Steering engine and educational robot

Abstract

The application belongs to the technical field of intelligent robots, and particularly relates to an educational robot. The educational robot is used in an educational scene. A steering engine of the educational robot comprises a driving motor, an output shaft, a driving connection between an output rotating shaft of the driving motor and the output shaft, a casing, an end of the output shaft penetrating from one end of the casing, a plurality of mounting lugs provided on the end of the casing away from the output shaft, each mounting lug being used for fixed connection to an external support, an electric connection interface provided in each mounting lug, the electric connection interface being electrically connected to the driving motor, and the electric connection interface being used for electrical connection to a control module to transmit a control signal to the driving motor. An output end shell is mounted on one end of the output shaft, rotates synchronously with the output shaft, and is used for connection to an object to be powered. The technical scheme of the application aims to solve the problem of complex power source structure in existing building block teaching aids, which is not suitable for teaching to cultivate scientific interest of primary and secondary school students.

Description

Technical Field

[0001] This application belongs to the field of intelligent robot technology, and in particular relates to a servo motor and an educational robot. Background Technology

[0002] In today's rapidly developing technological world, talent cultivation is of paramount importance. Correspondingly, guiding and inspiring the scientific and technological interests of primary, secondary, and university students in the education system is particularly crucial. This is especially true for primary and secondary school students, whose interests are still in their nascent stage; proper and beneficial guidance and inspiration are essential for cultivating these interests.

[0003] Currently, science and technology education for primary and secondary school students primarily relies on classroom learning. Teachers first explain scientific and technological knowledge to students, who then engage in theoretical understanding. This is a typical classroom-based teaching method that clearly lacks hands-on practice. Faced with dry and uninteresting textbooks and difficult and obscure scientific and technological knowledge, students inevitably feel intimidated, making it difficult to cultivate a strong interest in science and technology.

[0004] Even if some schools or summer camps include hands-on activities in their teaching, the teaching aids used are relatively complex, such as building blocks. These building blocks use ordinary motors that need to be combined with a series of structures such as reducers and transmission structures to form a power source that outputs power. For primary and secondary school students, the system structure is too complex and difficult, and it is not suitable for teaching that aims to cultivate their scientific interest. Summary of the Invention

[0005] The purpose of this application is to provide a servo motor and educational robot, which aims to solve the problem that the power source structure of existing building block teaching aids is complex and not suitable for cultivating the scientific interest of primary and secondary school students.

[0006] To achieve the above objectives, the technical solution adopted in this application is: an educational robot, including a servo motor, for use in educational scenarios, the servo motor comprising: Drive motor; The output shaft is connected to the output shaft of the drive motor. The housing houses the drive motor, with one end of the output shaft protruding from one end of the housing. Multiple mounting lugs are located on the end of the housing opposite the output shaft, arranged circumferentially around the central axis of the housing. These lugs are used for fixed connection to external supports. Each mounting lug has a hollow structure and contains an electrical connection interface. This interface is electrically connected to the drive motor and to the control module to transmit control signals to the drive motor. Thus, the mounting lugs simultaneously achieve both fixed connection to the housing and transmission of control signals to the drive motor. The output end housing is installed at one end of the output shaft and rotates synchronously with the output shaft. The output end housing is used to connect the object to be powered. The end of the output end housing away from the housing has multiple insertion ports and corresponding slots. The multiple insertion ports are circumferentially spaced around the central axis of the output end housing. Each slot is connected to the corresponding insertion port. The insertion ports and slots are used to connect and fix the connection parts of the object to be powered, so as to achieve quick installation. Educational robots also include: The main body of the vehicle includes a body frame and a bottom cover. The bottom cover is installed to the bottom of the body frame. The body frame has multiple first insertion slots on both sides along its length, and the bottom cover has multiple second insertion slots on the corresponding sides. The first insertion slots and the second insertion slots correspond one-to-one. The connecting arm has two connecting arms on opposite sides along the length of the body frame. Each connecting arm has a servo motor installed at both ends. One end of each connecting arm is connected to the housing of a servo motor, and the other end is connected to the output housing of another servo motor. The two mounting lugs of the servo motor connected to the output housing of the connecting arm are respectively inserted into the corresponding first insertion slot and second insertion slot, and the body frame and the bottom cover clamp and fix the housing. The wheel is mounted on the output end housing of the servo motor connected to the connecting arm. The wheel rotates synchronously with the output end housing.

[0007] In one implementation, the electrical connection interface is a Type-C data interface.

[0008] In one embodiment, two mounting lugs are provided, and the two mounting lugs are symmetrically arranged with respect to the central axis of the housing.

[0009] In one embodiment, there are two insertion ports, which are symmetrically arranged with respect to the central axis of the output end housing, and there are two card slots, which are centrally symmetrically arranged with respect to the central axis of the output end housing.

[0010] In one embodiment, the outer wall of the housing is provided with a first ball ring groove, and the inner side wall of the output end housing is provided with a second ball ring groove. The first ball ring groove and the second ball ring groove are aligned and fitted together. A ball is provided between the first ball ring groove and the second ball ring groove. Each ball is simultaneously engaged in the first ball ring groove and the second ball ring groove to prevent the housing and the output end housing from disengaging from each other along the axial direction of the servo motor.

[0011] In one embodiment, the wheel includes a support shell, a rotating end cap, and a tire. The support shell has a receiving space, and the inner wall of the receiving space has a plurality of cantilever arms arranged circumferentially and a stepped surface corresponding to each cantilever arm. An assembly opening is formed between the free end of the cantilever arm and the corresponding stepped surface. The inner side wall of the rotating end cap has a plurality of radially extending latches, each of which corresponds to a mounting opening. Each latch enters between the cantilever arm and the stepped surface from the corresponding mounting opening. The output end cap of the servo motor is inserted into the receiving space, and the latches slide between the cantilever arm and the stepped surface to be fixed to the output end cap.

[0012] In one embodiment, the side of each clasp facing the cantilever is configured as a curved surface convex toward the cantilever.

[0013] According to another aspect of this application, an educational robot is provided, including a servo motor for educational scenarios, the servo motor comprising: Drive motor; The output shaft is connected to the output shaft of the drive motor. The housing houses the drive motor, with one end of the output shaft protruding from one end of the housing. Multiple mounting lugs are located on the end of the housing opposite the output shaft, arranged circumferentially around the central axis of the housing. These lugs are used for fixed connection to external supports. Each mounting lug has a hollow structure and contains an electrical connection interface. This interface is electrically connected to the drive motor and to the control module to transmit control signals to the drive motor. Thus, the mounting lugs simultaneously achieve both fixed connection to the housing and transmission of control signals to the drive motor. The output end housing is installed at one end of the output shaft and rotates synchronously with the output shaft. The output end housing is used to connect the object to be powered. The end of the output end housing away from the housing has multiple insertion ports and corresponding slots. The multiple insertion ports are circumferentially spaced around the central axis of the output end housing. Each slot is connected to the corresponding insertion port. The insertion ports and slots are used to connect and fix the connection parts of the object to be powered, so as to achieve quick installation. Educational robots also include: The main body of the vehicle includes a body frame and a bottom cover. The bottom cover is installed to the bottom of the body frame. The body frame has a third insertion slot on both sides along the width direction, and the bottom cover has a fourth insertion slot on the corresponding sides. The fourth insertion slot and the third insertion slot correspond one-to-one. The main body of the vehicle is provided with at least one servo motor on both sides along the width direction. The two mounting lugs of the servo motor are respectively inserted into the corresponding third insertion slot and fourth insertion slot, and the housing of the servo motor is clamped and fixed by the vehicle frame and the bottom cover. The wheel is installed on the output end housing and rotates synchronously with the output end housing.

[0014] In one implementation, the electrical connection interface is a Type-C data interface.

[0015] In one embodiment, two mounting lugs are provided, and the two mounting lugs are symmetrically arranged with respect to the central axis of the housing.

[0016] In one embodiment, there are two insertion ports, which are symmetrically arranged with respect to the central axis of the output end housing, and there are two card slots, which are centrally symmetrically arranged with respect to the central axis of the output end housing.

[0017] In one embodiment, the outer wall of the housing is provided with a first ball ring groove, and the inner side wall of the output end housing is provided with a second ball ring groove. The first ball ring groove and the second ball ring groove are aligned and fitted together. A ball is provided between the first ball ring groove and the second ball ring groove. Each ball is simultaneously engaged in the first ball ring groove and the second ball ring groove to prevent the housing and the output end housing from disengaging from each other along the axial direction of the servo motor.

[0018] In one embodiment, the wheel includes a support shell, a rotating end cap, and a tire. The support shell has a receiving space, and the inner wall of the receiving space has a plurality of cantilever arms arranged circumferentially and a stepped surface corresponding to each cantilever arm. An assembly opening is formed between the free end of the cantilever arm and the corresponding stepped surface. The inner side wall of the rotating end cap has a plurality of radially extending latches, each of which corresponds to a mounting opening. Each latch enters between the cantilever arm and the stepped surface from the corresponding mounting opening. The output end cap of the servo motor is inserted into the receiving space, and the latches slide between the cantilever arm and the stepped surface to be fixed to the output end cap.

[0019] In one embodiment, the side of each clasp facing the cantilever is configured as a curved surface convex toward the cantilever.

[0020] This application has at least the following beneficial effects: The educational robot described in this application uses the servo motor provided in this application as its power source. The servo motor features a cleverly designed housing structure, specifically mounting lugs on the housing for mounting electrical connection interfaces. On one hand, the mounting lugs connect the housing to an external support (e.g., to one end of a connecting arm, or to the main body of the educational robot), providing the servo motor with a working support point. On the other hand, after fixing the housing with the mounting lugs, the data cable connector of the external control module can be plugged into the electrical connection interface to transmit control signals to the drive motor, thereby controlling the drive motor to output power. Therefore, this servo motor, through the mounting lugs and the electrical connection interface located within them, achieves both housing mounting and control signal transmission, integrating the design of the mounting structure with the signal connection design.

[0021] By learning and experiencing the servo motors and educational robots provided in this application, students can not only learn in an entertaining way, but also experience the scientific knowledge of automation control through hands-on activities. This can guide students from simple to complex, cultivate their awareness and desire for scientific knowledge, and foster a strong interest in science. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the assembly structure of the wheel assembly structure formed by connecting arms in the educational robot of this application embodiment; Figure 2 This is an exploded view of the wheel assembly structure formed by connecting arms in the educational robot of this application embodiment; Figure 3 This is a schematic diagram of the assembly structure of the connecting arm in the educational robot according to an embodiment of this application; Figure 4 This is an exploded view of the connecting arm in the educational robot according to an embodiment of this application; Figure 5 This is a schematic diagram of the assembly structure of the servo motor in the educational robot according to an embodiment of this application. Figure 1 ; Figure 6 This is a schematic diagram of the assembly structure of the servo motor in the educational robot according to an embodiment of this application. Figure 2 ; Figure 7 This is an exploded view of the wheels and servo motors in the educational robot of this application embodiment; Figure 8 This is a schematic diagram of the assembly structure of the educational robot in this application, which uses a four-wheel structure to form a walking system. Figure 9 This is a partially exploded schematic diagram of the educational robot in this embodiment of the application, which uses a four-wheel structure to form a walking system. Figure 10 This is a schematic diagram of the assembly structure of the educational robot in this application, which uses wheels and servo motors to form a walking system. Figure 1 ; Figure 11 An exploded view of the educational robot in this embodiment of the application, showing the walking system formed by the assembly of wheels and servo motors. Figure 1 ; Figure 12This is a schematic diagram of the assembly structure of the educational robot in this application, which uses wheels and servo motors to form a walking system. Figure 2 ; Figure 13 An exploded view of the educational robot in this embodiment of the application, showing the walking system formed by the assembly of wheels and servo motors. Figure 2 ; Figure 14 for Figure 13 Enlarged view of point A in the middle; Figure 15 This is a schematic diagram of the assembly structure of the expandable robotic arm and adapter used in the educational robot of this application embodiment; Figure 16 This is an exploded view of the expandable robotic arm and adapter used in the educational robot of this application embodiment; Figure 17 This is a schematic diagram of the assembly structure of the head segment of the expandable robotic arm used in the educational robot of this application embodiment; Figure 18 This is an exploded view of the head segment of the scalable robotic arm used in the educational robot of this application embodiment; Figure 19 This is a schematic diagram of the assembly structure of the end effector of the educational robot used in an embodiment of this application; Figure 20 This is an exploded view of the end effector structure of the scalable robotic arm used in the educational robot of this application embodiment. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0025] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0026] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0028] like Figure 1 , Figure 2 , Figures 8 to 13 As shown, the educational robot in this embodiment employs a wheeled walking system. Preferably, the wheeled walking system includes four wheel sets 10, such as... Figure 1 and Figure 8 As shown, the four wheel sets 10 have the same structure, and each wheel set 10 has an independent adjustment function. The adjustment function includes the lifting function to raise or lower the overall height of the intelligent vehicle and the speed adjustment function to independently adjust the rotation speed of the wheels 11.

[0029] like Figure 1 and Figure 2 As shown, each wheel assembly structure 10 includes a wheel 11, a connecting arm 12, and two servo motors 13. The connecting arm 12 serves as a support and mounting carrier for the wheel assembly structure 10. One servo motor 13 is mounted on the first end of the connecting arm 12, and the other servo motor 13 and the wheel 11 are detachably assembled to form a drive wheel module.

[0030] like Figures 2 to 4 As shown, the connecting arm 12 includes a first outer support housing 121, a second outer support housing 122, and a rotating inner support housing 123.

[0031] like Figure 4 As shown, the first outer support housing 121 includes a first sleeve 1211 and a first frame 1212. The two ends of the first frame 1212 are connected to the first sleeve 1211, forming a racetrack-shaped first outer support housing 121. The first sleeve 1211 is located at the first end of the first outer support housing 121, and the first frame 1212 forms the second end of the first outer support housing 121 opposite to the first sleeve 1211. Figure 2 and Figure 4 As shown, the first sleeve 1211 has multiple notches 1213 spaced circumferentially around its central axis, and, as... Figure 3 and Figure 4 As shown, a first mounting through hole 1214 is provided on the first frame edge 1212, which is the second end of the first outer bracket housing 121.

[0032] like Figure 4 As shown, the second outer support housing 122 includes a cap portion 1221 corresponding to the first sleeve 1211 and a second frame edge 1222. The two ends of the second frame edge 1222 are connected to the cap portion 1221, forming a racetrack-shaped second outer support housing 122 that matches the racetrack shape of the first outer support housing 121. The cap portion 1221 is provided with hooks 1223 corresponding to a plurality of latches 1213. The cap portion 1221 fits snugly onto the first sleeve 1211, and each hook 1223 engages in its corresponding latch 1213. Specifically, the cap portion 1221 is provided with a stop protrusion 1224, and the end of the first sleeve 1211 facing the cap portion 1221 is provided with a plurality of notches 1215 spaced apart, such as... Figure 2 and Figure 4 As shown, after the cap portion 1221 is fitted onto the first sleeve 1211, the notch 1215 and the cap portion 1221 form a sliding guide groove. Specifically, the first sleeve 1211 has two symmetrical notches 1215 at its end. When the cap portion 1221 is fitted onto the first sleeve 1211, the second frame edge 1222 simultaneously and appropriately mates with the first frame edge 1212 and is fixed together. Figure 3 As shown, after the first frame edge 1212 and the second frame edge 1222 are joined together, two opposing first clearance openings 1231 and second clearance openings 1232 are formed, and the first mounting through hole 1214 is located on the second frame edge 1222 between the first clearance opening 1231 and the second clearance opening 1232.

[0033] like Figure 4As shown, the rotating inner support housing 123 includes a second sleeve 1233 and a third frame 1234. The two ends of the third frame 1234 are connected to the second sleeve 1233 to form a racetrack-shaped rotating inner support housing 123. The second sleeve 1233 is located at the first end of the rotating inner support housing 123, and the third frame 1234 forms the second end of the rotating inner support housing 123 opposite to the second sleeve 1233. The second sleeve 1233 is rotatably sleeved on the first sleeve 1211, and the inner wall of the second sleeve 1233 is provided with a plurality of locking protrusions 1235, each locking protrusion 1235 being located in a notch 1215 in a corresponding manner, and the corresponding second sleeve 1233 is provided with two opposing locking protrusions 1235. Then, the second outer bracket housing 122 is fitted onto the first outer bracket housing 121. At this time, the second sleeve 1233 is blocked by the sleeve cover 1221 and cannot detach from the first sleeve 1211. The locking protrusion 1235 and the stop protrusion 1224 are spaced apart. After the second outer bracket housing 122 is fitted onto the first outer bracket housing 121, during the rotation of the inner bracket housing 123 around the central axis of the first sleeve 1211, the third frame edge 1234 can pass through the first clearance opening 1231 and the second clearance opening 1232. When the third frame edge 1234 is located in the space between the first clearance opening 1231 and the second clearance opening 1232, the locking protrusion 1235 is located in the middle of the notch 1215. That is to say, at this time, the third frame edge 1234 can rotate towards the first clearance opening 1231 and pass through the first clearance opening 1231, and it can also rotate towards the second clearance opening 1232 and pass through the second clearance opening 1232. A second mounting through hole 1236 is provided on the third frame edge 1234, which is the second end of the rotating inner support housing 123. When the third frame edge 1234 is located in the space between the first clearance opening 1231 and the second clearance opening 1232, the second mounting through hole 1236 and the first mounting through hole 1214 are directly opposite each other and there is a gap between them. Furthermore, a recessed groove 1237 is formed on the outer wall of the third frame edge 1234, which is the second end of the rotating inner support housing 123, facing the first mounting through hole 1214. The extending direction of the recessed groove 1237 is consistent with the extending direction of the third frame edge 1234.

[0034] like Figure 5 and Figure 6As shown, the servo 13 includes a first housing 131, a second housing 132, an output end housing 133, and internal servo components (not shown; these generally include a circuit board, a drive motor, a reduction gear, and an output shaft; the drive motor drives the output shaft to rotate, and is essentially the same as the internal components of existing servos, so they will not be described in detail). The first housing 131 and the second housing 132 are fitted together to form an assembly space (the first housing 131 and the second housing 132 combine to form a housing; in one embodiment, the first housing 131 and the second housing 132 can be integrally formed, i.e., a one-piece housing). Specifically, the first housing 131 and the second housing 132 are fixedly connected by screws, and the internal servo components are installed in the assembly space. The output end housing 133 is mounted on the output shaft of the internal servo components, and the output end housing 133 and the output shaft rotate synchronously, that is, the output end housing 133 rotates relative to the first housing 131 and the second housing 132. Specifically, the output shaft of the internal components of the servo extends from the end of the second housing 132 away from the first housing 131, and the corresponding output end housing 133 is located at the end of the second housing 132 away from the first housing 131. The second housing 132 and the output end housing 133 are rotatably fitted together. For example, the outer wall of the second housing 132 is provided with a first ball ring groove (not shown), and the inner wall of the output end housing 133 is provided with a second ball ring groove (not shown). The first ball ring groove and the second ball ring groove correspond to each other, and a ball is placed between the first ball ring groove and the second ball ring groove, so that the same ball is stuck in the first ball ring groove and the second ball ring groove. The ball makes it difficult for the output end housing 133 to detach from the output shaft and the second housing 132, and also restricts the output end housing 133 and the housing from detaching from each other along the axis of the servo, thus ensuring the working stability of the servo. Furthermore, the first housing 131 is provided with a plurality of mounting lugs 1311, which are arranged circumferentially and evenly spaced around the central axis of the first housing 131. Preferably, the first housing 131 is provided with two opposing mounting lugs 1311. Each mounting lug 1311 is hollow, allowing the cables of the internal components of the servo motor to be routed through the hollow mounting lugs 1311. An electrical connection interface 1310 is installed in the hollow mounting lug 1311, such as... Figure 5 As shown. Then the cables of the internal components of the servo motor are routed to the electrical connection interface 1310 and electrically connected to it. The electrical connection interface 1310 is used to electrically connect to the external control module (e.g., the main control module of the educational robot) to transmit control signals to the drive motor. The drive motor executes the corresponding output according to the control signal, thereby driving the output end housing 133 to rotate to output power to the object to receive power (e.g., the wheel of the educational robot).

[0035] In the servo motor of this application, the electrical connection interface 1310 is a type-C data interface, which can ensure the data transmission speed of control signals, ensure the rapid response of the drive motor, and thus reduce the overall latency of the servo motor.

[0036] The output end housing 133 has a plurality of insertion ports 1331 arranged circumferentially around the central axis of the output end housing 133, and slots 1332 corresponding to and communicating with each insertion port 1331. Each slot 1332 is located on the same side relative to the corresponding insertion port 1331. Preferably, the output end housing 1333 has two oppositely arranged insertion ports 1331 and two corresponding slots 1332.

[0037] like Figure 1 and Figure 2 As shown, two servo motors 13 are assembled onto the connecting arm 12, with one servo motor 13 mounted at the first end of the connecting arm 12 and the other servo motor 13 mounted at the second end of the connecting arm 12. The first end of the connecting arm 12 is formed by the first end of the first outer support housing 121, the first end of the second outer support housing 122, and the first end of the rotating inner support housing 123; and the second end of the connecting arm 12 is formed by the second end of the first outer support housing 121, the second end of the second outer support housing 122, and the second end of the rotating inner support housing 123.

[0038] like Figure 1 and Figure 2 As shown, when installing one of the servo motors 13 to the first end of the connecting arm 12, specifically, the output end housing 133 of this servo motor 13 is installed to the first end of the connecting arm 12. Specifically, the output end housing 133 is inserted into the first sleeve 1211, and the two locking protrusions 1235 are inserted into the corresponding two insertion ports 1331. Before inserting the output end housing 133 into the first sleeve 1211, the third frame edge 1234 of the rotating inner bracket housing 123 is rotated out from the position between the first clearance port 1231 and the second clearance port 1232 and passes through the first clearance port 1231 or the second clearance port 1232. After inserting the output end housing 133 into the first sleeve 1211, the rotating inner bracket housing 123 is then rotated back to the position between the first clearance opening 1231 and the second clearance opening 1232. At this time, the locking protrusion 1235 slides into the locking groove 1332, and one side wall of the locking groove 1332 is stopped by the locking protrusion 1235 and the stop protrusion 1224. At this time, one side wall of the locking groove 1332 abuts against the stop protrusion 1224. In this way, the servo motor 13 is installed on the first end of the connecting arm 12.

[0039] like Figure 1 and Figure 2As shown, when installing another servo motor 13 to the second end of the connecting arm 12, specifically, the first housing 131 of this servo motor 13 is installed to the second end of the connecting arm 12. Specifically, when inserting the servo motor 13 installed to the first end of the connecting arm 12 into the first sleeve 1211, the servo motor 13 installed to the second end of the connecting arm 12 is simultaneously placed into the racetrack-shaped space formed by the mating of the first frame edge 1212 and the second frame edge 1222, and one of the two mounting lugs 1311 on the first housing 131 of the servo motor 13 passes through the first mounting through hole 1214. Then, during the process of rotating the inner bracket housing 123 back to the position between the first clearance opening 1231 and the second clearance opening 1232, the other mounting lug 1311 on the first housing 131 of the servo motor 13 enters the recessed groove 1237 and slides along the recessed groove 1237 until the mounting lug 1311 passes through the second mounting through hole 1236. As the mounting lug 1311 slides along the recessed groove 1237, the second frame edge 1222 undergoes slight elastic deformation due to the pressure of the mounting lug 1311, allowing the mounting lug 1311 to slide along the recessed groove 1237 until it penetrates into the second mounting through hole 1236. Thus, the two mounting lugs 1311 respectively penetrate the first mounting through hole 1214 and the second mounting through hole 1236, thereby restricting the first housing 131 from dislodging from the second end of the connecting arm 12. Furthermore, the two mounting lugs 1311 abut against the first frame edge 1212 and the second frame edge 1222 respectively, thereby clamping the first housing 131 between the first frame edge 1212 and the second frame edge 1222 without loosening.

[0040] After placing the two servo motors 13 into their respective positions at the first and second ends of the connecting arm 12, the inner support housing 123 is rotated back to the position between the first clearance opening 1231 and the second clearance opening 1232, thus simultaneously installing the two servo motors 13 onto the connecting arm 12. The two servo motors 13 on a connecting arm 12 can either both protrude towards the same side of the connecting arm 12, or they can protrude towards opposite sides of the connecting arm 12 in opposite directions.

[0041] like Figure 7As shown, the wheel 11 includes a support shell 111, a rotating end cap 112, and a tire 113. The tire 113 is integrally molded from rubber and has a certain degree of elasticity, allowing it to expand elastically and fit snugly onto the outer circumferential surface of the support shell 111 as the wheel tread. The support shell 111 has a receiving space 1111, and the inner wall of the receiving space 1111 has multiple cantilever arms 1112 arranged circumferentially, preferably two centrally symmetrical cantilever arms 1112. Furthermore, the inner wall of the receiving space 1111 has a stepped surface 1113 corresponding to the cantilever arms 1112, and an assembly opening 1114 is formed between the free end of the cantilever arm 1112 and the stepped surface 1113. The inner sidewall of the rotating end cap 112 has multiple radially extending latches 1121, preferably two oppositely arranged latches 1121. When the rotating end cap 112 is installed onto the support shell 111, the two latches 1121 are positioned corresponding to the two mounting openings 1114, allowing the mounting openings 1114 to open slightly, thus enabling the latches 1121 to enter between the cantilever 1112 and the stepped surface 1113. Under normal circumstances, when the mounting openings 1114 are not expanded, the latches 1121 are difficult to disengage from between the cantilever 1112 and the stepped surface 1113, thereby confining the rotating end cap 112 to the support shell 111. Furthermore, the latches 1121 can rotate and slide between the cantilever 1112 and the stepped surface 1113, and the latches 1121 and the cantilever 1112 are spaced apart.

[0042] like Figure 7 As shown, when assembling the wheel 11 and the servo motor 13, specifically, the wheel 11 is installed onto the output end housing 133. The output end housing 133 of the servo motor 13 is inserted into the receiving space 1111, and the insertion port 1331 and the corresponding latch 1121 are aligned with each other until the latch 1121 enters the insertion port 1331. Then, the rotating end cover 112 is rotated, causing the latch 1121 to slide into the latch groove 1332. The side of the latch 1121 facing the cantilever 1112 is set as a convex curved surface, which can be an arc-shaped curved surface or a bidirectional wedge-shaped surface spliced ​​by two planes with opposite inclination directions, so that the latch 1121 can slide into the latch groove 1332 more easily. In this way, one side wall of the latch groove 1332 is blocked by the interaction of the latch 1121 and the cantilever 1112, and at this time, one side wall of the latch groove 1332 abuts against the cantilever 1112. Thus, the installation of wheel 11 and servo motor 13 is completed, and the drive wheel module is assembled (the drive wheel module corresponds to the second end of connecting arm 12).

[0043] like Figures 8 to 13 As shown, the educational robot also includes a body body 20. After the four wheel sets 10 are assembled, the four wheel sets 10 can be assembled onto the body body 20, thereby completing the structural assembly of the wheeled walking system of the educational robot.

[0044] like Figures 8 to 13 As shown, the vehicle body 20 includes a body frame 21 and a floor cover 22. The body frame 21 has an accommodating space 211, such as... Figure 13 As shown, the accommodating space 211 is used to install and fix components such as the battery 40 and the main control module 30. The bottom cover 22 is fixed to the bottom of the body frame 21 by multiple bolts 23. The main outline of the body frame 21 is cuboid in shape. Along the length of the educational robot, open receiving slots 212 are provided on both sides of the bottom of the body frame 21. Furthermore, multiple first insertion slots 213 are provided on the side wall of the receiving slot 212 opposite to the bottom cover 22. Specifically, three first insertion slots 213 are provided on the side wall of the receiving slot 212 of the body frame 21. Correspondingly, multiple second insertion slots 221 are provided on both sides of the bottom cover 22 along the length of the educational robot. The multiple second insertion slots 221 correspond one-to-one with the multiple first insertion slots 213, that is, three second insertion slots 221 are provided on both sides of the bottom cover 22.

[0045] like Figure 8 and Figure 9 As shown, after the assembly of each wheel assembly structure 10 is completed, the first housing 131 of the servo motor 13 located at the first end of the connecting arm 12 in each wheel assembly structure 10 will be installed and fixed to the body body 20. Figure 9As shown, the assembly process is illustrated using the example of assembling one wheel assembly structure 10 to the left rear end of the body frame 20. Specifically, one of the two mounting lugs 1311 of the first housing 131 of the servo 13 located at the first end of the connecting arm 12 is inserted into the first insertion slot 213 at the left rear end of the body frame 21. Then, the bottom cover 22 is closed onto the bottom of the body frame 21, so that the other mounting lug 1311 is aligned and inserted into the second insertion slot 221 at the left rear end of the bottom cover 22. Finally, the bolts 23 are tightened to connect and fix the bottom cover 22 to the bottom of the body frame 21. At this time, the two mounting lugs 1311 are respectively inserted into the first insertion slot 213 and the second insertion slot 221, thereby restricting the servo 13 so that it cannot detach from the body frame 21 and the bottom cover 22. Furthermore, the groove wall of the receiving groove 212 is provided with a first abutting recess 214 corresponding to the position of each first insertion groove 213, which is adapted to the corresponding position of the outer wall of the first housing 131. The bottom cover 22 is provided with a second abutting recess 222 corresponding to the position of each second insertion groove 221, which is adapted to the corresponding position of the outer wall of the first housing 131. When the bottom cover 22 is connected and fixed to the bottom of the vehicle frame 21 by bolts 23, the first abutting recess 214 and the second abutting recess 222 respectively abut against the corresponding position of the outer wall of the first housing 131, thereby clamping and fixing the first housing 131 to prevent the servo 13 from shaking relative to the vehicle body 20, that is, to prevent the wheel assembly structure 10 from shaking relative to the vehicle body 20.

[0046] like Figure 9 and Figure 11 As shown, along the length of the educational robot, a third insertion slot 215 is provided at both the front and rear ends of the vehicle frame 21 (at this time, the line connecting the two third insertion slots 215 is in the width direction, which is perpendicular to the aforementioned length direction, meaning that the vehicle frame 21 has a third insertion slot 215 on both sides along the width direction). Correspondingly, a fourth insertion slot 223 is also provided at both the front and rear ends of the bottom cover 22. Furthermore, the third insertion slot 215 and the fourth insertion slot 223 located at the front end of the vehicle body 20 are directly opposite each other, and the third insertion slot 215 and the fourth insertion slot 223 located at the rear end of the vehicle body 20 are directly opposite each other. Additionally, a third abutment recess 216 is provided at the front end of the vehicle frame 21 corresponding to the third insertion slot 215 and at the rear end of the vehicle frame 21 corresponding to the third insertion slot 215. Correspondingly, a fourth abutment recess 224 is provided at the front end of the bottom cover 22 corresponding to the fourth insertion slot 223 and at the rear end of the bottom cover 22 corresponding to the fourth insertion slot 223.

[0047] In another implementation of the educational robot, such as Figures 10 to 13As shown, a drive wheel module can be installed on the front and rear ends of the main body 20, thus forming an educational robot similar to a balance scooter (hereinafter referred to as a balance scooter educational robot). During the installation of the first housing 131 of the drive wheel module's servo motor 13 to the front and rear ends of the main body 20, one of the mounting lugs 1311 of the first housing 131 of the two drive wheel modules is first inserted into the two third insertion slots 215 respectively. Then, the bottom cover 22 is closed so that the other mounting lug 1311 is inserted into the corresponding fourth insertion slot 223. Then, the mounting bolts 23 are tightened to connect and fix the bottom cover 22 to the bottom of the body frame 21. At this time, the third abutment recess 216 and the corresponding fourth abutment recess 224 at the front end of the main body 20 clamp and fix the corresponding first housing 131 externally, and the third abutment recess 216 and the corresponding fourth abutment recess 224 at the rear end of the main body 20 clamp and fix the corresponding first housing 131 externally.

[0048] The self-balancing educational robot uses a gyroscope (not shown) to detect the overall balance of the smart vehicle. The gyroscope is electrically connected to the main control module 30. When the gyroscope detects an imbalance in the overall balance of the smart vehicle, it sends an imbalance signal to the main control module 30. Upon receiving the imbalance signal, the main control module 30 sends adjustment signals to the servo motors 13 of the two drive wheel modules, causing the two servo motors 13 to respond quickly to adjust the overall balance of the smart vehicle, allowing the smart vehicle to regain its balance.

[0049] like Figure 13 As shown, the main control module 30 and battery 40 are assembled in a space 211, which is divided into a lower space with a smaller volume and an upper space with a larger volume. The lower space extends directly from the bottom of the upper space, meaning the upper and lower spaces are interconnected. The battery 40 is installed in the lower space, and the main control module 30 is installed in the upper space. Furthermore, the horizontal circumferential contour of the upper space matches the contour of the main control module 30, and the horizontal circumferential contour of the lower space matches the contour of the battery 40 (horizontal circumferential refers to the circumference of an object in the horizontal direction when the vehicle frame 21 is placed horizontally on a flat surface in its normal posture). Additionally, the height of the upper space matches the thickness of the main control module 30, and the height of the lower space matches the height of the battery 40, allowing the main control module 30 to be directly stacked on the battery 40 with direct contact between their corresponding terminals for electrical connection.

[0050] like Figure 13As shown, the battery 40 has elastic buckles 41 on its sidewalls, and correspondingly, the lower space has corresponding locking interfaces 2113 on its sidewalls that mate with the elastic buckles 41. Specifically, along the length of the educational robot, the battery 40 has an elastic buckle 41 on both its front and rear sidewalls, and the lower space also has corresponding locking interfaces 2113 on its front and rear sidewalls. When the battery 40 is placed in the lower space, the elastic buckles 41 engage with the locking interfaces 2113, thus preventing the battery 40 from falling out of the lower space and preventing it from moving up and down. After the battery 40 is placed, the main control module 30 can be directly placed into the upper space.

[0051] The main body 20 also includes a roof 24.

[0052] In the educational robot of this application, the top cover 24 can be detachably fitted onto the top of the vehicle frame 21 via a snap-fit ​​structure and locked to a corresponding snap-fit ​​structure, thereby sealing the main control module 30 placed in the upper space and preventing the main control module 30 from detaching from the upper space. Furthermore, the inner wall of the top cover 24 abuts against the top wall of the main control module 30, thus fixing the main control module 30 between the top cover 24 and the battery 40. By releasing the snap-fit ​​structure, the top cover 24 can be removed from the vehicle frame 21, allowing for maintenance, replacement, and other operations on components such as the main control module 30 and the battery 40.

[0053] In one embodiment, the top cover 24 can be locked to the top of the vehicle frame 21 by multiple screws, thereby covering the main control module 30 placed in the upper space and preventing the main control module 30 from coming out of the upper space. Furthermore, the inner wall of the top cover 24 abuts against the top wall of the main control module 30, thus fixing the main control module 30 between the top cover 24 and the battery 40. The top cover 24 can be removed from the vehicle frame 21 by unscrewing the screws, allowing for maintenance, replacement, and other operations on components such as the main control module 30 and the battery 40.

[0054] In one implementation, such as Figure 13 As shown, one side of the top cover 24 is rotatably mounted to the vehicle frame 21 via a pin 25. The other side of the top cover 24 opposite the pin 25 has a barb, and the corresponding position on the vehicle frame 21 has a latch 217. When the top cover 24 is rotated around the pin 25 and closes to the top of the vehicle frame 21, the barb and latch 217 lock together, thus sealing the main control module 30 placed in the upper space and preventing it from detaching. Furthermore, the inner wall of the top cover 24 abuts against the top wall of the main control module 30, thus fixing the main control module 30 between the top cover 24 and the battery 40. By releasing the lock between the barb and the latch 217, the top cover 24 can be rotated open from the vehicle frame 21 around the pin 25, allowing for maintenance, replacement, and other operations on components such as the main control module 30 and the battery 40.

[0055] like Figure 15 and Figure 16 As shown, the educational robot also includes a robotic arm 50, which is detachably mounted to the body frame 21 via an adapter 51.

[0056] like Figure 13 and Figure 14 As shown, along the length of the educational robot, the top opening of the vehicle frame 21 has multiple inlets 218 and multiple locking slots 219 on both sides. The locking slots 219 and inlets 218 are connected one-to-one, and each locking slot 219 is located on the same side as the corresponding inlet 218. Specifically, the top opening of the vehicle frame 21 has two inlets 218 and two locking slots 219 on each side. Furthermore, when the vehicle frame 21 is laid flat on a horizontal surface, each locking slot 219 extends horizontally.

[0057] like Figure 15 and Figure 16 As shown, along the length of the educational robot, multiple snap-fit ​​blocks 511 protrude from both the left and right sides of the adapter 51. Specifically, in this embodiment, two snap-fit ​​blocks 511 protrude from both the left and right sides of the adapter 51.

[0058] When assembling the robotic arm 50 onto the vehicle frame 21 via the adapter 51, the top cover 24 must first be removed from the top of the vehicle frame 21 to expose the various entry ports 218 on the top of the vehicle frame 21. Then, the snap-fit ​​blocks 511 of the adapter 51 are aligned with their respective entry ports 218, allowing each snap-fit ​​block 511 to enter through its corresponding entry port 218. Next, the adapter 51 is pushed horizontally, causing each snap-fit ​​block 511 to slide into its corresponding snap-fit ​​groove 219. This secures the adapter 51 to the vehicle frame 21, thus assembling the robotic arm 50 onto the vehicle frame 21 via the adapter 51.

[0059] To prevent the locking block 511 from slipping out of the locking slot 219 and causing the robotic arm 50 to detach from the vehicle frame 21, each locking block 511 has at least one anti-detachment protrusion 512 on its upper (and / or lower) surface, such as... Figure 15 As shown. Accordingly, the upper (and / or lower) groove wall of the snap-fit ​​groove 219 is provided with at least one mating protrusion 2191, such as... Figure 14 As shown, during the process of the snap-fit ​​block 511 sliding into the snap-fit ​​groove 219, the anti-detachment protrusion 512 abuts against and presses against the mating protrusion 2191, and the anti-detachment protrusion 512 passes over the mating protrusion 2191. In this way, the mating protrusion 2191 can block the anti-detachment protrusion 512, thereby preventing the snap-fit ​​block 511 from sliding out of the snap-fit ​​groove 219.

[0060] In this embodiment, a plurality of mating protrusions 2191 are provided on the same side wall of the snap-fit ​​groove 219, and the plurality of mating protrusions 2191 are arranged sequentially at intervals. When the snap-fit ​​block 511 slides into the snap-fit ​​groove 219, the snap-fit ​​block 511 can be adjusted to be blocked by any of the mating protrusions 2191 to prevent the snap-fit ​​block 511 from sliding out of the snap-fit ​​groove 219. More preferably, the distance between any two adjacent mating protrusions 2191 is equal to the width of the snap-fit ​​block 511.

[0061] When it is necessary to remove the robotic arm 50 from the vehicle frame 21, simply pull the adapter 51 to make the locking block 511 slide toward the inlet 218. The anti-detachment protrusion 512 will then press against the mating protrusion 2191 again and pass over the mating protrusion 2191, thus allowing the locking block 511 to detach from the inlet 218.

[0062] The robotic arm 50 is an expandable robotic arm, meaning its extension length can be extended without affecting its degrees of freedom and flexibility. For example... Figure 15 and Figure 16 As shown, the robotic arm 50 includes a head arm 513, an end arm 514, at least one connecting arm 12, and multiple servo motors 13. The following description uses an example where the robotic arm 50 has only one connecting arm 12 to illustrate the structural design of the robotic arm 50.

[0063] like Figure 17 and Figure 18 As shown, the head arm 513 is provided with a first arm support shell 5131, a head main bracket 5132 and a head secondary bracket 5133.

[0064] like Figure 18 As shown, the head-end main support 5132 has a first fork-shaped portion and a first curved portion. The first curved portion is shaped like half a racetrack, and there are two connection points between the two ends of the half-racetrack shape of the first curved portion and the first fork-shaped portion. The line connecting the two connection points is perpendicular to the line connecting the two forks of the first fork-shaped portion. The first arm support shell 5131 is fixedly connected to the two forks of the first fork-shaped portion and is located between the two forks of the first fork-shaped portion. The first curved portion has a first fixing through hole 5134 at a position opposite to the first arm support shell 5131, and the inner wall of the bend of the first curved portion is smoothly rounded.

[0065] like Figure 18As shown, the head-end sub-support 5133 has a second fork-shaped portion and a second curved portion. The second curved portion is shaped like half a racetrack, and there are two connection points between the two ends of the half-racetrack shape of the second curved portion and the second fork-shaped portion. The line connecting the two connection points is perpendicular to the line connecting the two forks of the second fork-shaped portion. The two forks of the second fork-shaped portion are rotatably mounted on the first arm support shell 5131, and the first arm support shell 5131 is located between the two forks of the second fork-shaped portion. The second curved portion has a second fixing through hole 5135 at a position opposite to the first arm support shell 5131, and the outer wall of the bend of the second curved portion is smoothly rounded. The outer wall of the second curved portion corresponding to the second fixing through hole 5135 has a head-end recessed groove 5136, and the extending direction of the head-end recessed groove 5136 is consistent with the extending direction of the racetrack shape of the second curved portion.

[0066] In other words, the first forked portion and the second forked portion together constitute the first end of the U-shaped structure of the head arm 513, and the first bent portion and the second bent portion together constitute the bent second end, and the first end and the second end are orthogonally arranged. In a specific application of the head arm 513, the output end housing 133 of one servo motor 13 is fixedly installed at the first end of the head arm 513 (that is, the output end housing 133 of the servo motor 13 is fixedly installed on the first arm support housing 5131 which is fixedly connected to the two forked arms of the first forked portion), and the housing of the other servo motor 13 is fixedly installed at the second end of the head arm 513.

[0067] like Figure 18As shown, the first arm support shell 5131 includes a head end shell 51311 and a head end rotating end cap 51312. The two fork arms of the first fork-shaped portion and the two fork arms of the second fork-shaped portion are connected to the outer walls of both sides of the head end shell 51311. The head end rotating end cap 51312 is rotatably mounted on the head end shell 51311. Specifically, the head end shell 51311 has a head end placement space 51313. The inner wall of the head end placement space 51313 has a plurality of circumferentially spaced head end cantilever arms 51314, preferably two centrally symmetrical head end cantilever arms 51314. Furthermore, the inner wall of the head end placement space 51313 has a head end stepped surface 51315 corresponding to the head end cantilever arm 51314, and a head end assembly opening 51316 is formed between the free end of the head end cantilever arm 51314 and the head end stepped surface 51315. The inner wall of the rotating end cap 51312 is provided with a plurality of radially extending end catches 51317, preferably two oppositely arranged end catches 51317. When the rotating end cap 51312 is installed onto the end housing 51311, the two end catches 51317 are respectively aligned with the two end mounting openings 51316, allowing the end mounting openings 51316 to open slightly, thereby allowing the end catches 51317 to enter between the end cantilever 51314 and the end stepped surface 51315. Under normal circumstances, when the end mounting opening 51316 is not expanded, the end catches 51317 are difficult to disengage from between the end cantilever 51314 and the end stepped surface 51315, thus confining the rotating end cap 51312 to the end housing 51311. Furthermore, the head end latch 51317 can rotate and slide between the head end cantilever 51314 and the head end stepped surface 51315, and the head end latch 51317 and the head end cantilever 51314 are spaced apart.

[0068] like Figure 16 As shown, when installing a servo motor 13 onto the first arm support housing 5131, specifically, the output end housing 133 of the servo motor 13 is installed onto the first arm support housing 5131. The output end housing 133 of the servo motor 13 is inserted into the head end placement space 51313, aligning the insertion port 1331 and the corresponding head end catch 51317 until the head end catch 51317 enters the insertion port 1331. Then, the head end rotating end cap 51312 is rotated, causing the head end catch 51317 to slide into the catch groove 1332. In this way, one side wall of the catch groove 1332 is blocked by the cooperation of the head end catch 51317 and the head end cantilever 51314, at which point one side wall of the catch groove 1332 abuts against the head end cantilever 51314. Thus, the installation of the servo motor 13 and the first arm support housing 5131 is completed.

[0069] Then, another servo motor 13 is installed onto the second end of the head arm 513, specifically, by installing the first housing 131 of the servo motor 13 between the first bend and the second bend. For example... Figure 16 As shown, the second curved portion is first rotated outwards so that the second fixing through hole 5135 is no longer opposite to the first fixing through hole 5134. Then, the first housing 131 of the servo 13 is placed into the half-racetrack-shaped space of the first curved portion, and one mounting lug 1311 of the first housing 131 of the servo 13 is inserted into the first fixing through hole 5134. Next, the second curved portion is rotated back into the head end main bracket 5132, and another mounting lug 1311 on the first housing 131 of the servo 13 enters the head end recessed groove 5136 and slides along the head end recessed groove 5136 until the mounting lug 1311 is inserted into the second fixing through hole 5135. During the sliding of the mounting lug 1311 along the head end recessed groove 5136, the second curved portion is compressed by the mounting lug 1311 and undergoes slight elastic deformation, allowing the mounting lug 1311 to slide along the head end recessed groove 5136 until it is inserted into the second fixing through hole 5135. In this way, the two mounting lugs 1311 respectively pass through the first fixing through hole 5134 and the second fixing through hole 5135, thereby restricting the first housing 131 so that it cannot be separated from the second end. Furthermore, the two mounting lugs 1311 respectively abut against the inner wall of the first curved portion and the outer wall of the second curved portion, thereby clamping the first housing 131 between the head end main support 5132 and the head end secondary support 5133 without loosening.

[0070] Next, the output housing 133 of the servo motor 13, which is installed at the second end of the head arm 513, is installed at the first end of the connecting arm 12. Then, the third servo motor 13 of the robotic arm 50 is installed at the second end of the connecting arm 12.

[0071] Finally, by installing the end arm 514 and the output end housing 133 of the third servo motor 13, the robotic arm 50, which only has one connecting arm 12, can be assembled. Figure 19 and Figure 20As shown, the end effector 514 includes an end rotating end cap 5140, an end sleeve 5141, and an end operating part 5142, which is fixedly connected to the outer wall of the end sleeve 5141. The end operating part 5142 can be a humanoid hand, a suction cup assembly, a fork, or a mechanical clamping device. In this embodiment, the end operating part 5142 is preferably a mechanical clamping device, which is widely and maturely used in the prior art and will not be described in detail here. Specifically, the end sleeve 5141 is provided with an end placement space 5143, and the inner wall of the end placement space 5143 is provided with a plurality of end cantilever arms 5144 arranged circumferentially, preferably with two centrally symmetrical end cantilever arms 5144. Furthermore, the inner wall of the end placement space 5143 is provided with an end stepped surface 5145 corresponding to the end cantilever arm 5144, and an end assembly opening 5146 is formed between the free end of the end cantilever arm 5144 and the end stepped surface 5145. The inner wall of the end rotating cap 5140 is provided with a plurality of radially extending end catches 5147, preferably two oppositely arranged end catches 5147. When the end rotating cap 5140 is installed onto the end housing 5141, the two end catches 5147 are respectively aligned with the two end mounting openings 5146, allowing the end mounting openings 5146 to open slightly, thereby allowing the end catches 5147 to enter between the end cantilever 5144 and the end stepped surface 5145. Under normal circumstances, when the end mounting opening 5146 is not expanded, the end catches 5147 are difficult to disengage from between the end cantilever 5144 and the end stepped surface 5145, thus confining the end rotating cap 5140 to the end housing 5141. Furthermore, the end catches 5147 can rotate and slide between the end cantilever 5144 and the end stepped surface 5145. The output end housing 133 of the third servo motor 13 is inserted into the end placement space 5143, aligning the insertion port 1331 and the corresponding end catch 5147 until the end catch 5147 enters the insertion port 1331. Then, the end rotating end cap 5140 is rotated, causing the end catch 5147 to slide into the slot 1332. In this way, one side wall of the slot 1332 is blocked by the interaction of the end catch 5147 and the end cantilever 5144, and at this time, one side wall of the slot 1332 abuts against the end cantilever 5144.

[0072] When it is necessary to extend the extension length of the robotic arm 50, the number of connecting arms 12 and the number of servo motors 13 to be added can be selected according to the actual extension length required. All connecting arms 12 and each servo motor 13 are then connected in series to form an extension module of the robotic arm 50. Then, the series-connected extension module is connected in series with the head segment arm 513 and the end segment arm 514 respectively to complete the extension of the robotic arm 50.

[0073] like Figure 15 and Figure 16 As shown, the robotic arm 50 is connected and fixed to the servo motor 13 and the adapter 51 mounted on the first arm support housing 5131. Specifically, the adapter 51 includes an adapter plate frame 5101, a first adapter housing 5102, and a second adapter housing 5103.

[0074] like Figure 15 and Figure 16 As shown, along the length of the educational robot, multiple latching blocks 511 protrude from both the left and right sides of the adapter plate 5101. Preferably, two latching blocks 511 protrude from each of the left and right sides. When the adapter plate 5101 is installed on the vehicle frame 21, the inner surface of the adapter plate 5101 abuts against the main control module 30, thereby securing the main control module 30 within the vehicle frame 21.

[0075] like Figure 16 As shown, the first adapter housing 5102 can be a separate component relative to the adapter plate frame 5101, in which case the first adapter housing 5102 is fixedly mounted on the adapter plate frame 5101 by multiple screws; the first adapter housing 5102 can also be a structural component integrally formed with the adapter plate frame 5101. For example... Figure 16 As shown, the first adapter housing 5102 includes a bottom housing 51021, a first side wall 51022, and a second side wall 51023. In this embodiment, the bottom housing 51021 is preferably fixedly mounted on the adapter plate frame 5101 by a plurality of screws. The first side wall 51022 and the second side wall 51023 are connected to the bottom housing 51021 opposite to each other, so that two opposing limiting notches 51024 are formed between the first side wall 51022 and the second side wall 51023. Furthermore, the outer walls of the ends of the first side wall 51022 and the second side wall 51023 away from the bottom housing 51021 are each provided with a first buckling protrusion 51025.

[0076] like Figure 16 As shown, the second adapter housing 5103 is provided with a through channel 51031. The inner wall of the through channel 51031 is provided with two opposing relief grooves 51032 and two opposing second latching protrusions 51033. The line connecting the two relief grooves 51032 and the line connecting the two second latching protrusions 51033 are perpendicular to each other. The second latching protrusions 51033 and the first latching protrusions 51025 cooperate with each other to restrict the second adapter housing 5103 onto the first adapter housing 5102.

[0077] Specifically, when the first adapter housing 5102 is a separate component relative to the adapter plate frame 5101, the bottom shell 51021, the first side wall 51022, and the second side wall 51023 of the first adapter housing 5102 pass through the through-pass 51031. Then, the bottom shell 51021 is fixedly installed on the adapter plate frame 5101 by multiple screws. At this time, the first latching protrusion 51025 blocks the second latching protrusion 51033, so the second adapter housing 5103 cannot detach from the first adapter housing 5102.

[0078] Furthermore, when the first adapter housing 5102 and the adapter plate frame 5101 are integrally formed, the first side wall 51022 and the second side wall 51023 need to be brought together, then inserted into the through-passage 51031, and then the first side wall 51022 and the second side wall 51023 are released. In this way, the first latching protrusion 51025 blocks the second latching protrusion 51033, so the second adapter housing 5103 cannot detach from the first adapter housing 5102.

[0079] like Figure 16 As shown, when assembling the servo motor 13 and adapter 51 of the robotic arm 50 to the first arm support housing 5131, the two clearance slots 51032 of the second adapter housing 5103 are aligned with the two limiting notches 51024 of the first adapter housing 5102. Then, the two mounting lugs 1311 of the servo motor 13 enter the two limiting notches 51024 through the two clearance slots 51032, and the mounting lugs 1311 abut against the bottom of the limiting notches 51024. At this point, the outer wall surface of the mounting lug 1311, facing away from the bottom of the limiting notch 51024, is basically flush with the wall surface of the second latching protrusion 51033 facing the first adapter housing 5102. Then, the second adapter housing 5103 is rotated so that the mounting lug 1311 is clamped between the bottom of the second latching protrusion 51033 and the limiting notch 51024. At this time, both ends of each first latching protrusion 51025 are respectively fastened to the side surface of the two second latching protrusions 51033 facing the servo 13. Furthermore, the end face openings of the two mounting lugs 1311 are exposed between the first adapter housing 5102 and the second adapter housing 5103, thereby facilitating the connection of the main control module's data line terminal to the electrical connection interface 1310.

[0080] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An educational robot, comprising a servo motor, characterized in that, For educational applications, the servo motor includes: Drive motor; The output shaft is driven by the output shaft of the drive motor. The housing contains the drive motor, with one end of the output shaft extending out from one end of the housing. The housing has multiple mounting lugs at the end opposite the output shaft, arranged circumferentially around the central axis of the housing. These lugs are used for fixed connection to an external support. Each mounting lug has a hollow structure and an electrical connection interface within it. This interface is electrically connected to the drive motor and to a control module to transmit control signals to the drive motor. Thus, the mounting lugs simultaneously achieve both fixed connection to the housing and transmission of control signals to the drive motor. An output end housing is installed at one end of the output shaft and rotates synchronously with the output shaft. The output end housing is used to connect an object to receive power. The end of the output end housing opposite to the housing has multiple insertion ports and corresponding slots. The multiple insertion ports are circumferentially spaced around the central axis of the output end housing. Each slot is connected to a corresponding insertion port. The insertion ports and slots are used to connect and fix the connection parts of the object to receive power to achieve quick installation. The educational robot also includes: The vehicle body includes a vehicle frame and a bottom cover. The bottom cover is installed to the bottom of the vehicle frame. The vehicle frame has multiple first insertion slots on both sides along its length, and the bottom cover has multiple second insertion slots on the corresponding sides. The first insertion slots and the second insertion slots correspond one-to-one. The connecting arm has two connecting arms on each side of the body frame along its length. Each connecting arm has a servo motor installed at both ends. One end of each connecting arm is connected to the housing of one servo motor, and the other end is connected to the output housing of the other servo motor. The two mounting lugs of the servo motor connected to the output housing of the connecting arm are respectively inserted into the corresponding first insertion slot and second insertion slot, and the body frame and the bottom cover clamp and fix the housing. The wheel is mounted on the output end housing of the servo motor connected to the connecting arm, and the wheel rotates synchronously with the output end housing.

2. The educational robot according to claim 1, characterized in that, The electrical connection interface is a Type-C data interface.

3. The educational robot according to claim 1, characterized in that, The number of mounting lugs is two, and the two mounting lugs are symmetrically arranged with respect to the central axis of the housing.

4. The educational robot according to claim 1, characterized in that, The number of insertion ports is two, and the two insertion ports are symmetrically arranged with respect to the central axis of the output end shell. The number of slots is two, and the two slots are centrally symmetrically arranged with respect to the central axis of the output end shell.

5. The educational robot according to claim 1, characterized in that, The outer wall of the housing is provided with a first ball ring groove, and the inner wall of the output end housing is provided with a second ball ring groove. The first ball ring groove and the second ball ring groove are aligned and fitted together. A ball is provided between the first ball ring groove and the second ball ring groove. Each ball is simultaneously engaged in the first ball ring groove and the second ball ring groove to prevent the housing and the output end housing from disengaging from each other along the axial direction of the servo.

6. The educational robot according to claim 1, characterized in that, The wheel includes a support shell, a rotating end cap, and a tire. The support shell has a receiving space. The inner wall of the receiving space has multiple cantilever arms arranged circumferentially and stepped surfaces corresponding to each cantilever arm. An assembly opening is formed between the free end of each cantilever arm and the corresponding stepped surface. The inner side wall of the rotating end cap has multiple radially extending latches. Each latch corresponds to one of the assembly openings. Each latch enters between the cantilever arm and the stepped surface from the corresponding assembly opening. The output end cap of the servo motor is inserted into the receiving space. The latches slide between the cantilever arm and the stepped surface to be fixed to the output end cap.

7. The educational robot according to claim 6, characterized in that, Each of the aforementioned clasps is configured with a curved surface convex toward the cantilever on the side facing the cantilever.

8. An educational robot, comprising a servo motor, characterized in that, For educational applications, the servo motor includes: Drive motor; The output shaft is driven by the output shaft of the drive motor. The housing contains the drive motor, with one end of the output shaft extending out from one end of the housing. The housing has multiple mounting lugs at the end opposite the output shaft, arranged circumferentially around the central axis of the housing. These lugs are used for fixed connection to an external support. Each mounting lug has a hollow structure and an electrical connection interface within it. This interface is electrically connected to the drive motor and to a control module to transmit control signals to the drive motor. Thus, the mounting lugs simultaneously achieve both fixed connection to the housing and transmission of control signals to the drive motor. An output end housing is installed at one end of the output shaft and rotates synchronously with the output shaft. The output end housing is used to connect an object to receive power. The end of the output end housing opposite to the housing has multiple insertion ports and corresponding slots. The multiple insertion ports are circumferentially spaced around the central axis of the output end housing. Each slot is connected to a corresponding insertion port. The insertion ports and slots are used to connect and fix the connection parts of the object to receive power to achieve quick installation. The educational robot also includes: The vehicle body includes a vehicle frame and a bottom cover. The bottom cover is installed to the bottom of the vehicle frame. The vehicle frame has a third insertion slot on both sides along the width direction, and the bottom cover has a fourth insertion slot on each of the corresponding sides. The fourth insertion slot and the third insertion slot correspond one-to-one. The main body of the vehicle body is provided with at least one servo motor on both sides along the width direction, wherein the two mounting lugs of the servo motor are respectively inserted into the corresponding third insertion slot and the fourth insertion slot, and the vehicle body frame and the bottom cover clamp and fix the housing of the servo motor. A wheel is mounted on the output end housing, and the wheel rotates synchronously with the output end housing.

9. The educational robot according to claim 8, characterized in that, The electrical connection interface is a Type-C data interface.

10. The educational robot according to claim 8, characterized in that, The number of mounting lugs is two, and the two mounting lugs are symmetrically arranged with respect to the central axis of the housing.

11. The educational robot according to claim 8, characterized in that, The number of insertion ports is two, and the two insertion ports are symmetrically arranged with respect to the central axis of the output end shell. The number of slots is two, and the two slots are centrally symmetrically arranged with respect to the central axis of the output end shell.

12. The educational robot according to claim 8, characterized in that, The outer wall of the housing is provided with a first ball ring groove, and the inner wall of the output end housing is provided with a second ball ring groove. The first ball ring groove and the second ball ring groove are aligned and fitted together. A ball is provided between the first ball ring groove and the second ball ring groove. Each ball is simultaneously engaged in the first ball ring groove and the second ball ring groove to prevent the housing and the output end housing from disengaging from each other along the axial direction of the servo.

13. The educational robot according to claim 8, characterized in that, The wheel includes a support shell, a rotating end cap, and a tire. The support shell has a receiving space. The inner wall of the receiving space has multiple cantilever arms arranged circumferentially and stepped surfaces corresponding to each cantilever arm. An assembly opening is formed between the free end of each cantilever arm and the corresponding stepped surface. The inner side wall of the rotating end cap has multiple radially extending latches. Each latch corresponds to one of the assembly openings. Each latch enters between the cantilever arm and the stepped surface from the corresponding assembly opening. The output end cap of the servo motor is inserted into the receiving space. The latches slide between the cantilever arm and the stepped surface to be fixed to the output end cap.

14. The educational robot according to claim 13, characterized in that, Each of the aforementioned clasps is configured with a curved surface convex toward the cantilever on the side facing the cantilever.

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