CN208196775U - A kind of intelligence magic cube-solving robot training platform - Google Patents
A kind of intelligence magic cube-solving robot training platform Download PDFInfo
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- CN208196775U CN208196775U CN201820460646.1U CN201820460646U CN208196775U CN 208196775 U CN208196775 U CN 208196775U CN 201820460646 U CN201820460646 U CN 201820460646U CN 208196775 U CN208196775 U CN 208196775U
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Abstract
A kind of intelligence magic cube-solving robot training platform, belong to robot application technology field, including installation table, both arms cooperation robot, it images mechanism and two magic squares places library, electrical component and control system are mounted on the lower section of installation table, both arms cooperation robot includes robot mounting rack, both arms cooperation robot body and two end handgrips, robot mounting rack is mounted in installation table, robot mounting rack is hollow tubular structure, cabling is used for inside robot mounting rack, two lever arms of both arms cooperation robot body are symmetrically mounted on robot mounting rack, two end handgrips are symmetrically mounted on two output ends of both arms cooperation robot body, camera shooting mechanism is mounted on the upper end of robot mounting rack, two magic squares place the upper surface that library is mounted on installation table, both arms cooperate robot body as two structures identical six Axis serial manipulator；The six artificial modularization robots of axis serial machine；The device can solve magic square and adaptability with higher.
Description
Technical field
The utility model relates to robot application technology fields, flat more particularly to a kind of intelligent magic cube-solving robot real training
Platform.
Background technique
Puzzle toy is presently the most popular one of puzzle, and the magic square for restoring any initial state is generally acknowledged with comparable
Difficulty, therefore occur resolving the technology of automatic reduction magic square by machine, manual operation will be replaced, restore magic square automatically
Mechanism be referred to as " magic square robot ".
On at present, there is the training platform of some magic cube-solving robots, robot body including multiple lower-mobilities or
The solution magic square speed of the corresponding end handgrip of person, this kind of magic cube-solving robot is slower, interactive poor, can only be to particular pose
Magic square carries out solution magic square, such as horizontal positioned magic square, could restore to magic square, adaptability is poor.
Summary of the invention
Utility model device in view of the above technical problems, provides a kind of intelligent magic cube-solving robot training platform, this kind
Training platform adaptability with higher.
A kind of intelligence magic cube-solving robot training platform, including installation table, both arms cooperation robot, camera shooting mechanism and two
Magic square places library, and electrical component and control system are mounted on the lower section of installation table, and both arms cooperation robot includes robot installation
Frame, both arms cooperation robot body and two end handgrips, robot mounting rack are mounted in installation table, and robot mounting rack is
Hollow tubular structure, robot mounting rack inside are used for cabling, and two lever arms of both arms cooperation robot body are symmetrically installed
On robot mounting rack, two end handgrips are symmetrically mounted on two output ends of both arms cooperation robot body, camera shooting
Mechanism is mounted on the upper end of robot mounting rack, and two magic squares place library and are mounted on the upper surface of installation table and are located at both arms cooperation
Within the operating space of robot, both arms cooperation robot body is the identical six axis serial manipulator of two structures, six axis strings
The online artificial modularization robot of device, electrical component and control system are used to control the action process of training platform.
Preferably, camera shooting mechanism includes two axle The Cloud Terraces and industrial camera, and two axle The Cloud Terraces are mounted on the upper of robot mounting rack
End face, industrial camera are fixedly connected with the deferent segment of two axle The Cloud Terraces, two axle The Cloud Terraces be able to drive industrial camera do pitching movement and
It rotates about the z axis.
Preferably, two end handgrips include first end handgrip and second end handgrip, and first end handgrip is mounted on
On the moving platform of six axis serial manipulators, second end handgrip is mounted on the moving platform of another six axis serial manipulator.
Preferably, first end handgrip includes finger cylinder and gripping finger, and finger cylinder is mounted on six axis serial manipulators
On moving platform, two gripping fingers are symmetrically mounted at the output end of finger cylinder.
Preferably, second end handgrip includes substrate, driving motor and jaw action branch, substrate be fixed on another six
On the moving platform of axis serial manipulator, driving motor is installed on substrate by vertical plate, and through-hole is provided on substrate, and shaft coupling runs through
The output shaft of through-hole, driving motor passes through shaft coupling with ball screw to be fixedly connected, and ball screw makes with ball nut cooperation
With substrate is fixedly connected with lower installation board, and the optical axis portion of ball screw upper end cooperates with substrate middle (center) bearing inner ring is mounted on, ball
The optical axis portion of screw rod lower end cooperates with lower installation board middle (center) bearing inner ring is mounted on, and multiple jaw action branches are uniformly distributed along space, more
One end of a jaw action branch is fixedly connected with ball nut, and the middle part of multiple jaw action branches and lower installation board are hinged.
Preferably, jaw action branch includes coulisse, first connecting rod, second connecting rod and gripper jaw, coulisse one end with
Ball nut is fixedly connected, and coulisse is provided with sliding slot, and the shape of sliding slot is arc-shaped, one end of first connecting rod and coulisse sliding
Connection, first connecting rod can sliding slot slides in plate along the chute, the middle part of first connecting rod and lower installation board hinge, first connecting rod it is another
The upper end hinge of one end and gripper jaw, one end of second connecting rod and lower installation board hinge, the other end and gripper jaw of second connecting rod
Upper end hinge, the distance of two hinge holes is equal to the distance between two hinge hole centers on gripper jaw in lower installation board, the
Two hinges at the distance between the middle part hinge hole center of one connecting rod and the lower end hinge hole center of first connecting rod and second connecting rod
It is equal to connect the distance between hole center.
Utility model device has the beneficial effect that: using both arms cooperation robot, the both arms of both arms cooperation robot
Function it is identical, first end handgrip and second end handgrip are used to clamping magic square, and both arms cooperate two activities of robot
The function of arm can exchange, and both arms cooperate robot with multiple freedom degrees, and movement flexibly, solves the high-efficient of magic square, can be right
The magic square of many attitude is restored, and adaptability is good.
Detailed description of the invention
Fig. 1 is the overall structure diagram of utility model device.
Fig. 2 is the structural schematic diagram that mechanism is imaged in utility model device.
Fig. 3 is the structural schematic diagram of first end handgrip in utility model device.
Fig. 4 is the structural schematic diagram of second end handgrip in utility model device.
Fig. 5 is the partial structural diagram of second end handgrip in utility model device.
Fig. 6 is the structural schematic diagram that magic square places library in utility model device.
Fig. 7 is the structural schematic diagram of touch control screen in utility model device.
In figure: 1. installation tables；The robot body 2. both arms cooperate；3. second end handgrip；31. driving motor；32. base
Plate；33. ball screw；34. lower installation board；35. ball nut；36. coulisse；37. first connecting rod；38. second connecting rod；39.
Clamping jaw；4. robot mounting rack；5. imaging mechanism；51. industrial camera；52. two axle The Cloud Terraces；6. first end handgrip；61. gas
Cylinder；62. gripping finger；7. magic square places library；8. touch control screen.
Specific embodiment
Utility model device includes that installation table 1, both arms cooperation robot, camera shooting mechanism 5 and two magic squares place library 7,
Electrical component and control system are mounted on the lower section of installation table 1, and both arms cooperation robot includes robot mounting rack 4, both arms association
Make robot body 2 and two end handgrips, robot mounting rack 4 are mounted in installation table 1, robot mounting rack 4 is hollow
Tubular structure, installation table 1 are equipped with corresponding through-hole, and cabling, both arms cooperation robot body are used for inside robot mounting rack 4
2 two lever arms are symmetrically mounted on robot mounting rack 4, and two end handgrips are symmetrically mounted on both arms cooperation robot sheet
On two output ends of body 2, camera shooting mechanism 5 is mounted on the upper end of robot mounting rack 4, and two magic squares are placed library 7 and are mounted on
It fills the upper surface of table 1 and is located within the operating space of both arms cooperation robot, both arms cooperate robot body 2 as two structures
Identical six axis serial manipulator, it is preferred that the six artificial modularization robots of axis serial machine, electrical component and control system are used
In the action process of control training platform.
Imaging mechanism 5 includes two axle The Cloud Terraces 52 and industrial camera 51, and two axle The Cloud Terraces 52 are mounted on the upper of robot mounting rack 4
End face, industrial camera 51 are fixedly connected with the deferent segment of two axle The Cloud Terraces 52, and two axle The Cloud Terraces 52 are able to drive industrial camera 51 and bow
It faces upward movement and rotates about the z axis, thus, industrial camera 51 can carry out capture to points multiple in cylindrical body.
Two end handgrips include first end handgrip 6 and second end handgrip 3, and first end handgrip 6 is mounted on six axis
On the moving platform of serial manipulator, second end handgrip 4 is mounted on the moving platform of another six axis serial manipulator.
First end handgrip 6 includes cylinder 61 and gripping finger 62, and cylinder 61 is mounted on the moving platform of six axis serial manipulators,
Two gripping fingers 62 are symmetrically mounted on two opposite output ends in cylinder 61, thus, cylinder 61 drives gripping finger 62 to clamp or put
Loose magic square, by above-mentioned tool, there are two the cylinders of opposite output end to be limited for the utility model, and there is the cylinder singly exported also may be used
With, the position of a gripping finger is fixed, and two gripping fingers are mounted on the output end of cylinder, two gripping finger relative motions play clamping or
Loosen the effect of magic square.
Six axis serial manipulators drive first end handgrip 6 that can be translatable along tri- axis of XYZ in space and transport around tri- axis of XYZ
Dynamic, first end handgrip 6 plays clamping action.
Second end handgrip 3 include substrate 32, driving motor 31 and jaw action branch, substrate 32 be fixed on another six
On the moving platform of axis serial manipulator, driving motor 31 is mounted on substrate 32, through-hole is provided on substrate 32, shaft coupling is through logical
The output shaft in hole, driving motor 31 passes through shaft coupling with ball screw 33 to be fixedly connected, and will can also drive by other means
The power output of dynamic motor 31 arrives ball screw 33, and ball screw 33 is used cooperatively with ball nut 35, the drive of driving motor 31
Ball screw 33 rotates, and ball screw 33 drives ball nut 35 to move up and down；Substrate 32 and lower installation board 34 pass through multiple vertical
Column is fixedly connected, the bearing inner race of the upper end optical axis portion installation of ball screw 33 in substrate 32, the lower end light of ball screw 33
Axle portion is mounted on 34 middle (center) bearing inner ring of lower installation board, the concentricity for the top and the bottom rotation that bearing is used to guarantee to roll screw rod 33, multiple
Jaw action branch is uniformly distributed along space, and one end of multiple jaw action branches is fixedly connected with ball nut 35, multiple clamping jaw fortune
The middle part of dynamic branch and lower installation board 34 are hinged.
In the present embodiment, preferred three jaw action branches, three jaw action branches are mutually 120 ° of angles and arrange, and three
The structure of a clamping jaw is identical with mounting means.
Jaw action branch includes coulisse 36, first connecting rod 37, second connecting rod 38 and clamping jaw 39,36 one end of coulisse with
Ball nut is fixedly connected, and is provided with sliding slot on coulisse 36, the preferred shape of sliding slot be it is arc-shaped, sliding slot plays guiding role,
One end of first connecting rod 37 is slidably connected with coulisse 36, and first connecting rod 37 can sliding slot slides in plate 36 along the chute, and first connects
The middle part of bar 37 and lower installation board 34 are connected by pin hinge, the other end of first connecting rod 37 and the upper end of clamping jaw 39 by pin shaft
It connects, one end of second connecting rod 38 and lower installation board 34 pass through pin hinge, the other end of second connecting rod 38 and the upper end of clamping jaw 39
Pass through pin hinge；In lower installation board 34 the distance between two pin shaft hole centers be equal in clamping jaw 39 two pin shaft hole centers it
Between be equidistant, the distance between lower end pin shaft hole center of the middle part pin shaft hole of first connecting rod 37 and first connecting rod 37 and the
The distance between two pin shaft hole centers of two connecting rods 38 are equal, and four pin shaft hole centers constitute parallelogram, thus, driving
The power of motor 31 is transmitted to folder by ball screw 33, ball nut 35, coulisse 36, first connecting rod 37, second connecting rod 38
On pawl 39, clamping jaw 39 is driven to be translatable, driving motor 41 drives relative motion between three clamping jaws 39, completes the clamping of magic square and puts
Pine.
Another six axis serial manipulator drives second end handgrip 3 that can be translatable along tri- axis of XYZ and around XYZ in space
Three-axis moving, second end handgrip 3 play clamping action.
Three clamping jaws 39 are preferably triangle, and clamping jaw 39 is equipped with rubber sheet gasket, and the clamping face of rubber sheet gasket is smooth arc
Shape, rubber sheet gasket play a protective role.
Industrial camera 51 carries out capture to magic square, is transmitted to vision processing system, visual processes by data transmission system
System handles pictorial information, and the dynamic of two six axis serial machine human bodies is controlled according to the processing data of pictorial information
Make and end handgrip carries out crawl and disassembles magic square thereon.
First end handgrip 6 can clamp magic square in utility model device, and second end handgrip 3 is in six axis strings
Join and magic square is disassembled under the drive of robot；Alternatively, second end handgrip 3 clamps magic square, first end handgrip 6
Magic square is disassembled under the drive of six axis serial manipulators；Two six axis serial machines in the mechanical human body 2 of both arms cooperation
The function of people can exchange.
Industrial camera 51 can complete rotation and pitching movement under the drive of two axle The Cloud Terraces 52 in utility model device,
Capture is carried out to different positions, thus, utility model device can disassemble magic square in multiple positions in space.
Both arms cooperation robot places in library 7 from a magic square and grabs magic square to be solved, and industrial camera 51 is in two axle The Cloud Terraces
Under 52 drive to magic square carry out capture, control system according to built in system solution magic square process control both arms cooperate robot into
Magic square after the completion of magic square solves, is placed into another magic square and placed in library 7 by row solution magic square.
Preferably, magic square places the upper surface that library 7 is mounted on installation table 1 by column, and it is grid that magic square, which places library 7,
Shape.
The utility model is exemplarily described above in conjunction with attached drawing, it is clear that the utility model specific implementation not by
The limitation of aforesaid way, as long as the various unsubstantialities carried out using the method concept and technical solution of the utility model change
Into, or it is not improved the conception and technical scheme of the utility model are directly applied into other occasions, in the utility model
Protection scope within.
Claims (6)
1. a kind of intelligence magic cube-solving robot training platform, which is characterized in that including installation table, both arms cooperation robot, camera shooting
Mechanism and two magic squares place library, and electrical component and control system are mounted on the lower section of installation table, and both arms cooperation robot includes
Robot mounting rack, both arms cooperation robot body and two end handgrips, robot mounting rack are mounted in installation table, machine
People's mounting rack is hollow tubular structure, and cabling, two activities of both arms cooperation robot body are used for inside robot mounting rack
Arm is symmetrically mounted on robot mounting rack, and two end handgrips are symmetrically mounted on two outputs of both arms cooperation robot body
On end, camera shooting mechanism is mounted on the upper end of robot mounting rack, and two magic squares place upper surface and position that library is mounted on installation table
Within the operating space of both arms cooperation robot, the both arms cooperation robot body is the identical six axis series connection of two structures
Robot；The artificial modularization robot of six axis serial machine, electrical component and control system are for controlling training platform
Action process.
2. intelligence magic cube-solving robot training platform according to claim 1, which is characterized in that the camera shooting mechanism includes
Two axle The Cloud Terraces and industrial camera, two axle The Cloud Terraces are mounted on the upper surface of robot mounting rack, industrial camera and two axle The Cloud Terraces it is defeated
Section is fixedly connected out, and two axle The Cloud Terraces are able to drive industrial camera and do pitching movement and rotate about the z axis.
3. intelligence magic cube-solving robot training platform according to claim 1, which is characterized in that described two end handgrips
Including first end handgrip and second end handgrip, first end handgrip is mounted on the moving platform of six axis serial manipulators, the
Two end handgrips are mounted on the moving platform of another six axis serial manipulator.
4. intelligence magic cube-solving robot training platform according to claim 3, which is characterized in that the first end handgrip
Including finger cylinder and gripping finger, finger cylinder is mounted on the moving platform of six axis serial manipulators, and two gripping fingers are symmetrically installed
In the output end of finger cylinder.
5. intelligence magic cube-solving robot training platform according to claim 3, which is characterized in that the second end handgrip
Including substrate, driving motor and jaw action branch, substrate is fixed on the moving platform of another six axis serial manipulator, driving
Motor is installed on substrate by vertical plate, and through-hole is provided on substrate, and shaft coupling runs through through-hole, the output shaft and ball of driving motor
Screw rod is by shaft coupling to be fixedly connected, and ball screw is used cooperatively with ball nut, and substrate is fixedly connected with lower installation board, rolling
The optical axis portion of pearl screw rod upper end and it is mounted on the cooperation of substrate middle (center) bearing inner ring, the optical axis portion of ball screw lower end and is mounted on lower peace
The cooperation of loading board middle (center) bearing inner ring, multiple jaw action branches are uniformly distributed along space, one end of multiple jaw action branches and ball spiral shell
Mother is fixedly connected, and the middle part of multiple jaw action branches and lower installation board are hinged.
6. intelligence magic cube-solving robot training platform according to claim 5, which is characterized in that the jaw action branch
Including coulisse, first connecting rod, second connecting rod and clamping jaw, coulisse one end is fixedly connected with ball nut, and coulisse is provided with cunning
Slot, the shape of sliding slot be it is arc-shaped, one end and the coulisse of first connecting rod are slidably connected, and first connecting rod being capable of cunning in plate along the chute
Slot slides, the middle part of first connecting rod and lower installation board hinge, the other end of first connecting rod and the upper end hinge of clamping jaw, second connecting rod
One end and lower installation board hinge, the other end of second connecting rod and the upper end hinge of clamping jaw, in the lower installation board two it is hinged
The distance in hole is equal to the distance between two hinge hole centers, the middle part hinge hole center of first connecting rod and first connecting rod on clamping jaw
The distance between the distance between lower end hinge hole center two hinge hole centers of second connecting rod it is equal.
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| CN201820460646.1U CN208196775U (en) | 2018-04-03 | 2018-04-03 | A kind of intelligence magic cube-solving robot training platform |
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| CN201820460646.1U CN208196775U (en) | 2018-04-03 | 2018-04-03 | A kind of intelligence magic cube-solving robot training platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381524A (en) * | 2018-04-03 | 2018-08-10 | 安徽海思达机器人有限公司 | A kind of intelligence magic cube-solving robot training platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381524A (en) * | 2018-04-03 | 2018-08-10 | 安徽海思达机器人有限公司 | A kind of intelligence magic cube-solving robot training platform |
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