CN211306327U - Two-axis magic cube robot - Google Patents
Two-axis magic cube robot Download PDFInfo
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- CN211306327U CN211306327U CN201922104105.2U CN201922104105U CN211306327U CN 211306327 U CN211306327 U CN 211306327U CN 201922104105 U CN201922104105 U CN 201922104105U CN 211306327 U CN211306327 U CN 211306327U
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Abstract
The utility model discloses a two-axis magic cube robot, which comprises a base, wherein a door-shaped frame with a camera is vertically arranged on the base, triangular supports are symmetrically distributed by taking a vertical plane where the door-shaped frame is positioned as a center, and each triangular support is provided with a set of mechanical arm assembly; each set of mechanical arm component comprises a mechanical arm, a coupler and a closed-loop stepping motor which are sequentially connected, wherein a slip ring is sleeved on the coupler; a first mechanical finger and a second mechanical finger which are movably connected with the mechanical arm are respectively arranged above the mechanical arm; a cavity is arranged in the mechanical arm, an electromagnet is arranged in the cavity, a palm is arranged above an opening of the cavity, and an iron core of the electromagnet is fixedly connected with the palm. The robot utilizes the electromagnet, the common slip ring and other devices to replace the original air cylinder and the original air slip ring, and has the advantages of small volume, light weight, high structural stability and cost reduction of about 50 percent.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to mechanical finger of two shaft magic cube robots and drive arrangement thereof.
Background
At present, with the rapid development of robot technology, the related aspects of the robot are wider and wider, and the teaching science popularization field of the robot also becomes a hot point of research. The magic cube as the most popular intelligent toy utilizes the magic cube robot to carry out science popularization education related to robot technology, and has strong practicability and innovation. However, most of the existing magic cube robots adopt pneumatic structures such as air cylinders and the like, so that the magic cube robots are high in cost, complex in structure, poor in man-machine interaction and adaptability, long in magic cube restoration time and difficult to achieve the teaching purpose. Therefore, the magic cube robot with low cost, simple structure and high restoration speed has higher practical value.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a two shaft magic cube robot of simple structure, convenient to use.
In order to solve the technical problem, the utility model provides a two-axis magic cube robot (mechanical finger and driving device of the two-axis magic cube robot), which comprises a base, a door-shaped frame is vertically arranged on the base, a beam parallel to the top of the door-shaped frame is arranged in the door-shaped frame, and a camera is respectively and fixedly arranged between the three frames of the door-shaped frame and the beam;
the triangular supports are symmetrically distributed by taking a vertical plane where the door-shaped frame is located as a center, and each triangular support is provided with a set of mechanical arm assembly;
each set of mechanical arm component comprises a mechanical arm, a coupler and a closed-loop stepping motor which are sequentially connected, wherein a slip ring is sleeved on the coupler, and an electric brush matched with the slip ring is arranged on the triangular bracket;
a first mechanical finger and a second mechanical finger are respectively arranged above the mechanical arm; a cavity is arranged in the mechanical arm, an electromagnet is arranged in the cavity, a palm is arranged above an opening of the cavity, and an iron core of the electromagnet is fixedly connected with the palm;
two ends of the palm are respectively provided with a long hole, and a copper column capable of moving left and right along the long holes is arranged in each long hole;
the mechanical finger I is movably connected with the upper end of the mechanical arm through a finger I outer side connecting piece and a finger I L-shaped inner side connecting piece, and the finger I L-shaped inner side connecting piece is connected with a copper column;
the second mechanical finger is movably connected with the upper end of the mechanical arm through a second finger outer side connecting piece and a second finger L-shaped inner side connecting piece; the finger two L-shaped inner side connecting piece is connected with the other copper column.
As the utility model discloses a two magic cube robots's improvement: the first mechanical finger is provided with a through hole, and the second mechanical finger is provided with a corresponding through hole. That is, the two circular through holes correspond to each other. The through hole is circular or oval, etc.
As the utility model discloses a two shaft magic cube robot's further improvement: the triangular supports are right-angled triangular supports, and the inclined planes of the two triangular supports form an included angle of 90 degrees; the robot arm assemblies are arranged on the inclined planes of the triangular supports so that the axes of 2 robot arms, each on 1 triangular support, are perpendicular to each other.
The utility model has the following technical advantages:
1. the control component of the mechanical finger adopts the electromagnet, has stable performance, low cost, light weight, easy carrying and more flexible control, and is more suitable for display teaching of the robot technology;
namely, the utility model discloses a mechanical finger presss from both sides, puts drive arrangement of action is the electro-magnet, has replaced original cylinder drive arrangement, has that reaction rate is fast, with low costs, light in weight, small advantage.
2. The utility model is provided with four cameras, the image recognition is accurate, and the magic cube can be restored more quickly by matching flexible fingers;
3. the mechanical finger of the utility model adopts the oval hollow design, and improves the image recognition efficiency and the recognition accuracy on the premise of not influencing the grabbing stability;
5. for the driving characteristic of cooperation electro-magnet, the utility model discloses a two fingers all adopt I type and L type to indicate the connecting piece and link to each other with manipulator arm etc. pop out, take in the clamp that the palm controlled the finger through the electro-magnet, put the action. The structure has stable performance and quick response, and can efficiently finish the actions of clamping and releasing the fingers under the driving of the electromagnet.
To sum up, the utility model discloses a series of problems such as with high costs, the structure is complicated, the recovery time is long to current magic cube robot existence provide a magic cube robot of low-cost, simple relatively, the recovery time is short of structure. The robot utilizes the electromagnet, the common slip ring and other devices to replace the original air cylinder and the original air slip ring, and has the advantages of small volume, light weight, high structural stability and cost reduction of about 50 percent.
Drawings
The following describes the present invention in further detail with reference to the accompanying drawings.
FIG. 1 is a perspective view of the present invention;
fig. 2 is a front view of the present invention;
fig. 3 is a side view of the present invention;
fig. 4 is a cross-sectional view of the entire robot arm of the present invention;
FIG. 5 is a perspective view of the robot arm and fingers of the present invention;
fig. 6 is a cross-sectional view of the robot arm and fingers of the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples, but the scope of the present invention is not limited thereto.
Embodiment 1, a mechanical finger of a two-axis magic cube robot and a driving device thereof, as shown in fig. 1-6, includes a base 1 for supporting and carrying the entire robot; the door-shaped frame 3 is vertically erected on the base 1 and is fixedly connected with the base 1; a cross beam 31 parallel to the top of the portal frame 3 is arranged in the portal frame 3, a camera 2 is fixedly arranged in each of the three frames of the portal frame 3 and the middle of the cross beam 31, so that the camera can take images of a magic cube positioned between the first mechanical finger 16 and the second mechanical finger 17, and the camera 2 transmits the obtained signals to an external computer through a link for processing; the two triangular supports 7 are symmetrically distributed on two sides by taking the vertical plane of the door-shaped frame 3 as the center, the triangular supports 7 are right-angled triangular supports, and the inclined planes of the two triangular supports 7 form an included angle of 90 degrees, so that the axes of the mechanical arms 6 on the triangular supports 7 are perpendicular to each other.
The devices and structures arranged on each tripod 7 are identical: each triangular support 7 is provided with 1 set of mechanical arm assembly;
each set of mechanical arm assembly comprises a mechanical arm 6, a coupler 15 and a closed-loop stepping motor 4 which are sequentially connected, the mechanical arm 6, the coupler 15 and the closed-loop stepping motor 4 are all positioned on the inclined plane of the triangular support 7, the axial leads of the mechanical arm 6, the coupler 15 and the closed-loop stepping motor 4 are superposed and are parallel to the inclined plane of the triangular support 7, and the closed-loop stepping motor 4 is fixedly connected with the triangular support 7; the motor shaft of the closed-loop stepping motor 4 is fixedly connected with the lower end of the mechanical arm 6 through the coupler 15, so that the closed-loop stepping motor 4 can drive the mechanical arm 6 to rotate through the coupler 15. The closed-loop stepping motor 4 is controlled by a peripheral circuit.
The outside cover of shaft coupling 15 has a sliding ring 5 (the internal diameter of sliding ring 5 is identical with the external diameter of shaft coupling 15, and 5 accessible top screws of sliding ring are fixed on shaft coupling 15), still are equipped with brush 8 supporting with sliding ring 5 on tripod 7, and the theory of operation of sliding ring 5 and brush 8 is: after receiving the control signal of the single chip microcomputer, the electric brush 8 transmits the control signal to the electromagnet 14 through the slip ring 5, so that the electromagnet 14 drives the palm 13 to pop up or retract, and the clamping and releasing actions of the first mechanical finger 16 and the second mechanical finger 17 are finally controlled.
If do not adopt brush 8 and sliding ring 5, on the output signal circuit direct transmission of singlechip to electro-magnet 14, can cause the winding of circuit at robotic arm 6's rotatory in-process, so the utility model discloses a winding problem of circuit has been solved to brush and sliding ring.
The upper end of the mechanical arm 6 is provided with two lug-shaped bulges which are distributed in a left-right symmetrical mode and used for installing a mechanical finger I16 and a mechanical finger II 17.
The mechanical arm 6 is internally provided with a cavity, the cavity is internally provided with an electromagnet 14, a palm 13 is arranged above the opening of the cavity, an iron core of the electromagnet 14 extends out of the cavity and then is fixedly connected with the center of the palm 13, and a magnetic core of the electromagnet 14 can be controlled to move up and down in the axial direction through a peripheral control circuit, so that the palm 13 is driven to move up and down.
Two ends of the palm 13 are respectively provided with a long hole 20, and a copper column 21 which can move left and right along the long holes 20 is arranged in each long hole 20.
The mechanical finger I16 is movably connected with an ear-shaped protrusion of the mechanical arm 6 through a finger-I outer side connecting piece 9(I type) and a finger-L inner side connecting piece 10,
the method specifically comprises the following steps: the upper ends of the first finger outer connecting piece 9 and the first finger L-shaped inner connecting piece 10 are respectively and rotatably connected with a first mechanical finger 16 through respective flange bearings 19, and the lower ends of the first finger outer connecting piece 9 and the first finger L-shaped inner connecting piece 10 are respectively and movably connected with an ear-shaped bulge of the mechanical arm 6 through respective flange bearings 19; with respect to the finger-L lateral attachment 9, the finger-L medial attachment 10 is close to the palm 13; the male portion of the finger-L-shaped inner connecting member 10 is connected to one of the copper cylinders 21.
The second mechanical finger 17 is movably connected with the other lug-shaped protrusion of the mechanical arm 6 through a second finger outside connecting piece 12(I type) and a second finger L type inside connecting piece 11, and specifically comprises the following steps: the upper ends of the two finger outside connecting pieces 12 and the two finger L-shaped inside connecting pieces 11 are respectively and rotatably connected with a second mechanical finger 17 through respective flange bearings 19, and the lower ends of the two finger outside connecting pieces 12 and the two finger L-shaped inside connecting pieces 11 are respectively and movably connected with the other lug-shaped protrusion of the mechanical arm 6 through respective flange bearings 19; relative to the finger outside connecting piece 12, the finger two L-shaped inside connecting piece 11 is close to the palm 13; the convex part of the finger two L-shaped inner connecting piece 11 is connected with another copper column 21.
The short inside diameter of the elongated hole 20 may be slightly larger than the outside diameter of the copper pillar 21. When the palm 13 is retracted inwards, the two copper columns 21 are respectively positioned on the inner sides of the two long holes 20; when the palm 13 is ejected outward, the two copper columns 21 are respectively positioned at the outer sides of the two long holes 20. Thereby driving the first mechanical finger 16 and the second mechanical finger 17 to rotate synchronously.
The first mechanical finger 16 and the second mechanical finger 17 can be used as the top edge of a parallelogram (the parallelogram formed by the vertical edges of the first finger outer side connecting piece 9, the second finger outer side connecting piece 12, the first finger L-shaped inner side connecting piece 10 and the second finger L-shaped inner side connecting piece 11), and the vertical end plane of the fingers is kept parallel to the corresponding magic cube plane during movement, so that the fingers can clamp and stabilize the magic cube.
Two cameras positioned at the left end and the right end of the door-shaped frame 3 in the camera 2 have shooting axes corresponding to the centers of the central color blocks of the planes of the relevant magic cubes. The first mechanical finger 16 and the second mechanical finger 17 are provided with a through hole 18 (for example, a circular hole) in the middle to prevent the color of the magic cube from being blocked and prevent the identification from being interfered.
The specific working process of the two-axis magic cube robot is as follows:
1. the magic cube is placed at an included angle formed by the two mechanical arms 6, and the magic cube is supported and fixed by the two pairs of mechanical fingers I16 and the mechanical fingers II 17;
two pairs of fingers can clamp and bear two surfaces with 90-degree included angles adjacent to the magic cube, and the two surfaces are driven by the mechanical arm 6 to rotate so as to control the rotation of the two clamped surfaces or control the overturning of the magic cube to switch a rotating surface.
2. Starting a two-axis magic cube robot, which belongs to the prior art;
3. the external computer controls the four cameras 2 to photograph the magic cube from four directions, namely, up, down, left and right, and transmits the obtained images to the computer for processing; this is in the prior art;
4. after the computer calculates, a solution step is given, the solution step is decomposed into a magic cube clamping control signal and a rotating motion control signal, and the magic cube clamping control signal and the rotating motion control signal are transmitted to the single chip microcomputer through serial port communication; this is in the prior art. Namely, the control mode of the single chip microcomputer to the mechanical arm 6 belongs to the conventional technology.
The single chip microcomputer transmits clamping control signals to the electric brushes 8 on the two triangular supports 7 respectively, then the clamping control signals are transmitted to the electromagnet 14 through the slip ring 5, an iron core of the electromagnet 14 drives the palm 13 to pop up or shrink, further the copper column 21 moves left and right in the long hole 20, the first finger L-shaped inner side connecting piece 10 and the second finger L-shaped inner side connecting piece 11 are pulled to move, the first finger outer side connecting piece 9 and the second finger outer side connecting piece 12 can also move along with the movement, finally the first two mechanical fingers 16 and the second mechanical fingers 17 keep the vertical end planes of the fingers parallel to the corresponding magic cube plane in the movement process, and control of clamping or loosening two faces of the magic cube respectively is achieved. When the fingers are clamped, the circular hole 18 is superposed with the center of the corresponding color block in the magic cube.
Meanwhile, the single chip microcomputer transmits a rotation motion control signal to the closed-loop stepping motor 4, and after a motor shaft of the closed-loop stepping motor 4 rotates, the mechanical arm 6 rotates along with the motor shaft due to the linkage effect of the coupler 15, so that the rotation control of the magic cube is completed.
5. And repeating the processes 3 and 4 until the magic cube is recovered.
Finally, it is also noted that the above-mentioned list is only a few specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments, and many modifications are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the invention should be considered as within the scope of the invention.
Claims (3)
1. Two shaft magic cube robots, including base (1), its characterized in that: a portal frame (3) is vertically arranged on the base (1), a cross beam (31) parallel to the top of the portal frame (3) is arranged in the portal frame (3), and a camera (2) is fixedly arranged in the middle of each of three frames of the portal frame (3) and the cross beam (31);
the triangular supports (7) are symmetrically distributed by taking a vertical plane where the door-shaped frame (3) is located as a center, and each triangular support (7) is provided with a set of mechanical arm assembly;
each set of mechanical arm component comprises a mechanical arm (6), a coupler (15) and a closed-loop stepping motor (4) which are sequentially connected, a slip ring (5) is sleeved on the coupler (15), and an electric brush (8) matched with the slip ring (5) is arranged on the triangular support (7);
a first mechanical finger (16) and a second mechanical finger (17) are respectively arranged above the mechanical arm (6); a cavity is arranged in the mechanical arm (6), an electromagnet (14) is arranged in the cavity, a palm (13) is arranged above an opening of the cavity, and an iron core of the electromagnet (14) is fixedly connected with the palm (13);
two ends of the palm (13) are respectively provided with a long hole (20), and a copper column (21) capable of moving left and right along the long holes (20) is arranged in each long hole (20);
the mechanical finger I (16) is movably connected with the upper end of the mechanical arm (6) through a finger I outer side connecting piece (9) and a finger I L-shaped inner side connecting piece (10), and the finger I L-shaped inner side connecting piece (10) is connected with a copper column (21);
the second mechanical finger (17) is movably connected with the upper end of the mechanical arm (6) through a second finger outer side connecting piece (12) and a second finger L-shaped inner side connecting piece (11); the finger two L-shaped inner side connecting piece (11) is connected with the other copper column (21).
2. A two-axis magic cube robot as claimed in claim 1, wherein: the first mechanical finger (16) is provided with a through hole (18), and the second mechanical finger (17) is provided with a corresponding through hole (18).
3. A two-axis magic cube robot as claimed in claim 1 or 2, wherein: the triangular supports (7) are right-angled triangular supports, and the inclined planes of the two triangular supports (7) form an included angle of 90 degrees; the robot arm assemblies are arranged on the inclined surfaces of the triangular supports (7) so that the axes of 2 robot arms (6) which are respectively positioned on 1 triangular support (7) are perpendicular to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922104105.2U CN211306327U (en) | 2019-11-29 | 2019-11-29 | Two-axis magic cube robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922104105.2U CN211306327U (en) | 2019-11-29 | 2019-11-29 | Two-axis magic cube robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211306327U true CN211306327U (en) | 2020-08-21 |
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ID=72063606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922104105.2U Expired - Fee Related CN211306327U (en) | 2019-11-29 | 2019-11-29 | Two-axis magic cube robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN211306327U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112857871A (en) * | 2021-01-13 | 2021-05-28 | 广东韶钢松山股份有限公司 | Positioning and sampling device and method for manipulator |
-
2019
- 2019-11-29 CN CN201922104105.2U patent/CN211306327U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112857871A (en) * | 2021-01-13 | 2021-05-28 | 广东韶钢松山股份有限公司 | Positioning and sampling device and method for manipulator |
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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: 20200821 Termination date: 20211129 |