CN214055291U - Magic cube robot twisting mechanism - Google Patents
Magic cube robot twisting mechanism Download PDFInfo
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- CN214055291U CN214055291U CN202022740849.6U CN202022740849U CN214055291U CN 214055291 U CN214055291 U CN 214055291U CN 202022740849 U CN202022740849 U CN 202022740849U CN 214055291 U CN214055291 U CN 214055291U
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- magic cube
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Abstract
The utility model relates to a magic cube robot twisting mechanism; the device comprises a base and 4 groups of translation and rotation devices arranged on the base, wherein the 4 groups of translation and rotation devices are arranged in a pairwise opposite manner along the horizontal longitudinal and transverse directions; each group of translation and rotation devices comprises a stepping motor, a crank connecting rod mechanism, a steering engine and a magic cube claw; an output shaft of the stepping motor is connected with the steering engine through a crank link mechanism and can enable the steering engine to horizontally move longitudinally or transversely, and the output shaft of the steering engine is connected with the magic cube clamping jaws and can drive the magic cube clamping jaws to rotate around a horizontal axis; the magic cube clamping jaws are used for clamping a magic cube. The utility model discloses can simulate the manual action of people and twist and move the magic cube, adopt cross spatial structure, observe the space big.
Description
Technical Field
The utility model relates to a teaching robot technical field especially relates to a magic cube robot twists moving mechanism.
Background
The magic cube is an intelligent game which is very popular in people during off-hours, and not only can exercise the thinking, space imagination, hand-brain linkage and other abilities of people, but also can strengthen the learning ability of people, so that the amateur life becomes more colorful.
At present, many teaching courses related to the magic cube exist, however, most of the magic cube adopts a written teaching mode, and people with poor space stereoscopic impression are difficult to learn. Subsequently, a magic cube robot has been developed, which has a magic cube twisting mechanism, and after the magic cube-unlocking software is provided, the magic cube can be restored, thereby providing teaching effects for a person who learns the magic cube.
SUMMERY OF THE UTILITY MODEL
The utility model provides a magic cube robot twists moving mechanism can simulate the manual action of people and twist and move the magic cube, adopts cross spatial structure, and the observation space is big.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a magic cube robot twisting mechanism comprises a base and 4 groups of translation and rotation devices arranged on the base, wherein the 4 groups of translation and rotation devices are arranged in a pairwise opposite mode along the horizontal longitudinal and transverse directions; each group of translation and rotation devices comprises a stepping motor, a crank connecting rod mechanism, a steering engine and a magic cube claw; an output shaft of the stepping motor is connected with the steering engine through a crank link mechanism and can enable the steering engine to horizontally move longitudinally or transversely, and the output shaft of the steering engine is connected with the magic cube clamping jaws and can drive the magic cube clamping jaws to rotate around a horizontal axis; the magic cube clamping jaws are used for clamping a magic cube.
A magic cube robot twisting mechanism also comprises a control system; and the control system is respectively connected with the stepping motors and the steering engines in each group of the translation and rotation devices.
The base is of a cross-shaped frame structure, and linear guide rails are respectively arranged at the top of the cross-shaped frame along the transverse direction and the longitudinal direction; the steering engine is installed on the steering engine retainer, and the bottom of the steering engine retainer is provided with a sliding block which is matched with the corresponding linear guide rail to slide.
The base is made of an aluminum alloy profile.
The stepping motor is fixed on the base through a stepping motor retainer.
The crank-link mechanism is composed of a crank and a connecting rod, one end of the crank is fixedly connected with an output shaft of the stepping motor, the other end of the crank is hinged with one end of the connecting rod, and the other end of the connecting rod is hinged with a corresponding sliding block.
The stepping motor is a two-phase stepping motor, the stepping angle of the stepping motor is 1.8 degrees, the rated current of the stepping motor is 1.7A, and the torque of the stepping motor is 420 mN.m.
The steering engine is an HL-ZX01S/HL-ZX01D bus steering engine, the rotating speed is 0.16sec/60 degrees, and the rotating precision is 0.24 degrees.
Compared with the prior art, the beneficial effects of the utility model are that:
1) the twisting mechanism is provided for the magic cube robot, and can simulate the action of hands to twist the magic cube;
2) a cross stereo structure is adopted, so that the observation space is large; when the magic cube robot is used for magic cube robots, the restoration process of the magic cube is conveniently observed from all angles, and therefore the teaching effect is improved.
Drawings
Fig. 1 is an isometric view of the twisting mechanism of the magic cube robot of the present invention.
Fig. 2 is a front view of the twisting mechanism of the magic cube robot of the present invention.
Fig. 3 is a top view of fig. 2.
In the figure: 1. base 2, step motor 3, step motor retainer 4, crank 5, connecting rod 6, linear guide 7, slider 8, steering wheel retainer 9, steering wheel 10, magic cube claw
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
as shown in fig. 1-3, the magic cube robot screwing mechanism of the present invention comprises a base 1 and 4 sets of translation and rotation devices disposed on the base 1, wherein the 4 sets of translation and rotation devices are disposed along the horizontal longitudinal and transverse directions in a pairwise opposite manner; each group of translation and rotation devices comprises a stepping motor 2, a crank link mechanism, a steering engine 9 and a magic cube claw 10; an output shaft of the stepping motor 2 is connected with a steering engine 9 through a crank link mechanism, the steering engine 9 can horizontally move along the longitudinal direction or the transverse direction, and an output shaft of the steering engine 9 is connected with a magic cube clamping jaw 10 and can drive the magic cube clamping jaw 10 to rotate around a horizontal axis; the puzzle claw 10 is used for clamping a puzzle.
A magic cube robot twisting mechanism also comprises a control system; and the control system is respectively connected with the stepping motors 2 and the steering engines 9 in each group of the translation and rotation devices.
The base 1 is of a cross-shaped frame structure, and linear guide rails 6 are respectively arranged at the top of the cross-shaped frame along the transverse direction and the longitudinal direction; the steering engine 9 is installed on the steering engine retainer 8, and the bottom of the steering engine retainer 8 is provided with a sliding block 7 which is matched with the corresponding linear guide rail 6 to slide.
The base 1 is made of an aluminum alloy profile.
The stepping motor 2 is fixed on the base 1 through a stepping motor retainer 3.
The crank link mechanism is composed of a crank 4 and a connecting rod 5, one end of the crank 4 is fixedly connected with an output shaft of the stepping motor 2, the other end of the crank is hinged with one end of the connecting rod 5, and the other end of the connecting rod 5 is hinged with a corresponding sliding block 7.
The stepping motor 2 is a two-phase stepping motor, the stepping angle of the two-phase stepping motor is 1.8 degrees, the rated current of the two-phase stepping motor is 1.7A, and the torque of the two-phase stepping motor is 420 mN.m.
The steering engine 9 is an HL-ZX01S/HL-ZX01D bus steering engine, the rotating speed is 0.16sec/60 degrees, and the rotating precision is 0.24 degrees.
The magic cube robot twisting mechanism of the utility model is a mechanical transmission structure, and the main function is realized by 4 groups of translation rotating devices; in each group of translation rotating devices, the stepping motor and the crank connecting rod mechanism are used for realizing translation of the steering engine, and the rotation motion of the motor shaft is changed into linear motion by adopting the principle of crank connecting rod transmission. The steering wheel is used for realizing the rotation of magic cube jack catch.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (8)
1. A magic cube robot twisting mechanism is characterized by comprising a base and 4 groups of translation rotating devices arranged on the base, wherein the 4 groups of translation rotating devices are arranged in a pairwise opposite manner along the horizontal longitudinal and transverse directions; each group of translation and rotation devices comprises a stepping motor, a crank connecting rod mechanism, a steering engine and a magic cube claw; an output shaft of the stepping motor is connected with the steering engine through a crank link mechanism and can enable the steering engine to horizontally move longitudinally or transversely, and the output shaft of the steering engine is connected with the magic cube clamping jaws and can drive the magic cube clamping jaws to rotate around a horizontal axis; the magic cube clamping jaws are used for clamping a magic cube.
2. A magic cube robot twisting mechanism, as claimed in claim 1, further comprising a control system; and the control system is respectively connected with the stepping motors and the steering engines in each group of the translation and rotation devices.
3. The magic cube robot screwing mechanism of claim 1, wherein the base is a cross-shaped frame structure, and linear guide rails are respectively arranged on the top of the cross-shaped frame along the transverse direction and the longitudinal direction; the steering engine is installed on the steering engine retainer, and the bottom of the steering engine retainer is provided with a sliding block which is matched with the corresponding linear guide rail to slide.
4. A magic cube robot twisting mechanism, as claimed in claim 1, wherein the base is made of aluminium alloy section.
5. A magic cube robot twisting mechanism, as claimed in claim 1, wherein the stepper motor is fixed to the base by a stepper motor holder.
6. The magic cube robot screwing mechanism according to claim 1, wherein the crank-link mechanism is composed of a crank and a link, one end of the crank is fixedly connected with an output shaft of the stepping motor, the other end of the crank is hinged with one end of the link, and the other end of the link is hinged with a corresponding slider.
7. A magic cube robot twisting mechanism as claimed in claim 1, wherein the stepper motor is a two-phase stepper motor with a step angle of 1.8 °, a rated current of 1.7A, and a torque of 420mN · m.
8. A magic cube robot screwing mechanism as claimed in claim 1, wherein the steering engine is a HL-ZX01S/HL-ZX01D bus steering engine, the rotation speed is 0.16sec/60 °, and the rotation accuracy is 0.24 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022740849.6U CN214055291U (en) | 2020-11-24 | 2020-11-24 | Magic cube robot twisting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022740849.6U CN214055291U (en) | 2020-11-24 | 2020-11-24 | Magic cube robot twisting mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN214055291U true CN214055291U (en) | 2021-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022740849.6U Active CN214055291U (en) | 2020-11-24 | 2020-11-24 | Magic cube robot twisting mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112606005A (en) * | 2020-11-24 | 2021-04-06 | 辽宁科技大学 | Intelligent magic cube robot |
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2020
- 2020-11-24 CN CN202022740849.6U patent/CN214055291U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112606005A (en) * | 2020-11-24 | 2021-04-06 | 辽宁科技大学 | Intelligent magic cube robot |
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