CN115995175B

CN115995175B - Connecting arm and educational robot

Info

Publication number: CN115995175B
Application number: CN202211714783.0A
Authority: CN
Inventors: 叶文劲; 陈新普; 齐奇; 王轶丹
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Shenzhen Ubtech Technology Co ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2025-11-07
Anticipated expiration: 2042-12-29
Also published as: CN115995175A

Abstract

This application belongs to the field of intelligent robot technology, and particularly relates to a connecting arm and an educational robot. The connecting arm includes: a first connecting part, including a first sleeve and a first sidewall, the first sidewall being connected to the first sleeve; a second connecting part, including a cap and a second sidewall, the second sidewall being connected to the cap, the cap fitting over the first sleeve, the first sleeve and the cap cooperating to fix a first driving member, the second sidewall being connected to the first sidewall; and a rotating inner bracket, which rotatably engages between the first sleeve and the cap, the rotating inner bracket cooperating with the first sidewall to fix a second driving member. The technical solution of this application aims to solve the problem that the walking system in existing building block educational toys has a complex structure, is too difficult, and is not suitable for teaching to cultivate the scientific interest of primary and secondary school students.

Description

Connecting arm and educational robot

Technical Field

The application belongs to the technical field of teaching appliances, and particularly relates to a connecting arm and an educational robot.

Background

Talent cultivation is very important today when science and technology is increasingly developed, and accordingly, guiding and inspiring of the technological interests of primary and secondary school students and college students in an education link is particularly important. Especially, the students in middle and primary schools are in the sprouting stage in their technological interests, and the guiding and inspiring of the technological interests are correct and beneficial, so that the technological interests are very necessary for the students in middle and primary schools to cultivate.

At present, the science and technology education mode of students in middle and primary schools is classroom learning, and teachers explain the science and technology knowledge to students first and then the students perform theoretical understanding. This is a typical classroom education mode, obviously lacks the process of practical practice, and students are faced with a boring and tasteless book and are faced with hard and hard technological knowledge, and are not easy to be worried about, so that students are difficult to cultivate great scientific interests.

Even if a plurality of schools or interests are arranged in the teaching process, the adopted teaching aid is relatively complex, for example, building blocks are used as teaching aids, a running system of the building blocks is taken as an example, and a suspension mechanism, a brake mechanism, a steering mechanism and the like are involved in the running system of the building blocks, so that for students in middle and primary schools, the system is complex in structure, too large in difficulty and not suitable for teaching of scientific interests of the students in middle and primary schools.

Disclosure of Invention

The application aims to provide a connecting arm and an educational robot, and aims to solve the problems that the system structure of a running system in the existing building block teaching aid is complex, the difficulty is too high, and the teaching robot is not suitable for teaching of scientific interests of students in middle and primary schools.

In order to achieve the above purpose, the application adopts the technical scheme that the connecting arm comprises:

the first connecting part comprises a first sleeve and a first side wall, and the first side wall is connected with the first sleeve;

The second connecting part comprises a cylinder cover part and a second side wall, the second side wall is connected with the cylinder cover part, the cylinder cover part covers the first sleeve, the first sleeve and the cylinder cover part are matched and used for fixing the first driving piece, and the second side wall is connected with the first side wall relatively;

the rotary inner support is rotationally clamped between the first sleeve and the cylinder cover part and matched with the first side wall to fix the second driving piece.

In one embodiment, the second side wall and the first side wall are connected to form a first avoiding opening and a second avoiding opening which are opposite, a first mounting through hole is formed in the position, opposite to the first sleeve, of the first side wall, the rotary inner support comprises a second sleeve and a bending frame, two ends of the bending frame are connected to the second sleeve, the second sleeve is rotationally clamped between the first sleeve and the cylinder cover, the bending frame can rotate to pass through the first avoiding opening or the second avoiding opening, a second mounting through hole is formed in the position, opposite to the second sleeve, of the bending frame, and the first mounting through hole and the second mounting through hole are used for mounting and fixing two mounting lugs of the second driving piece.

In one embodiment, the curved frame is shaped as a racetrack profile, and the curved frame is smoothly transitioned toward the outer sidewall of the first mounting through hole.

In one embodiment, the outer side wall of the bending frame facing the first mounting through hole is provided with a concave groove, and the extending direction of the concave groove is consistent with the extending direction of the bending frame.

In one embodiment, a plurality of notches are formed at intervals on the end part of the first sleeve, facing the cylinder cover, of the cylinder cover, the notches are covered by the cylinder cover to form a sliding guide groove, a plurality of clamping convex blocks are arranged on the inner wall of the second sleeve, the clamping convex blocks are located in the notches in a one-to-one correspondence mode, the clamping convex blocks slide in the sliding guide groove, a stop convex edge is arranged on the periphery of the cylinder cover, the clamping convex blocks and the stop convex edge are arranged at intervals, and the clamping convex blocks and the stop convex edge are matched with one side groove wall of the clamping groove for clamping and fixing the output end shell in the first driving piece.

In one embodiment, the number of the notches is two, the two notches are symmetrically arranged relative to the central axis of the first sleeve, the number of the locking lugs is two, and the two locking lugs are symmetrically arranged relative to the central axis of the second sleeve.

In one embodiment, the side of the respective latching projections facing the stop collar is provided as a curved surface protruding toward the stop collar.

In one embodiment, the curved frame is curved to form a racetrack profile, and the curved frame is rounded toward the outer sidewall of the first mounting through hole.

According to another aspect of the present application, there is provided an educational robot. Specifically, the educational robot includes a connecting arm as described above.

The application has at least the following beneficial effects:

the application provides an educational robot and a connecting arm adopted in the educational robot, wherein the connecting arm is utilized to assemble and form a running system of the educational robot, students quickly assemble and form the running system of the educational robot by using the connecting arm, and the operation process is simple and easy to understand, so that the students can learn through lively activities, and the students can quickly cultivate great scientific interests.

Moreover, students can understand the structural design composition of the connecting arm by using the connecting arm, and can further understand the structural assembly relation among the first connecting part, the second connecting part and the rotating inner bracket and further discuss how the first connecting part, the second connecting part and the rotating inner bracket are matched to install and fix the driving piece, so that students are guided to cultivate cognition and craving for scientific knowledge by entering into the study, and great scientific interest is cultivated.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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

Fig. 2 is an exploded view showing a wheel set structure assembled and formed by using a connection arm in the educational robot according to an embodiment of the present application;

fig. 3 is a schematic view showing an assembly structure of a connection arm in the educational robot according to an embodiment of the present application;

Fig. 4 is an exploded view of a connection arm in the educational robot according to an embodiment of the present application;

Fig. 5 is a schematic diagram showing an assembly structure of a driving part in an educational robot according to an embodiment of the present application;

fig. 6 is a schematic diagram of an assembly structure of a driving part in the educational robot according to an embodiment of the present application;

FIG. 7 is an exploded view of wheels and a driving member in the educational robot of an embodiment of the present application;

fig. 8 is a schematic diagram of an assembly structure of an educational robot according to an embodiment of the present application, which is assembled to form a traveling system using four wheel group structures;

FIG. 9 is a partially exploded view of an educational robot of an embodiment of the present application assembled using four wheelset structures to form a walking system;

Fig. 10 is a schematic diagram of an assembly structure of an educational robot according to an embodiment of the present application, in which wheels and driving members are assembled to form a traveling system;

FIG. 11 is an exploded view of an educational robot of an embodiment of the present application assembled with wheels and a driving member to form a walking system;

fig. 12 is a schematic diagram II of an assembly structure of the educational robot according to the embodiment of the present application, in which wheels and driving members are assembled to form a traveling system;

FIG. 13 is a second exploded view of an educational robot of an embodiment of the present application assembled with wheels and a driving member to form a walking system;

FIG. 14 is an enlarged schematic view of FIG. 13A;

fig. 15 is a schematic view of an assembly structure of an expandable mechanical arm and an adapter used in the educational robot according to an embodiment of the present application;

FIG. 16 is an exploded view of an expandable robotic arm and adapter for use with the educational robot of an embodiment of the present application;

Fig. 17 is a schematic diagram of an assembly structure of a head end joint arm of an expandable mechanical arm used in the educational robot according to an embodiment of the present application;

FIG. 18 is an exploded view of a head end joint arm of an expandable robotic arm employed by an educational robot of an embodiment of the application;

FIG. 19 is a schematic view showing an assembly structure of a tail end structure of an expandable robot arm used in the educational robot according to an embodiment of the application;

fig. 20 is an exploded view of a tail end structure of an expandable robot arm used in the educational robot according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.

In the description of the present application, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

As shown in fig. 1, 2, and 8 to 13, the educational robot according to the embodiment of the present application adopts a wheeled walking system. Preferably, the wheel-type running system comprises four wheel-set structures 10, as shown in fig. 1 and 8, the four wheel-set structures 10 have the same structural form, and each wheel-set structure 10 has an independent adjusting function, wherein the adjusting function comprises a lifting function for lifting or reducing the whole height of the intelligent vehicle and a speed regulating function for independently regulating the rotation speed of the wheels 11.

As shown in fig. 1 and 2, each wheelset structure 10 includes a wheel 11, a connecting arm 12, and two driving members 13. The connecting arm 12 serves as a supporting mounting carrier for the wheelset structure 10, wherein one driving member 13 is mounted at a first end of the connecting arm 12, and the other driving member 13 and the wheel 11 are detachably assembled to form a driving wheel module.

As shown in fig. 2 to 4, the connection arm 12 includes a first connection portion 121, a second connection portion 122, and a rotating inner bracket 123.

As shown in fig. 4, the first connecting portion 121 includes a first sleeve 1211 and a first side wall 1212, and both ends of the first side wall 1212 are connected to the first sleeve 1211 to form the first connecting portion 121 having a racetrack-shaped profile (the profile of the first side wall 1212 is half a racetrack-shaped profile). The first sleeve 1211 is positioned at a first end of the first connection 121, and the first sidewall 1212 forms a second end of the first connection 121 opposite the first sleeve 1211. As shown in fig. 2 and 4, the first sleeve 1211 is provided with a plurality of bayonets 1213 circumferentially spaced around the central axis of the first sleeve 1211, and as shown in fig. 3 and 4, the first side wall 1212, which is the second end of the first connecting portion 121, is provided with a first mounting through hole 1214.

As shown in fig. 4, the second connecting portion 122 includes a cap portion 1221 corresponding to the first sleeve 1211 and a second side wall 1222, and both ends of the second side wall 1222 are connected to the cap portion 1221 to form a racetrack shape conforming to a half racetrack shape of the first side wall 1212. The cap 1221 is provided with hooks 1223 corresponding to the plurality of bayonets 1213 one by one, the cap 1221 is fittingly engaged on the first sleeve 1211, and each hook 1223 is engaged in a corresponding bayonet 1213. Specifically, the periphery of the cylinder cover 1221 is provided with a stop flange 1224, and the end of the first sleeve 1211 facing the cylinder cover 1221 is provided with a plurality of notches 1215 at intervals, as shown in fig. 2 and 4, and after the cylinder cover 1221 is covered on the first sleeve 1211, the notches 1215 and the cylinder cover 1221 form a sliding guide groove. Specifically, two symmetrical notches 1215 are provided at the end of the first sleeve 1211. When the cartridge cap 1221 is snapped onto the first sleeve 1211, the second sidewall 1222 is simultaneously matingly engaged with the first sidewall 1212 and secured together by a screw connection. As shown in fig. 3, the first side wall 1212 and the second side wall 1222 form two opposite first avoidance openings 1231 and second avoidance openings 1232 after being abutted, and the first mounting through hole 1214 is located on the second side wall 1222 between the first avoidance openings 1231 and the second avoidance openings 1232.

As shown in fig. 4, the rotating inner bracket 123 includes a second sleeve 1233 and a curved frame 1234, both ends of the curved frame 1234 are connected to the second sleeve 1233 to form a racetrack type rotating inner bracket 123, and the curved frame 1234 is smoothly disposed, preferably in a circular arc, toward the outer side wall of the first mounting through hole 1214. The second sleeve 1233 is positioned at a first end of the rotating inner bracket 123 and the curved frame 1234 forms a second end of the rotating inner bracket 123 opposite the second sleeve 1233. The second sleeve 1233 is rotatably sleeved on the first sleeve 1211, the inner wall of the second sleeve 1233 is provided with a plurality of locking protruding blocks 1235, each locking protruding block 1235 is located in the notch 1215 in a one-to-one correspondence manner, and two opposite locking protruding blocks 1235 are arranged on the corresponding second sleeve 1233. Then, the second connecting portion 122 is connected to the first connecting portion 121 in a covering manner, at this time, the second sleeve 1233 is blocked by the sleeve cover 1221 and cannot be separated from the first sleeve 1211, and the locking protrusion 1235 and the stop flange 1224 are disposed at a distance.

After the second connecting portion 122 is connected to the first connecting portion 121 in a covering manner, the curved frame 1234 can pass through the first avoiding opening 1231 or the second avoiding opening 1232 and the locking protrusion 1235 can slide in the sliding guide slot during the rotation of the rotating inner bracket 123 around the central axis of the first sleeve 1211. When the bending frame 1234 is located at a space position between the first avoidance port 1231 and the second avoidance port 1232, the locking protrusion 1235 is located at an intermediate position of the notch 1215, that is, the bending frame 1234 can rotate toward the first avoidance port 1231 and pass through the first avoidance port 1231, and can also rotate toward the second avoidance port 1232 and pass through the second avoidance port 1232. The second mounting through hole 1236 is formed in the curved frame 1234 serving as the second end of the rotating inner bracket 123, and when the curved frame 1234 is located at a space position between the first avoidance port 1231 and the second avoidance port 1232, the second mounting through hole 1236 is opposite to the first mounting through hole 1214 with a space therebetween. Further, a concave groove 1237 is formed in the curved frame 1234 as the second end of the rotating inner bracket 123 toward the outer side wall of the first mounting through hole 1214, and the extending direction of the concave groove 1237 coincides with the extending direction of the curved frame 1234.

As shown in fig. 5 and 6, the driving member 13 includes a first housing 131, a second housing 132, an output end housing 133, and internal components (not shown), which generally include a circuit board, a driving motor, a speed reduction mechanism, an output shaft, etc., and are substantially the same as those of the conventional steering engine, and thus are not described again. The first casing 131 and the second casing 132 are mutually covered and fixed to form an assembly inner space, and a plurality of screws are connected between the first casing 131 and the second casing 132 in a screwing mode to realize fixed connection between the first casing 131 and the second casing 132, so that an inner assembly is installed in the assembly inner space. The output housing 133 is mounted on the output shaft of the inner assembly, and the output housing 133 and the output shaft rotate synchronously, that is, the output housing 133 rotates with respect to the first housing 131 and the second housing 132. Specifically, the output shaft of the inner assembly extends from the end of the second housing 132 facing away from the first housing 131, and the corresponding output housing 133 is located at the end of the second housing 132 facing away from the first housing 131. Further, the first housing 131 is provided with a plurality of mounting lugs 1311, and the plurality of mounting lugs 1311 are arranged at uniform intervals about the central axis of the first housing 131, and preferably, the first housing 131 is provided with two opposite mounting lugs 1311. And, each of the mounting lugs 1311 is provided to be hollow, the cable of the inner assembly may be routed from the hollow mounting lug 1311 or the fixed plug terminal may be mounted in the hollow mounting lug 1311, and then the cable of the inner assembly is routed to the plug terminal to be electrically connected thereto. A plurality of insertion openings 1331 and clamping grooves 1332 which are communicated with the insertion openings 1331 in a one-to-one correspondence manner are formed in the side wall of one end, away from the first shell 131, of the output end shell 133, wherein the insertion openings 1331 are arranged at intervals in the circumferential direction around the central axis of the output end shell 133. Preferably, the output end housing 133 is provided with two insertion openings 1331 and two corresponding clamping grooves 1332.

As shown in fig. 1 and 2, two driving members 13 are assembled to the connection arm 12, one of the driving members 13 being mounted to a first end of the connection arm 12 and the other driving member 13 being mounted to a second end of the connection arm 12. Wherein the first end of the connecting arm 12 is formed by the first end of the first connecting portion 121, the first end of the second connecting portion 122 and the first end of the rotating inner bracket 123, and the second end of the connecting arm 12 is formed by the second end of the first connecting portion 121, the second end of the second connecting portion 122 and the second end of the rotating inner bracket 123.

As shown in fig. 1 and 2, when one of the driving members 13 is mounted to the first end of the connection arm 12, specifically, the output end housing 133 of this driving member 13 is mounted to the first end of the connection arm 12. Specifically, the output end housing 133 is inserted into the first sleeve 1211, and the two locking projections 1235 are inserted into the corresponding two insertion openings 1331. Wherein, before the output end housing 133 is inserted into the first sleeve 1211, the curved frame 1234 of the rotating inner bracket 123 is rotated out from a position between the first avoidance port 1231 and the second avoidance port 1232, and passes through the first avoidance port 1231 or the second avoidance port 1232. After the output housing 133 is inserted into the first sleeve 1211, the rotating inner support 123 is then rotated back to a position between the first escape opening 1231 and the second escape opening 1232, whereupon the locking tab 1235 slides into the locking slot 1332 along the locking slot 1332. One side of the locking protrusion 1235 facing the stop convex edge 1224 is a convex curved surface, which may be an arc curved surface, or a bidirectional wedge surface formed by splicing two planes with opposite inclined directions, so that the locking protrusion 1235 can slide into the locking slot 1332 more easily. At this time, the groove wall at one side of the locking groove 1332 is blocked by the locking protrusion 1235 and the blocking convex edge 1224, and at this time, the groove wall at one side of the locking groove 1332 abuts against the blocking convex edge 1224. In this way, the driving member 13 is completely mounted to the first end of the connecting arm 12.

As shown in fig. 1 and 2, when another driving member 13 is mounted to the second end of the connection arm 12, specifically, the first housing 131 of this driving member 13 is mounted to the second end of the connection arm 12. Specifically, when the driving piece 13 mounted to the first end of the connection arm 12 is inserted into the first sleeve 1211, the driving piece 13 mounted to the second end of the connection arm 12 is also placed in the racetrack space where the first side wall 1212 and the second side wall 1222 are butted, and one of the two mounting lugs 1311 on the first housing 131 of the driving piece 13 passes through the first mounting through hole 1214. Then, in the process of turning the rotating inner bracket 123 back to the position between the first escape opening 1231 and the second escape opening 1232, the other mounting lug 1311 on the first housing 131 of the driving member 13 is correspondingly entered into the recessed groove 1237, and slid along the recessed groove 1237 until the mounting lug 1311 penetrates into the second mounting through hole 1236. During the sliding of the mounting lug 1311 along the recessed groove 1237, the second sidewall 1222 is slightly elastically deformed by the extrusion of the mounting lug 1311, so that the mounting lug 1311 can slide along the recessed groove 1237 and until penetrating into the second mounting through hole 1236. In this way, the two mounting lugs 1311 penetrate into the first mounting through holes 1214 and the second mounting through holes 1236, respectively, so that the first housing 131 is restrained from coming out of the second end of the connecting arm 12, and the two mounting lugs 1311 abut against the first side wall 1212 and the second side wall 1222, respectively, so that the first housing 131 is clamped between the first side wall 1212 and the second side wall 1222 without loosening.

After the two driving members 13 are respectively placed at the corresponding positions of the first end and the second end of the connection arm 12, the rotating inner bracket 123 is rotated back to the position between the first escape opening 1231 and the second escape opening 1232, so that the two driving members 13 can be simultaneously mounted on the connection arm 12.

As shown in fig. 7, the wheel 11 includes a support shell 111, a rotary end cap 112, and a tire 113. The tire 113 is integrally formed of a rubber material, and the tire 113 has a certain degree of elasticity and can be elastically expanded so as to be fitted on the outer peripheral surface of the support case 111 as a tread of a wheel. The support case 111 is provided with an accommodation space 1111, and an inner wall of the accommodation space 1111 is provided with a plurality of cantilevers 1112 arranged at intervals in the circumferential direction, preferably two cantilevers 1112 arranged in central symmetry. Also, a stepped surface 1113 corresponding to the cantilever 1112 is provided on the inner wall of the accommodation 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 radially extending lugs 1121, preferably two oppositely disposed lugs 1121, are provided on the inner side wall of the rotary end cap 112. When the rotary end cap 112 is mounted to the support housing 111, the two lugs 1121 are respectively corresponding to the two fitting openings 1114, so that the fitting openings 1114 are slightly opened, and the lugs 1121 are inserted between the cantilever 1112 and the stepped surface 1113. Normally, when the fitting opening 1114 is not expanded, the catch 1121 is hardly disengaged from between the cantilever 1112 and the stepped surface 1113, thereby restraining the rotary end cap 112 to the support case 111. Further, the catch 1121 is capable of rotational sliding movement between the cantilever 1112 and the stepped surface 1113.

As shown in fig. 7, in assembling the wheel 11 and the driver 13, specifically, the wheel 11 is mounted to the output housing 133. The output end housing 133 of the driver 13 is inserted into the accommodation space 1111 and the insertion port 1331 and the corresponding clip lug 1121 are aligned with each other until the clip lug 1121 enters the insertion port 1331. The rotary cap 112 is then rotated so that the lugs 1121 slide into the slots 1332 along the slots 1332. Thus, the groove wall on one side of the locking groove 1332 is blocked by the locking lug 1121 and the cantilever 1112, and the groove wall on one side of the locking groove 1332 abuts against the cantilever 1112. In this way, the mounting work of the wheel 11 and the driving piece 13 is completed, and the driving wheel module (the driving wheel module corresponds to the second end of the link arm 12) is assembled.

As shown in fig. 8 to 13, the educational robot further includes a body main body 20, and after the four wheel group structures 10 are assembled, the four wheel group structures 10 can be assembled to the body main body 20, thereby completing the structural assembly work of the wheel type traveling system of the educational robot.

As shown in fig. 8 to 13, the body main body 20 includes a body frame 21 and a bottom cover 22. The body frame 21 is provided with a housing space 211, and as shown in fig. 13, the housing space 211 is used for mounting and fixing components such as the battery 40, the main control module 30, and the like. The bottom cover 22 is mounted and fixed to the bottom of the vehicle body frame 21 by a plurality of bolts 23. The body profile of the body frame 21 is rectangular parallelepiped, and open accommodating grooves 212 are formed in both sides of the bottom of the body frame 21 in the longitudinal direction of the educational robot. In addition, a plurality of first insertion grooves 213 are formed in a groove wall of the accommodating groove 212 on a side opposite to the bottom cover 22, and specifically, three first insertion grooves 213 are formed in a groove wall of each side accommodating groove 212 of the vehicle body frame 21. Correspondingly, along the length direction of the educational robot, a plurality of second inserting grooves 221 are formed on both sides of the bottom cover 22, and the plurality of second inserting grooves 221 and the plurality of first inserting grooves 213 are in one-to-one correspondence, that is, three second inserting grooves 221 are formed on both sides of the bottom cover 22.

As shown in fig. 8 and 9, after each of the wheel group structures 10 is assembled, the first housing 131 of the driving piece 13 located at the first end of the connecting arm 12 in each of the wheel group structures 10 is to be mounted and fixed to the body 20. As shown in fig. 9, the assembly process is illustrated by taking an example in which one of the wheel group structures 10 is assembled to the left rear end position of the body 20. Specifically, one of the two mounting lugs 1311 of the first housing 131 of the driver 13 at the first end of the link arm 12 is inserted into the first insertion groove 213 at the rear end position of the left side of the vehicle body frame 21, then the bottom cover 22 is covered to the bottom of the vehicle body frame 21 such that the other mounting lug 1311 is aligned with and inserted into the second insertion groove 221 at the rear end position of the left side of the bottom cover 22, and then the respective bolts 23 are screw-mounted 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 inserted into the first and second insertion grooves 213 and 221, respectively, so that the driver 13 is restrained from being separated from the body frame 21 and the bottom cover 22. And, the groove wall of the accommodating groove 212 is provided with a first abutting concave portion 214 corresponding to the corresponding outer wall position of the first shell 131 corresponding to the position of each first inserting groove 213, and the bottom cover 22 is provided with a second abutting concave portion 222 corresponding to the corresponding outer wall position of the first shell 131 corresponding to the position of each second inserting groove 221. When the bottom cover 22 is fixedly coupled to the bottom of the vehicle body frame 21 by the bolts 23, the first and second abutment recesses 214 and 222 respectively abut against the respective outer wall positions of the first housing 131, thereby clamping and fixing the first housing 131, preventing the driving piece 13 from shaking relative to the vehicle body 20, that is, preventing the wheelset structure 10 from shaking relative to the vehicle body 20.

As shown in fig. 9 and 11, along the length direction of the educational robot, the front end and the rear end of the body frame 21 are each provided with a third insertion groove 215, and correspondingly, the front end and the rear end of the bottom cover 22 are each provided with a fourth insertion groove 223, and the third insertion groove 215 and the fourth insertion groove 223 located at the front end of the body 20 are opposite to each other, and the third insertion groove 215 and the fourth insertion groove 223 located at the rear of the body 20 are opposite to each other. Also, the position of the front end of the vehicle body frame 21 corresponding to the third insertion groove 215 and the position of the rear end of the vehicle body frame 21 corresponding to the third insertion groove 215 are each provided with the third abutment recess 216, and correspondingly, the position of the front end of the bottom cover 22 corresponding to the fourth insertion groove 223 and the position of the rear end of the bottom cover 22 corresponding to the fourth insertion groove 223 are each provided with the fourth abutment recess 224.

In the educational robot of another embodiment, as shown in fig. 10 to 13, one driving wheel module may be mounted to each of the front and rear ends of the body main body 20, thereby forming an educational robot shaped like a vehicle type of a balance car (hereinafter, balance car type educational robot). In the process of mounting the first housing 131 of the driving member 13 of the driving wheel module to the front and rear ends of the body main body 20, one of the mounting lugs 1311 of the first housing 131 of the driving member 13 of the two driving wheel modules is inserted into the two third insertion grooves 215, respectively, and then the bottom cover 22 is covered so that the other mounting lug 1311 is inserted into the fourth insertion groove 223 correspondingly, and the mounting bolt 23 is screwed to connect and fix the bottom cover 22 to the bottom of the body frame 21, at this time, the third abutment recess 216 and the corresponding fourth abutment recess 224 at the front end position of the body main body 20 clamp and fix the outside of the corresponding first housing 131, and the third abutment recess 216 and the corresponding fourth abutment recess 224 at the rear end position of the body main body 20 clamp and fix the outside of the corresponding first housing 131.

The balance car model education robot adopts a gyroscope (not shown) to detect the overall balance of the intelligent car. The gyroscope is electrically connected with the main control module 30, when the gyroscope detects that the overall balance of the intelligent vehicle is unbalanced, the gyroscope sends out an unbalanced signal to the main control module 30, and the main control module 30 sends out adjustment signals to the driving pieces 13 of the two driving wheel modules according to the unbalanced signal after receiving the unbalanced signal, so that the two driving pieces 13 respond rapidly to adjust the overall balance of the intelligent vehicle, and the intelligent vehicle is enabled to restore balance again.

As shown in fig. 13, the main control module 30 and the battery 40 are assembled, so that the accommodating space 211 is divided into a lower space having a small space volume and an upper space having a large space volume, and the lower space is formed by directly extending the bottom of the upper space, i.e., the upper space and the lower space are communicated with each other. The battery 40 is installed in the lower space, and the main control module 30 is installed in the upper space. The horizontal circumferential contour shape of the upper space is adapted to the contour shape of the main control module 30, and the horizontal circumferential contour shape of the lower space is adapted to the contour shape of the battery 40. 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 the corresponding connection terminals are directly contacted with each other, thereby realizing the electrical connection between the two.

As shown in fig. 13, the side wall of the battery 40 is provided with an elastic buckle 41, and correspondingly, the corresponding side wall of the lower space is provided with a clamping interface 2113 mutually assembled with the elastic buckle 41. Specifically, along the length direction of the educational robot, the front side wall and the rear side wall of the battery 40 are provided with an elastic buckle 41, and the front side wall and the rear side wall of the lower space are correspondingly provided with a clamping interface 2113. When the battery 40 is placed in the lower space, the elastic buckle 41 is clamped into the clamping interface 2113, so that the battery 40 is prevented from falling out of the lower space, and the battery 40 is prevented from moving up and down. After the battery 40 is placed, the main control module 30 is directly placed in the upper space.

The body 20 also includes a roof 24.

In the educational robot of the present application, the top cover 24 may be detachably covered on the top of the body frame 21 by a snap-in structure, thereby closing the main control module 30 placed in the upper space to prevent the main control module 30 from coming out of the upper space. And, the inner wall of the top cover 24 abuts 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 roof 24 can be detached from the body frame 21 by unlocking the engagement structure, and then the components such as the main control module 30 and the battery 40 are subjected to maintenance, replacement, and the like.

In one embodiment, the top cover 24 may be locked to the top of the body frame 21 by a plurality of screws, thereby closing the main control module 30 placed in the upper space, preventing the main control module 30 from being removed from the upper space. And, the inner wall of the top cover 24 abuts 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 detached from the body frame 21 by removing the screws, and then the main control module 30, the battery 40 and other components are subjected to maintenance, replacement and other operations.

In one embodiment, as shown in fig. 13, one side of the top cover 24 is mounted on the vehicle body frame 21 in a reversible manner through a pin 25, the other side of the top cover 24 opposite to the pin 25 is provided with a barb, and the corresponding position of the vehicle body frame 21 is provided with a buckling position 217. When the top cover 24 is turned around the pin shaft 25 to cover the top of the car body frame 21, the barbs and the buckling positions 217 are locked with each other, so that the main control module 30 placed in the upper space is covered, and the main control module 30 is prevented from falling out of the upper space. And, the inner wall of the top cover 24 abuts 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 barbs from the locking portions 217, the top cover 24 can be turned over and opened from the body frame 21 around the pins 25, and then the main control module 30, the battery 40 and other components can be maintained, replaced and other operations can be performed.

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

As shown in fig. 13 and 14, along the length direction of the educational robot, a plurality of access ports 218 and a plurality of clamping grooves 219 are formed on both left and right sides of the top opening of the body frame 21, the plurality of clamping grooves 219 and the plurality of access ports 218 communicate in one-to-one correspondence, and each clamping groove 219 is located in the same side direction of the corresponding access port 218. Specifically, two inlet openings 218 and two clamping grooves 219 are formed in the left and right sides of the top opening of the vehicle body frame 21.

As shown in fig. 15 and 16, a plurality of catching blocks 511 are convexly provided at both left and right sides of the adapter 51 in the length direction of the educational robot. Specifically, two clamping blocks 511 are protruding from both the left and right sides of the adapter 51 of the present embodiment.

When the robot arm 50 is assembled to the vehicle body frame 21 by the adapter 51, the roof 24 first needs to be removed from the top of the vehicle body frame 21 so that the respective access ports 218 on the top of the vehicle body frame 21 are exposed. The respective snap blocks 511 of the adapter 51 are then aligned with the respective access ports 218 such that the respective snap blocks 511 enter from the respective access ports 218. The adapter 51 is then pushed flat so that each of the clamping blocks 511 slides into the corresponding clamping groove 219. In this way, the adapter 51 is fastened to the vehicle body frame 21, that is, the robot arm 50 is mounted to the vehicle body frame 21 via the adapter 51.

In order to prevent the snap blocks 511 from sliding out of the snap grooves 219 to cause the robot arm 50 to be separated from the body frame 21, the upper surface (and/or the lower surface) of each snap block 511 is provided with at least one drop-preventing protrusion 512, as shown in fig. 15. Correspondingly, the upper groove wall (and/or the lower groove wall) of the clamping groove 219 is provided with at least one mating protrusion 2191, as shown in fig. 14. In the process of sliding the clamping block 511 into the clamping groove 219, the anti-falling protrusion 512 abuts against the pressing fit protrusion 2191, and the anti-falling protrusion 512 passes over the fit protrusion 2191, so that the fit protrusion 2191 can play a role of blocking the anti-falling protrusion 512, and the clamping block 511 is prevented from sliding out of the clamping groove 219.

When the mechanical arm 50 needs to be removed from the vehicle body frame 21, only the adaptor 51 needs to be pulled with force to enable the clamping block 511 to slide towards the direction of the inlet 218, the anti-falling protrusion 512 abuts against the pressing matching protrusion 2191 again and then passes over the matching protrusion 2191, so that the clamping block 511 can be separated from the inlet 218.

The mechanical arm 50 is an expandable mechanical arm, i.e. the extension length of the mechanical arm 50 can be expanded, and the movement freedom and flexibility of the mechanical arm 50 are not affected. As shown in fig. 15 and 16, the robotic arm 50 includes a head end link arm 513, a tail end link arm 514, at least one link arm 12, and a plurality of drives 13. The structural design of the robot arm 50 will be described below by taking the example that the robot arm 50 is provided with only one connecting arm 12.

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

As shown in fig. 18, the head-end main bracket 5132 is provided with a first fork-shaped portion and a first bending portion, the first bending portion is formed in a half racetrack type form, two connection positions are arranged between two ends of the half racetrack type of the first bending portion and the first fork-shaped portion, and the connecting line direction of the two connection positions is perpendicular to the connecting line direction of two fork arms of the first fork-shaped portion. The first arm support housing 5131 is fixedly coupled to and between the two prongs of the first fork. The first bending portion is provided with a first fixing through hole 5134 at a position opposite to the first arm support housing 5131, and an inner wall of the bell crank position of the first bending portion is smoothly disposed.

As shown in fig. 18, the head end sub-bracket 5133 is provided with a second fork portion and a second bending portion, the second bending portion is formed in a half racetrack type form, two connection positions are arranged between two ends of the half racetrack type of the second bending portion and the second fork portion, and the connecting line direction of the two connection positions is perpendicular to the connecting line direction of the two fork arms of the second fork portion. The two prongs of the second prong are rotatably mounted to the first arm support housing 5131, and the first arm support housing 5131 is located between the two prongs of the second prong. The second bending portion is provided with a second fixing through hole 5135 at a position opposite to the first arm support housing 5131, and an outer wall of the crank position of the second bending portion is smoothly disposed. The outer wall of the second bending part corresponding to the second fixing through hole 5135 is provided with a head end concave groove 5136, and the extending direction of the head end concave groove 5136 is consistent with the extending direction of the runway type of the second bending part.

That is, the first and second prongs together form a first end of the U-shaped structure of the head end knuckle arm 513, and the first and second bends together form a second end of the bend, with the first and second ends being disposed orthogonally therebetween. When the head end arm 513 is specifically applied, the output end housing of one driving element 13 is fixedly mounted at the first end of the head end arm 513 (i.e., the output end housing of the driving element 13 is fixedly mounted on the first arm support housing 5131 fixedly connected to the two fork arms of the first fork portion), and the housing of the other driving element 13 is fixedly mounted at the second end of the head end arm 513.

As shown in fig. 18, the first arm support housing 5131 includes a headend casing 51311 and a headend rotational end cap 51312, both of the two prongs of the first fork and the two prongs of the second fork are connected to both side outer walls of the headend casing 51311, and the headend rotational end cap 51312 is rotatably mounted to the headend casing 51311. Specifically, the headend casing 51311 is provided with a headend placement space 51313, and the inner wall of the headend placement space 51313 is provided with a plurality of headend cantilevers 51314 circumferentially spaced apart, preferably two headend cantilevers 51314 that are centrally symmetrical. And, a head end stepped surface 51315 corresponding to the head end cantilever 51314 is provided on an inner wall of the head end placement space 51313, and a head end fitting opening 51316 is formed between a free end of the head end cantilever 51314 and the head end stepped surface 51315. A plurality of radially extending head end lugs 51317, preferably two oppositely disposed head end lugs 51317, are disposed on the inner sidewall of the head end rotary end cap 51312. When the head end rotary end cover 51312 is mounted to the head end casing 51311, the two head end clamping lugs 51317 respectively correspond to the two head end assembly openings 51316, so that the head end assembly openings 51316 can be slightly opened, and the head end clamping lugs 51317 enter between the head end cantilever 51314 and the head end stepped surface 51315. Normally, when the head end assembly opening 51316 is not expanded, the head end ears 51317 are difficult to disengage from between the head end cantilever 51314 and the head end stepped surface 51315, thereby restraining the head end rotating end cap 51312 to the head end shell 51311. The head end clip 51317 can slide between the head end cantilever 51314 and the head end stepped surface 51315, and the head end clip 51317 and the head end cantilever 51314 are disposed at a distance.

As shown in fig. 16, in mounting one driving piece 13 to the first arm support housing 5131, specifically, the output end housing 133 of the driving piece 13 is mounted to the first arm support housing 5131. The output end housing 133 of the driving member 13 is inserted into the head end placement space 51313, and the insertion port 1331 and the corresponding head end lugs 51317 are aligned with each other until the head end lugs 51317 enter the insertion port 1331. Then, rotating the head rotates the end cap 51312 such that the head lugs 51317 slide into the slots 1332 along the slots 1332. Thus, the groove wall on one side of the locking groove 1332 is blocked by the head end locking lug 51317 and the head end cantilever 51314, and the groove wall on one side of the locking groove 1332 abuts against the head end cantilever 51314. Thus, the mounting work of the driving member 13 and the first arm support housing 5131 is completed.

Then, another driving member 13 is mounted to the second end portion of the head end section arm 513, specifically, the first housing 131 of the driving member 13 is mounted between the first curved portion and the second curved portion. As shown in fig. 16, the second bending portion is first rotated out such that the second fixing through hole 5135 is no longer opposite to the first fixing through hole 5134, and then the first housing 131 of the driving member 13 is put into the space of half the racetrack of the first bending portion, and one mounting boss 1311 of the first housing 131 of the driving member 13 is caused to penetrate into the first fixing through hole 5134. Then, the second bending portion is rotated back into the head main bracket 5132 again, and the other mounting lug 1311 of the first housing 131 of the driving member 13 is correspondingly entered into the head recess groove 5136 and slid along the head recess groove 5136 until the mounting lug 1311 is inserted into the second fixing through hole 5135. During the sliding of the mounting lug 1311 along the head end recess groove 5136, the second curved portion is slightly elastically deformed by the extrusion of the mounting lug 1311, so that the mounting lug 1311 can slide along the head end recess groove 5136 and until penetrating into the second fixing through hole 5135. In this way, the two mounting lugs 1311 penetrate the first and second fixing through holes 5134 and 5135, respectively, so that the first housing 131 is restrained from being separated from the second end portion, and the two mounting lugs 1311 abut against the inner wall of the first bent portion and the outer wall of the second bent portion, respectively, 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, the output end housing 133 of the driver 13 mounted to the second end of the head end section arm 513 is mounted with the first end of the connecting arm 12. Then, a third driving piece 13 of the robot arm 50 is mounted on the second end of the connection arm 12.

Finally, the mechanical arm 50 provided with only one connecting arm 12 can be assembled by installing the end segment arm 514 and the output end housing 133 of the third driver 13. As shown in fig. 19 and 20, the end segment arm 514 includes a tail end rotary end cap 5140, a tail end sleeve 5141, and a tail end operating portion 5142, and the tail end operating portion 5142 is fixedly attached to an outer wall of the tail end sleeve 5141. The tail end 5142 may be a humanoid palm, a suction cup assembly, a fork, or a mechanical clamping device. The tail end operation portion 5142 of the present embodiment is preferably a mechanical clamping device, which is well known in the art and will not be described herein. Specifically, the tail end casing 5141 is provided with a tail end placement space 5143, and a plurality of tail end cantilevers 5144 circumferentially spaced apart from each other are disposed on an inner wall of the tail end placement space 5143, and preferably two tail end cantilevers 5144 are disposed with center symmetry. And, the inner wall of the tail end placing space 5143 is provided with a tail end step surface 5145 corresponding to the tail end cantilever 5144, and a tail end assembling opening 5146 is formed between the free end of the tail end cantilever 5144 and the tail end step surface 5145. The inner sidewall of the tail end rotary end cap 5140 is provided with a plurality of tail end lugs 5147 extending in a radial direction, preferably two opposite tail end lugs 5147. When the tail end rotary end cover 5140 is mounted to the tail end casing 5141, the two tail end clamping lugs 5147 are respectively corresponding to the two tail end assembling openings 5146, so that the tail end assembling openings 5146 are slightly opened, and the tail end clamping lugs 5147 enter between the tail end cantilever 5144 and the tail end stepped surface 5145. Normally, when the tail end fitting opening 5146 is not expanded, the tail end catch 5147 is difficult to disengage from between the tail end cantilever 5144 and the tail end stepped surface 5145, thereby restraining the tail end rotating end cap 5140 to the tail end casing 5141. And, the trailing end catch 5147 is capable of rotational sliding movement between the trailing end cantilever 5144 and the trailing end stepped surface 5145. The output housing 133 of the third driving member 13 is inserted into the tail end placement space 5143 such that the insertion opening 1331 and the corresponding tail end lugs 5147 are aligned with each other until the tail end lugs 5147 enter the insertion opening 1331. Then, the tail end rotating end cap 5140 is rotated so that the tail end lugs 5147 slide into the slots 1332 along the slots 1332. Thus, the groove wall on one side of the locking groove 1332 is blocked by the engagement of the tail end locking lug 5147 and the tail end cantilever 5144, and the groove wall on one side of the locking groove 1332 abuts against the tail end cantilever 5144.

When the extension length of the mechanical arm 50 needs to be extended, the number of the connecting arms 12 and the number of the driving pieces 13 which need to be increased can be selectively increased according to the actual extension length of the mechanical arm 50 which needs to be extended, and all the connecting arms 12 and the driving pieces 13 are sequentially installed in series to form an extension module of the mechanical arm 50. Then, the expansion modules which are completed in series are respectively installed in series with the head end section arm 513 and the tail end section arm 514, and the expansion work of the mechanical arm 50 can be completed.

As shown in fig. 15 and 16, the driving member 13 and the adapter member 51 of the robot arm 50 mounted to the first arm support housing 5131 are fixedly connected. Specifically, the adapter 51 includes an adapter plate bracket 5101, a first adapter housing 5102, and a second adapter housing 5103.

As shown in fig. 15 and 16, a plurality of catching blocks 511 are protruded from both left and right sides of the adapter plate frame 5101 in the length direction of the educational robot, and preferably, two catching blocks 511 are protruded from both left and right sides.

As shown in fig. 16, the first adapter housing 5102 may be a separate component from the adapter housing 5101, in which case the first adapter housing 5102 is fixedly mounted to the adapter housing 5101 by a plurality of screws, and the first adapter housing 5102 may be an integral structural component with the adapter housing 5101. As shown in fig. 16, the first adapter housing 5102 includes a bottom housing 51021, a first side wall 51022, and a second side wall 51023. In this embodiment, the bottom shell 51021 is preferably fixedly mounted to the adapter plate bracket 5101 by a plurality of screws. The first sidewall 51022 and the second sidewall 51023 are oppositely connected to the bottom chassis 51021 such that two opposing limiting notches 51024 are formed between the first sidewall 51022 and the second sidewall 51023. And, the end outer walls of the first side wall 51022 and the second side wall 51023 far from the bottom shell 51021 are provided with a first buckling protrusion 51025.

As shown in fig. 16, the second adapter housing 5103 is provided with a through channel 51031, and two opposite avoiding grooves 51032 and two opposite second buckling protrusions 51033 are provided on the inner wall of the through channel 51031, and a connecting line between the two avoiding grooves 51032 and a connecting line between the two second buckling protrusions 51033 are mutually perpendicular. The second catching protrusion 51033 and the first catching protrusion 51025 are matched with each other to limit the second adaptor housing 5103 to the first adaptor housing 5102, specifically, the bottom shell 51021, the first sidewall 51022 and the second sidewall 51023 of the first adaptor housing 5102 pass through the pass-through channel 51031, then the bottom shell 51021 is fixedly installed on the adaptor housing 5101 through a plurality of screws, at this time, the first catching protrusion 51025 forms a blocking for the second catching protrusion 51033, and the second adaptor housing 5103 cannot be separated from the first adaptor housing 5102.

As shown in fig. 16, when the driving member 13 and the adapter member 51 of the mechanical arm 50 mounted to the first arm support housing 5131 are assembled, the two escape grooves 51032 of the second adapter housing 5103 are aligned one by one with the two stopper notches 51024 of the first adapter housing 5102, then the two mounting lugs 1311 of the driving member 13 are entered into the two stopper notches 51024 through the two escape grooves 51032, and the mounting lugs 1311 abut against the bottoms of the stopper notches 51024. At this time, the outer wall surface of the mounting lug 1311 facing away from the bottom of the limit notch 51024 is substantially flush with the wall surface of the second catching protrusion 51033 facing toward the first adapter housing 5102, and then the second adapter housing 5103 is rotated such that the mounting lug 1311 is clamped between the second catching protrusions 51033 and the bottom of the limit notch 51024, and at this time, both ends of each of the first catching protrusions 51025 are respectively caught on one side surfaces of the two second catching protrusions 51033 facing toward the driving member 13. And, the end face openings of the two mounting lugs 1311 are exposed between the first adapter housing 5102 and the second adapter housing 5103, thereby facilitating the mounting of the plug terminals.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims

1. A connecting arm, characterized in that it comprises:

The first connecting part includes a first sleeve and a first sidewall, wherein the first sidewall is connected to the first sleeve;

The second connecting part includes a cylinder cover and a second side wall. The second side wall is connected to the cylinder cover. The cylinder cover covers the first sleeve. The first sleeve and the cylinder cover cooperate to fix the first driving member. The second side wall and the first side wall are connected opposite to each other.

A rotating inner bracket is rotatably engaged between the first sleeve and the cylinder cover, and the rotating inner bracket and the first side wall cooperate to fix the second driving component;

By rotating the rotating inner bracket to fix the two driving components, the output end shell of the first driving component is fixedly engaged in the first sleeve, while two opposite mounting lugs on the housing of the second driving component are respectively engaged between the rotating inner bracket and the first side wall. One of the first driving component and the second driving component is used to connect to the body of the educational robot, and the other of the first driving component and the second driving component is used to connect to the wheel.

2. The connecting arm according to claim 1, characterized in that,

The second sidewall and the first sidewall are connected to form a first clearance opening and a second clearance opening. The first sidewall has a first mounting through hole at a position opposite to the first sleeve. The rotating inner bracket includes a second sleeve and a curved frame. Both ends of the curved frame are connected to the second sleeve. The second sleeve is rotatably engaged between the first sleeve and the sleeve cover. The curved frame can rotate through the first clearance opening or the second clearance opening. The curved frame has a second mounting through hole at a position opposite to the second sleeve. The first mounting through hole and the second mounting through hole are used to install and fix the two mounting lugs of the second driving component.

3. The connecting arm according to claim 2, characterized in that,

The curved frame is shaped like a racetrack, and the curved frame has a smooth transition towards the outer wall of the first mounting through hole.

4. The connecting arm according to claim 3, characterized in that,

The curved frame has a recessed groove on its outer wall facing the first mounting through hole, and the extending direction of the recessed groove is consistent with the extending direction of the curved frame.

5. The connecting arm according to claim 2, characterized in that,

The first sleeve has multiple notches spaced apart on the end facing the cylinder cover. The cylinder cover covers the notches to form a sliding guide groove. The inner wall of the second sleeve has multiple locking protrusions. Each locking protrusion is located in a corresponding notch and slides in the sliding guide groove. The periphery of the cylinder cover has a stop protrusion. The locking protrusions and the stop protrusions are spaced apart. The locking protrusions and the stop protrusions cooperate to clamp and fix one side of the groove wall of the slot of the output end shell in the first drive member.

6. The connecting arm according to claim 5, characterized in that,

The number of notches is two, and the two notches are symmetrically arranged with respect to the central axis of the first sleeve. The number of locking protrusions is two, and the two locking protrusions are symmetrically arranged with respect to the central axis of the second sleeve.

7. The connecting arm according to claim 5, characterized in that,

Each of the locking protrusions has a curved surface on the side facing the stop protrusion.

8. The connecting arm according to any one of claims 2-7, characterized in that,

The curved frame is bent into a racetrack-shaped profile, and the outer wall of the curved frame facing the first mounting through hole is smoothly rounded.

9. The connecting arm according to claim 8, characterized in that,

10. An educational robot, characterized in that it includes a connecting arm as described in any one of claims 1-9.