CN211306327U - Two-axis Rubik's Cube Robot - Google Patents

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

Two-axis Rubik's Cube Robot

technical field

The utility model belongs to the technical field of robots, in particular to a mechanical finger of a two-axis Rubik's cube robot and a driving device thereof.

Background technique

At present, with the rapid development of robotics technology, robotics involves more and more aspects, and the field of robotics teaching popularization has also become a research hotspot. As the most popular intellectual toy, the Rubik's Cube robot is very practical and innovative to use the Rubik's Cube robot to carry out science education about robotics. However, most of the existing Rubik's Cube robots use pneumatic structures such as air cylinders, which are costly, complex in structure, poor in human-computer interaction and adaptability, and take a long time to restore the Rubik's Cube, which is difficult to achieve the purpose of teaching. Therefore, building a Rubik's Cube robot with low cost, simple structure and fast recovery speed has high practical value.

Utility model content

The technical problem to be solved by the utility model is to provide a two-axis Rubik's cube robot with simple structure and convenient use.

In order to solve the above technical problems, the present utility model provides a two-axis Rubik's Cube robot (the mechanical finger of the two-axis Rubik's Cube robot and its driving device), which comprises a base, a door-shaped frame is vertically arranged on the base, and an AND gate is arranged in the door-shaped frame. The top of the door-shaped frame is parallel to the beam, and a camera is fixed on the three frames of the door frame and the middle of the beam;

A triangular bracket is symmetrically distributed with the vertical plane where the door frame is located as the center, and each triangular bracket is provided with a set of mechanical arm components;

Each set of mechanical arm components includes a mechanical arm, a coupling and a closed-loop stepping motor connected in sequence, a slip ring is sleeved on the coupling, and a brush matched with the slip ring is arranged on the tripod bracket;

The first mechanical finger and the 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 the opening of the cavity, and the iron core of the electromagnet is connected to the The palm is fixed and connected;

Both ends of the palm have a long hole, and each long hole is equipped with a copper column that can move left and right along the long hole;

The mechanical finger 1 is movably connected with the upper end of the robotic arm through the finger-outer connecting piece and the finger-L-shaped inner connecting piece, and the finger-L-shaped inner connecting piece is connected with a copper column;

The second mechanical finger is movably connected with the upper end of the robotic arm through the second outer connecting piece of the second finger and the second L-shaped inner connecting piece of the second finger; the second L-shaped inner connecting piece of the second finger is connected with another copper column.

As an improvement of the two-axis Rubik's cube robot of the present invention, 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 holes are circular or oval, etc.

As a further improvement of the two-axis Rubik's Cube robot of the present invention: the tripod is a right-angle tripod, and the inclined surfaces of the two tripods form an included angle of 90 degrees; The axes of the two robotic arms on the tripod are perpendicular to each other.

The utility model has the following technical advantages:

1. The control part of the robot finger of the present utility model adopts electromagnet, which has stable performance, low cost, light weight, easy to carry, and more flexible control, which is more suitable for the demonstration and teaching of robot technology;

That is, the driving device for gripping and releasing the robot finger of the present invention is an electromagnet, which replaces the original cylinder driving device, and has the advantages of fast response, low cost, light weight and small volume.

2. The utility model is provided with four cameras, the image recognition is accurate, and with flexible fingers, the Rubik's Cube can be restored more quickly;

3. The mechanical finger of the utility model adopts an elliptical hollow design, which improves the image recognition efficiency and recognition accuracy without affecting the grasping stability;

5. In order to match the driving characteristics of the electromagnet, the two fingers of the present utility model are connected with the mechanical arm etc. by using the I-shaped and L-shaped finger connectors. The structure has stable performance and quick response, and can efficiently complete the action of finger clamping and releasing under the driving of electromagnets.

To sum up, the present invention provides a low-cost, relatively simple structure and short recovery time for a series of problems existing in the existing Rubik's Cube robot, such as high cost, complex structure and long recovery time. The robot uses electromagnets, common slip rings and other devices to replace the original cylinder and air slip rings, which is small in size, light in weight, high in structural stability, and reduced in cost by about 50%.

Description of drawings

The specific embodiments of the present utility model will be further described in detail below with reference to the accompanying drawings.

Fig. 1 is the structural perspective view of the utility model;

Fig. 2 is the front view of the utility model;

Fig. 3 is the side view of the utility model;

4 is a cross-sectional view of the entire robotic arm in the utility model;

5 is a structural perspective view of a robotic arm and a finger of the present invention;

FIG. 6 is a cross-sectional view of the robot arm and fingers of the present invention.

Detailed ways

The present utility model will be further described below with reference to specific embodiments, but the protection scope of the present utility model is not limited thereto.

Embodiment 1. A mechanical finger of a two-axis Rubik's cube robot and its driving device, as shown in Figures 1-6, includes a base 1 to support and carry the entire robot; a door-shaped frame 3 is vertically erected on the base 1 and is connected to the base 1. The base 1 is fixedly connected; a beam 31 parallel to the top of the door frame 3 is arranged in the door frame 3, and a camera 2 is fixed in the middle of the three frames of the door frame 3 and the beam 31 to make it It can take an image of the Rubik’s cube between the robot finger 1 16 and the robot finger 2 17, and the camera 2 transmits the obtained signal to the external computer for processing through the link; a triangle is symmetrically distributed on both sides with the vertical plane where the door frame 3 is located as the center. The bracket 7 and the triangular bracket 7 are right-angle triangular brackets, and the inclined surfaces of the two triangular brackets 7 form an included angle of 90 degrees, so that the axes of the robotic arms 6 located on the triangular bracket 7 are perpendicular to each other.

The devices and structures arranged on each tripod 7 are the same: each tripod 7 is provided with one set of robotic arm assemblies;

Each robotic arm assembly includes a robotic arm 6, a coupling 15 and a closed-loop stepping motor 4 connected in sequence. The robotic arm 6, the coupling 15 and the closed-loop stepping motor 4 are all located on the inclined surface of the tripod 7, and the three The axis lines of (the robotic arm 6, the coupling 15 and the closed-loop stepping motor 4) coincide and are parallel to the inclined plane of the tripod 7. The closed-loop stepping motor 4 is fixedly connected to the tripod 7; the motor of the closed-loop stepping motor 4 The shaft is fixedly connected to the lower end of the robotic arm 6 through the coupling 15 , so that the closed-loop stepping motor 4 can drive the robotic arm 6 to rotate through the coupling 15 . The closed-loop stepping motor 4 is controlled by a peripheral circuit.

The outside of the coupling 15 is sleeved with a slip ring 5 (the inner diameter of the slip ring 5 is consistent with the outer diameter of the coupling 15, and the slip ring 5 can be fixed on the coupling 15 by tightening screws). There is a brush 8 matched with the slip ring 5. The working principle of the slip ring 5 and the brush 8 is: after the brush 8 receives the control signal of the single-chip microcomputer, the control signal is transmitted to the electromagnet 14 through the slip ring 5, so that the The electromagnet 14 drives the palm 13 to pop out or retract, so as to finally control the clamping and releasing actions of the first mechanical finger 16 and the second mechanical finger 17 .

If the brush 8 and the slip ring 5 are not used, the output signal line of the single-chip microcomputer is directly transmitted to the electromagnet 14, which will cause the winding of the line during the rotation of the mechanical arm 6. Therefore, the utility model adopts the brush and the slip ring. Solved the winding problem of the line.

The upper end of the mechanical arm 6 is symmetrically distributed with two ear-shaped protrusions, which are used to install the first mechanical finger 16 and the second mechanical finger 17 .

The mechanical arm 6 is provided with a cavity, an electromagnet 14 is arranged in the cavity, a palm 13 is arranged above the opening of the cavity, and the iron core of the electromagnet 14 is fixed to the center of the palm 13 after sticking out of the cavity The magnetic core of the electromagnet 14 can be controlled to move up and down in the axial direction through the peripheral control circuit, thereby driving the palm 13 to move up and down.

Both ends of the palm 13 are respectively provided with a long hole 20 , and each long hole 20 is provided with a copper column 21 which can move left and right along the long hole 20 .

The mechanical finger-16 is movably connected to an ear-shaped protrusion of the robotic arm 6 through the finger-outer connecting piece 9 (I type) and the finger-L-shaped inner connecting piece 10,

Specifically, the upper ends of the finger-outer connecting piece 9 and the finger-L-shaped inner connecting piece 10 are rotatably connected to the mechanical finger-16 through their respective flange bearings 19, the finger-outer connecting piece 9, and the finger-L-shaped inner connecting piece The lower ends of the parts 10 are movably connected with an ear-shaped protrusion of the robotic arm 6 through their respective flange bearings 19; with respect to the finger-outer connector 9, the finger-L-shaped inner connector 10 is close to the palm 13; The protruding portion of the L-shaped inner connector 10 is connected to one of the copper pillars 21 .

The second mechanical finger 17 is movably connected to another ear-shaped protrusion of the robotic arm 6 through the second outer connecting piece 12 (I type) of the second finger and the second L-shaped inner connecting piece 11 of the second finger, specifically: the second outer connecting piece 12 of the second finger, the second L-shaped finger The upper ends of the inner connecting pieces 11 are connected to the robot finger 2 17 in rotation through their respective flange bearings 19 , and the lower ends of the outer connecting pieces 12 of the second finger and the L-shaped inner connecting pieces 11 of the second finger pass through their respective flange bearings 19 It is movably connected with another ear-shaped protrusion of the robotic arm 6; relative to the second finger outer connecting member 12, the second finger L-shaped inner connecting member 11 is close to the palm 13; the convex part of the second finger L-shaped inner connecting member 11 is connected to the other The copper pillars 21 are connected.

The short inner diameter of the long hole 20 may be slightly larger than the outer diameter of the copper pillar 21 . When the palm 13 is retracted inward, the two copper pillars 21 are located on the inner side of the two long holes 20 respectively; when the palm 13 is ejected outward, the two copper pillars 21 are located on the outer side of the two long holes 20 respectively. Thus, the first mechanical finger 16 and the second mechanical finger 17 can be driven to rotate synchronously.

Both the manipulator finger 1 16 and the manipulator finger 2 17 can be used as parallelograms (with the vertical sides of the finger 1 outer connecting piece 9, the finger 2 outer connecting piece 12, the finger 1 L-shaped inner connecting piece 10, the finger 2 L-shaped inner connecting piece 11). The top edge of the parallelogram), keep the vertical end plane of the finger parallel to the corresponding Rubik's cube plane during movement, so that the finger can hold the Rubik's cube firmly.

The two cameras located at the left and right ends of the door-shaped frame 3 in the camera 2 have their shooting axes corresponding to the center of the center color block of the relevant Rubik's cube plane. The first robot finger 16 and the second robot finger 17 have a through hole 18 (for example, a circular hole) in the middle, so as to prevent the color of the Rubik's cube from being blocked and the recognition being disturbed.

The specific working process of the two-axis Rubik's cube robot is as follows:

1. The Rubik's Cube is placed at the angle formed by the two mechanical arms 6, and the Rubik's Cube is carried and fixed by two pairs of mechanical fingers one 16 and two mechanical fingers 17;

Two pairs of fingers can clamp and carry the two faces of the Rubik's Cube with an angle of 90 degrees adjacent to each other, and make a rotating motion under the driving of the robotic arm 6 to control the rotation of the two sandwiched faces or control the Rubik's Cube to turn over to switch the rotating face. .

2. Start the two-axis Rubik's cube robot, which belongs to the prior art;

3. The external computer controls the four cameras 2 to take pictures of the Rubik's Cube from four directions, up, down, left, and right, and transmit the resulting images to the computer for processing; this belongs to the prior art;

4. After the computer performs the calculation, the solution steps are given, and the solution steps are decomposed into the Rubik's cube clamping control signal and the rotating motion control signal, which are transmitted to the single-chip microcomputer through serial communication; this belongs to the prior art. That is, the control method of the robot arm 6 by the single-chip microcomputer belongs to the conventional technology.

The single-chip microcomputer transmits the clamping control signal to the brushes 8 on the two tripods 7 respectively, and then transmits it to the electromagnet 14 through the slip ring 5. The iron core of the electromagnet 14 drives the palm 13 to pop up or shrink, thereby making the copper column 21 in the Move left and right in the long hole 20, pull the finger-1 L-shaped inner connecting piece 10 and the finger-2 L-shaped inner connecting piece 11 to move, the finger-1 outer connecting piece 9 and the finger-2 outer connecting piece 12 will also move accordingly, and finally make the two mechanical The first finger 16 and the second mechanical finger 17 keep the vertical end plane of the finger parallel to the corresponding Rubik's cube plane during the movement, so as to realize the control of clamping or loosening the two faces of the Rubik's Cube respectively. When the fingers are clamped, the circular hole 18 coincides with the center of the corresponding color block in the Rubik's cube.

At the same time, the single-chip microcomputer transmits the rotational motion control signal to the closed-loop stepping motor 4. After the motor shaft of the closed-loop stepping motor 4 rotates, the mechanical arm 6 also rotates due to the linkage of the coupling 15, thereby completing the Rubik's Cube. rotation control.

5. Repeat the process of 3 and 4 above until the cube is restored.

Finally, it should also be noted that the above 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 deformations that those of ordinary skill in the art can directly derive or associate from the disclosure of the present invention should be considered as the protection scope of the present 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.

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