A grasping mechanism for an educational robot

Abstract

This utility model relates to a grasping mechanism for educational robots. It is characterized by comprising a base, a bottom motor at the bottom of the base, a bracket mounted on the output end of the bottom motor, and multiple interconnected arm modules connected to the bracket. A clamping motor is located on one side of each arm module, and a movable clamping plate is connected to the output end of the clamping motor. A fixed clamping plate, cooperating with the movable clamping plate, is fixed to the side of the clamping motor away from the movable clamping plate. Both the fixed and movable clamping plates have multiple mounting spaces, and rotatable support plates are provided within each mounting space. When grasping an object, the support plate can press against the object to provide stability in object grasping. This utility model has the following advantages and effects: it can improve the stability of object grasping.

Description

Technical Field

[0001] This utility model relates to the field of educational robot technology, specifically to a grasping mechanism for educational robots. Background Technology

[0002] Educational robots are open-ended practical training and experimental platforms suitable for college and vocational school students. They are a fusion of various high technologies and can complete hundreds of practical training experiments in many courses such as electrical engineering, electronics, microcontrollers, mechanical design, sensors, artificial intelligence, electromechanical control, and digital signal processing, thereby improving students' comprehensive abilities.

[0003] For example, in its previously filed Chinese patent application with publication number CN111993435B, our company disclosed a modular and expandable educational robot, including a motion chassis, a navigation module, a voice module, a vision module, a robotic arm module, and a main controller that provides programming for the above modules.

[0004] In the above technical solution, due to the educational nature of the educational robot, it is necessary to control the manufacturing cost of the robotic arm module. Therefore, the method of driving the movable clamping plate to rotate towards the fixed clamping plate is adopted to clamp the object. However, in actual use, it was found that the object is prone to falling off when clamping, and there are certain limitations in the stability of clamping the object. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a grasping mechanism for educational robots that can improve the stability of grasping objects.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a grasping mechanism for an educational robot, comprising a base, a bottom motor at the bottom of the base, a bracket at the output end of the bottom motor, a plurality of interconnected arm modules connected to the bracket, a clamping motor on one side of each arm module, a movable clamping plate connected to the output end of the clamping motor, a fixed clamping plate cooperating with the movable clamping plate fixed on the side of the clamping motor away from the movable clamping plate, a plurality of mounting spaces provided on both the fixed clamping plate and the movable clamping plate, and a rotatable support plate provided in each mounting space. When clamping an object, the support plate can press against the object to provide stability for clamping the object.

[0007] The present invention is further configured such that: the movable clamping plate and the fixed clamping plate are both located on the side away from the clamping motor as connecting ends, the connecting ends are provided with protruding guide blocks, there are multiple guide blocks and they are spaced apart from each other, the outer side of the connecting end is provided with a connecting plate, the end of the connecting plate facing the guide block is provided with a guide groove adapted to the guide block, the connecting plate slides into the guide block through the guide groove to realize the connection with the guide block, and an installation space is formed between adjacent connecting plates.

[0008] The present invention is further configured such that: the outer end of the guide block is provided with a first threaded hole, and the connecting plate is provided with a second threaded hole that is opposite to the first threaded hole.

[0009] The present invention is further configured such that: a connecting column is provided in the installation space, and positioning grooves adapted to the connecting column are provided on both the upper and lower sides of the connecting plate, and the end of the connecting column can be inserted into the positioning groove.

[0010] The present invention is further configured such that a torsion spring is fitted on the connecting column, and the torsion spring is located on the upper and lower sides of the support plate.

[0011] The present invention is further configured such that the side walls of the connecting plate and the support plate are provided with pressure grooves for the end of the torsion spring to be pressed in.

[0012] The present invention is further configured such that: the arm module includes a connecting arm and an arm motor, the output end of the arm motor is connected to the connecting arm to drive the connecting arm to rotate.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] Because multiple trays are provided, and torsion springs are installed on the upper and lower sides of the trays, when an object is clamped, the trays are adaptively deflected by the pressure of the object, that is, they deflect outwards. The torsion springs provide a reverse clamping force, causing the movable clamping plate to rotate towards the fixed clamping plate to clamp the object. The clamping of the object surface by the trays further improves the stability of the object gripping. Therefore, it effectively solves the technical problem in the prior art that objects are easy to fall off when clamping. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model (I);

[0016] Figure 2 This is a schematic diagram of the overall structure of the present invention (II);

[0017] Figure 3 This is a schematic diagram of a partial explosion of the present invention;

[0018] Figure 4 This is a schematic diagram of the specific structure of the tray in this utility model. Detailed Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] like Figures 1 to 4 As shown, this utility model discloses a grasping mechanism for an educational robot, including a base 1 for connecting to the tabletop of the educational robot. A bottom motor 2 is installed at the bottom of the base 1, and its output shaft is connected to a bracket 3 above via a coupling to drive the bracket 3 to rotate. Three rotatable arm modules are connected to the bracket 3. A gripping motor 4 is provided at the outer end of the arm module. A movable gripping plate 5 is fixed to the output end of the gripping motor 4, and a fixed gripping plate 6 that cooperates with the movable gripping plate 5 is fixed on the side away from the movable gripping plate 5. By driving the movable gripping plate 5 to rotate in the direction toward the fixed gripping plate 6, the object can be grasped. Each arm module consists of a connecting arm 13 and an arm motor 14 that drives its rotation. The conveying end of the arm motor 14 is connected to one end of the connecting arm 13 via a coupling, and the other end of the connecting arm 13 is used to connect to an adjacent arm module or a gripping motor 4. In this way, the connecting arm 13 is driven to rotate and rotate to achieve a wide range of grasping. The above structure is an existing structure, so it will not be described in detail.

[0022] In this embodiment, two sets of installation spaces 100 are provided at the connection ends of the movable clamping plate 5 and the fixed clamping plate 6. A rotatable support plate 7 is installed in each installation space 100 via a connecting rod, i.e., the support plate 7 is fitted around the outer periphery of the connecting rod. The inner surface of the support plate 7 can be further processed with a wavy anti-slip texture to improve gripping stability. Furthermore, a torsion spring 11 is fitted on the connecting column 10, located on the upper and lower sides of the support plate 7. In the unloaded state, the torsion spring 11 maintains the support plate 7 in an inwardly deflected position. When clamping an object, the support plate 7 undergoes adaptive deflection under the pressure of the object, i.e., deflects outward. The torsion spring 11 provides a reverse clamping force, causing the movable clamping plate 5 to rotate towards the fixed clamping plate 6 to clamp the object. The pressure of the support plate 7 on the object surface further improves the stability of object gripping.

[0023] In this embodiment, the installation space 100 is specifically structured as follows: Multiple protruding guide blocks 8 are spaced apart at the connecting end of the clamping plate; a connecting plate 9 is provided on the outer side of the connecting end; the end of the connecting plate 9 facing the guide blocks 8 has a guide groove adapted to the guide blocks 8; the connecting plate 9 allows the guide blocks 8 to slide into the guide groove, and the friction generated by their contact provides limiting. To ensure the stability of the connecting plate 9 during installation, a first threaded hole 81 is provided at the outer end of the guide blocks 8, and a second threaded hole 91 is provided on the connecting plate 9 that corresponds to the first threaded hole 81. During installation, rapid positioning is achieved through sliding fit, and countersunk screws are screwed into the first threaded hole 81 and the second threaded hole 91 to form a threaded fit for fastening. After the installation of multiple connecting plates 9 is completed, an installation space 100 is formed between adjacent connecting plates 9.

[0024] Furthermore, the installation structure of the connecting column 10 is such that positioning grooves 92 adapted to the connecting column 10 are provided on both the upper and lower sides of the connecting plate 9. The end of the connecting column 10 can be inserted into the positioning groove 92 to quickly position the installation position of the connecting column 10. After the connecting plate 9 is fixed, the two connecting plates 9 can axially constrain the connecting column 10 to complete the installation of the connecting column 10. In this way, the sliding installation structure of the connecting plate 9 and the plug-in structure of the connecting column 10 can effectively improve the convenience of overall assembly and disassembly.

[0025] In this embodiment, both the connecting plate 9 and the support plate 7 are provided with pressure grooves 12 for pressing the ends of the torsion spring 11. Thus, after the torsion spring 11 is fitted into the connecting post 10, the pressure grooves 12 allow the two ends of the torsion spring 11 to be bent and pressed into the corresponding pressure grooves 12, thereby achieving a stable connection between the torsion spring 11, the support plate 7, and the connecting plate 9.

[0026] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. A gripping mechanism for an educational robot, characterized by, The device includes a base with a bottom motor at its bottom. A bracket is mounted on the output end of the bottom motor, and multiple interconnected arm modules are connected to the bracket. A clamping motor is located on one side of each arm module, and a movable clamping plate is connected to the output end of the clamping motor. A fixed clamping plate that cooperates with the movable clamping plate is fixed to the side of the clamping motor away from the movable clamping plate. Both the fixed clamping plate and the movable clamping plate have multiple mounting spaces. A rotatable support plate is provided in each mounting space. When clamping an object, the support plate can press against the object to provide stability for clamping the object.

2. The grasping mechanism for an educational robot according to claim 1, wherein The movable clamping plate and the fixed clamping plate are located on the side away from the clamping motor and serve as connecting ends. Each connecting end is provided with a protruding guide block. There are multiple guide blocks that are spaced apart from each other. A connecting plate is provided on the outer side of the connecting end. The end of the connecting plate facing the guide block is provided with a guide groove that is adapted to the guide block. The connecting plate slides into the guide block through the guide groove to achieve connection with the guide block. An installation space is formed between adjacent connecting plates.

3. The grasping mechanism for educational robots according to claim 2, wherein The outer end of the guide block is provided with a first threaded hole, and the connecting plate is provided with a second threaded hole that is opposite to the first threaded hole.

4. The grasping mechanism for educational robots according to claim 3, wherein The installation space is provided with a connecting column, and the upper and lower sides of the connecting plate are provided with positioning grooves that are adapted to the connecting column. The end of the connecting column can be inserted into the positioning groove.

5. The grasping mechanism for educational robots according to claim 4, wherein A torsion spring is fitted onto the connecting column, and the torsion spring is located on the upper and lower sides of the support plate.

6. The grasping mechanism for an educational robot according to claim 5, wherein The side walls of both the connecting plate and the support plate are provided with pressure grooves for the end of the torsion spring to be pressed in.

7. The grasping mechanism for an educational robot according to claim 1, characterized in that, The arm module includes a connecting arm and an arm motor. The output end of the arm motor is connected to the connecting arm to drive the connecting arm to rotate.

Images