Programming robot assembled modularly

Abstract

The programming robot comprises a plurality of first rotating modules, each first rotating module comprises a first rotating motor, a first motor fixing frame and a U-shaped supporting frame, each first rotating motor is installed on the corresponding first motor fixing frame, and a motor output shaft is connected to one end of the corresponding U-shaped supporting frame; the side, opposite to the motor output shaft, of the first motor fixing frame is rotationally connected with the other end of the U-shaped supporting frame. The first motor fixing frame is provided with a first mounting position, a middle plate of the U-shaped supporting frame is provided with a second mounting position, and the first mounting position and the second mounting position are located on the two opposite sides of the first rotating module correspondingly. The programming robot not only can be used for programming learning, but also has high modularization and customizability, so that students can freely select and combine different hardware modules according to own creativity and requirements; and meanwhile, the modularly assembled robot is simple and easy to operate, and the interest and participation degree of students are stimulated.

Description

Technical Field

[0001] The utility model relates to the field of open source programming robots, in particular to a modularly assembled programming robot. Background Art

[0002] As a microcomputer designed for the education field, Micro:bit plays an important role in programming education and robotics education. It is not only easy to operate, but also has rich programming interfaces and expansion capabilities, allowing teachers and students to use it to realize various creative projects. However, the existing microbit board (micro-bit board) on the market is compatible with robot products. Although it provides convenience for programming teaching, it has certain limitations in hardware design.

[0003] These robot products usually have preset structures, such as fixed arms and legs, and the robots do not need to be built or modified. Students can simply insert the microbit board into the corresponding slot to start practicing programming and controlling the robot. Although this simplifies the operation process, it also limits students' practical opportunities in hardware design and assembly.

[0004] In view of the limitations of the hardware design of existing programming robots, it is particularly important to develop a programming robot that students can assemble independently and easily modify. Utility Model Content

[0005] In order to solve the problem that the existing programmable robots have a fixed structure and cannot be built or modified, the utility model provides a modularly assembled programmable robot.

[0006] The technical solution of the utility model is as follows:

[0007] A modularly assembled programming robot is provided with a slot for inserting a micro-bit board, including a plurality of first rotating modules, wherein the first rotating modules are used to build the legs and feet of the robot; the first rotating module includes a first rotating motor, a first motor fixing frame and a U-shaped support frame, wherein the first rotating motor is installed on the first motor fixing frame, the motor output shaft is connected to one end of the U-shaped support frame, and the first motor fixing frame is rotatably connected to the other end of the U-shaped support frame on one side opposite to the motor output shaft, so that the first motor fixing frame can rotate at the end of the U-shaped support frame under the action of the first rotating motor; the first motor fixing frame is provided with a first mounting position, and the middle plate of the U-shaped support frame is provided with a second mounting position, and the first mounting position and the second mounting position are respectively located on opposite sides of the first rotating module.

[0008] Preferably, the micro-bit board is detachably connected to the slot, and the micro-bit board is a gold finger-type card-insertion structure, which can be flexibly replaced to become the control mainboard of the robot, thereby realizing the diversification of the robot's functions.

[0009] The utility model according to the above solution is characterized in that the first installation position of the first motor fixing bracket has three screw holes distributed in a triangle, and auxiliary small holes are arranged around each screw hole.

[0010] The utility model according to the above solution is characterized in that the second installation position of the U-shaped support frame has a screw hole, and auxiliary small holes are arranged around the screw hole.

[0011] The utility model according to the above scheme is characterized in that the leg of the robot includes three first rotation modules, the top first rotation module is connected to the robot trunk through the first mounting position of the first motor fixing frame, the top and the middle two first rotation modules are connected through the second mounting positions of two U-shaped support frames, the first motor fixing frame of the middle first rotation module is connected to the U-shaped support frame of the bottom first rotation module, and the bottom first rotation module is connected to the foot of the robot through the first mounting position of the first motor fixing frame.

[0012] Furthermore, the motor output shafts of the two upper first rotation modules are oriented perpendicular to the moving direction of the robot, and the motor output shaft of the lowermost first rotation module is oriented parallel to the moving direction of the robot.

[0013] The utility model according to the above scheme is characterized in that it also includes a plurality of second rotation modules, and the second rotation modules are used to build the head and arms of the robot; the second rotation modules include a second rotation motor and a second motor fixing bracket, the second rotation motor is installed on the second motor fixing bracket, the second motor fixing bracket is provided with a third mounting position, and is fixedly installed on the robot through the third mounting position, and the output shaft of the second rotation motor is connected to the head or arm of the robot.

[0014] Furthermore, it also includes a C-shaped support frame for building a robot torso, the C-shaped support frame includes a top plate, a bottom plate and a back plate; the top plate is connected to the second rotation module, the bottom plate is connected to the first rotation module, the back plate is connected to the main control module of the robot, and the main control module is provided with the slot.

[0015] Furthermore, the main control module is also provided with a power interface, and the types of the power interface include TYPE-, a DC power interface or a micro USB interface.

[0016] Furthermore, the top plate, the bottom plate and the back plate are all provided with a plurality of mounting holes; a second rotation module is installed in each mounting hole on both sides of the top plate, and the second rotation modules on both sides are connected to the arms; a second rotation module is installed in the middle mounting hole of the top plate, and the second rotation module in the middle is connected to the head; the first rotation modules at the top of the legs are installed in two of the mounting holes of the bottom plate; and the main control module of the robot is installed in one of the mounting holes of the back plate.

[0017] Furthermore, the output shafts of the two second rotating modules on both sides of the top plate face horizontally outward, and the output shaft of the second rotating module in the middle of the top plate faces vertically upward.

[0018] The utility model according to the above scheme has the following beneficial effects:

[0019] The programming robot of the utility model is assembled by using a plurality of rotating modules, and the first rotating module is composed of a U-shaped support frame and a motor fixing frame that can rotate relative to the U-shaped support frame, and is used to build the movable joint of the robot; students can select a suitable number of first rotating modules according to the designed robot height and the flexibility of the robot leg movements, and build or modify the robot; further, a complete and flexible leg structure is built for the robot using fewer structural modules;

[0020] It can be seen that the programming robot of the present invention can not only be used for programming learning, but also has a high degree of modularity and customizability, which allows students to freely choose and combine different hardware modules according to their own creativity and needs; at the same time, the modularly assembled robot is simple and easy to operate, which is conducive to stimulating students' interest and participation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the utility model;

[0022] Figure 2 It is a structural schematic diagram of another perspective of the utility model;

[0023] Figure 3 It is a structural exploded diagram of the utility model;

[0024] Figure 4 is a structural schematic diagram of a first rotating module;

[0025] Figure 5 is a structural exploded view of the first rotating module;

[0026] Figure 6 It is a structural schematic diagram of a C-type support frame.

[0027] In the figure,

[0028] 1. First rotating module; 11. First rotating motor; 12. First motor fixing bracket; 121. First mounting position; 13. U-shaped supporting bracket; 131. Second mounting position;

[0029] 2. The second rotation module;

[0030] 3. C-shaped support frame; 31. top plate; 32. bottom plate; 33. back plate; 30. mounting holes;

[0031] 4. Main control module; 5. Arm; 6. Head; 7. Foot; 8. Micro position board. DETAILED DESCRIPTION

[0032] In order to better understand the purpose, technical solution and technical effect of the utility model, the utility model is further explained in conjunction with the accompanying drawings and embodiments. It should be noted that similar numbers and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, it is stated that the embodiments described below are only used to explain the utility model and are not used to limit the utility model.

[0033] It should be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may also be a central element, and when an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time.

[0034] The indicated orientation or position relationship is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the application is usually placed when used, or the orientation or position relationship commonly understood by technical personnel in this field, or the orientation or position relationship in which the product of the application is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0035] The terms "first", "second" and "third" are used only for descriptive purposes and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Several" means two or more, unless otherwise clearly and specifically defined.

[0036] like Figure 1 and Figure 2As shown, a modularly assembled programming robot is provided with a main control module 4 on the back of the robot. The main control module 4 is connected to the motors of the first rotating module 1 and the second rotating module 2 in communication. It can control the operation of the motors by sending instructions to each motor, thereby controlling the robot's activities. The main control module 4 is provided with a slot for a microbit board 8. The microbit board (microbit board 8) is inserted into the slot, and the microbit board 8 is used to perform text programming of robot-related functions. The main control module 4 is also provided with a power interface, and the types of power interfaces include TYPE-C, DC power interface or micro USB interface. The microbit board is detachably connected to the slot, and the microbit board is a gold finger-type card-insertion structure, which can be flexibly replaced to become the robot's control mainboard, realizing the diversification of the robot's functions.

[0037] like Figure 4 and Figure 5 As shown, in this embodiment, the robot includes a plurality of first rotating modules 1, and the first rotating modules 1 are used to build the legs and feet of the robot. The first rotating module 1 includes a first rotating motor 11, a first motor fixing frame 12 and a U-shaped support frame 13, wherein the first rotating motor 11 is mounted on the first motor fixing frame 12, and the motor output shaft is connected to one end of the U-shaped support frame 13, and the first motor fixing frame 12 is rotatably connected to the other end of the U-shaped support frame 13 on one side relative to the motor output shaft, so that the first motor fixing frame 12 can rotate at the end of the U-shaped support frame 13 under the action of the first rotating motor 11. When the first motor is running, the motor output shaft is fixed relative to the U-shaped support frame 13, and the first motor and the first motor fixing frame 12 rotate relative to the U-shaped support frame 13, thereby realizing the relative movement of the first motor fixing frame 12 and the U-shaped support frame 13.

[0038] like Figure 2 As shown, when building the robot legs, since the first motor fixing frame 12 and the U-shaped support frame 13 can rotate relative to each other, the first motor fixing frame 12 of the first rotating module 1 can be used as the movable joint of the robot. Students can select a suitable number of first rotating modules 1 according to the designed robot height and the flexibility of the robot leg movements to build or modify the robot legs. In a specific embodiment, the robot legs include three first rotating modules 1 spliced ​​together, the top first rotating module 1 is connected to the robot trunk through the first mounting position 121 of the first motor fixing frame 12, the top and middle two first rotating modules 1 are connected through the second mounting positions 131 of the two U-shaped support frames 13, the first motor fixing frame 12 of the middle first rotating module 1 is connected to the U-shaped support frame 13 of the bottom first rotating module 1, and the bottom first rotating module 1 is connected to the robot feet through the first mounting position 121 of the first motor fixing frame 12.

[0039] The top first rotation module 1 builds a movable joint between the legs and the trunk to realize the rotation of the robot's legs relative to the trunk. The middle first rotation module 1 builds a movable joint between the robot's thighs and calves to improve the flexibility of the robot's legs. The bottom first rotation module 1 builds a movable joint between the robot's legs and feet to realize the rotation of the robot's feet relative to the legs. It can be seen that this embodiment can use fewer structural modules to build a complete and flexible leg structure for the robot. In other optional embodiments, the robot's legs can be assembled from more than three first rotation modules 1.

[0040] In this embodiment, the first motor fixing frame 12 is provided with a first mounting position 121, the first mounting position 121 has three screw holes distributed in a triangular pattern, and each screw hole is provided with auxiliary small holes around it. The middle plate of the U-shaped support frame 13 is provided with a second mounting position 131, the second mounting position 131 has a screw hole, and auxiliary small holes are provided around the screw hole. The first mounting position 121 and the second mounting position 131 are respectively located on opposite sides of the first rotating module 1.

[0041] When the first rotating module 1 is in use, it is connected to other adjacent rotating modules or other parts of the robot through the first mounting position 121 and the second mounting position 131. The three screw holes of the first mounting position 121 are optional, and any one can be used, so the position between two first rotating modules 1 or between the first rotating module 1 and other components can be fine-tuned by selecting a suitable screw hole. The auxiliary small holes around the screw holes can be used to reinforce the screw hole connection structure, and fixed pins are inserted to position the four sides to prevent the connection between modules or components from twisting, which is conducive to maintaining the structural stability of the robot.

[0042] In this embodiment, the motor output shafts of the two upper first rotation modules 1 are oriented perpendicular to the moving direction of the robot, so that the legs of the robot swing back and forth in the moving direction to complete the forward and backward movement of the robot; the motor output shaft of the lowermost first rotation module 1 is oriented parallel to the moving direction of the robot, so that the feet of the robot swing in the left and right directions to complete the left and right shaking of the robot in place.

[0043] In this embodiment, the programming robot also includes a plurality of second rotating modules 2, and the second rotating modules 2 are used to build the head 6 and arm 5 of the robot. The second rotating module 2 includes a second rotating motor and a second motor fixing frame, the second rotating motor is installed on the second motor fixing frame, the second motor fixing frame is provided with a third mounting position, and is fixedly installed on the robot through the third mounting position, and the output shaft of the second rotating motor is connected to the head 6 or arm 5 of the robot. The structure of the second rotating motor is the same as that of the first rotating motor 11, and the structure of the second motor fixing frame is the same as that of the first motor fixing frame 12, so the third mounting position structure on the second motor fixing frame is the same as the first mounting position 121 of the first motor fixing frame 12, so the installation method is the same, both are installed through screw holes, and the construction position of the second rotating module 2 on other components can be fine-tuned. The second rotating motor is fixed on the robot, and the rotating output shaft is used to drive the arm 5 to swing or the head 6 to swing.

[0044] like Figure 6 As shown, in this embodiment, the programming robot also includes a C-shaped support frame 3, which is used to build the robot body. Specifically, the C-shaped support frame 3 includes a top plate 31, a bottom plate 32 and a back plate 33, wherein the top plate 31 is connected to the second rotation module 2, the bottom plate 32 is connected to the first rotation module 1, and the back plate 33 is connected to the main control module 4 of the robot. The C-shaped support frame 3 is not only simple in structure and simplifies the structure of the robot's non-modifiable components, but also provides a plurality of mounting holes 30, which facilitates the quick installation of the robot's hands and feet.

[0045] In a specific embodiment, a second rotating module 2 is installed at each of the mounting holes 30 on both sides of the top plate 31, and the second rotating module 2 on the left side is connected to the left arm 5, and the second rotating module 2 on the right side is connected to the right arm 5. The arms 5 on both sides complete the arm swinging motion driven by the rotating motor of the second rotating module 2. A second rotating module 2 is installed at the mounting hole 30 in the middle of the top plate 31, and the second rotating module 2 in the middle is connected to the head 6, and the head 6 completes the head swinging motion driven by the rotating motor of the second rotating module 2. The swinging angle of the arm 5 and the head 6 depends on the rotation angle of the second rotating motor, and 360° rotation can be achieved.

[0046] In an optional embodiment, the output shafts of the two second rotating modules 2 on both sides of the top plate 31 are horizontally oriented outward, so that the arm 5 can rotate 360° on a longitudinal plane. The output shaft of the second rotating module 2 in the middle of the top plate 31 is vertically oriented upward, so that the head 6 can rotate 360° on a transverse plane. In other optional embodiments, the output shaft of the second rotating motor is tilted, which can change the rotation of the arm 5 or the head 6 on different planes.

[0047] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A modularly assembled programming robot, provided with a slot for inserting a micro-bit board, characterized in that: It includes a plurality of first rotating modules, wherein the first rotating modules are used to construct the legs and feet of the robot; The first rotating module comprises a first rotating motor, a first motor fixing frame and a U-shaped supporting frame, wherein the first rotating motor is mounted on the first motor fixing frame, the motor output shaft is connected to one end of the U-shaped supporting frame, and the first motor fixing frame is rotatably connected to the other end of the U-shaped supporting frame on one side opposite to the motor output shaft, so that the first motor fixing frame can rotate at the end of the U-shaped supporting frame under the action of the first rotating motor; The first motor fixing frame is provided with a first mounting position, the middle plate of the U-shaped supporting frame is provided with a second mounting position, and the first mounting position and the second mounting position are respectively located at opposite sides of the first rotating module.

2. A modular assembly programming robot according to claim 1, characterized in that: The first installation position of the first motor fixing frame has three screw holes distributed in a triangle, and auxiliary small holes are arranged around each screw hole.

3. A modular assembly programming robot according to claim 1, characterized in that: The second installation position of the U-shaped support frame has a screw hole, and auxiliary small holes are arranged around the screw hole.

4. A modular assembly programming robot according to claim 1, characterized in that: The legs of the robot include three first-rotation modules, the topmost first-rotation module is connected to the robot torso via the first mounting position of the first motor fixing frame, the topmost and middle two first-rotation modules are connected via the second mounting positions of two U-shaped support frames, the first motor fixing frame of the middle first-rotation module is connected to the U-shaped support frame of the bottommost first-rotation module, and the bottommost first-rotation module is connected to the feet of the robot via the first mounting position of the first motor fixing frame.

5. A modular assembly programming robot according to claim 4, characterized in that: The motor output shafts of the two upper first rotation modules are oriented perpendicular to the moving direction of the robot, and the motor output shaft of the lowermost first rotation module is oriented parallel to the moving direction of the robot.

6. A modular assembly programmable robot according to claim 1, characterized in that: Also included are a number of second rotation modules, which are used to build the head and arms of the robot; The second rotation module includes a second rotation motor and a second motor fixing bracket, the second rotation motor is installed on the second motor fixing bracket, the second motor fixing bracket is provided with a third mounting position, and is fixedly installed on the robot through the third mounting position, and the output shaft of the second rotation motor is connected to the head or arm of the robot.

7. A modular assembly programming robot according to claim 6, characterized in that: It also includes a C-shaped support frame for building a robot torso, the C-shaped support frame includes a top plate, a bottom plate and a back plate; the top plate is connected to the second rotation module, the bottom plate is connected to the first rotation module, the back plate is connected to the robot's main control module, and the main control module is provided with the slot.

8. A modular assembly programmable robot according to claim 7, characterized in that: The top plate, the bottom plate and the back plate are all provided with a plurality of mounting holes; A second rotating module is installed at each of the mounting holes on both sides of the top plate, and the second rotating modules on both sides are connected to the arms; a second rotating module is installed at the mounting hole in the middle of the top plate, and the second rotating module in the middle is connected to the head; Two of the mounting holes of the bottom plate are used to mount the first rotating module at the top of the leg; A main control module of the robot is installed at one of the mounting holes of the back plate.

9. A modular assembly programming robot according to claim 8, characterized in that: The output shafts of the two second rotating modules at both sides of the top plate face outwards horizontally, and the output shaft of the second rotating module in the middle of the top plate faces upwards vertically.

10. A modular assembly programmable robot according to claim 7, characterized in that: The main control module is also provided with a power interface, and the types of the power interface include TYPE-C, a DC power interface or a micro USB interface.

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