assemble into a non-powered swing joint module model. The swing joint model described in the embodiment can be connected with other functional module models with the same adapter through the first and second adapters 3 and 4 at both ends to assemble into a modular robot model, realize actions with different functions and postures, and be used as a robot toy, a robot configuration teaching aid, or an ornamental gift, which is conducive to the popularization and promotion of robot concepts and technologies.

[0038] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, all changes made according to the shape and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A small modular robot swing joint model, characterized in that: It comprises a swinging body (1), a main body (2), and first and second adapters (3, 4); Wherein, the main body (2) is provided with a transverse axial hole; The swinging body (1) is provided with a concave mounting groove (12) and a transverse circular shaft (132); One end of the main body (2) is connected to the transverse circular axis (132) of the swinging body (1) through its transverse axis hole, thereby forming a bidirectional rotation around the axis of the connecting hole; and the other end of the main body (2) is fixedly connected to the first adapter (3) through an annular groove; The second adapter (4) is installed in a concave installation groove (12) of the swinging body (1); The main body (2) is a combination of two half shells of the same structure and size that are buckled together and fixedly connected through the small round holes and small cylinders on the side walls of the inner cavity to form a front-to-back and left-to-right symmetrical assembly; The half shell of the main body (2) is provided with a snap-on mounting slot (21), a slot port (211), a slot snap (212), a slot middle layer (213), an embedded platform (22), a positioning hole (221), a positioning column (222), an external platform (23), a platform limiting hole (233), a platform limiting column (232), and a transverse shaft hole; The snap-on mounting groove (21) is located at the bottom of the semi-shell; the groove port (211), the groove middle layer (213), and the groove buckle (212) together form a mounting groove of the adapter, and the first adapter (3) is circumferentially limited by the groove buckle (212); the embedded platform (22) is located at the lower side of the snap-on mounting groove (21) and is externally connected to the snap-on mounting groove (21), and an embedded platform (22) is provided on the left and right; the embedded platform (22) on the left is provided with a positioning hole (221), and the same position is provided on the right side with a positioning column (222); the top of the semi-shell is an external platform (23), the upper end of which is provided with a circular shaft limiting groove (231), a platform limiting hole (233), and a platform limiting column (232), which together with the swinging body (1) form an axial constraint and a rotation pair; The first and second adapters (3, 4) are both three-layer structures, with a cross-section forming an "I"-shaped configuration, and the upper and lower bosses (335, 336) form a rotating pair to achieve relative rotation; the first and second adapters (3, 4) are provided with a wheel axle mounting hole (331) at the bottom for mounting the wheel axle; a circumferential fixing bayonet (333) at the side; and grooves (334) and convex bodies (332) of equal size and spacing at the top for seamless docking between the adapters, so as to achieve connection of interfaces between modules through a limiting effect.

2. A small modular robot swing joint model according to claim 1, characterized in that: The swinging body (1) is a U-shaped swinging body, a through hole is formed on the top of the U-shaped swinging body, a concave mounting groove (12) is arranged below the through hole, a part of the second adapter (4) installed in the concave mounting groove (12) passes through the through hole; and the transverse circular shaft (132) is arranged on two opposite inner sides of the U-shaped swinging body.

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