CN110561455A

CN110561455A - Magic cube robot manipulator

Info

Publication number: CN110561455A
Application number: CN201910881657.6A
Authority: CN
Inventors: 金栋; 董方方; 韩江
Original assignee: Hefei Polytechnic University
Current assignee: Hefei University of Technology; Hefei Polytechnic University
Priority date: 2019-09-18
Filing date: 2019-09-18
Publication date: 2019-12-13

Abstract

The invention relates to the field of robots and discloses a magic cube robot manipulator. The magic cube robot manipulator comprises a support table, a clamping device and a driving device. Clamping device sets up relatively on two brace tables, and every clamping device includes a pneumatic finger and two holders, and two holders are relative respectively and demountable installation on two clamping jaws of pneumatic finger, form the clamping area who is used for centre gripping magic cube between two adjacent holders. The driving device is used for driving the corresponding clamping device to rotate. The clamping distance of the clamping area is equal to the side length corresponding to the magic cube. The clamping part of the magic cube robot manipulator adopts the pneumatic fingers, the clamping force provided by the pneumatic fingers is larger than that of a steering engine, and the contact area between the claws of the pneumatic fingers and the magic cube is larger, so that the shaking of the magic cube in the clamping process can be reduced, and the magic cube is clamped more stably.

Description

Magic cube robot manipulator

Technical Field

The invention relates to the field of robots, in particular to a magic cube robot manipulator.

background

The magic cube robot manipulator can imitate certain action functions of a human arm, clamp and release the magic cube according to the reduction solution of the magic cube, and also can rotate and turn the magic cube to realize the reduction of the magic cube.

the existing magic cube robot manipulator usually clamps a magic cube by being driven by a steering engine, however, under the driving of the steering engine, the magic cube is not clamped stably and stably by fingers of the manipulator, is easy to shake, and has lower clamping precision. And the distance between the fingers of the manipulator is limited, so that the magic cube beyond the distance between the fingers cannot be clamped, and the suitability and the universality of the manipulator of the magic cube robot are low.

disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides a magic cube robot manipulator which can clamp a magic cube more stably, can reduce shaking and improve clamping precision, and is suitable for magic cubes with different length specifications.

the invention is realized by adopting the following technical scheme:

The utility model provides a magic cube robot manipulator, its centre gripping and upset that is used for realizing the magic cube, magic cube robot manipulator includes:

two support tables arranged oppositely;

The two clamping devices are oppositely arranged on the two supporting tables, the supporting tables form an angle of 45 degrees with the horizontal plane so as to ensure correct clamping positions, each clamping device comprises a pneumatic finger and two clamping pieces, the two clamping pieces are respectively oppositely and detachably arranged on two clamping jaws of the pneumatic finger, and a clamping area for clamping the magic cube is formed between every two adjacent clamping pieces; the clamping distance of the clamping area is equal to the side length corresponding to the magic cube; and

The two driving devices are respectively arranged on the two supporting plates, each driving device comprises a speed reducing component and a driving motor, the speed reducing components are fixed on the supporting tables, and an output shaft of the driving motor drives the pneumatic finger to rotate through the speed reducing components; the speed reduction assembly comprises a shell, a driving shaft, a driven shaft, a driving gear and a driven gear, the shell is fixed on the supporting table, the driving shaft and the driven shaft are relatively parallel and are rotatably arranged in the shell, and one end of the driving shaft is in transmission connection with an output shaft of the driving motor through a coupler; one end of the driven shaft, which is far away from the driving motor, is connected with the pneumatic finger through a disc; the driving gear is meshed with the driven gear and is respectively sleeved and fixed on the driving shaft and the driven shaft;

each clamping piece comprises a connecting part and a clamping part, and the connecting part is connected with the opposite outer sides of the extension direction of the clamping jaw; the clamping part is integrally of an L-shaped structure, and one end of a short edge at the corner of the clamping part is perpendicularly connected with the end part, far away from the supporting table, of the connecting part.

Further, the end of the connecting portion near the clamping portion is flush with the head of the clamping jaw.

Further, each support table comprises a support plate and a bottom plate, the support plate is obliquely arranged and is positioned at the bottom of the driving device and used for supporting the driving device; the bottom plate is connected with the supporting plate through a plurality of upright posts.

Furthermore, a vertical plate is arranged on the supporting plate, and the driving motor is fixed on one side, far away from the speed reduction assembly, of the vertical plate.

further, the gear ratio of the driving gear to the driven gear is 1: 3.

Furthermore, magic cube robot manipulator still includes the block terminal, the top of block terminal is provided with the slide rail, the bottom of bottom plate is provided with the slider with slide rail matched with.

Furthermore, a long notch is formed in the extending direction of the sliding rail, and the sliding block penetrates through the corresponding long notch through a locking screw rod and is matched with a nut with the outer diameter larger than the width of the long notch, so that the sliding block is relatively fixed on the sliding rail. .

Furthermore, the clamping piece is detachably connected with the pneumatic finger.

Furthermore, the connecting part and the clamping part are formed in an integrated mode through punching.

Further, designing a pulse time sequence of the driving motor and a key element of the driving motor for rotating the magic cube by taking 90 degrees as a unit;

The pulse period T of the pulse sequence is as follows:n is the step angle of driving motor, m is the speed that driving motor ran per minute, the pulse frequency f of pulse time sequence is:The pulse width W of the pulse sequence is: w is T × P, P is the duty cycle;

The rotating magic cube comprises the following components: the rotating speed of the driven shaft is k r/s, and the time of the timer is t ms;

the pneumatic finger is used for controlling whether the magic cube is clamped or not, and the rotating direction of the magic cube is determined through the positive and negative control of the driving motor.

The invention has the beneficial effects that:

1. The clamping part of the magic cube robot manipulator adopts the pneumatic fingers, the clamping force provided by the pneumatic fingers is larger than that of a steering engine, the action speed is higher than that of the steering engine, and the contact area between the claws of the pneumatic fingers and the magic cube is larger, so that the shaking of the magic cube in the clamping process can be reduced, and the clamping of the magic cube is more stable.

2. According to the magic cube robot manipulator, the two opposite clamping pieces are respectively arranged on the two clamping jaws of the pneumatic finger, and the size of each clamping piece can be selected according to different specifications of magic cubes, so that magic cubes with different length specifications can be clamped, and the adaptability and the universality of the magic cube robot manipulator are improved.

3. According to the invention, through the slide block and the slide rail, the stations of the magic cube robot manipulator in the horizontal direction can be adjusted, and a relatively proper distance can be kept between the two manipulators according to different lengths and specifications of the magic cube, so that the magic cube robot has high practicability.

4. The pneumatic finger is driven to rotate by the output of the driving motor through a set of speed reducing device, so that the shaking of the pneumatic finger and other unstable factors caused by the shaking of the output shaft when the pneumatic finger is directly driven by the motor can be avoided.

5. The support table is arranged obliquely relative to the horizontal plane, so that the load of the pneumatic fingers can be reduced conveniently relative to the horizontal plane, and the pneumatic fingers are more stable and reliable when the magic cube is driven to rotate.

Drawings

Fig. 1 is an assembly diagram of a magic cube robot manipulator according to an embodiment of the present invention;

FIG. 2 is a schematic plan view of the support table of FIG. 1;

FIG. 3 is a schematic plan view of the slider shown in FIG. 1;

FIG. 4 is a schematic plan view of the clamping device of FIG. 1;

FIG. 5 is a schematic plan view of the speed reduction assembly of FIG. 1;

FIG. 6 is a schematic cross-sectional view of a portion of the interior of the speed reduction assembly of FIG. 5;

fig. 7 is a schematic plan view of the slide rail shown in fig. 1.

description of the main symbols:

1. A support table; 2. a vertical plate; 3. a base plate; 4. a column; 5. a distribution box; 6. a slider; 7. a slide rail; 8. a clamping device; 9. a pneumatic finger; 10. a clamping member; 11. a connecting portion; 12. a clamping portion; 13. a drive device; 14. a speed reduction assembly; 15. a drive motor; 16. a housing; 17. a drive shaft; 18. a driven shaft; 19. a driving gear; 20. a driven gear; 21. a support plate; 22. a first bearing; 23. a first sleeve; 24. a coupling; 25. a disc; 26. a second sleeve; 27. and a second bearing.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

referring to fig. 1, fig. 1 is an assembly diagram of a magic cube robot manipulator according to an embodiment of the present invention. Magic cube robot manipulator can carry out centre gripping, loosen, rotation, upset to the magic cube, and the magic cube of this embodiment adopts third-order magic cube, and magic cube robot manipulator includes brace table 1, clamping device 8, drive arrangement 13 and block terminal 5.

Referring to fig. 1 and fig. 2, the number of the supporting platforms 1 is two in the present embodiment, and the two supporting platforms 1 are opposite and symmetrically disposed. The support table 1 comprises a support plate 21, a bottom plate 3 and a column 4.

The supporting plate 21 is a plate body which is square as a whole, and in other embodiments, the supporting plate 21 may also be a plate body which is rectangular as a whole, and may also be other plate bodies as long as the structural stability of the supporting plate 21 is not affected. Four corners of backup pad 21 are the fillet design in this embodiment to backup pad 21 is 45 slopes for the horizontal direction, from this in this embodiment, and the one end that two backup pads 21 are close can be designed for the slope upwards, can provide convenience to lifting of magic cube like this, also is favorable to pneumatic finger to rotate operations such as magic cube.

The supporting plate 21 is provided with a vertical plate 2, the vertical plate 2 and the supporting plate 21 are fixed by welding in this embodiment, and the supporting plate 21 and the vertical plate 2 may be riveted in other embodiments, and other installation methods may be used as long as the stability of connection between the supporting plate 21 and the vertical plate 2 is not affected. The vertical plate 2 is a plate body which is square as a whole. The included angle of the joint between the supporting plate 21 and the vertical plate 2 is a right angle.

in this embodiment, the plate surface of the supporting plate 21 and the plate surface of the vertical plate 2 are both provided with a plurality of mounting holes, so that the mounting of each part on the supporting plate 21 and the vertical plate 2 is facilitated, and the vertical plate 2 is further provided with a shaft hole so as to facilitate the mounting of a motor.

The bottom plate 3 is a plate body which is square as a whole, and in other embodiments, the bottom plate 3 can also be a plate body which is rectangular as a whole, and can also be other plate bodies as long as the structural stability of the bottom plate 3 is not affected. The bottom plate 3 is horizontally disposed with respect to the support plate 21 in this embodiment.

please refer to fig. 1 and fig. 3, a sliding block 6 is disposed at the bottom of the bottom plate 3, the cross section of the sliding block 6 is continuous concave-convex, and the sliding block 6 is connected with the bottom plate 3 by a screw in this embodiment, and the sliding block 6 and the bottom plate 3 may be riveted in other embodiments, as long as the stability of the connection between the sliding block 6 and the bottom plate 3 is not affected, other connection manners may be adopted.

the upright post 4 is a cylinder with a round cross section, and in other embodiments, the upright post 4 can also be a cylinder with a square cross section, and can also be of other structures as long as the support stability of the upright post 4 is not affected. The number of the upright posts 4 in the present embodiment may be four, and the four upright posts 4 are distributed in a rectangular shape. Because the supporting plate 21 is obliquely arranged, the height of two of the four upright posts 4 is smaller than the length of the other two upright posts, so that the supporting plate 21 can be supported.

The bottom plate 3 is connected with the support plate 21 through a plurality of upright posts 4, the two ends of the upright posts 4 are respectively connected with the bottom plate 3 and the support plate 21 through welding, the two ends of the upright posts 4 can be respectively fixed with the bottom plate 3 and the support plate 21 through screws in other embodiments, and other connection modes can be adopted as long as the connection stability between the upright posts 4 and the bottom plate 3 and the support plate 21 is not influenced.

Referring to fig. 1, the number of the clamping devices 8 is two in the present embodiment, and the two clamping devices 8 are oppositely disposed on the two supporting platforms 1. Since the two support plates 21 are inclined relative to each other, the two holding devices 8 are also inclined relative to each other. In this embodiment, the supporting platform 1 forms an angle of 45 ° with the horizontal plane, and an angle of 45 ° is formed between the two clamping devices 8 and the horizontal plane, so as to ensure a correct clamping position. The gripping device 8 comprises a pneumatic finger 9 and two gripping members 10.

In the present embodiment, the model of the pneumatic finger 9 may be HFP 20. The pneumatic finger 9 of this model has adopted the structure of snatching of mechanical lever, and the finger part is parallel switching finger moreover, can be in the condition that satisfies the precision reduce cost, promote the price/performance ratio. The clamping jaw of the pneumatic finger 9 is separated from the body of the pneumatic finger 9 by a metal sheet, so that the abrasion is reduced, and the service life is prolonged. And the motion mode is that the fingers are opened when the piston rod is pushed out and closed when the piston rod is retracted, and the clamping force is 20-30% larger than the opening force.

Referring to fig. 1 and 4, each pneumatic finger 9 has two jaws. The clamping jaw in this embodiment is a block in the shape of a long strip. Each clamping jaw is provided with a clamping piece 10, a clamping area for clamping the magic cube is formed between every two adjacent clamping pieces 10, and the clamping distance of the clamping area is equal to the side length corresponding to the magic cube.

The clamping member 10 comprises a connecting portion 11 and a clamping portion 12. The connecting portion 11 is a plate body having a long bar shape as a whole. The connecting portion 11 is connected to the opposite outer side of the extending direction of the clamping jaws, that is, the connecting portion 11 is installed on the side of each pneumatic finger 9, which is opposite to the clamping jaws, in the extending direction. In this embodiment, the connecting part 11 is connected with the clamping jaw through a bolt, so that the installation and the disassembly of the connecting part 11 by a worker are facilitated. And the end of the connecting portion 11 close to the clamping portion 12 remains flush with the head of the jaw.

the clamping portion 12 is a plate body which is L-shaped as a whole, and one end of a short side at a corner of the clamping portion 12 is vertically connected with the end portion of the connecting portion 11 far away from the support table 1. In this embodiment, the clamping portion 12 is connected with the connecting portion 11 through screws, so that the installation and the detachment of workers are facilitated. In other embodiments, the clamping portion 12 and the connecting portion 11 may be integrally formed by press molding, so that the overall strength of the clamping portion 12 may be improved.

because clamping part 12 is L shape, and two clamping parts 12 set up relatively, so the distance between two long edges of two clamping part 12 corners is the centre gripping length of clamping area promptly, can be according to the difference of magic cube length in this embodiment, selects to correspond suitable clamping part 12 and installs on connecting portion 11 to can obtain different centre gripping length, with the centre gripping needs that satisfy different specification magic cubes, convenient and practical.

Referring to fig. 1, the number of the driving devices 13 is two, and the two driving devices 13 are respectively disposed on the two supporting plates 21 for driving the corresponding clamping device 8 to rotate. The driving device 13 comprises a speed reducing assembly 14 and a driving motor 15, and an output shaft of the driving motor 15 drives the pneumatic finger 9 to rotate through the speed reducing assembly 14.

referring to fig. 1 and 5, the deceleration assembly 14 is detachably fixed to the support plate 21. The reduction assembly 14 includes a housing 16, a drive shaft 17, a driven shaft 18, a drive gear 19, and a driven gear 20. The casing 16 is shaped like a rectangular parallelepiped as a whole and is hollow inside. The bottom of the shell 16 is connected with the mounting hole on the support plate 21 through a screw, so that the shell 16 can be conveniently and fixedly mounted on the support plate 21. Casing 16 can be divided into base and cap, and can dismantle the connection between base and the cap, makes things convenient for the dismouting of staff to 16 inside spare parts.

Referring to fig. 6, the driving shaft 17 is a long shaft body with a circular cross section, and in other embodiments, the driving shaft 17 may also be a long shaft body with a square cross section, and may have other structures as long as the transmission of the driving shaft 17 is not affected. The driving shaft 17 is made of No. 45 steel, and the heat treatment mode is normalizing and tempering. The driving shaft 17 is rotatably arranged in the shell 16, a shaft body of the driving shaft 17 is rotatably connected with the shell 16 through a bearing, the bearing used by the driving shaft 17 is an angular contact ball bearing which can simultaneously bear radial load and axial load, the working rotating speed range is wide, and the driving shaft 17 is generally used in pairs.

A sleeve 23 is sleeved in the middle of the shaft body of the driving shaft 17, the sleeve 23 can achieve axial positioning of the driving gear 19 and the bearing inner ring, the driving shaft 17 can be protected, the shaft body is prevented from being abraded by an outer workpiece, damage to the shaft body is avoided, and the material of the sleeve can be No. 45 steel.

An end cover I (not shown) is arranged between the bearing I22 and the shell 16, the end cover I is cast by gray cast iron, and the heat treatment process is annealing and tempering. The first end cover is used for positioning the outer ring of the first bearing 22 and plays a certain role in dust prevention and sealing in the working process of the first bearing 22.

A coupling 24 is installed at one end of the driving shaft 17, and in this embodiment, the coupling 24 is a micro coupling, specifically, an aluminum alloy elastic diaphragm coupling. Due to the adoption of the double-diaphragm structure, the coupling is more flexible. When in work, the heat insulation device has better heat insulation property, so the work is more stable and reliable.

The drive gear 19 is a full-tooth gear made of 40Cr (hardened and tempered) and having a hardness of 280 HBS. The driving gear 19 is sleeved and fixed on the driving shaft 17, and in the embodiment, the driving gear 19 is in key connection with the driving shaft 17.

The driven shaft 18 is a long shaft body with a circular section, and the driven shaft 18 may also be a long shaft body with a square section in other embodiments, and may also have other structures as long as the transmission of the driven shaft 18 is not affected. The driven shaft 18 is made of No. 45 steel, and the heat treatment mode is normalizing and tempering. The driven shaft 18 is rotatably provided in the housing 16, a shaft body of the driven shaft 18 is rotatably connected to the housing 16 through a bearing, and the bearing used for the driven shaft 18 is a double-row angular contact ball bearing which can simultaneously bear a radial load and a bidirectional axial load, i.e., can restrict displacement of the driven shaft 18 in both directions, so that the double-row angular contact ball bearing is separately provided on the driven shaft 18.

The driven shaft 18 is different from the driving shaft 17 in that a disc 25 is welded at one shaft end, and the disc 25 is used for connecting the pneumatic finger 9, so that the pneumatic finger 9 can synchronously rotate with the driven shaft 18. In the embodiment, the disc 25 is connected with the pneumatic finger 9 through a screw, so that the pneumatic finger 9 can be conveniently mounted and dismounted on the disc 25 by a worker.

A second sleeve 26 is sleeved in the middle of the shaft body of the driven shaft 18, the second sleeve 26 can realize axial positioning of the driven gear 20 and the bearing inner ring, the driven shaft 18 can also be protected, the shaft body is prevented from being abraded by an outer-layer workpiece, the shaft body is prevented from being damaged, and the second sleeve can be made of No. 45 steel.

And a second end cover (not marked) is arranged between the second bearing 27 and the shell 16, the second end cover is cast by gray cast iron, and the heat treatment process comprises annealing and tempering. The second end cover basically has the function of positioning the outer ring of the second bearing 27 and plays a certain role in dust prevention and sealing in the working process of the second bearing 27.

The driven gear 20 is a full-tooth gear made of 45 steel and has a hardness of 240 HBS. The driven gear 20 is fixed on the driven shaft 18 in a sleeved mode, and the driven gear 20 and the driven shaft 18 are connected through a key in the embodiment.

In the present embodiment, the driving gear 19 and the driven gear 20 are engaged with each other, and the gear ratio between the driving gear 19 and the driven gear 20 is 1: 3, since the gear ratio is inversely proportional to the rotation speed, the rotation speed ratio of the driving gear 19 to the driven gear 20 is 3:1, so as to realize the speed reduction effect of the speed reduction assembly 14.

the drive motor 15 is a FL57STH51-3006A stepper motor. The operation mode is that after receiving a pulse signal, the output shaft rotates by an angle which is called a step angle, so that the motion precision of the stepping motor is high. The output shaft of the driving motor 15 drives the driving shaft 17 to rotate through a coupling 24. The stepping motor can control a stepping motor driver through the PLC, and the stepping motor driver drives the stepping motor to rotate.

The driving motor 15 is installed on one side of the vertical plate 2 far away from the speed reducing assembly 14, in this embodiment, the housing of the driving motor 15 is connected with the vertical plate 2 through a screw, and the output shaft of the driving motor 15 passes through the shaft hole on the vertical plate 2.

referring to fig. 1, the distribution box 5 is a box body having a rectangular parallelepiped shape as a whole, and in other embodiments, the distribution box 5 may also be a box body having a rectangular parallelepiped shape as a whole, or may have other box body structures as long as the support of each component on the distribution box 5 is not affected.

Referring to fig. 1, fig. 3 and fig. 7, a sliding rail 7 is disposed on the top of the distribution box 5 in this embodiment. The cross-section of slide rail 7 is continuous unsmooth form in this embodiment, and the quantity of slide rail 7 sets up to two, and two slide rails 7 set up at the top symmetry of block terminal 5. Can pass through the screw connection between the top of block terminal 5 and the bottom of slide rail 7, can also be riveting fixed between block terminal 5 and the slide rail 7 in other embodiments, as long as make things convenient for installation and the dismantlement between the top of block terminal 5 and the bottom of slide rail 7, can also be other connected modes.

Slider 6 can be relatively slided on slide rail 7 in this embodiment for pneumatic finger 9 on the supporting bench 1 can be adjusted at the ascending station of horizontal direction, can make and keep suitable interval relatively between two manipulators according to the difference of magic cube length specification, and the practicality is high. And be equipped with the long notch on the extending direction of slide rail 7, slider 6 passes through a locking screw rod and penetrates corresponding the long notch, with the external diameter is greater than the nut cooperation of long notch width to the relative fixation is in on slide rail 7, so that people fix the station of pneumatic finger 9 after the adjustment.

designing a pulse time sequence of the driving motor and a key element of the step motor for rotating the magic cube by taking 90 degrees as a unit; the pulse period T of the pulse sequence is as follows:n is the step angle of the stepping motor, m is the operation of the stepping motor per minutethe speed of (2).

In this embodiment, the step angle n is set to be 1.8 °, the operating speed of the motor per minute is 90rpm, 360 ÷ 1.8 ÷ 200 pulse signals are required for one rotation of the motor, and 18000 pulses are required for one minute of operation at 90rpm, so that the number of pulses is increased

Pulse frequency (i.e. the number of occurrences of a periodic pulse per second)

Pulse widthWhere P is the duty cycle.

The values of the pulse frequency and the pulse width described above are set by the driver of the stepping motor.

The rotating magic cube comprises the following components: the rotating speed of the driven shaft is k r/s, and the time of the timer is t ms; calculating the rotating speed k of the driven shaft in the embodiment to be 0.5r/s, and setting the preset time of the timer to be 500 ms;

the pneumatic finger controls whether the magic cube is clamped or not, and the pneumatic finger can be controlled by a time sequence sent by the PLC to tighten or clamp the magic cube. The rotating direction of the magic cube is determined by positive and negative control of the driving motor, and the stepping motor can control a stepping motor driver through a PLC (programmable logic controller) and drive the stepping motor to rotate through the stepping motor driver.

The clamping part of the magic cube robot manipulator adopts the pneumatic fingers, the clamping force provided by the pneumatic fingers is larger than that of a steering engine, and the contact area between the claws of the pneumatic fingers and the magic cube is larger, so that the shaking of the magic cube in the clamping process can be reduced, and the magic cube is clamped more stably. According to the magic cube robot manipulator, the two opposite clamping pieces are respectively arranged on the two clamping jaws of the pneumatic finger, and the size of each clamping piece can be selected according to different specifications of magic cubes, so that magic cubes with different length specifications can be clamped, and the adaptability and the universality of the magic cube robot manipulator are improved. According to the invention, through the slide block and the slide rail, the stations of the magic cube robot manipulator in the horizontal direction can be adjusted, and a relatively proper distance can be kept between the two manipulators according to different lengths and specifications of the magic cube, so that the magic cube robot has high practicability.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. the utility model provides a magic cube robot manipulator, its centre gripping and upset that is used for realizing the magic cube, its characterized in that, magic cube robot manipulator includes:

two support tables arranged oppositely;

2. A magic cube robot manipulator as claimed in claim 1, wherein the end of the connecting part near the gripping part remains flush with the head of the jaw.

3. A magic cube robot manipulator as claimed in claim 1, wherein each of said supporting tables includes a supporting plate and a bottom plate, said supporting plate being disposed obliquely and being located at the bottom of said driving means for supporting said driving means; the bottom plate is connected with the supporting plate through a plurality of upright posts.

4. A magic cube robot manipulator according to claim 1, wherein a vertical plate is provided on the support plate, and the driving motor is fixed on a side of the vertical plate away from the deceleration assembly.

5. A magic cube robot manipulator as claimed in claim 1, wherein the gear ratio of the driving gear to the driven gear is 1: 3.

6. a magic cube robot manipulator according to claim 3, further comprising a distribution box, the top of which is provided with a slide rail, and the bottom of the bottom plate is provided with a slide block matching with the slide rail.

7. A magic robot manipulator according to claim 6, wherein the slide rails are formed with long slots in the extending direction, and the slide blocks are inserted into the corresponding long slots through a locking screw to be fitted with nuts having an outer diameter larger than the width of the long slots, thereby being relatively fixed to the slide rails.

8. A magic cube robotic manipulator as claimed in claim 1, wherein the grip is removably connected to the pneumatic fingers.

9. A magic cube robot manipulator as claimed in claim 1, wherein the connection part and the clamping part are integrally press-formed.

10. A magic robot manipulator as claimed in claim 1, characterised by the fact that the pulse sequence of the driving motor and the elements of the driving motor to rotate the puzzle in units of 90 °;