CN210998743U - Magic cube solving robot - Google Patents
Magic cube solving robot Download PDFInfo
- Publication number
- CN210998743U CN210998743U CN201922034206.7U CN201922034206U CN210998743U CN 210998743 U CN210998743 U CN 210998743U CN 201922034206 U CN201922034206 U CN 201922034206U CN 210998743 U CN210998743 U CN 210998743U
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- magic cube
- fixing plate
- platform
- slip ring
- clamping jaw
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Abstract
The utility model discloses a magic cube solving robot, which comprises a base, wherein an oblique angle platform is symmetrically arranged on the base, an mechanical arm is arranged on the oblique angle platform along the oblique direction of the oblique angle platform, the mechanical arm comprises a clamping mechanism, a rotating mechanism and a driving mechanism, the rotating mechanism comprises an air slip ring and a bearing device, the clamping mechanism comprises a pneumatic clamping jaw, the pneumatic clamping jaw is arranged on the top surface of the bearing device, the pneumatic clamping jaw is connected with a rotor of the air slip ring through an auxiliary air pipe, a stator of the air slip ring is connected with a main air pipe, the main air pipe is connected with an air pump, and a; the two clamping mechanisms form a magic cube rotating platform; the magic cube rotating platform is characterized by further comprising four wide-angle industrial cameras, wherein the four wide-angle industrial cameras are respectively arranged on the upper side, the lower side, the left side and the right side of the magic cube rotating platform. The utility model discloses can realize that both arms restore the magic cube to promote image recognition efficiency, and then promote magic cube restoration efficiency.
Description
Technical Field
The utility model relates to a teaching robot field, in particular to solve magic cube robot.
Background
With the development of science and technology, magic cube restoration is a perfect combination of human intelligence and physical strength, and is full of challenges. In many events at home and abroad, the magic cube reduction and racing item is listed as a sub-item, and the record of the shortest time for reducing the magic cube is continuously refreshed, so that a device for automatically solving the magic cube is required to be designed.
The existing magic cube restoring robot mostly adopts three or more clamping mechanisms, the three or more clamping mechanisms need to finish clamping and rotating of the magic cube, the requirements on the placement position and a control system of the magic cube are high, and therefore the research on the magic cube restoring robot simulating the double clamping mechanisms of both hands of a human becomes a key problem. On the other hand, the existing magic cube solving robot mostly adopts a single camera to collect images, and the efficiency is low.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a can imitate two arms reduction magic cube solve magic cube robot to solve the problem that above-mentioned background art provided.
In order to realize the above purpose, the technical scheme of the utility model is as follows:
a magic cube solving robot comprises a base, wherein oblique angle platforms are symmetrically arranged on the base, mechanical arms are arranged on the oblique angle platforms along the oblique direction of the oblique angle platforms, each mechanical arm comprises a clamping mechanism, a rotating mechanism and a driving mechanism, each rotating mechanism comprises an air slip ring and a bearing device, each bearing device comprises an upper fixing plate and a lower fixing plate, the upper fixing plate and the lower fixing plate are detachably connected, a flange is fixedly arranged on the lower fixing plate and is positioned between the upper fixing plate and the lower fixing plate, a rotor of the air slip ring is fixedly connected with the lower fixing plate, and a stator of the air slip ring is fixedly arranged on the oblique angle platforms; the driving mechanism comprises a stepping motor, an output shaft of the stepping motor is connected with a coupler, the coupler is connected with an extension shaft, and the extension shaft passes through an air slip ring and is fixedly connected with a flange; the clamping mechanism comprises a pneumatic clamping jaw, the pneumatic clamping jaw is installed on the top surface of the upper fixing plate and connected with a rotor of the pneumatic sliding ring through an auxiliary air pipe, a stator of the pneumatic sliding ring is connected with a main air pipe, the main air pipe is connected with an air pump, and a valve is installed on the main air pipe; the two clamping mechanisms form a magic cube rotating platform;
the magic cube rotating platform is characterized by further comprising four wide-angle industrial cameras, wherein the four wide-angle industrial cameras are respectively arranged on the upper side, the lower side, the left side and the right side of the magic cube rotating platform, and a rectangular frame used for installing the wide-angle industrial cameras is vertically arranged on the base.
Preferably, the included angle between the oblique angle platform and the base is 45 degrees.
Preferably, the flange is fixedly connected to the elongate shaft by means of fastening screws.
Preferably, the pneumatic clamping jaw is a flat clamping finger.
The utility model has the advantages that:
(1) the magic cube clamping mechanism adopts a person-like double-clamping mechanism, simulates both hands of a human, uses a double-finger clamping mechanism, has two degrees of freedom, and can flexibly clamp and rotate the magic cube;
(2) the clamped magic cube is inclined, and the four wide-angle industrial cameras can identify the patterns on the six surfaces of the magic cube, so that the speed of identification and judgment can be increased, and the speed of restoring the magic cube is further increased;
(3) step motor and air slip ring cooperate, and step motor can realize the accurate rotation to the magic cube, and the air slip ring can avoid rotating the magic cube the condition that the vice trachea takes place to twist reverse to stability when can guaranteeing the magic cube and rotate.
Drawings
Fig. 1 is a perspective view of the present invention;
fig. 2 is an exploded schematic view of the rotating mechanism of the present invention;
fig. 3 is a schematic view of the clamping magic cube of the present invention.
The labels in the figure are: the device comprises a base 1, an oblique angle platform 11, a rectangular frame 12, a pneumatic clamping jaw 21, a rotating mechanism 3, an air slip ring 31, a bearing device 32, an upper fixing plate 321, a lower fixing plate 322, a flange 323, a stepping motor 41, a coupler 42 and a wide-angle industrial camera 5.
Detailed Description
The technical solutions in the present embodiments will be clearly and completely described below with reference to the accompanying drawings in the present embodiments, which, however, should not be construed as limiting the present invention to specific embodiments, but are for explanation and understanding only:
as shown in fig. 1, 2 and 3, the embodiment provides a magic cube solving robot, which comprises a base 1, wherein bevel platforms 11 are symmetrically installed on the base 1, an included angle between each bevel platform 11 and a horizontal plane is 45 °, and mechanical arms are installed on each bevel platform 11 along the inclination direction of the bevel platform.
The mechanical arm comprises a clamping mechanism, a rotating mechanism 3 and a driving mechanism.
The driving mechanism comprises a stepping motor 41, the stepping motor 41 is detachably mounted on the oblique angle platform 11 through a bolt, an output shaft of the stepping motor 41 is connected with a coupler 42, and the coupler 42 is connected with an extension shaft.
The rotating mechanism 3 comprises an air slip ring 31 and a bearing device 32, the bearing device 32 comprises an upper fixing plate 321 and a lower fixing plate 322, the upper fixing plate 321 is detachably connected with the lower fixing plate 322, a flange 323 is fixedly mounted on the lower fixing plate 322, the flange 323 is located between the upper fixing plate 321 and the lower fixing plate 322, a rotor of the air slip ring 31 is fixedly connected with the lower fixing plate 322, a stator of the air slip ring 31 is fixedly mounted on the bevel platform 11, one end, far away from the stepping motor 41, of an extension shaft of the coupler 42 penetrates through the air slip ring 31 to be fixedly connected with the flange 323, the flange 323 is fixedly connected with the extension shaft through a fastening screw, and an output shaft of the stepping motor 41 rotates to drive the rotor of the air slip. The stepping motor 41 is matched with the air slip ring 31, the design is exquisite, and the stepping motor 41 can realize accurate rotation of the magic cube.
The clamping mechanism comprises a pneumatic clamping jaw 21, the pneumatic clamping jaw 21 is installed on the top surface of the upper fixing plate 321, the pneumatic clamping jaw 21 is connected with a rotor of the pneumatic sliding ring 31 through an auxiliary air pipe, a stator of the pneumatic sliding ring 31 is connected with an air pump through a main air pipe, a control valve is installed on the main air pipe, and the pneumatic clamping jaw 21 clamps or loosens the magic cube through adjustment of the control valve. The pneumatic clamping jaw 21 is a flat clamping finger, so that the magic cube can be clamped conveniently, and the two clamping mechanisms form a magic cube rotating platform. The air slip ring 31 is used, so that the condition that the auxiliary air pipe is twisted when the magic cube is rotated can be avoided, and the stability of the magic cube during rotation is ensured.
This embodiment still includes four wide angle industry cameras 5, four wide angle industry cameras 5 install respectively in four sides about the upper and lower of magic cube platform for shoot the surface of magic cube, by the magic cube slope of clamping status, four wide angle industry cameras 5 can discern the pattern on six surfaces of magic cube, the vertical rectangle frame 12 that is used for installing wide angle industry cameras 5 of installing on the base 1.
The working mode of the embodiment is as follows:
place the magic cube on the magic cube rotation platform that two pneumatic clamping jaws 21 constitute, through electric valve control air pump, make pneumatic clamping jaw 21 grasp the magic cube, two pneumatic clamping jaws 21 grasp the middle part on two adjacent layers on the magic cube respectively this moment, the pattern on magic cube surface is arranged to four wide angle industrial camera 5 shooting, a step motor 41 starts, its output shaft rotates and drives shaft coupling 42 and rotate, shaft coupling 42's extension axle rotates and drives bearing device 32 and rotate, bearing device 32 rotates and drives pneumatic clamping jaw 21 and rotate, make the magic cube layer of this pneumatic clamping jaw 21 centre gripping rotate. One pneumatic clamping jaw 21 is used for clamping the magic cube, the other pneumatic clamping jaw 21 is used for loosening, the pneumatic clamping jaw 21 used for clamping the magic cube is rotated, and the loosened pneumatic clamping jaw 21 is used for clamping the magic cube, so that the magic cube with different surfaces can rotate.
It is to be understood that the above examples are merely illustrative for clarity of description and are not limiting on the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are intended to be within the scope of the invention.
Claims (4)
1. The utility model provides a solve magic cube robot, includes base (1), and base (1) is gone up the symmetry and is installed oblique angle platform (11), installs arm, its characterized in that along its incline direction on oblique angle platform (11): the mechanical arm comprises a clamping mechanism, a rotating mechanism (3) and a driving mechanism, the rotating mechanism (3) comprises an air slip ring (31) and a bearing device (32), the bearing device (32) comprises an upper fixing plate (321) and a lower fixing plate (322), the upper fixing plate (321) is detachably connected with the lower fixing plate (322), a flange (323) is fixedly installed on the lower fixing plate (322), the flange (323) is located between the upper fixing plate (321) and the lower fixing plate (322), a rotor of the air slip ring (31) is fixedly connected with the lower fixing plate (322), and a stator of the air slip ring (31) is fixedly installed on the oblique angle platform (11); the driving mechanism comprises a stepping motor (41), an output shaft of the stepping motor (41) is connected with a coupler (42), the coupler (42) is connected with an extension shaft, and the extension shaft penetrates through the air slip ring (31) and is fixedly connected with a flange (323); the clamping mechanism comprises a pneumatic clamping jaw (21), the pneumatic clamping jaw (21) is installed on the top surface of the upper fixing plate (321), the pneumatic clamping jaw (21) is connected with a rotor of the pneumatic sliding ring (31) through an auxiliary air pipe, a stator of the pneumatic sliding ring (31) is connected with a main air pipe, the main air pipe is connected with an air pump, and a valve is installed on the main air pipe; the two clamping mechanisms form a magic cube rotating platform;
still include four wide angle industry cameras (5), four sides about the magic cube rotary platform about wide angle industry camera (5) are installed respectively, vertically install rectangle frame (12) that are used for installing wide angle industry camera (5) on base (1).
2. A magic cube-solving robot as claimed in claim 1, wherein: the included angle between the oblique angle platform (11) and the base (1) is 45 degrees.
3. A magic cube-solving robot as claimed in claim 1, wherein: the flange (323) is fixedly connected with the extension shaft through fastening screws.
4. A magic cube-solving robot as claimed in claim 1, wherein: the pneumatic clamping jaw (21) is a flat clamping finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922034206.7U CN210998743U (en) | 2019-11-22 | 2019-11-22 | Magic cube solving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922034206.7U CN210998743U (en) | 2019-11-22 | 2019-11-22 | Magic cube solving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210998743U true CN210998743U (en) | 2020-07-14 |
Family
ID=71502398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922034206.7U Expired - Fee Related CN210998743U (en) | 2019-11-22 | 2019-11-22 | Magic cube solving robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210998743U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084840A (en) * | 2021-04-20 | 2021-07-09 | 唐山学院 | Double-arm humanoid-hand full-automatic third-order magic cube reduction robot |
-
2019
- 2019-11-22 CN CN201922034206.7U patent/CN210998743U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084840A (en) * | 2021-04-20 | 2021-07-09 | 唐山学院 | Double-arm humanoid-hand full-automatic third-order magic cube reduction robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200714 Termination date: 20201122 |