Six-degree-of-freedom teaching aid capable of quickly assembling mechanical arm with clamp

Abstract

The utility model discloses a six-degree-of-freedom quick assembly mechanical arm teaching aid with a clip, which comprises a six-degree-of-freedom mechanical arm and a control box, the six-degree-of-freedom mechanical arm comprises a base, a base upper cover, a large arm, a middle arm, a small arm, a steering engine, a clip right finger, a clip left finger and a clip seat, the base upper cover is located at the top of the base, and the control box is located at the bottom of the base. A U-shaped mounting plate is arranged at the top of the base upper cover, the upper ends and the lower ends of the large arm, the middle arm and the small arm are U-shaped, the U-shaped part at the bottom of the large arm is in nested rotary connection with the U-shaped mounting plate at the top of the base upper cover, and the U-shaped part at the bottom of the middle arm is in nested rotary connection with the U-shaped part at the top of the large arm. According to the mechanical arm, through the arrangement of a plurality of steering engine structures, the base upper cover can be driven to rotate, the large arm, the middle arm and the small arm can be driven to swing, and the clamp base can be driven to rotate, so that multi-angle extension and contraction adjustment work of the whole mechanical arm can be carried out.

Description

Technical Field

[0001] The utility model relates to the technical field of experimental teaching aids, in particular to a teaching aid with a six-degree-of-freedom quickly assembled mechanical arm and a clip. Background Art

[0002] In the field of DIY toys and scientific experiments, there are some assembled robotic arms. Students can learn some mechanical and electrical knowledge through the process of installing the robotic arms, and learn programming and control principles by controlling the robotic arms. This is a very good product; however, all the installation methods of robotic arms on the market are relatively complicated and difficult, requiring people with relatively high technical levels to install, and the installation is very time-consuming. This results in a relatively high threshold for the use of robotic arms, which cannot be promoted to young users, resulting in a smaller audience. Utility Model Content

[0003] The purpose of the utility model is to solve the shortcomings of the prior art and to propose a teaching aid with a six-degree-of-freedom quickly assembled mechanical arm with a clip.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a teaching aid of a six-degree-of-freedom quickly assembled mechanical arm with a clamp, comprising a six-degree-of-freedom mechanical arm and a control box, wherein the six-degree-of-freedom mechanical arm comprises a base, a base cover, a large arm, a middle arm, a small arm, a servo, a right finger of the clamp, a left finger of the clamp, and a clamp seat, wherein the base cover is located at the top of the base, and a U-shaped mounting plate is provided on the top of the base cover, the upper and lower ends of the large arm, the middle arm and the small arm are all U-shaped, the U-shaped part at the bottom of the large arm and the U-shaped mounting plate at the top of the base cover are nested and rotatably connected, and the U-shaped part at the bottom of the middle arm and the U-shaped part at the top of the large arm are The U-shaped part at the bottom of the forearm and the U-shaped part at the top of the middle arm are nested and rotated together. The servos are provided with multiple ones and are respectively installed inside the base, between the U-shaped mounting plates on the upper cover of the base, between the U-shaped parts at the top of the big arm, between the U-shaped parts at the top of the middle arm, between the U-shaped parts at the top of the forearm and on the clamp seat. The clamp seat is installed on the rocker arm of the servo on the forearm. The right finger of the clip is rotationally connected to the clip seat, and the left finger of the clip is installed on the rocker arm of the servo on the clip seat. The bottom parts of the right finger of the clip and the left finger of the clip are both set in the form of gears, and the two gears on the right finger of the clip and the left finger of the clip are meshed with each other.

[0005] As a further description of the above technical solution:

[0006] An open slot is provided on the top of the base, and the base upper cover is nested in the open slot on the base.

[0007] As a further description of the above technical solution:

[0008] The outer surface of the base is fixedly connected with a mounting piece, the inner bottom of the base is provided with a mounting hole, and the outer side of the base is provided with a threading hole.

[0009] As a further description of the above technical solution:

[0010] The multiple servos are fixed by screws inside the base, between the U-shaped mounting plates on the base cover, between the U-shaped parts at the top of the big arms, between the U-shaped parts at the top of the middle arms, between the U-shaped parts at the top of the small arms, and on the clamp seat.

[0011] As a further description of the above technical solution:

[0012] The outer surfaces of the right finger and the left finger of the clip are arranged on opposite sides and near the top end in a serrated form, and the outer surfaces of the right finger and the left finger of the clip are arranged with arc-shaped notches at positions corresponding to the serrated parts.

[0013] As a further description of the above technical solution:

[0014] The base upper cover is provided with a rocker arm positioning slot, the rocker arm of the servo in the base is nested and fixed with the rocker arm positioning slot on the base upper cover, the bottom side of the big arm is provided with a rocker arm positioning slot, the rocker arm of the servo on the base upper cover is nested and fixed with the rocker arm positioning slot on the big arm, the bottom side of the middle arm is provided with a rocker arm positioning slot, the rocker arm of the servo on the big arm is nested and fixed with the rocker arm positioning slot on the middle arm, the bottom side of the small arm is provided with a rocker arm positioning slot, the rocker arm of the servo on the middle arm is nested and fixed with the rocker arm positioning slot on the small arm, the rocker arm positioning slot is provided on the clip seat, the rocker arm of the servo on the small arm is nested and fixed with the rocker arm positioning slot on the clip seat, the rocker arm positioning slot is provided on the left finger of the clip, and the rocker arm of the servo on the clip seat is nested and fixed with the rocker arm positioning slot on the left finger of the clip.

[0015] As a further description of the above technical solution:

[0016] The plurality of servos are electrically connected to the control box.

[0017] The utility model has the following beneficial effects:

[0018] The six-degree-of-freedom teaching aid for quickly assembling a robotic arm with a clamp can drive the rotation of the base cover, the swing of the upper arm, the swing of the middle arm, the swing of the lower arm, and the rotation of the clamp seat through the setting of multiple servo structures. In this way, the entire robotic arm can be extended and retracted at multiple angles. When the servo on the clamp seat is working, the left finger of the clamp can be driven to rotate. With the setting of the gear structure, the left finger and the right finger of the clamp can be made to rotate relative to each other at the same time, so that the product can be clamped or released. The entire structure is simple to operate and flexible and convenient to use. Moreover, the connection part of the entire structure is streamlined in design, and the frame nesting design is used to minimize the difficulty of installation, greatly reducing the requirements for the user's hands-on ability. It is easy and fast to install, has a wider adaptability, and can be freely extended. The movement angle of each joint is relatively large, which can effectively and conveniently carry out learning and operation. Moreover, the parts of this robotic arm set are compatible with each other and can be changed freely. It is not only limited to the installation and use of the robotic arm, but can also be used in combination with other products. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of a six-degree-of-freedom robotic arm with a clamp that can be quickly assembled and is a teaching aid for the utility model;

[0020] Figure 2 This is a side structural diagram of a teaching aid with a six-degree-of-freedom, quickly assembled robotic arm with a clamp, proposed by the present invention;

[0021] Figure 3 This is a schematic diagram of the upper arm structure of a teaching aid with a six-degree-of-freedom quickly assembled mechanical arm with a clamp proposed by the utility model;

[0022] Figure 4 This is a schematic diagram of the middle arm structure of a teaching aid with a six-degree-of-freedom quickly assembled robotic arm with a clamp proposed by the present invention;

[0023] Figure 5 This is a schematic diagram of the forearm structure of a six-degree-of-freedom quickly assembled robotic arm with a clip teaching aid proposed by the utility model;

[0024] Figure 6 This is a schematic diagram of the base structure of a teaching aid with a six-degree-of-freedom quickly assembled robotic arm and a clamp proposed by the present invention;

[0025] Figure 7 This is a schematic diagram of the structure of a clip holder for a teaching aid with a six-degree-of-freedom, quick-assembled robotic arm with clips proposed by the present invention;

[0026] Figure 8 This is a schematic diagram of the left-finger structure of a six-degree-of-freedom, quickly assembled mechanical arm with a clamp teaching aid proposed by the present invention;

[0027] Figure 9 This is a schematic diagram of the right-finger structure of a six-degree-of-freedom fast-assembly mechanical arm with a clamp teaching aid proposed by the utility model;

[0028] Figure 10 This is a schematic diagram of the base structure of a teaching aid with a six-degree-of-freedom quickly assembled robotic arm and a clamp proposed by the present invention;

[0029] Figure 11 This is a schematic diagram of the base cover structure of a teaching aid with a six-degree-of-freedom quickly assembled robotic arm and clips proposed by the present invention;

[0030] Figure 12 This is a schematic diagram of the overall structure of a teaching aid with a six-degree-of-freedom quickly assembled robotic arm with a clip proposed by the utility model.

[0031] Legend:

[0032] 1. Base; 2. Base cover; 3. Upper arm; 4. Middle arm; 5. Lower arm; 6. Servo; 7. Right finger of the clamp; 8. Left finger of the clamp; 9. Clamp base; 10. Six-degree-of-freedom robotic arm; 11. Control box. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention. The terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, unless otherwise expressly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections, indirect connections through an intermediate medium, or internal connections between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] Reference Figure 1-12 The utility model provides an embodiment: a teaching aid of a six-degree-of-freedom quickly assembled robotic arm with a clamp, comprising a six-degree-of-freedom robotic arm 10 and a control box 11. The six-degree-of-freedom robotic arm 10 includes a base 1, a base cover 2, a large arm 3, a middle arm 4, a small arm 5, a servo 6, a right finger of the clamp 7, a left finger of the clamp 8, and a clamp base 9;

[0036] As attached Figure 3-6 As shown, the base cover 2 is located at the top of the base 1, and an open groove is provided on the top of the base 1. The base cover 2 is nested in the open groove on the base 1, and a U-shaped mounting plate is provided on the top of the base cover 2. The upper and lower ends of the upper arm 3, the middle arm 4 and the small arm 5 are all U-shaped. The U-shaped part at the bottom of the upper arm 3 and the U-shaped mounting plate on the top of the base cover 2 are nested and rotated. The U-shaped part at the bottom of the middle arm 4 and the U-shaped part at the top of the upper arm 3 are nested and rotated. The U-shaped part at the bottom of the small arm 5 and the U-shaped part at the top of the middle arm 4 are nested and rotated. The nested and rotating connection can enable the mechanical arm structure to be stably docked together, and the rotating parts are rotatably connected to each other through the connecting shaft.

[0037] There are multiple servos 6, all of which are fixed by screws and installed inside the base 1, between the U-shaped mounting plates on the base cover 2, between the U-shaped parts on the top of the big arm 3, between the U-shaped parts on the top of the middle arm 4, between the U-shaped parts on the top of the small arm 5, and on the clip seat 9. The clip seat 9 is installed on the rocker arm of the servo 6 on the small arm 5;

[0038] The base cover 2 is provided with a rocker arm positioning slot, and the rocker arm of the servo 6 in the base 1 is nested and fixed with the rocker arm positioning slot on the base cover 2, so that when the servo 6 is working, it can drive the base cover 2 to rotate, thereby driving the entire mechanical arm to rotate. A rocker arm positioning slot is provided on the bottom side of the arm 3, and the rocker arm of the servo 6 on the base cover 2 is nested and fixed with the rocker arm positioning slot on the arm 3, so that when the servo 6 is working, it can drive the arm 3 to swing, and a rocker arm positioning slot is provided on the bottom side of the middle arm 4, and the rocker arm of the servo 6 on the arm 3 is nested and fixed with the rocker arm positioning slot on the middle arm 4, so that when the servo 6 is working, it can drive The arm 4 swings in motion, and a rocker arm positioning groove is provided on one side of the bottom of the small arm 5. The rocker arm of the servo 6 on the middle arm 4 is nested and fixed with the rocker arm positioning groove on the small arm 5, so that when the servo 6 works, the small arm 5 can be driven to swing. A rocker arm positioning groove is provided on the clip seat 9, and the rocker arm of the servo 6 on the small arm 5 is nested and fixed with the rocker arm positioning groove on the clip seat 9, so that when the servo 6 works, the clip seat 9 can be driven to rotate. A rocker arm positioning groove is provided on the left finger 8 of the clip, and the rocker arm of the servo 6 on the clip seat 9 is nested and fixed with the rocker arm positioning groove on the left finger 8 of the clip, so that when the servo 6 works, the left finger 8 of the clip can be driven to rotate;

[0039] The right finger 7 of the clip is rotatably connected to the clip seat 9, and the left finger 8 of the clip is installed on the rocker arm of the servo 6 on the clip seat 9. The bottom parts of the right finger 7 of the clip and the left finger 8 of the clip are both set in the form of gears, and the two gears on the right finger 7 of the clip and the left finger 8 of the clip are meshed with each other. When the corresponding servo 6 is working, it drives the left finger 8 of the clip to rotate. With the mutual meshing of the two gear parts, the right finger 7 of the clip and the left finger 8 of the clip can be rotated to open or close, so that the loosening and clamping operations of the clip can be realized.

[0040] The outer surface of the base 1 is fixedly connected to a mounting plate, and a mounting hole is provided at the bottom of the base 1. The outer edge of the base 1 is provided with a threading hole. The setting of the mounting plate and the mounting hole can facilitate the positioning and fixing of the entire base 1 with screws, and the setting of the threading hole can facilitate the convenient wiring of the servo 6 in the base 1.

[0041] The outer surfaces of the right finger 7 of the clip and the left finger 8 of the clip are opposite to each other on one side and near the top, and the outer surfaces of the right finger 7 of the clip and the left finger 8 of the clip are both provided with arc-shaped notches at positions corresponding to the serrated parts. The serrated form can stably clamp and fix the objects when the two clips are closed to each other, which can have an anti-slip effect and enhance the stability of the clamping. The setting of the arc-shaped notch can ensure the stability of the clamping when clamping some cylindrical products, such as cables, pen holders, etc.

[0042] Multiple servos 6 are electrically connected to the control box 11. The control box 11 contains a single-chip microcomputer control board, which can control the robotic arm through programming and automatically operate the robotic arm. Through programming, the robotic arm can perform various tasks, which is convenient for learning.

[0043] Working principle: When using the teaching aids of the six-degree-of-freedom quickly assembled mechanical arm with clips, when the servo 6 in the base 1 works, it can drive the base cover 2 to rotate. When the servo 6 on the base cover 2 works, it can drive the upper arm 3 to swing. When the servo 6 on the upper arm 3 works, it can drive the middle arm 4 to swing. When the servo 6 on the middle arm 4 works, it can drive the small arm 5 to swing. When the servo 6 on the small arm 5 works, it can drive the clip seat 9 to rotate, thereby driving the entire mechanical arm to adjust the direction and angle, which is convenient for extension or folding movement. When the servo 6 on the clip seat 9 works, it can drive the left finger 8 of the clip to rotate. Through the cooperation of the gear structure, the left finger 8 of the clip and the right finger 7 of the clip can be rotated relative to each other, so that the product can be clamped or released.

[0044] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A teaching aid for a six-degree-of-freedom robotic arm with a clamp that can be quickly assembled, comprising a six-degree-of-freedom robotic arm (10) and a control box (11), characterized in that: The six-degree-of-freedom mechanical arm (10) comprises a base (1), a base cover (2), a large arm (3), a middle arm (4), a small arm (5), a steering gear (6), a right finger of a clamp (7), a left finger of a clamp (8), and a clamp seat (9). The base cover (2) is located on the top of the base (1), and a U-shaped mounting plate is provided on the top of the base cover (2). The upper and lower ends of the large arm (3), the middle arm (4) and the small arm (5) are all U-shaped. The U-shaped portion at the bottom of the large arm (3) and the U-shaped mounting plate at the top of the base cover (2) are nested and rotatably connected. The U-shaped portion at the bottom of the middle arm (4) and the U-shaped portion at the top of the large arm (3) are nested and rotatably connected. The U-shaped portion at the bottom of the small arm (5) and the U-shaped portion at the top of the middle arm (4) are nested and rotatably connected. The U-shaped parts are nested and rotatably connected, the servo (6) is provided with a plurality of and is respectively installed inside the base (1), between the U-shaped mounting plates on the base cover (2), between the U-shaped parts on the top of the big arm (3), between the U-shaped parts on the top of the middle arm (4), between the U-shaped parts on the top of the small arm (5) and on the clamp seat (9), the clamp seat (9) is installed on the rocker arm of the servo (6) on the small arm (5), the right finger of the clamp (7) is rotatably connected to the clamp seat (9), the left finger of the clamp (8) is installed on the rocker arm of the servo (6) on the clamp seat (9), the bottom parts of the right finger of the clamp (7) and the left finger of the clamp (8) are both set in the form of gears, and the two gears on the right finger of the clamp (7) and the left finger of the clamp (8) are meshed with each other.

2. The teaching aid of a six-degree-of-freedom quickly assembled robotic arm with a clip according to claim 1, characterized in that: An open slot is provided on the top of the base (1), and the base upper cover (2) is nested in the open slot on the base (1).

3. The teaching aid of the six-degree-of-freedom quickly assembled robotic arm with a clip according to claim 1, characterized in that: The outer surface of the base (1) is fixedly connected with a mounting plate, and the inner bottom of the base (1) is provided with a mounting hole, and the outer side of the base (1) is provided with a threading hole.

4. The teaching aid of the six-degree-of-freedom quickly assembled robotic arm with a clip according to claim 1, characterized in that: The plurality of steering gears (6) are fixedly mounted by screws inside the base (1), between the U-shaped mounting plates on the base cover (2), between the U-shaped parts at the top of the upper arm (3), between the U-shaped parts at the top of the middle arm (4), between the U-shaped parts at the top of the lower arm (5), and on the clamp seat (9).

5. The teaching aid of the six-degree-of-freedom quickly assembled robotic arm with a clip according to claim 1, characterized in that: The outer surfaces of the right finger (7) and the left finger (8) of the clamp are arranged in a sawtooth form on the opposite side and near the top end, and the outer surfaces of the right finger (7) and the left finger (8) of the clamp are arranged with arc-shaped notches at positions corresponding to the sawtooth parts.

6. The teaching aid of the six-degree-of-freedom quickly assembled robotic arm with a clip according to claim 1, characterized in that: The base upper cover (2) is provided with a rocker arm positioning groove, the rocker arm of the steering gear (6) in the base (1) is nested and fixed with the rocker arm positioning groove on the base upper cover (2), the bottom side of the upper arm (3) is provided with a rocker arm positioning groove, the rocker arm of the steering gear (6) on the base upper cover (2) is nested and fixed with the rocker arm positioning groove on the upper arm (3), the bottom side of the middle arm (4) is provided with a rocker arm positioning groove, the rocker arm of the steering gear (6) on the upper arm (3) is nested and fixed with the rocker arm positioning groove on the middle arm (4) A rocker arm positioning groove is provided on one side of the bottom of the small arm (5); the rocker arm of the steering gear (6) on the middle arm (4) is nested and fixed with the rocker arm positioning groove on the small arm (5); a rocker arm positioning groove is provided on the clamp seat (9); the rocker arm of the steering gear (6) on the small arm (5) is nested and fixed with the rocker arm positioning groove on the clamp seat (9); a rocker arm positioning groove is provided on the left finger (8) of the clamp; the rocker arm of the steering gear (6) on the clamp seat (9) is nested and fixed with the rocker arm positioning groove on the left finger (8) of the clamp.

7. The teaching aid of the six-degree-of-freedom quickly assembled robotic arm with a clip according to claim 1, characterized in that: The plurality of steering engines (6) and the control box (11) are all electrically connected.

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