Teaching aid robot arm integrated with hinge structure
By integrating a hinge structure and a motor-driven gear meshing connection, the problem of limited angle adjustment for the arm of the teaching aid robot is solved, enabling multi-angle adjustment and stable clamping, thus improving teaching effectiveness.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-31
- Publication Date
- 2026-03-10
AI Technical Summary
Existing teaching aids for robotic arms have a limited range of hand angle adjustment methods, making it difficult to simulate the rich and diverse angle changes of the human hand. This limits the teaching content and makes it difficult to demonstrate practical operation scenarios such as complex assembly and multi-angle grasping.
It adopts an integrated hinge structure, and achieves precise angle adjustment of the U-shaped frame through the meshing connection of the gear driven by the motor. The clamping component drives the synchronous movement of the gripper to simulate various angle changes and stable clamping.
It enables flexible angle adjustment and reliable clamping of the teaching aid robot arm in teaching demonstrations, improving teaching practicality and diverse demonstration capabilities.
Smart Images
Figure CN223981819U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to teaching aid robot arm technical field especially integrated hinge structure's teaching aid robot arm. BACKGROUND
[0002] Teaching aid robot arm is the mechanical device that simulates human arm function, has multiple joints and degrees of freedom, can realize multiple actions, is commonly applied to robot teaching, engineering education etc. scene, teaching aid robot arm can match other teaching aids and software, provides interactive, experience type learning mode, stimulates student's interest in science and technology, trains his hands-on ability and innovative thinking.
[0003] Integrated hinge structure's teaching aid robot arm is a kind of teaching aid equipment that multiple hinged joints connect each part, simulate biological limb movement, for teaching scene to help student understand robot technology and relevant knowledge, motor at each hinged joint provides power, makes mechanical arm pole rotate around joint axis, thereby driving end effector to reach different positions and postures, based on kinematics, dynamics principle, the rotation angle, speed, torque etc. of each joint motor are accurately controlled by controller, in combination with the position, force etc. information fed back by sensor, realize the accurate action and stable operation of robot arm.
[0004] In prior art, part teaching aid robot arm is due to the single hand angle adjustment mode of most teaching aid robot arm, usually only simple plane rotation can be realized, it is difficult to simulate the rich and varied angle change of human hand, which makes it difficult to accurately demonstrate practical operation scenes such as complex assembly, multi-angle grabbing etc. in the teaching process, so as to limit the teaching content, and students are difficult to understand the application principle and operation logic of mechanical arm in complex practical scene, integrated hinge structure's teaching aid robot arm is proposed to solve the above problems. UTILITY MODEL CONTENTS
[0005] In order to make up for the above shortcomings, the utility model provides integrated hinge structure's teaching aid robot arm, aims at improving the problem of limited teaching content in prior art.
[0006] In order to realize the above purpose, the utility model adopts the following technical scheme:
[0007] Integrated hinge structure's teaching aid robot arm, including connecting arm and U type frame, the right side of the connecting arm is fixedly connected with motor one, the drive end of motor one is fixedly connected with gear one, the inner wall of the front and back of the connecting arm is fixedly connected with rotating ring respectively, the inside of U type frame is equipped with adjusting groove, the inner wall of the upper and lower sides of adjusting groove is fixedly connected with gear two respectively, the inside of U type frame is equipped with connecting groove on the front and back respectively, the left inner wall of U type frame is fixedly connected with clamping assembly that clamps jaw tightly;
[0008] As a further description of the above technical solutions:
[0009] The clamping assembly comprises a motor two, the driving end of the motor two is fixedly connected with a rotating table, a plurality of rotating plates are rotatably connected to the left side of the rotating table;
[0010] As a further description of the above technical solutions:
[0011] The two gears two are meshingly connected on the side close to the gear one, and the outer rotating ring is rotatably connected in the inner connecting groove;
[0012] As a further description of the above technical solutions:
[0013] The right side of the connecting arm is fixedly connected with a connecting block, and the front side of the connecting block is fixedly connected with a motor three;
[0014] As a further description of the above technical solutions:
[0015] The bottom of the motor three is fixedly connected with a supporting arm, and the bottom of the supporting arm is fixedly connected with a motor four;
[0016] As a further description of the above technical solutions:
[0017] The driving end of the motor four is fixedly connected with an adapter block, and the bottom of the adapter block is rotatably connected with a base;
[0018] As a further description of the above technical solutions:
[0019] The inner part of the U-shaped frame is provided with a plurality of sliding grooves, and the inner part of the sliding groove is slidably connected with a sliding block;
[0020] As a further description of the above technical solutions:
[0021] The side close to the two sliding blocks is fixedly connected with a clamping jaw, and the left side of the rotating plate is fixedly connected to the left inner wall of the U-shaped frame.
[0022] The utility model has the advantages of the following:
[0023] 1、in the utility model, through starting motor one, drive gear one to rotate, because gear one and gear two external meshing connection, the rotation of gear one will drive gear two to rotate around gear one, and then make the U-shaped frame will rotate synchronously with the rotation of gear two, the rotating ring rotates in the connecting groove, and the rotation of the U-shaped frame is limited, so that the precise and flexible angle adjustment of the U-shaped frame is realized, the angle change in various practical application scenes can be simulated, the angle adjustment process is stable and reliable, and the practicability of the teaching robot arm in teaching demonstration and experimental operation is greatly improved.
[0024] 2、 the utility model discloses, through starting motor two, motor two drives the rotation of rotating table, and rotating table rotates and will drive multiple rotating plate to carry out synchronous action, and further rotating plate drives the clamping jaw to move inwards and be tightened or move outward, and the clamping jaw moves simultaneously through the sliding block in its sliding slot sliding, and the sliding block can guide and limit its clamping jaw, to realize the clamping jaw accurate, stable and tight action, can reliably hold various teaching articles, satisfy the demand of various demonstration. BRIEF DESCRIPTION OF DRAWINGS
[0025] Figure 1 It is the three-dimensional schematic view of the teaching robot arm of integrated hinged structure that the utility model provides;
[0026] Figure 2 It is the structure schematic view of the U-shaped frame of the teaching robot arm of integrated hinged structure that the utility model provides;
[0027] Figure 3 It is the structure schematic view of the connecting groove of the teaching robot arm of integrated hinged structure that the utility model provides;
[0028] Figure 4 It is Figure 2 the enlarged view of A in the utility model.
[0029] LEGEND:
[0030] 1, connecting arm;2, motor one;3, gear one;4, rotating ring;5, U-shaped frame;6, adjusting groove;7, gear two;8, connecting groove;9, motor two;10, rotating table;11, rotating plate;12, sliding slot;13, sliding block;14, clamping jaw;15, connecting block;16, motor three;17, support arm;18, motor four;19, link block;20, base. DETAILED DESCRIPTION
[0031] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model, and apparently, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor are within the protection scope of the utility model.
[0032] Referring to Figure 1 , Figure 2 and Figure 4An embodiment of this utility model provides: an integrated articulated teaching robot arm, including a connecting arm 1 and a U-shaped frame 5. The connecting arm 1 is a human forearm, providing installation space for components. A motor 2 is fixedly connected to the right side of the connecting arm 1. The motor 2 is the power source for angle adjustment. A gear 3 is fixedly connected to the drive end of the motor 2. The gear 3 receives the force from the motor 2 and continues to rotate. The gear 3 is externally meshed with a gear 7, thereby driving the gear 7 to rotate around the gear 3.
[0033] Rotating rings 4 are fixedly connected to the inner walls of the front and rear sides of the connecting arm 1, respectively. The rotating rings 4 are used to cooperate with the connecting grooves 8 to complete the limiting and fixing of the U-shaped frame 5. At the same time, the U-shaped frame 5 rotates around the rotating rings 4. An adjustment groove 6 is opened inside the U-shaped frame 5. The adjustment groove 6 provides a fixing and support function for the gear 2 7. The gear 2 7 is fixedly connected to the inner walls of the upper and lower sides of the adjustment groove 6, respectively. Similarly, the gear 1 3 is externally meshed with the gear 2 7, receiving the force from the gear 1 3 and thus driving the gear 2 7 to rotate around the gear 1 3. The connecting grooves 8 are opened on the front and rear sides of the U-shaped frame 5, respectively. The connecting grooves 8 are used to cooperate with the rotating rings 4 to complete the limiting of the U-shaped frame 5. A clamping assembly for clamping the gripper 14 is fixedly connected to the inner wall of the left side of the U-shaped frame 5.
[0034] Reference Figure 1 and Figure 3 The clamping assembly includes a second motor 9, which is the power source for the clamping assembly. A rotating table 10 is fixedly connected to the drive end of the second motor 9. The rotating table 10 receives the force from the second motor 9 and rotates. Multiple rotating plates 11 are rotatably connected to the left side of the rotating table 10. The rotating plates 11 receive the force from the rotating table 10 and move synchronously.
[0035] Reference Figures 1 to 3 Two gears 7 are connected to each other on their adjacent sides and externally to gear 3. Similarly, gear 3 is connected to gear 7 externally, thereby driving gear 7 to rotate around gear 3. The external rotating ring 4 is connected to the inside of the connecting groove 8. The connecting groove 8 provides a limiting and guiding function for the rotating ring 4. A connecting block 15 is fixedly connected to the right side of the connecting arm 1. The connecting block 15 is used to provide fixation and support for the connecting arm 1, and at the same time receives the force from motor 3 16 to drive the connecting arm 1 to rotate. Motor 3 16 is fixedly connected to the front side of the connecting block 15. Motor 3 16 is used to drive the connecting arm 1 to rotate. A support arm 17 is fixedly connected to the bottom of motor 3 16. The support arm 17 provides fixation and support for motor 3 16 above.
[0036] A motor 18 is fixedly connected to the bottom of the support arm 17. The motor 18 drives the upper support arm 17 to rotate. A connecting block 19 is fixedly connected to the drive end of the motor 18, so that the motor 18 and the support arm 17 can rotate around the connecting block 19 as the axis. A base 20 is rotatably connected to the bottom of the connecting block 19. The base 20 provides fixation and support for the upper device and fixes the entire device to the external device. Multiple sliding grooves 12 are opened inside the U-shaped frame 5. The sliding grooves 12 provide limiting and guiding functions for the slider 13. The slider 13 is slidably connected inside the sliding groove 12. The slider 13 provides limiting and guiding functions for the gripper 14 when it tightens inward or slides outward. The gripper 14 is fixedly connected to the adjacent side of two sliders 13. The gripper 14 is used to clamp and fix the item. The left side of the motor 9 is fixedly connected to the left inner wall of the U-shaped frame 5. The U-shaped frame 5 provides fixation and support for the motor 9.
[0037] Working principle: When it is necessary to adjust the angle of the U-shaped frame 5, the motor 2 is started, which drives the gear 3 to rotate. Since the gear 3 is externally meshed with the gear 7, the rotation of the gear 3 will drive the gear 7 to rotate around the gear 3, so that the U-shaped frame 5 will rotate synchronously with the rotation of the gear 7. At the same time, the rotating ring 4 rotates in the connecting groove 8, which provides a limit for the rotation of the U-shaped frame 5. When the U-shaped frame 5 is adjusted, it can rotate around the rotating ring 4 as the axis to adjust the angle, thereby realizing the angle adjustment of the U-shaped frame 5 relative to the connecting arm 1.
[0038] When it is necessary to clamp an item, motor 29 is started, which drives the rotating table 10 to rotate. When the rotating table 10 rotates, it drives multiple rotating plates 11 to move synchronously. In turn, the rotating plates 11 drive the gripper 14 to tighten inward or move outward. While the gripper 14 moves, it slides in its groove 12 through the slider 13. The slider 13 can guide and limit the gripper 14. When the gripper 14 tightens inward, the item can be clamped and fixed, thereby achieving the purpose of clamping the item with the gripper 14. Motor 316 can drive the connecting arm 1 to rotate, and motor 418 can drive the support arm 17 to rotate around the connecting block 19, further increasing the movement flexibility of the teaching aid robot arm.
[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A teaching robot arm with integrated hinge structure, comprising a connecting arm (1) and a U-shaped frame (5), characterized in that: The right side of connecting arm (1) is fixedly connected with motor one (2), the driving end of motor one (2) is fixedly connected with gear one (3), the front and back two sides of the inner wall of connecting arm (1) are fixedly connected with rotating ring (4) respectively, the inside of U-shaped frame (5) is provided with adjusting groove (6), the upper and lower two sides of the inner wall of adjusting groove (6) are fixedly connected with gear two (7) respectively, the inside of U-shaped frame (5) is provided with connecting groove (8) on the front and back two sides, the left side of the inner wall of U-shaped frame (5) is fixedly connected with clamping assembly for clamping jaw (14).
2. The integrated articulated tutorial robotic arm of claim 1, wherein: The clamping assembly comprises motor two (9), the driving end of motor two (9) is fixedly connected with rotating table (10), the left side of rotating table (10) is rotatably connected with a plurality of rotating plates (11).
3. The integrated articulated tutorial robotic arm of claim 1, wherein: The proximal side of two gear two (7) and the outside of gear one (3) are meshingly connected, the outside of rotating ring (4) is rotatably connected in the inside of connecting groove (8).
4. The integrated articulated tutorial robotic arm of claim 1, wherein: The right side of connecting arm (1) is fixedly connected with connecting block (15), the front side of connecting block (15) is fixedly connected with motor three (16).
5. The integrated articulated tutorial robotic arm of claim 4, wherein: The bottom of motor three (16) is fixedly connected with supporting arm (17), the bottom of supporting arm (17) is fixedly connected with motor four (18).
6. The integrated articulated tutorial robotic arm of claim 5, wherein: The driving end of motor four (18) is fixedly connected with link block (19), the bottom of link block (19) is rotatably connected with base (20).
7. The tutorial robotic arm incorporating an integrated hinge structure of claim 2, wherein: The inside of U-shaped frame (5) is provided with a plurality of sliding grooves (12), the inside of sliding groove (12) is slidably connected with sliding block (13).
8. The tutorial robotic arm incorporating an integrated hinge structure of claim 7, wherein: The proximal side of two sliding blocks (13) is fixedly connected with jaw (14), the left side of rotating plate (11) is fixedly connected with the left side of the inner wall of U-shaped frame (5). The right side of connecting arm (1) is fixedly connected with motor one (2), the driving end of motor one (2) is fixedly connected with gear one (3), the front and back two sides of the inner wall of connecting arm (1) are fixedly connected with rotating ring (4) respectively, the inside of U-shaped frame (5) is provided with adjusting groove (6), the upper and lower two sides of the inner wall of adjusting groove (6) are fixedly connected with gear two (7) respectively, the inside of U-shaped frame (5) is provided with connecting groove (8) on the front and back two sides, the left side of the inner wall of U-shaped frame (5) is fixedly connected with clamping assembly for clamping jaw (14).