CN219523664U - Steering engine and educational robot - Google Patents

Abstract

The application belongs to the technical field of intelligent robots, and in particular relates to a steering gear and an educational robot. The steering gear includes: a driving motor; an output shaft, the output shaft of the driving motor is driven and connected to the output shaft; a casing, the driving motor is installed in the casing, and one end of the output shaft passes through one end of the casing, and the casing is away from the output shaft There are multiple mounting lugs at one end, the mounting lugs are used for fixed connection to an external support, and an electrical connection interface is provided in each mounting lug, the electrical connection interface is electrically connected with the drive motor, and the electrical connection interface is used for electrical connection To the control module to transmit control signals to the drive motor; the output end shell, the output end shell is installed on one end of the output shaft, the output end shell rotates synchronously with the output shaft, and the output end shell is used to connect the object to receive power. The application of the technical solution of the application aims to solve the problem that the power source in the existing building block teaching aid has a complex structure and is not suitable for teaching to cultivate the scientific interest of primary and middle school students.

Description

Steering gear and educational robot

technical field

The application belongs to the technical field of intelligent robots, and in particular relates to a steering gear and an educational robot.

Background technique

Today, with the increasing development of science and technology, talent training is very important. Correspondingly, it is particularly important to guide and inspire the interest in science and technology of primary and secondary school students and college students in the education link. Especially for primary and middle school students, their interest in science and technology is in its infancy. Correct and beneficial guidance and inspiration are very necessary for primary and middle school students to cultivate their interest in science and technology.

At present, the method of science and technology education for primary and middle school students is classroom learning. The teacher first explains the knowledge of science and technology to the students, and then the students understand it theoretically. This is a typical classroom-style education method, which obviously lacks the process of hands-on practice. Facing boring books and difficult scientific and technological knowledge, students are inevitably daunted, and it is difficult for students to develop a strong interest.

Even if some schools or interest summer camps arrange hands-on sessions in the teaching process, the teaching aids used are relatively complicated, such as building block teaching aids. The building block teaching aids are all ordinary motors, which need to be combined with a series of structures such as reducers and transmission structures to form output. The power source of power, for primary and middle school students, has a complex system structure and is too difficult, and is not suitable for teaching to cultivate students' scientific interests.

Utility model content

The purpose of this application is to provide a steering gear and an educational robot, which aims to solve the problem that the power source structure in the existing building block teaching aids is complex and not suitable for teaching to cultivate the scientific interest of primary and middle school students.

In order to achieve the above object, the technical solution adopted by this application is: a steering gear, comprising:

motor;

an output shaft, the output shaft of the driving motor is driven and connected to the output shaft;

The casing, the driving motor is installed in the casing, and one end of the output shaft passes through one end of the casing, and the end of the casing away from the output shaft is provided with a plurality of mounting lugs, and the plurality of mounting lugs surround the central axis of the casing Arranged at intervals in the circumferential direction, the mounting lugs are used to be fixedly connected to an external support, and an electrical connection interface is provided in each mounting lug, the electrical connection interface is electrically connected to the drive motor, and the electrical connection interface is used to electrically connect to the control module to Transmission of control signals to the drive motor;

The output end shell, the output end shell is installed on one end of the output shaft, the output end shell rotates synchronously with the output shaft, and the output end shell is used to connect the object to receive power.

In one embodiment, the electrical connection interface is a type-C data interface.

In one embodiment, there are two mounting lugs, and the two mounting lugs are arranged symmetrically with respect to the central axis of the casing.

In one embodiment, the end of the output end shell away from the casing is provided with a plurality of insertion openings and slots corresponding to the insertion openings one by one, and the plurality of insertion openings are circumferentially spaced around the central axis of the output end shell, each The card slots are respectively connected with the corresponding insertion ports, and the insertion ports and the card slots are used to connect and fix the connecting parts of the objects to receive power.

In one embodiment, the number of insertion openings is two, and the two insertion openings are arranged symmetrically with respect to the central axis of the output end shell; The axes are set symmetrically to the center.

In one embodiment, the outer wall of the casing is provided with a first ball ring groove, 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 in direct contact with each other, and the first ball ring groove Balls are arranged between the ball ring groove and the second ball ring groove, and each ball is snapped into the first ball ring groove and the second ball ring groove at the same time to limit the casing and the output end casing from separating from each other along the axis of the steering gear.

According to another aspect of the present application, an educational robot is provided. Specifically, the educational robot includes:

The main body of the vehicle body includes a vehicle body frame and a bottom cover, the bottom cover is installed on the bottom of the vehicle body frame, a plurality of first insertion slots are provided on both sides of the body frame along the length direction, and a plurality of first insertion grooves are provided on corresponding sides of the bottom cover. Two insertion slots, the first insertion slot corresponds to the second insertion slot;

Connecting arms, two connecting arms are connected to the opposite sides of the body frame along the length direction, and a steering gear as mentioned above is installed at both ends of each connecting arm, and one end of each connecting arm is connected to the casing of a steering gear connection, the other end is connected to the output end shell of another steering gear, wherein the output end shell is connected to the two mounting lugs of the steering gear of the connecting arm respectively inserted into the corresponding first insertion slot and the second insertion slot, and The body frame and the bottom cover clamp and fix the casing;

Wheels, the casing is connected to the output end casing of the steering gear of the connecting arm. Wheels are installed, and the wheels rotate synchronously with the output end casing.

According to still another aspect of the present application, an educational robot is provided. Specifically, the educational robot includes:

The main body of the vehicle body includes a vehicle body frame and a bottom cover, the bottom cover is mounted to the bottom of the vehicle body frame, third insertion slots are provided on both sides of the body frame along the width direction, and fourth insertion slots are provided on corresponding sides of the bottom cover , the fourth insertion slot corresponds to the third insertion slot one by one;

As in the aforementioned steering gear, at least one steering gear is provided on both sides of the vehicle body along the width direction, wherein the two mounting lugs of the steering gear are respectively inserted into the corresponding third insertion groove and the fourth insertion groove, and the vehicle body The frame and the bottom cover clamp and fix the casing of the steering gear;

The wheels are installed on the output end shell, and the wheels rotate synchronously with the output end shell.

In one embodiment, the wheel includes a support shell, a rotating end cap and a tire. The support shell is provided with an accommodating space, and the inner wall of the accommodating space is provided with a plurality of cantilevers arranged at intervals in the circumferential direction and stepped surfaces corresponding to the cantilever one-to-one. An assembly opening is formed between the free end of the rotating end cover and the corresponding stepped surface. The inner wall of the rotating end cover is provided with a plurality of lugs extending in the radial direction. The plurality of lugs correspond to the assembly openings one by one. The opening enters between the cantilever and the stepped surface, the output end shell of the steering gear is inserted into the accommodation space, and the lug slides between the cantilever and the stepped surface to be fixed to the output end shell.

In one embodiment, the side of each lug facing the cantilever is set as a curved surface protruding towards the cantilever.

The application at least has the following beneficial effects:

In the educational robot of the present application, the steering gear provided by the application is used as a power source. In the steering gear provided by the application, the structural form of the casing is cleverly designed, that is, the casing is provided with mounting lugs, and the use of Install the lugs to install the electrical connection interface. On the one hand, the casing is connected to the external support by the installation lugs (such as being connected to one end of the connecting arm by the installation lugs, or connected to the educational robot by the installation lugs. On the main body of the vehicle body), so that the steering gear can get a working support fulcrum. On the other hand, after the shell is fixed by installing the lug, the data cable connector of the external control module can be plugged into the electrical connection interface to realize the transmission of control signals to the drive motor. , so as to control the drive motor to respond to the output power. Therefore, through the installation lugs and the electrical connection interface provided in the installation lugs, the steering gear not only realizes the installation and fixation of the casing, but also realizes the transmission of control signals, and combines the design of the installation structure with the design of the signal connection. .

By learning and experiencing the steering gear and educational robot provided by this application, students can not only entertain and teach, but also experience the scientific knowledge of automatic control in the hands-on process, so as to guide students from simple to complicated to cultivate the awareness of scientific knowledge. Knowledge and thirst for expectations, thus cultivating a strong interest in science.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 is a schematic diagram of the assembly structure of the wheel set structure assembled and formed by connecting arms in the educational robot of the embodiment of the present application;

Fig. 2 is an exploded schematic diagram of the wheel set structure assembled by connecting arms in the educational robot of the embodiment of the present application;

3 is a schematic diagram of the assembly structure of the connecting arm in the educational robot of the embodiment of the present application;

4 is an exploded schematic view of the connecting arm in the educational robot of the embodiment of the present application;

5 is a schematic diagram of the assembly structure of the steering gear in the educational robot of the embodiment of the present application;

FIG. 6 is a second schematic diagram of the assembly structure of the steering gear in the educational robot of the embodiment of the present application;

7 is an exploded schematic diagram of wheels and steering gear in the educational robot of the embodiment of the present application;

Fig. 8 is a schematic diagram of the assembly structure of the walking system formed by the educational robot of the embodiment of the present application assembled with four wheel structures;

Fig. 9 is a partially exploded schematic diagram of the walking system formed by the educational robot of the embodiment of the present application assembled with four wheel structures;

Figure 10 is a schematic diagram of the assembly structure of the educational robot of the embodiment of the present application using wheels and steering gears to form a walking system;

Fig. 11 is an exploded schematic diagram 1 of the walking system formed by the assembly of the educational robot using wheels and steering gear according to the embodiment of the present application;

FIG. 12 is a second schematic diagram of the assembly structure of the walking system formed by the assembly of the educational robot using wheels and steering gears according to the embodiment of the present application;

Fig. 13 is an exploded schematic diagram 2 of the walking system formed by assembling the wheels and steering gear of the educational robot according to the embodiment of the present application;

Fig. 14 is an enlarged schematic diagram of place A in Fig. 13;

Fig. 15 is a schematic diagram of the assembly structure of the expandable mechanical arm and the adapter used in the educational robot of the embodiment of the present application;

Fig. 16 is an exploded schematic view of the expandable mechanical arm and adapter used in the educational robot of the embodiment of the present application;

Fig. 17 is a schematic diagram of the assembly structure of the head end joint arm of the expandable mechanical arm adopted by the educational robot of the embodiment of the present application;

Fig. 18 is an exploded schematic diagram of the head-end joint arm of the expandable mechanical arm adopted by the educational robot of the embodiment of the present application;

19 is a schematic diagram of the assembly structure of the end structure of the expandable mechanical arm adopted by the educational robot of the embodiment of the present application;

FIG. 20 is an exploded schematic view of the end structure of the expandable mechanical arm adopted by the educational robot of the embodiment of the present application.

Detailed ways

Embodiments of the present application are described in detail below, examples of which are shown in the 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 by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than Nothing to indicate or imply that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should therefore not be construed as limiting the application.

In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

As shown in Fig. 1, Fig. 2, Fig. 8 to Fig. 13, the educational robot in the embodiment of the present application adopts a wheeled walking system. Preferably, the wheeled walking system includes four wheel set structures 10, as shown in Figure 1 and Figure 8, the structural forms of the four wheel set structures 10 are the same, and each wheel set structure 10 has an independent adjustment function, wherein , the adjustment function includes a lift function to raise or lower the overall height of the smart car and a speed regulation function to independently adjust the rotation speed of the wheels 11 .

As shown in FIGS. 1 and 2 , each wheel set structure 10 includes a wheel 11 , a connecting arm 12 and two steering gears 13 . The connecting arm 12 is used as a supporting installation carrier for the wheel set structure 10, one steering gear 13 is mounted on the first end of the connecting arm 12, and the other steering gear 13 and the wheel 11 are detachably assembled to form a driving wheel module.

As shown in FIGS. 2 to 4 , the connecting arm 12 includes a first outer support shell 121 , a second outer support shell 122 and a rotating inner support shell 123 .

As shown in FIG. 4 , the first outer support shell 121 includes a first sleeve 1211 and a first frame edge 1212, and the two ends of the first frame edge 1212 are connected to the first sleeve 1211 to form a racetrack shape. The first outer bracket shell 121. The first sleeve 1211 is located at the first end of the first outer frame shell 121 , and the first frame edge 1212 forms the second end of the first outer frame shell 121 opposite to the first sleeve 1211 . As shown in Figures 2 and 4, the first sleeve 1211 is provided with a plurality of bayonet sockets 1213 distributed circumferentially around the central axis of the first sleeve 1211 at intervals, and, as shown in Figures 3 and 4, as A first installation through hole 1214 is defined on the first frame side 1212 of the second end of the first outer frame shell 121 .

As shown in FIG. 4 , the second outer bracket shell 122 includes a cover portion 1221 corresponding to the first sleeve 1211 and a second frame side 1222 , and the two ends of the second frame side 1222 are connected to the cover portion 1221 to form a The racetrack-shaped second outer frame shell 122 conforms to the racetrack shape of the first outer frame shell 121 . The cover part 1221 is provided with clasps 1223 corresponding to the bayonet openings 1213 one by one. The cover part 1221 fits on the first sleeve 1211, and each clasp 1223 is fastened to the corresponding bayonet opening 1213. middle. Specifically, the cap part 1221 is provided with a stop flange 1224, and the end of the first sleeve 1211 facing the cap part 1221 is provided with a plurality of notches 1215 at intervals, as shown in Fig. 2 and Fig. 4 , when the cap After the part 1221 covers the first sleeve 1211, the notch 1215 and the cover part 1221 form a sliding guide groove. Specifically, two symmetrical notches 1215 are provided on the end of the first sleeve 1211 . When the tube cover portion 1221 is closed on the first sleeve 1211 , the second frame side 1222 is adapted to butt against the first frame side 1212 and connected and fixed together. As shown in FIG. 3 , after the first frame edge 1212 and the second frame edge 1222 are docked, two opposite first avoidance openings 1231 and second avoidance openings 1232 are formed, and the first installation through hole 1214 is located at the first avoidance opening 1231 and the second avoidance port 1232 on the second frame edge 1222 .

As shown in Figure 4, the rotating inner bracket housing 123 includes a second sleeve 1233 and a third frame edge 1234, and the two ends of the third frame edge 1234 are connected to the second sleeve 1233 to form a racetrack-shaped rotating inner bracket shell Body 123. The second sleeve 1233 is located at the first end of the rotating inner frame housing 123 , and the third frame edge 1234 forms a second end of the rotating inner frame 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, and each locking protrusion 1235 is located in the gap 1215 one by one. The corresponding second sleeve 1233 is provided with two opposite locking protrusions 1235 . Then the second outer bracket shell 122 is covered and connected to the first outer bracket shell 121. At this time, the second sleeve 1233 is blocked by the cover part 1221 and cannot be separated from the first sleeve 1211, and the locking projection 1235 It is spaced apart from the stop convex edge 1224 . After the second outer bracket shell 122 is covered and connected to the first outer bracket shell 121, the third frame edge 1234 can pass through the first avoidance during the rotation of the inner bracket shell 123 around the central axis of the first sleeve 1211. The opening 1231 and the second escape opening 1232, when the third frame edge 1234 is located in the space between the first avoidance opening 1231 and the second avoidance opening 1232, the locking protrusion 1235 is located in the middle position of the notch 1215, that is to say, At this time, the third frame side 1234 can not only rotate toward the first escape opening 1231 and pass through the first avoidance opening 1231 , but also can rotate towards the second avoidance opening 1232 and pass through the second avoidance opening 1232 . A second installation through hole 1236 is opened on the third frame edge 1234 which is the second end of the rotating inner bracket housing 123. , at this moment, the second installation through hole 1236 is opposite to the first installation through hole 1214 with a space between them. Moreover, the third frame edge 1234, which is the second end of the rotating inner bracket housing 123, forms a recessed groove 1237 toward the outer wall of the first installation through hole 1214, and the extending direction of the recessed groove 1237 is the same as the extending direction of the third frame edge 1234. unanimous.

As shown in Figures 5 and 6, the steering gear 13 includes a first housing 131, a second housing 132, an output end housing 133 and internal components of the steering gear (not shown, the internal components of the steering gear generally include a circuit board, a drive motor , deceleration mechanism, output shaft, etc., and the drive motor is used to drive the output shaft to rotate, which is basically the same as the internal components of the existing steering gear, so it will not be described in detail). The first housing 131 and the second housing 132 are mutually covered and fixed to form an assembly inner space (the first housing 131 and the second housing 132 are combined into a casing; in one embodiment, the first housing 131 and the second housing 131 The second casing 132 can be integrally formed, that is, a one-piece casing), and the specific first casing 131 and the second casing 132 are fixedly connected by screwing and connecting a plurality of screws, and the steering gear The internal components are installed in the inner space of the assembly. The output end housing 133 is installed on the output shaft of the internal components of the steering gear, 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 steering gear protrudes 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, and the second The two housings 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. Ball ring groove (not shown), the first ball ring groove corresponds to the second ball ring groove, and balls are placed between the first ball ring groove and the second ball ring groove, so that the same ball is stuck into the second ball ring groove The first ball ring groove and the second ball ring groove make the output end shell 133 difficult to separate from the output shaft and the second shell 132 through the balls, and also limit the mutual separation between the output end shell 133 and the casing along the axis direction of the steering gear. The working stability of the steering gear is guaranteed. Further, the first housing 131 is provided with a plurality of installation lugs 1311, and the plurality of installation lugs 1311 are evenly spaced circumferentially around the central axis of the first housing 131. Preferably, the first housing 131 is provided with Two opposite mounting lugs 1311 . Moreover, each mounting lug 1311 is set to be hollow, so the cables of the internal components of the steering gear can be routed through the hollow mounting lug 1311 . Moreover, an electrical connection interface 1310 is installed in the hollow installation lug 1311 , as shown in FIG. 5 . Then the cables of the internal components of the steering gear are routed to the electrical connection interface 1310 to be electrically connected to it, and the electrical connection interface 1310 is used to electrically connect to the control module (such as the main control module of the educational robot) outside the steering gear to transmit data to the drive motor. According to the control signal, the drive motor executes corresponding output according to the control signal, so as to drive the output end housing 133 to rotate to output power to the object to receive power (such as the wheel of the educational robot).

In the steering gear of this application, the electrical connection interface 1310 is a type-C data interface, which can ensure the data transmission speed of the control signal and ensure the rapid response of the driving motor, which also reduces the overall delay of the steering gear.

On the side wall of the end of the output end housing 133 away from the first housing 131, there are a plurality of insertion openings 1331 arranged at circumferential intervals around the central axis of the output end housing 133 and card slots 1332 communicating with the insertion openings 1331 one by one. , and each card slot 1332 is located at the same side direction of the insertion opening 1331 relative to the corresponding insertion opening 1331 . Preferably, the output end shell 133 is provided with two opposite insertion openings 1331 and corresponding two card slots 1332 .

As shown in Figure 1 and Figure 2, two steering gears 13 are assembled on the connecting arm 12, wherein one steering gear 13 is installed on the first end of the connecting arm 12, and the other steering gear 13 is installed on the second end of the connecting arm 12. end. Wherein, the first end of the connecting arm 12 is jointly formed by the first end of the first outer support shell 121, the first end of the second outer support shell 122 and the first end of the rotating inner support shell 123; and , the second end of the connecting arm 12 is jointly formed by the second end of the first outer support shell 121 , the second end of the second outer support shell 122 and the second end of the rotating inner support shell 123 .

As shown in FIG. 1 and FIG. 2 , when one of the steering gears 13 is installed on the first end of the connecting arm 12 , specifically, the output shell 133 of the steering gear 13 is installed on the first end of the connecting arm 12 . Specifically, the output end shell 133 is inserted into the first sleeve 1211 , and the two locking protrusions 1235 are inserted into the corresponding two insertion openings 1331 . Wherein, before the output end shell 133 is inserted into the first sleeve 1211, the third frame side 1234 of the rotating inner bracket housing 123 is turned out from the position between the first avoidance port 1231 and the second avoidance port 1232 from the first A avoidance port 1231 or a second avoidance port 1232 passes through. After the output end shell 133 is inserted into the first sleeve 1211, then the rotating inner bracket housing 123 is turned back to the position between the first avoidance port 1231 and the second avoidance port 1232. When the card slot 1332 slides into the card slot 1332, the side wall of the card slot 1332 is blocked by the engagement of the locking projection 1235 and the stop flange 1224. At this time, the side wall of the card slot 1332 is against Withstood the stop convex edge 1224. In this way, the steering gear 13 is installed on the first end of the connecting arm 12 .

As shown in FIG. 1 and FIG. 2 , when another steering gear 13 is installed to the second end of the connecting arm 12 , specifically, the first housing 131 of the steering gear 13 is mounted to the second end of the connecting arm 12 . Specifically, when the steering gear 13 mounted on the first end of the connecting arm 12 is inserted into the first sleeve 1211, the steering gear 13 mounted on the second end of the connecting arm 12 is also placed into the first frame edge 1212 and the second sleeve 1211 at the same time. In the racetrack-shaped space formed by the butt joints of the two frame sides 1222 , one of the two installation lugs 1311 on the first casing 131 of the steering gear 13 passes through the first installation through hole 1214 . Then, in the process of turning the rotating inner bracket housing 123 back to the position between the first avoidance port 1231 and the second avoidance port 1232, another mounting lug on the first housing 131 of the steering gear 13 1311 correspondingly enters the recessed groove 1237 and slides along the recessed groove 1237 until the mounting lug 1311 penetrates into the second mounting through hole 1236 . During the sliding process of the mounting lug 1311 along the recessed groove 1237, the second frame edge 1222 is slightly elastically deformed by the pressing of the mounting lug 1311, so that the mounting lug 1311 can slide along the recessed groove 1237 until it penetrates into the In the second installation through hole 1236 . In this way, the two installation lugs 1311 penetrate into the first installation through hole 1214 and the second installation through hole 1236 respectively, so that the first housing 131 is restricted and cannot escape from the second end of the connecting arm 12, and the two installation lugs The ears 1311 abut against the first frame side 1212 and the second frame side 1222 respectively, so as to clamp the first casing 131 between the first frame side 1212 and the second frame side 1222 without loosening.

After placing the two steering gears 13 into the corresponding positions of the first end and the second end of the connecting arm 12, the rotating inner bracket housing 123 is turned back to the space between the first avoidance port 1231 and the second avoidance port 1232. position, the two steering gears 13 can be installed on the connecting arm 12 simultaneously. Wherein, the two steering gears 13 on a connecting arm 12 may protrude toward the same side of the connecting arm 12, or protrude toward the opposite sides of the connecting arm 12 in directions away from each other. .

As shown in FIG. 7 , the wheel 11 includes a support shell 111 , a rotating end cap 112 and a tire 113 . The tire 113 is integrally formed of rubber material. The tire 113 has a certain degree of elasticity and can be elastically expanded, so as to be tightly fitted on the outer peripheral surface of the supporting shell 111 as the tread of the wheel. The supporting shell 111 is provided with an accommodating space 1111 , and the inner wall of the accommodating space 1111 is provided with a plurality of cantilever arms 1112 arranged at intervals in the circumferential direction, preferably two cantilever arms 1112 which are centrally symmetrical. Moreover, a stepped surface 1113 corresponding to the cantilever 1112 is provided on the inner wall of the accommodating space 1111 , and an assembly opening 1114 is formed between the free end of the cantilever 1112 and the stepped surface 1113 . A plurality of lugs 1121 extending in the radial direction are provided on the inner side wall of the rotating end cover 112 , preferably two lugs 1121 are disposed opposite to each other. When installing the rotating end cover 112 to the supporting shell 111, the two lugs 1121 correspond to the two assembly openings 1114 respectively, so that the assembly opening 1114 can be slightly opened, so that the lugs 1121 enter between the cantilever 1112 and the stepped surface 1113 between. Under normal circumstances, when the assembly opening 1114 is not expanded, it is difficult for the lug 1121 to disengage from between the cantilever 1112 and the stepped surface 1113 , thereby restricting the rotating end cover 112 to the supporting shell 111 . Moreover, the lug 1121 can rotate and slide between the cantilever 1112 and the stepped surface 1113 , and the lug 1121 and the cantilever 1112 are arranged at intervals.

As shown in FIG. 7 , when assembling the wheel 11 and the steering gear 13 , specifically, the wheel 11 is installed on the output end shell 133 . Insert the output housing 133 of the steering gear 13 into the receiving space 1111 , and make the insertion opening 1331 and the corresponding lug 1121 align with each other until the lug 1121 enters the insertion opening 1331 . Then, the rotating end cap 112 is rotated so that the lug 1121 slides into the slot 1332 along the slot 1332 . Wherein, the side of the lug 1121 facing the cantilever 1112 is set as a convex curved surface, which can be an arc-shaped curved surface, or a two-way wedge-shaped surface spliced by two planes with opposite inclination directions, so that the lug 1121 can be more easily Slide into the slot 1332. In this way, one side of the slot 1332 is blocked by the cooperation of the tab 1121 and the cantilever 1112 . At this time, one side of the slot 1332 is against the cantilever 1112 . In this way, the installation work of the wheel 11 and the steering gear 13 is completed, and the driving wheel module is assembled (the driving wheel module corresponds to the second end of the connecting arm 12).

As shown in Figures 8 to 13, the educational robot also includes a body body 20. After the four wheel structure structures 10 are assembled, the four wheel structure structures 10 can be assembled to the body body 20, thereby completing the educational robot. Structural assembly work of wheeled walking system.

As shown in FIGS. 8 to 13 , the vehicle body body 20 includes a vehicle body frame 21 and an under cover 22 . The body frame 21 is provided with an accommodating space 211 , as shown in FIG. 13 , the accommodating space 211 is used for installing and fixing components such as the battery 40 and the main control module 30 . The bottom cover 22 is mounted and fixed to the bottom of the vehicle body frame 21 by a plurality of bolts 23 . The outline shape of the main body of the body frame 21 is cuboid, along the length direction of the educational robot, both sides of the bottom of the body frame 21 are provided with open receiving grooves 212 . Moreover, a plurality of first inserting grooves 213 are opened on the side wall of the receiving groove 212 facing the bottom cover 22, specifically, three first insertion grooves 213 are opened on the groove wall of the receiving groove 212 on each side of the body frame 21. the first insertion slot 213 . Correspondingly, along the length direction of the educational robot, both sides of the bottom cover 22 are provided with a plurality of second insertion slots 221, and the plurality of second insertion slots 221 correspond to the plurality of first insertion slots 213 one by one. That is, three second insertion slots 221 are defined on both sides of the bottom cover 22 .

As shown in FIGS. 8 and 9 , after each wheel set structure 10 is assembled, the first housing 131 of the steering gear 13 at the first end of the connecting arm 12 in each wheel set structure 10 will be installed and fixed on the On the main body 20 of the vehicle body. As shown in FIG. 9 , the assembly process is described by taking one of the wheel set structures 10 assembled to the left rear end of the vehicle body body 20 as an example. Specifically, one of the two mounting lugs 1311 of the first housing 131 of the steering gear 13 at the first end of the connecting arm 12 is inserted into the first insertion position at the rear end position on the left side of the body frame 21. slot 213, and then cover the bottom cover 22 to 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 rear end position on the left side of the bottom cover 22, and then Each bolt 23 is screwed and installed to connect and fix the bottom cover 22 to the bottom of the vehicle 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 steering gear 13 so that it cannot be separated from the vehicle body frame 21 and the bottom cover 22 . Moreover, the groove wall of the receiving groove 212 is provided with a first abutting recess 214 matching the position of the corresponding outer wall of the first housing 131 corresponding to each first insertion groove 213, and the bottom cover 22 corresponds to each second insertion groove. The position of the placement groove 221 is provided with a second abutting recessed portion 222 matching with a 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 body frame 21 by bolts 23, the first abutting recessed portion 214 and the second abutting recessed portion 222 respectively abut against the corresponding outer wall positions of the first housing 131, thereby The first housing 131 is clamped and fixed to prevent the steering gear 13 from shaking relative to the vehicle body 20 , that is, to prevent the wheel set structure 10 from shaking relative to the vehicle body 20 .

As shown in Figure 9 and Figure 11, along the length direction of the educational robot, the front end and the rear end of the body frame 21 are all provided with a third insertion slot 215 (at this time, the connecting line of the two third insertion slots 215 The direction is the width direction, and the width direction is perpendicular to the aforementioned length direction, that is, both sides of the vehicle body frame 21 along the width direction are provided with a third insertion groove 215), correspondingly, the front end and the rear end of the bottom cover 22 are also provided with There is a fourth insertion slot 223, and the third insertion slot 215 and the fourth insertion slot 223 located at the front end of the body body 20 are opposite, and the third insertion slot 215 and the fourth insertion slot located at the rear of the body body 20 The slot 223 is opposite to each other. Moreover, the position of the front end of the body frame 21 corresponding to the third insertion slot 215 and the position of the rear end of the body frame 21 corresponding to the third insertion slot 215 are both provided with a third abutment recess 216, correspondingly, the bottom cover The position of the front end of the bottom cover 22 corresponding to the fourth insertion slot 223 and the position of the rear end of the bottom cover 22 corresponding to the fourth insertion slot 223 are both provided with a fourth abutting recess 224 .

In another embodiment of the educational robot, as shown in FIGS. 10 to 13 , a driving wheel module can be installed on the front end and the rear end of the main body 20 respectively, so as to form an educational robot similar to a balance car model ( Hereinafter referred to as the balance car model educational robot). In the process of installing the first housing 131 of the steering gear 13 of the driving wheel module to the front end and the rear end of the vehicle body 20, first install one of the first housings 131 of the steering gear 13 of the two driving wheel modules Ears 1311 are respectively inserted into the two third insertion slots 215, and then the bottom cover 22 is closed so that the other installation lug 1311 is correspondingly inserted into the fourth insertion slot 223, and then the installation bolts 23 are screwed to connect and fix the bottom cover 22 At the bottom of the vehicle body frame 21, at this time, the third abutting recessed portion 216 and the corresponding fourth abutting recessed portion 224 at the front end of the vehicle body body 20 clamp and fix the corresponding outer portion of the first housing 131, and the vehicle body The third abutting recessed portion 216 and the corresponding fourth abutting recessed portion 224 at the rear end of the main body 20 clamp and fix the corresponding outer portion of the first housing 131 .

The balance car model educational robot uses a gyroscope (not shown) to detect the overall balance of the smart car. The gyroscope is electrically connected to the main control module 30. When the gyroscope detects that there is an imbalance in the overall balance of the smart car, the gyroscope sends an unbalanced signal to the main control module 30, and the main control module 30 will receive the unbalanced signal. The unbalance signal sends adjustment signals to the steering gears 13 of the two drive wheel modules, so that the two steering gears 13 respond quickly to adjust the overall balance of the smart car, so that the smart car can regain its balance.

As shown in FIG. 13 , the main control module 30 and the battery 40 are assembled, so the accommodating space 211 is divided into a lower space with a smaller space volume and an upper space with a larger space volume, and the lower space is directly at the bottom of the upper space. It is formed by extension, that is, the upper space and the lower space are connected to each other. The battery 40 is installed in the lower space, and the main control module 30 is installed in the upper space. And, the outline shape of the horizontal circumferential direction of the upper space is adapted to the outline shape of the main control module 30, and the outline shape of the horizontal circumferential direction of the lower space is adapted to the outline shape of the battery 40 (horizontal circumferential direction refers to that when the vehicle body frame 21 The circumference of the object in the horizontal direction when it is placed horizontally on a flat ground in a normal posture). Further, the space height of the upper space is adapted to the thickness of the main control module 30, and the space height of the lower space is adapted to the height of the battery 40, so that the main control module 30 is directly stacked on the battery 40 and there is a corresponding gap between the two. The terminals are in direct contact to realize the electrical connection between the two.

As shown in FIG. 13 , an elastic buckle 41 is provided on the side wall of the battery 40 , and correspondingly, a card interface 2113 that is assembled with the elastic buckle 41 is provided on the corresponding side wall of the lower space. Specifically, along the length direction of the educational robot, an elastic buckle 41 is provided on the front side wall and the rear side wall of the battery 40, and a card interface 2113 is also provided on the front side wall and the rear side wall of the lower space. When the battery 40 is put into the lower space, the elastic buckle 41 snaps into the card interface 2113, thereby preventing the battery 40 from coming out of the lower space and preventing the battery 40 from moving up and down. After the battery 40 is placed, the main control module 30 can be directly placed into the upper space.

The body body 20 also includes a roof 24 .

In the educational robot of the present application, the top cover 24 can be detachably covered on the top of the body frame 21 through a snap-fit structure and locked with a corresponding snap-fit structure, so that the main control module 30 placed in the upper space Cover it up to prevent the main control module 30 from breaking out of the upper space. Moreover, the inner wall of the top cover 24 is against the top wall of the main control module 30 , so that the main control module 30 is fixed between the top cover 24 and the battery 40 . The top cover 24 can be disassembled from the vehicle body frame 21 by unfastening the clamping structure, and then the main control module 30, the battery 40 and other components can be maintained and replaced.

In one embodiment, the top cover 24 can be locked on the top of the body frame 21 by a plurality of screws, so as to cover the main control module 30 placed in the upper space and prevent the main control module 30 from coming out of the upper space. Moreover, the inner wall of the top cover 24 is against the top wall of the main control module 30 , so that the main control module 30 is fixed between the top cover 24 and the battery 40 . The top cover 24 can be disassembled from the vehicle body frame 21 by removing the screws, and then the main control module 30, the battery 40 and other components can be maintained and replaced.

In one embodiment, as shown in FIG. 13 , one side of the top cover 24 is reversibly mounted on the vehicle body frame 21 through a pin shaft 25 , and the other side of the top cover 24 opposite to the pin shaft 25 is provided with a barb. , the corresponding position of the body frame 21 is provided with a buckle 217 . When the top cover 24 is flipped around the pin shaft 25 to cover the top of the body frame 21, the barb and the buckle 217 are mutually locked, so that the main control module 30 placed in the upper space is covered to prevent the main control module 30 from Get out of upper space. Moreover, the inner wall of the top cover 24 is against the top wall of the main control module 30 , so that the main control module 30 is fixed between the top cover 24 and the battery 40 . By unlocking the barb and the buckle 217, the top cover 24 can be flipped open from the body frame 21 around the pin 25, and then the main control module 30, the battery 40 and other components can be maintained and replaced.

As shown in FIG. 15 and FIG. 16 , the educational robot further includes a mechanical arm 50 which is detachably mounted on the body frame 21 through an adapter 51 .

As shown in Figure 13 and Figure 14, along the length direction of the educational robot, the left and right sides of the top opening of the body frame 21 are provided with a plurality of inlets 218 and a plurality of engaging grooves 219, and a plurality of engaging grooves 219 It communicates with a plurality of inlets 218 in one-to-one correspondence, and each locking groove 219 is located at the same side direction of the corresponding inlet 218 . Specifically, the left and right sides of the top opening of the vehicle body frame 21 are provided with two inlets 218 and two locking slots 219 . Moreover, when the vehicle body frame 21 is squarely on the level ground, each engaging groove 219 extends horizontally.

As shown in FIG. 15 and FIG. 16 , along the length direction of the educational robot, a plurality of locking blocks 511 protrude from the left and right sides of the adapter 51 . Specifically, two clamping blocks 511 protrude from the left and right sides of the adapter 51 in this embodiment.

When assembling the mechanical arm 50 to the body frame 21 through the adapter 51 , firstly, the top cover 24 needs to be removed from the top of the body frame 21 , so that the inlets 218 on the top of the body frame 21 are exposed. Then, align each clamping block 511 of the adapter 51 with each corresponding inlet 218 , so that each clamping block 511 enters from each corresponding inlet 218 . Next, push the adapter piece 51 horizontally, so that each locking block 511 slides into the corresponding locking groove 219 . In this way, the adapter 51 is clipped and fixed on the body frame 21 , that is, the mechanical arm 50 is assembled on the body frame 21 through the adapter 51 .

In order to prevent the engaging block 511 from slipping out of the engaging groove 219 and cause the mechanical arm 50 to break away from the body frame 21, therefore, the upper surface (and/or lower surface) of each engaging block 511 is provided with at least one anti-off protrusion 512, as shown in FIG. 15 . Correspondingly, the upper groove wall (and/or the lower groove wall) of the locking groove 219 is provided with at least one matching protrusion 2191 , as shown in FIG. 14 . During the process of the engaging block 511 sliding into the engaging groove 219, the anti-off protrusion 512 pushes against the extrusion fitting protrusion 2191, and the anti-off protrusion 512 passes over the mating protrusion 2191, so that the mating protrusion 2191 can The anti-loosening protrusion 512 plays a blocking role, thereby preventing the engaging block 511 from sliding out of the engaging groove 219 .

In this embodiment, a plurality of engaging protrusions 2191 are provided on the same side of the locking groove 219 , and the plurality of engaging protrusions 2191 are sequentially arranged at intervals. When the engaging block 511 slides into the engaging slot 219 , the engaging block 511 can be adjusted to be blocked by any matching protrusion 2191 to prevent the engaging block 511 from sliding out of the engaging slot 219 . Further preferably, the distance between any two adjacent matching protrusions 2191 is equal to the width of the engaging block 511 .

When it is necessary to remove the mechanical arm 50 from the vehicle body frame 21, it is only necessary to pull the adapter piece 51 forcefully, so that the locking block 511 slides towards the direction of the inlet 218, and the anti-loosening protrusion 512 will press against the extrusion fitting protrusion again. Lift 2191, and then go over the matching protrusion 2191, so that the locking block 511 can be disengaged from the inlet 218.

The robotic arm 50 is an expandable robotic arm, that is, the extension length of the robotic arm 50 can be extended without affecting the degree of freedom and flexibility of the robotic arm 50 . As shown in FIG. 15 and FIG. 16 , the mechanical arm 50 includes a head-end joint arm 513 , a terminal joint arm 514 , at least one connecting arm 12 and a plurality of steering gears 13 . The structural design of the robotic arm 50 will be described below by taking the robotic arm 50 provided with only one connecting arm 12 as an example.

As shown in FIG. 17 and FIG. 18 , the head-end jib 513 is provided with a first jib support shell 5131 , a head-end main bracket 5132 and a head-end sub-bracket 5133 .

As shown in Figure 18, the main bracket 5132 at the head end is provided with a first fork and a first curved portion, the first curved portion is formed into a half racetrack shape, and the two ends of the half racetrack shape of the first curved portion There are two connection positions with the first fork, and the connection direction of the two connection positions is perpendicular to the connection direction of the two fork arms of the first fork. The first jib support shell 5131 is fixedly connected with the two forks of the first fork, and is located between the two forks of the first fork. A first fixing through hole 5134 is provided at the position of the first bending portion opposite to the first jib support shell 5131 , and the inner wall of the crank throw of the first bending portion is arranged smoothly.

As shown in Figure 18, the head-end sub-bracket 5133 is provided with a second fork and a second curved portion, the second curved portion is formed in the form of a half-racetrack shape, and the two ends of the half-racetrack-shaped portion of the second curved portion There are two connection positions with the second fork, and the connection direction of the two connection positions is perpendicular to the connection direction of the two fork arms of the second fork. The two fork arms of the second fork-shaped part are rotatably mounted on the first joint arm support shell 5131, and the first joint arm support shell 5131 is located between the two fork arms of the second fork-shaped part. A second fixing through hole 5135 is provided at the position of the second bending portion opposite to the first jib support shell 5131 , and the outer wall of the crank throw of the second bending portion is arranged smoothly. The outer wall of the second curved portion corresponding to the second fixing through hole 5135 is provided with a head-end concave groove 5136 , and the extension direction of the head-end concave groove 5136 is consistent with the extending direction of the racetrack shape of the second curved portion.

That is to say, the first fork portion and the second fork portion jointly constitute the first end portion of the U-shaped structure of the head end section arm 513, and the first curved portion and the second curved portion together constitute the first bent portion. two end portions, and the first end portion and the second end portion are arranged orthogonally. When specifically applying the head end joint arm 513, the output end shell of a steering gear 13 is fixedly installed on the first end of the head end joint arm 513 (that is, the output end shell of the steering gear 13 is fixedly installed on the first fork-shaped portion). The two yokes of the two yokes are fixedly connected to the first joint arm support shell 5131), and the casing of the other steering gear 13 is fixedly installed on the second end of the head end joint arm 513.

As shown in Figure 18, the first joint arm support shell 5131 includes a head-end casing 51311 and a head-end rotating end cover 51312, and the two fork arms of the first fork-like part are connected to the two fork arms of the second fork-like part On the outer walls of both sides of the head-end casing 51311 , the head-end rotating end cover 51312 is rotatably mounted on the head-end casing 51311 . Specifically, the head end casing 51311 is provided with a head end placement space 51313, and the inner wall of the head end placement space 51313 is provided with a plurality of head end cantilever arms 51314 arranged at intervals in the circumferential direction, preferably two head end cantilever arms 51314 that are centrally symmetrical. Moreover, the inner wall of the head-end placement space 51313 is provided with a head-end stepped surface 51315 corresponding to the head-end cantilever 51314 , and a head-end assembly opening 51316 is formed between the free end of the head-end cantilever 51314 and the head-end stepped surface 51315 . A plurality of head-end lugs 51317 extending in the radial direction are provided on the inner wall of the head-end rotating end cover 51312 , preferably two head-end lugs 51317 are arranged oppositely. When installing the head-end rotating end cover 51312 to the head-end casing 51311, the two head-end lugs 51317 correspond to the two head-end assembly openings 51316 respectively, so that the head-end assembly opening 51316 can be slightly opened, so that the head-end lugs 51317 enters between the head end cantilever 51314 and the head end step surface 51315. Under normal circumstances, when the head assembly opening 51316 is not expanded, the head lug 51317 is difficult to disengage from between the head cantilever 51314 and the head step surface 51315, thereby limiting the head end cover 51312 to the head end sleeve. Shell 51311 on. Moreover, the head-end lug 51317 can rotate and slide between the head-end cantilever 51314 and the head-end step surface 51315, and the head-end lug 51317 and the head-end cantilever 51314 are arranged at intervals.

As shown in FIG. 16 , when installing a steering gear 13 to the first jib support shell 5131 , specifically, the output end shell 133 of the steering gear 13 is installed to the first jib support shell 5131 . Insert the output shell 133 of the steering gear 13 into the head-end placement space 51313 , and make the insertion opening 1331 and the corresponding head-end lug 51317 align with each other until the head-end lug 51317 enters the insertion opening 1331 . Then, rotate the head end to turn the end cover 51312 so that the head end lug 51317 slides into the card slot 1332 along the slot 1332 . In this way, one side of the slot 1332 is blocked by the cooperation between the head lug 51317 and the head cantilever 51314 . At this time, one side of the slot 1332 is against the head cantilever 51314 . In this way, the installation work of the steering gear 13 and the first jib support shell 5131 is completed.

Then, another steering gear 13 is installed on the second end of the head end joint arm 513, specifically, the first housing 131 of the steering gear 13 is installed between the first bending part and the second bending part . As shown in Figure 16, first turn the second bending part out so that the second fixing through hole 5135 is no longer opposite to the first fixing through hole 5134, and then put the first casing 131 of the steering gear 13 into the first bending part In the space of half a racetrack, and make a mounting lug 1311 of the first casing 131 of the steering gear 13 pass through the first fixing through hole 5134 . Next, turn the second bending part back into the main bracket 5132 at the head end, so that the other mounting lug 1311 on the first housing 131 of the steering gear 13 enters the recessed groove 5136 at the head end correspondingly, and is recessed along the head end. The slot 5136 slides until the mounting lug 1311 is inserted into the second fixing through hole 5135 . During the sliding process of the mounting lug 1311 along the concave groove 5136 at the head end, the second curved portion is pressed by the mounting lug 1311 to produce a slight elastic deformation, so that the mounting lug 1311 can slide along the concave groove 5136 at the head end and until it penetrates into the second fixing through hole 5135 . In this way, the two mounting lugs 1311 penetrate into the first fixing through hole 5134 and the second fixing through hole 5135 respectively, so that the first housing 131 is restricted and cannot be separated from the second end, and the two mounting lugs 1311 respectively It abuts against the inner wall of the first curved portion and the outer wall of the second curved portion, so that the first housing 131 is clamped between the head end main bracket 5132 and the head end sub bracket 5133 without loosening.

Next, install the output end casing 133 of the steering gear 13 installed on the second end of the head-end joint arm 513 and the first end of the connecting arm 12 . Then, the third steering gear 13 of the mechanical arm 50 is installed on the second end of the connecting arm 12 .

Finally, the end joint arm 514 and the output end shell 133 of the third steering gear 13 are installed, and the mechanical arm 50 with only one connecting arm 12 can be assembled. As shown in FIG. 19 and FIG. 20 , the terminal joint arm 514 includes a terminal rotating end cover 5140 , a terminal casing 5141 and a terminal operation part 5142 , and the terminal operation part 5142 is fixedly connected to the outer wall of the terminal casing 5141 . The terminal operating part 5142 can be a humanoid palm, a suction cup assembly, a fork, or a mechanical clamping device. The terminal operation part 5142 of this embodiment is preferably a mechanical clip device, and the application of the mechanical clip device is very mature and common in the prior art, and will not be repeated here. Specifically, the end casing 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 at intervals in the circumferential direction, preferably two end cantilever arms 5144 that are centrally symmetrical. Moreover, the inner wall of the terminal placement space 5143 is provided with a terminal stepped surface 5145 corresponding to the terminal cantilever 5144 , and a terminal assembly opening 5146 is formed between the free end of the terminal cantilever 5144 and the terminal stepped surface 5145 . A plurality of terminal lugs 5147 extending in the radial direction are provided on the inner side wall of the end rotating end cap 5140 , preferably two terminal lugs 5147 are disposed opposite to each other. When installing the end rotating end cap 5140 to the end casing 5141, the two end lugs 5147 correspond to the two end assembly openings 5146 respectively, so that the end assembly openings 5146 can be slightly opened, so that the end lugs 5147 enter the end Between the cantilever 5144 and the end step surface 5145 . Under normal circumstances, when the end assembly opening 5146 is not expanded, the end lug 5147 is difficult to disengage from between the end cantilever 5144 and the end step surface 5145 , thereby restricting the end rotating end cap 5140 to the end sleeve 5141 . Moreover, the terminal lug 5147 can rotate and slide between the terminal cantilever 5144 and the terminal stepped surface 5145 . The output end housing 133 of the third steering gear 13 is inserted into the end placement space 5143 so that the insertion opening 1331 and the corresponding end lug 5147 are aligned with each other until the end lug 5147 enters the insertion opening 1331 . Then, the end cap 5140 is rotated so that the end lug 5147 slides into the slot 1332 along the slot 1332 . In this way, one side of the slot 1332 is blocked by the cooperation between the end lug 5147 and the end cantilever 5144 . At this time, one side of the slot 1332 is against the end cantilever 5144 .

When it is necessary to expand the extension length of the mechanical arm 50, the number of connecting arms 12 and the number of steering gears 13 to be increased can be selected according to the actual extension length of the mechanical arm 50, and all connecting arms 12 and Each steering gear 13 is sequentially installed in series to form an expansion module of the mechanical arm 50 . Then, the expansion modules completed in series are respectively installed in series with the head end joint arm 513 and the end joint arm 514 to complete the expansion work of the mechanical arm 50 .

As shown in FIG. 15 and FIG. 16 , the steering gear 13 and the adapter 51 of the robotic arm 50 mounted on the first jib support shell 5131 are connected and fixed. Specifically, the adapter 51 includes an adapter plate frame 5101 , a first adapter shell 5102 and a second adapter shell 5103 .

As shown in Figure 15 and Figure 16, along the length direction of the educational robot, the left and right sides of the adapter frame 5101 are protrudingly provided with a plurality of engaging blocks 511, preferably, the left and right sides are protrudingly provided There are two clamping blocks 511 . When the adapter plate 5101 is installed on the vehicle body frame 21 , the inner surface of the adapter plate 5101 is against the main control module 30 , thereby stabilizing the main control module 30 in the vehicle body frame 21 .

As shown in Figure 16, the first adapter housing 5102 can be a separate component relative to the adapter frame 5101, at this time the first adapter housing 5102 is fixed and installed on the adapter frame 5101 by a plurality of screws; An adapter housing 5102 can also be a structural component integrally formed with the adapter frame 5101 . As shown in FIG. 16 , the first adapter housing 5102 includes a bottom shell 51021 , a first side wall 51022 and a second side wall 51023 . In this embodiment, preferably, the bottom case 51021 is fixedly installed on the adapter frame 5101 by a plurality of screws. The first side wall 51022 and the second side wall 51023 are oppositely connected to the bottom shell 51021 , so that two opposite limiting gaps 51024 are formed between the first side wall 51022 and the second side wall 51023 . Moreover, first buckle protrusions 51025 are provided on the outer walls of the ends of the first side wall 51022 and the second side wall 51023 away from the bottom shell 51021 .

As shown in Figure 16, the second adapter housing 5103 is provided with a pass-through channel 51031, and the inner wall of the pass-through channel 51031 is provided with two opposite avoidance grooves 51032 and two opposite second buckle protrusions 51033, two avoidance grooves The connection line between 51032 and the connection line between the two second buckle protrusions 51033 are perpendicular to each other. The second buckle protrusion 51033 cooperates with the first buckle protrusion 51025 to constrain the second adapter housing 5103 on the first adapter housing 5102 .

Specifically, when the first adapter housing 5102 is a separate component relative to the adapter frame 5101, the bottom shell 51021, the first side wall 51022 and the second side wall 51023 of the first adapter housing 5102 are inserted through the pass through the channel 51031, and then the bottom case 51021 is fixedly installed on the adapter plate frame 5101 by a plurality of screws. Detach from the first adapter housing 5102.

In addition, when the first adapter housing 5102 and the adapter frame 5101 are integrally formed, the first side wall 51022 and the second side wall 51023 need to be gathered together, and then penetrate through the channel 51031, and then the first side wall The wall 51022 and the second side wall 51023 are released. In this way, the first buckle protrusion 51025 blocks the second buckle protrusion 51033 , and the second adapter housing 5103 cannot be detached from the first adapter housing 5102 .

As shown in Figure 16, when the steering gear 13 and the adapter 51 installed on the first joint arm support shell 5131 of the mechanical arm 50 are assembled, the two avoidance grooves 51032 of the second adapter shell 5103 are aligned with the first pivot. Align the two limiting notches 51024 of the socket housing 5102 one by one, and then the two mounting lugs 1311 of the steering gear 13 enter the two limiting notches 51024 through the two avoidance grooves 51032, and the mounting lugs 1311 abut against Connect to the bottom of the stop notch 51024. At this time, the outer wall surface of the installation lug 1311 away from the bottom of the limit notch 51024 is basically flat with the wall surface of the second buckle protrusion 51033 facing the first adapter shell 5102, and then the second adapter shell 5103 is rotated to make the installation The lug 1311 is clamped between the second buckle protrusion 51033 and the bottom of the limit notch 51024. At this time, the two ends of each first buckle protrusion 51025 are buckled on the sides of the two second buckle protrusions 51033 facing the steering gear 13 respectively. on one side surface. Moreover, the end face openings of the two mounting lugs 1311 are exposed between the first adapter housing 5102 and the second adapter housing 5103, so that it is convenient to plug the data line terminal of the main control module into the electrical connection interface 1310. catch.

The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the protection of the application. within range.

Claims (10)

1. A steering engine, comprising:

a driving motor;

the output rotating shaft of the driving motor is in driving connection with the output shaft;

the driving motor is arranged in the casing, one end of the output shaft penetrates out of one end of the casing, which is away from the output shaft, is provided with a plurality of mounting lugs, the mounting lugs are circumferentially arranged at intervals around the central axis of the casing, the mounting lugs are used for being fixedly connected to an external support, an electric connection interface is arranged in each mounting lug, the electric connection interface is electrically connected with the driving motor, and the electric connection interface is used for being electrically connected to a control module so as to transmit control signals to the driving motor;

the output end shell is arranged at one end of the output shaft, and synchronously rotates along with the output shaft, and is used for being connected with an object to be received with power.

2. The steering engine of claim 1, wherein the steering engine comprises a steering engine,

the electric connection interface is a type-C data interface.

3. The steering engine of claim 1, wherein the steering engine comprises a steering engine,

the number of the mounting lugs is two, and the two mounting lugs are symmetrically arranged relative to the central axis of the shell.

4. A steering engine as in any one of claims 1-3 wherein,

the utility model discloses a power supply device, including casing, output shell, input shell, draw-in groove, output shell, input shell, output shell, the one end that deviates from the casing is equipped with a plurality of inserted ports and with the draw-in groove of inserted port one-to-one, a plurality of inserted ports are around the central axis of output shell is circumference interval setting, each the draw-in groove respectively with corresponding the inserted port is linked together, inserted port with the draw-in groove is used for connecting the fixed junction of waiting to accept the object of power.

5. The steering engine as in claim 4, wherein,

the number of the inserting ports is two, the two inserting ports are symmetrically arranged relative to the central axis of the output end shell, the number of the clamping grooves is two, and the two clamping grooves are centrally and symmetrically arranged relative to the central axis of the output end shell.

6. The steering engine as in claim 4, wherein,

the outer wall of casing is equipped with first ball annular, the inside wall of output shell is equipped with the second ball annular, first ball annular with the second ball annular just is just to the cooperation, first ball annular with be equipped with the ball between the second ball annular, every the ball simultaneously card is gone into first ball annular with second ball annular is with the restriction the casing with the output shell is followed the axis direction of steering wheel breaks away from each other.

7. An educational robot, comprising:

the automobile body main body comprises an automobile body frame and a bottom cover, wherein the bottom cover is mounted at the bottom of the automobile body frame, a plurality of first inserting grooves are formed in two sides of the automobile body frame along the length direction, a plurality of second inserting grooves are formed in two corresponding sides of the bottom cover, and the first inserting grooves and the second inserting grooves are in one-to-one correspondence;

the steering engine according to any one of claims 1-6 is mounted at two ends of each connecting arm, one end of each connecting arm is connected with a housing of the steering engine, the other end of the steering engine is connected with an output end shell of the other steering engine, wherein two mounting lugs of the steering engine, of which the output end shell is connected to a connecting arm, are respectively inserted into the corresponding first inserting groove and the corresponding second inserting groove, and the shell is clamped and fixed by the vehicle body frame and the bottom cover;

the wheel is installed to the output end shell of steering wheel that the casing is connected to the linking arm, the wheel is along with the synchronous rotation of output end shell.

8. An educational robot, comprising:

The automobile body main body comprises an automobile body frame and a bottom cover, wherein the bottom cover is mounted at the bottom of the automobile body frame, third inserting grooves are formed in two sides of the automobile body frame along the width direction, fourth inserting grooves are formed in two corresponding sides of the bottom cover, and the fourth inserting grooves and the third inserting grooves are in one-to-one correspondence;

the steering engine according to any one of claims 1 to 5, wherein at least one steering engine is provided on both sides of the body in the width direction, wherein two mounting lugs of the steering engine are inserted into the corresponding third insertion groove and fourth insertion groove, respectively, and the body frame and the bottom cover clamp and fix the housing of the steering engine;

and the wheels are arranged on the output end shell and synchronously rotate along with the output end shell.

9. The educational robot of claim 7 or 8, wherein,

the wheel comprises a supporting shell, a rotating end cover and a tire, wherein an accommodating space is formed in the supporting shell, a plurality of cantilevers which are circumferentially arranged at intervals and step surfaces which correspond to the cantilevers one by one are arranged on the inner wall of the accommodating space, an assembling opening is formed between the free end of each cantilever and the corresponding step surface, a plurality of clamping lugs which extend along the radial direction are arranged on the inner side wall of the rotating end cover and correspond to the assembling opening one by one, the clamping lugs enter the cantilevers and the step surfaces from the corresponding assembling opening, the output end shell of the steering engine is inserted into the accommodating space, and the clamping lugs slide between the cantilevers and the step surfaces to be fixed to the output end shell.

10. The educational robot of claim 9, wherein the educational apparatus comprises a plurality of arms,

and one side of each clamping lug, which faces the cantilever, is provided with a curved surface protruding towards the cantilever.