CN210061145U

CN210061145U - Magic cube automatic reduction device and manipulator thereof

Info

Publication number: CN210061145U
Application number: CN201920295463.3U
Authority: CN
Inventors: 林泽生; 赵勤德; 林煜生; 谭伟创
Original assignee: Guangzhou Industry And Trade Technician College (guangzhou Industry And Trade Advanced Technical School)
Current assignee: Guangzhou Industry And Trade Technician College (guangzhou Industry And Trade Advanced Technical School)
Priority date: 2019-03-08
Filing date: 2019-03-08
Publication date: 2020-02-14
Anticipated expiration: 2029-03-08

Abstract

The utility model relates to a manipulator for automatic reduction of magic cube, including driving motor and with driving motor output shaft's manipulator support, install the clamping jaw guide rail on the manipulator support, two clamping jaws and be used for driving two clamping jaws along the clamping jaw guide rail in opposite directions or the jaw actuating mechanism who mutually carries on the back liftoff slip, two clamping jaws all have be used for with be on a parallel with the clamping face of the axial magic cube face contact of driving motor output shaft and be used for with the inclined plane that resets of the edge butt of centre gripping arris piece, the inclined plane that resets is from the direction downward sloping of corresponding clamping part to another clamping jaw. Still relate to a magic cube automatic recovery device, including two sets of foretell manipulators. The inclined plane that resets can guarantee to hold the magic cube better when manipulator clamping magic cube at every turn, and the inclined plane that resets can adjust the position of magic cube when the clamping jaw action, avoids constantly accumulating because of the displacement error that the magic cube dead weight caused, avoids the condition such as manipulator card to die to appear, improves magic cube reduction efficiency and the life of this manipulator.

Description

Magic cube automatic reduction device and manipulator thereof

Technical Field

The utility model relates to a magic cube automatic reduction device that is used for automatic manipulator that restores of magic cube and adopts this manipulator.

Background

The magic cube is an intelligent toy with variable diversity, the research result of the magic cube has wider application, wherein the magic cube restored by the intelligent robot is an application system with multiple disciplines and intersection, and the magic cube has teaching significance and great scientific value.

The existing magic cube automatic reduction device comprises a magic cube reduction robot with two claws, three claws, four claws and six claws, wherein the magic cube reduction robot with the three claws, the four claws and the six claws uses more steering engines and motors and has higher cost; the magic cube restoring robot with the two claws has the defect that the magic cube can droop under the action of gravity after being clamped, and the continuous accumulation of the error can finally cause that the mechanical claws cannot clamp the correct position of the magic cube and are blocked.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a be used for automatic manipulator that restores of magic cube and adopt the automatic device that restores of magic cube of this manipulator, can solve prior art's partial defect at least.

The embodiment of the utility model provides a manipulator for automatic reduction of magic cube, including driving motor and with driving motor output shaft's manipulator support, install clamping jaw guide rail, two clamping jaws on the manipulator support and be used for driving two the clamping jaw is followed clamping jaw guide rail is in opposite directions or carry on the back mutually the liftoff clamping jaw actuating mechanism who slides, two the clamping jaw all has the inclined plane that resets that is used for with the clamping face that is on a parallel with the axial magic cube face contact of driving motor output shaft and is used for with the edge butt of centre gripping arris piece, the inclined plane that resets is from corresponding clamping part to another the direction downward sloping of clamping jaw.

As an embodiment, the clamping surface is a flexible clamping surface.

As one embodiment, the clamping jaw comprises a clamping finger for clamping a magic cube and a rubber sleeve sleeved on the clamping finger, and the corresponding surface of the rubber sleeve is formed into the clamping surface.

As one embodiment, the clamping jaw driving mechanism comprises a centering crank-slider structure and a crank driving unit, and two transmission connecting rods of the centering crank-slider structure are respectively hinged with the two clamping jaws.

As one embodiment, the crank driving unit comprises a steering engine installed on the manipulator support, and a crankshaft of the steering engine is connected with the crank of the centering crank sliding block structure.

The embodiment of the utility model provides an automatic device that restores of magic cube, the on-line screen storage device comprises a base, be provided with two sets of as above on the base be used for the automatic manipulator that restores of magic cube, two driving motor's output shaft axis quadrature and homogeneous phase are to horizontal plane slope.

As one embodiment, the automatic magic cube restoration device further comprises a positioning mechanism for initially positioning the magic cube before restoration.

As one embodiment, the positioning mechanism comprises a Y-shaped positioning frame which is detachably arranged on the base, and a V-shaped groove at the top of the positioning frame is a right-angle groove.

In one embodiment, the positioning mechanism further comprises a clamping plate, the clamping plate is provided with a U-shaped clamping portion capable of being buckled on one side edge portion of the base, and the positioning frame is fixedly arranged at the top of the clamping plate.

In one embodiment, a positioning groove for buckling the U-shaped clamping portion is correspondingly formed on one side edge portion of the base.

The embodiment of the utility model provides a following beneficial effect has at least:

the utility model provides a manipulator for automatic reduction of magic cube, the clamping jaw not only has the tight face of clamp, still is equipped with the inclined plane that resets simultaneously, can hold the magic cube better when can guaranteeing the manipulator clamping magic cube at every turn, the inclined plane that resets moreover can adjust the position of good magic cube when the clamping jaw moves, avoid constantly accumulating in the clamping many times because of the displacement error that the magic cube dead weight caused to avoid the manipulator card to wait the condition to appear, improve the life of magic cube reduction efficiency and this manipulator.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a manipulator provided in an embodiment of the present invention;

fig. 2 is a schematic side view of a manipulator according to an embodiment of the present invention;

fig. 3 is a schematic structural view of an automatic magic cube restoring device according to an embodiment of the present invention;

fig. 4 is a schematic structural view of the positioning frame in fig. 3 after being removed.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Example one

As shown in fig. 1 and 2, the embodiment of the utility model provides a manipulator 1 for automatic reduction of magic cube, including driving motor 101 and with driving motor output shaft's manipulator support 102, install clamping jaw guide rail 103, two clamping jaws 104 on the manipulator support 102 and be used for driving two clamping jaw 104 follows clamping jaw guide rail 103 is in opposite directions or the jaw actuating mechanism who slides mutually away from the ground mutually, two clamping jaw 104 all has the inclined plane 1042 that resets that is used for with the clamping face that is on a parallel with the axial magic cube face contact of driving motor output shaft and is used for with the edge butt of the arris piece that presss from both sides, inclined plane 1042 resets from corresponding clamping part to another the direction downward sloping of clamping jaw 104.

The driving motor 101 is preferably a stepping motor, and has high driving accuracy and control effect. The robot arm 102 is connected to an output shaft of a driving motor so that the driving motor 101 can drive the robot arm 102 to rotate. Generally, the axis of the output shaft of the driving motor 101 forms an angle with the horizontal plane, so as to facilitate the restoration operation of the magic cube 5 in cooperation with other mechanical hands 1. In one embodiment, the angle between the axis of the output shaft of the drive motor 101 and the horizontal plane is 45 °. As shown in fig. 1 to 3, the driving motor 101 is mounted on the base 2 of the automatic magic cube restoration device through a motor mounting bracket.

The clamping jaw 104 is slidably disposed on the clamping jaw guide 103, and the matching structure between the clamping jaw and the clamping jaw guide is conventional in the art, and will not be described herein in detail. Under the action of the jaw driving mechanism, the two jaws 104 can slide on the jaw guide rails 103, and the two jaws 104 slide toward each other (i.e., move toward each other) or away from each other.

Generally, the two clamping jaws 104 are used to clamp two opposing edges of the cube 5, rather than a central block, and the distance between the clamping surface and the reset ramp 1042 can be determined as a practical matter. It will be appreciated that since the reset ramp 1042 is required to abut the edge of the retained cube (i.e., the edge that is not in contact with the other cube 5), both reset ramps 1042 are located between the clamping surfaces and the lower ends of the reset ramps 1042 are adjacent to each other, as can also be appreciated from figures 1 and 2.

The manipulator 1 that is used for automatic reduction of magic cube that this embodiment provided, clamping jaw 104 not only has the clamping face (be the clamping part), still be equipped with simultaneously and reset inclined plane 1042, can guarantee that 1 clamping magic cube 5 of manipulator can be held better when clamping 5 at every turn, reset inclined plane 1042 can adjust the position of magic cube 5 when clamping jaw 104 moves, avoid constantly accumulating in the clamping many times because of the displacement error that magic cube 5 dead weight caused, thereby avoid the condition such as manipulator 1 card dead to appear, improve magic cube reduction efficiency and this manipulator 1's life.

It is further preferred that the clamping surface is a flexible clamping surface so that the clamping jaws 104 can clamp the puzzle 5 more stably and reliably. The flexible clamping surface may be a rubber layer adhered to the clamping finger 1041, in this embodiment, the clamping jaw 104 includes the clamping finger 1041 for clamping the magic cube 5 and a rubber sleeve sleeved on the clamping finger 1041, and a corresponding surface of the rubber sleeve constitutes the clamping surface.

Continuing to optimize the structure of the manipulator 1 for automatically restoring the magic cube, the clamping jaw driving mechanism can adopt a structure which is conventional in the field, and in the embodiment, the following preferred embodiments are adopted:

as shown in fig. 1, the clamping jaw driving mechanism includes a centering crank-slider structure and a crank driving unit, and the two transmission links 1052 of the centering crank-slider structure are respectively hinged to the two clamping jaws 104. The centering crank-slider structure is refined, as shown in fig. 1, the centering crank-slider structure comprises a crank 1051 and two transmission connecting rods 1052, two clamping jaws 104 slidably arranged on a clamping jaw guide rail 103 correspondingly form two sliders of the centering crank-slider structure, and the two transmission connecting rods 1052 are respectively hinged with the two clamping jaws 104 and are also respectively hinged with two ends of the crank 1051; it will be appreciated that the two connecting rod-jaw 104 hinge points are collinear with the center of rotation of the crank 1051, and that the center of rotation of the crank is located at the midpoint of the line connecting the two connecting rod-jaw hinge points. Based on the centering crank block structure, the left-right symmetry can be always kept when the two clamping jaws 104 clamp the magic cube 5, and accumulated errors caused by asymmetry are avoided, so that the clamping effect of the magic cube 5 and the effect of restoring the magic cube 5 are guaranteed.

Further, the crank driving unit includes a steering engine 106 installed on the manipulator support 102, and a crankshaft of the steering engine 106 is connected with the crank 1051 of the centering crank slider structure. Steering engine 106 is a device commonly used in the art, and its specific structure is omitted here.

Example two

As shown in fig. 3 and 4, the embodiment of the present invention relates to an automatic magic cube restoring device, which comprises a base 2, the base 2 is provided with two sets of mechanical arms 1 for automatic magic cube restoring, which are provided by the first embodiment, and the two sets of mechanical arms are arranged on the base 2, and the axes of the output shafts of the driving motors 101 are orthogonal and are inclined relative to the horizontal plane.

Obviously, the two manipulators 1 clamp the puzzle 5 together, so that the gripping jaws 104 of the two manipulators 1 are close to each other, i.e. the two manipulator supports 102 are close to each other. Because the manipulator bracket 102 can be driven by the driving motor 101 to rotate, the included angle between the clamping surfaces of the two manipulators 1 can be adjusted at will; as shown in fig. 3 and 4, when the magic cube 5 is held by the two manipulators 1, the gripping surfaces are parallel to each other. The 4 clamping fingers 1041 respectively clamp two opposite magic aspects of the magic cube 5, namely, two clamping fingers 1041 are clamped on one magic aspect, and the other two clamping fingers 1041 are clamped on the other opposite magic aspect; the two fingers 1041 on each magic cube surface belong to two manipulators 1 respectively, and the edge blocks clamped by the two fingers 1041 are adjacent to the same corner block. As will be easily understood, since the axes of the output shafts of the two driving motors 101 are orthogonal, the angles between the axes of the output shafts of the two driving motors 101 and the horizontal plane are both 45 °.

In addition, conventionally, as shown in fig. 3 and 4, the base 2 is further provided with a camera 3 for obtaining color distribution/magic cube block distribution on the magic cube surface, so that a computer or the like can control the driving motors 101 and the steering engine 106 to restore the magic cube 5 conveniently, and the automatic control process involved in the process is conventional in the field and does not need to be programmed additionally.

Further optimize the structure of above-mentioned automatic device that restores of magic cube, this automatic device that restores of magic cube still includes and is used for carrying out the positioning mechanism 4 of initial positioning to magic cube 5 before the restoration, guarantees the centre gripping effect to magic cube 5 to the assurance can realize the automatic restoration of magic cube 5. In this embodiment, as shown in fig. 3, the positioning mechanism 4 includes a Y-shaped positioning frame 401 detachably disposed on the base 2, a V-shaped groove at the top of the positioning frame 401 is a right-angle groove, and the magic cube 5 can be initially positioned by placing the magic cube 5 in the V-shaped groove of the positioning frame 401.

In order to avoid the influence of the positioning frame 401 when the magic cube 5 is restored, the positioning frame 401 should be removable from the base 2 after the magic cube 5 is clamped, in one embodiment, the positioning mechanism 4 further comprises a clamping plate 402, the clamping plate 402 has a U-shaped clamping portion capable of being buckled on one side edge portion of the base 2, and the positioning frame 401 is fixed on the top of the clamping plate 402; in order to ensure the accuracy of the initial positioning of the magic cube 5, a positioning groove 201 may be correspondingly formed on the base 2, as shown in fig. 4, and the positioning groove 201 is formed on one side edge portion of the base 2 for the U-shaped clamping portion to be buckled. In another embodiment, the base 2 may be provided with a corresponding mounting chute, and the lower vertical plate of the Y-shaped positioning frame 401 may be mounted in the mounting chute in a pluggable manner.

Of course, the positioning mechanism 4 is not limited to the structure that the Y-shaped positioning frame 401 is used to position the bottom edge of the magic cube 5, for example, two side surfaces of the magic cube 5 may also be positioned, and the specific structure is not described herein, which is easy to design by those skilled in the art.

The automatic magic cube restoring device provided by the embodiment has the advantages of simple structure, compact layout, higher clamping precision on the magic cube 5, better automatic magic cube restoring effect, fewer motors and steering engines 106, and lower cost.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. 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 manipulator for automatic reduction of magic cube, include driving motor and with driving motor output shaft's manipulator support, install clamping jaw guide rail, two clamping jaws on the manipulator support and be used for driving two the clamping jaw is followed clamping jaw drive mechanism that clamping jaw guide rail slided mutually in opposite directions or carried on the back mutually, its characterized in that: the clamping jaws are provided with clamping surfaces which are used for being in contact with the axial magic cube surface parallel to the output shaft of the driving motor and reset inclined surfaces which are used for being abutted against the edges of the clamped edge blocks, and the reset inclined surfaces are inclined downwards from the corresponding clamping parts to the other clamping jaws in the direction.

2. The manipulator for magic cube automatic reduction according to claim 1, characterized in that: the clamping surface is a flexible clamping surface.

3. The manipulator for magic cube automatic reduction according to claim 2, characterized in that: the clamping jaw comprises a clamping finger for clamping the magic cube and a rubber sleeve sleeved on the clamping finger, and the corresponding surface of the rubber sleeve forms the clamping surface.

4. The manipulator for magic cube automatic reduction according to claim 1, characterized in that: the clamping jaw driving mechanism comprises a centering crank sliding block structure and a crank driving unit, and two transmission connecting rods of the centering crank sliding block structure are hinged with the two clamping jaws respectively.

5. The manipulator for magic cube automatic reduction as claimed in claim 4, characterized in that: the crank driving unit comprises a steering engine arranged on the manipulator support, and a crankshaft of the steering engine is connected with a crank of the centering crank sliding block structure.

6. The utility model provides an automatic device that restores of magic cube, includes the base, its characterized in that: the base is provided with two groups of mechanical arms for automatically restoring the magic cube according to any one of claims 1 to 5, and the axes of the output shafts of the two driving motors are orthogonal and are inclined relative to the horizontal plane.

7. The automatic magic cube restoration device according to claim 6, wherein: the magic cube recovery device further comprises a positioning mechanism used for initially positioning the magic cube before recovery.

8. The automatic magic cube restoration device according to claim 7, wherein: positioning mechanism includes the detachable liftoff Y type locating rack of locating on the base, the top V type groove of locating rack is the right angle groove.

9. The automatic magic cube restoration device according to claim 8, wherein: the positioning mechanism further comprises a clamping plate, the clamping plate is provided with a U-shaped clamping part which can be buckled on one side edge part of the base, and the positioning frame is fixedly arranged at the top of the clamping plate.

10. The automatic magic cube restoration device according to claim 9, wherein: and a positioning groove for buckling the U-shaped clamping part is correspondingly arranged on one side edge part of the base.