CN214446442U - Magic cube solving robot - Google Patents
Magic cube solving robot Download PDFInfo
- Publication number
- CN214446442U CN214446442U CN202120352338.9U CN202120352338U CN214446442U CN 214446442 U CN214446442 U CN 214446442U CN 202120352338 U CN202120352338 U CN 202120352338U CN 214446442 U CN214446442 U CN 214446442U
- Authority
- CN
- China
- Prior art keywords
- magic cube
- centre gripping
- support frame
- install
- base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a solve magic cube robot, the on-line screen storage device comprises a base, the arm, a support frame, industry camera and control module, the base is the rectangle, all install the arm on the two adjacent angles of base, the arm includes the support, steering wheel and centre gripping subassembly, the support mounting is on the base, install the steering wheel that the output shaft level set up on the support, install on the steering wheel and drive magic cube pivoted centre gripping subassembly, the centre gripping subassembly of two arms constitutes and magic cube profile complex centre gripping space, install the support frame on the bottom plate relative with two arms place curb plates, install industry camera on the support frame, install the control module who handles industry camera information and control steering wheel and centre gripping subassembly on the bottom plate. The utility model discloses a set up arm, support frame, industrial camera and control module on the bottom plate, make all parts more stable, practiced thrift the space moreover, simultaneously because small for its reaction is rapider, has guaranteed the speed that the magic cube reduced.
Description
Technical Field
The utility model relates to an intelligent robot field especially relates to a solve magic cube robot.
Background
The magic cube solving competition robot is a combination of various knowledge such as machine vision, image processing, magic cube algorithm, robot technology and the like, and aims to apply the knowledge to the solving of the magic cube in a crossed manner to achieve the rapid and stable restoration of the magic cube, and has high requirements on knowledge in various fields, so that the magic cube solving robot has great theoretical significance and engineering innovation value in research and development. The design of a robot system capable of solving magic cubes stably and rapidly is extremely difficult, and various magic cube solving robot competitions are endless in recent years. In the existing magic cube solving competition, the clamping force of the robot directly acts on the magic cube, the magic cube is easily damaged, and the competition cannot be normally carried out, so that the magic cube solving robot not only needs to be capable of quickly restoring, but also needs to reduce the damage to the magic cube.
Disclosure of Invention
An object of the utility model is to provide a solve magic cube robot, this robot causes the magic cube to damage when can preventing the centre gripping magic cube, has prolonged the life of magic cube, can guarantee the reduction speed of magic cube simultaneously.
The utility model aims at realizing through the following technical scheme:
the utility model provides a solve magic cube robot, includes base, arm, support frame, industry camera and control module, the base is the rectangle, all installs the arm on the adjacent two angles of base, the arm includes support, steering wheel and centre gripping subassembly, the support mounting is on the base, installs the steering wheel that the output shaft level set up on the support, installs on the steering wheel and drives magic cube pivoted centre gripping subassembly, and the centre gripping subassembly of two arms constitutes and magic cube profile complex centre gripping space, installs the support frame on the bottom plate relative with two arms place curb plates, install industry camera on the support frame, install the control module who handles industry camera information and control steering wheel and centre gripping subassembly on the bottom plate.
The centre gripping subassembly includes supporting shoe, back shaft, bracing piece, electric putter, connecting rod and clamping jaw, it has vertical spout that runs through to process on the lateral wall that the supporting shoe is close to centre gripping space one side, and the supporting shoe mid-mounting that faces away from with the spout in opposite directions has the back shaft with steering wheel output shaft, all process on the supporting shoe at spout both ends and connect the arch, install the bracing piece along spout length direction is parallel on every connection arch, and the one end that the supporting shoe was kept away from to every bracing piece all articulates there is electric putter, and electric putter towards centre gripping space, and electric putter's the end that stretches out all articulates there is the connecting rod, and the gliding clamping jaw along spout length direction is all installed at the both ends of spout, and the one end that the clamping jaw was kept away from to every connecting rod is articulated with adjacent clamping jaw.
The support frame is the type of falling L, installs the industry camera that aligns with the centre gripping space on support frame top and the lateral wall.
The control module comprises a steering engine controller, a main control chip and an industrial personal computer, wherein the steering engine controller, the main control chip and the industrial personal computer are all installed on the base and are connected with one another, and the steering engine controller is connected with steering engines of the two mechanical arms respectively.
The utility model provides a solve magic cube robot has beneficial effect is:
(1) the mechanical arm, the support frame, the industrial camera and the control module are arranged on the bottom plate, so that all parts are more stable, the space is saved, and meanwhile, due to the small size, the reaction is quicker, and the speed of restoring the magic cube is ensured;
(2) through setting up electric putter and driving the connecting rod and rotate, the connecting rod drives the clamping jaw and slides along the spout when rotating, can press from both sides tightly and relax the magic cube fast on the one hand, and on the other hand has removed from directly acting on the clamping jaw with thrust, and the effectual magic cube that has prevented is pressed from both sides badly to the life of extension magic cube.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram provided in the embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a mechanical arm provided by an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a supporting block according to an embodiment of the present invention.
Fig. 4 is a schematic view of a usage status provided by the embodiment of the present invention.
Reference numerals: 1. a base; 2. a mechanical arm; 21. a support; 22. a steering engine; 23. a clamping assembly; 231. a support block; 232. a chute; 233. a connecting projection; 234. a support shaft; 235. a support bar; 236. an electric push rod; 237. a connecting rod; 238. a clamping jaw; 3. a support frame; 4. an industrial camera; 5. a control module; 51. a steering engine controller; 52. a main control chip; 53. and an industrial personal computer.
Detailed Description
Examples
As shown in fig. 1 to 3, the magic cube solving robot provided in this embodiment includes a base 1, a mechanical arm 2, a support frame 3, an industrial camera 4 and a control module 5, where the base 1 is rectangular, the mechanical arm 2 is installed on two adjacent corners of the base 1, the mechanical arm 2 includes a support frame 21, a steering engine 22 and a clamping assembly 23, the support frame 3 is installed on the base 1, the steering engine 22 with an output shaft horizontally arranged is installed on the support frame 21, the clamping assembly 23 driving the magic cube to rotate is installed on the steering engine 22, the clamping assemblies 23 of the two mechanical arms 2 form a clamping space matched with the outline of the magic cube, the magic cube is placed in the clamping space when in use, the clamping assembly 23 includes a support block 231, a support shaft 234, a support rod 235, an electric push rod 236, a connecting rod 237 and a clamping jaw 238, a vertically penetrating chute 232 is processed on a side wall of the support block 231 near the clamping space, a support shaft 234 connected with the output shaft of the steering engine 22 is arranged in the middle of the support block 231 opposite to the sliding groove 232, connecting protrusions 233 are processed on the support blocks 231 at the two ends of the sliding groove 232, a support rod 235 parallel to the length direction of the sliding groove 232 is arranged on each connecting protrusion 233, one end of each support rod 235 far away from the support block 231 is hinged with an electric push rod 236, the electric push rod 236 faces towards a clamping space, the extending end of the electric push rod 236 is hinged with a connecting rod 237, clamping jaws 238 sliding along the length direction of the sliding groove 232 are arranged at the two ends of the sliding groove 232, one end of each connecting rod 237 far away from the clamping jaws 238 is hinged with the adjacent clamping jaws 238, when in use, the support blocks 231, the electric push rods 236 and the connecting rods 237 form a triangle, when the electric push rods 236 extend out, a force for driving the connecting rods 237 to rotate is generated, and in the rotating process of the connecting rods 237, a force for driving the clamping jaws 238 to slide in the sliding groove 232 is generated, but the force of the electric push rod 236 acting on the magic cube is reduced, the force of the electric push rod 236 is prevented from directly acting on the magic cube, the damage of the magic cube is avoided, in order to prevent the clamping jaw 238 from blocking the industrial camera, the size of the clamping jaw 238 is matched with the size of a single square of the magic cube, a support frame 3 is arranged on a bottom plate opposite to a side plate where the two mechanical arms 2 are arranged, the support frame 3 is in an inverted L shape, the top and the side wall of the support frame 3 are provided with industrial cameras 4 aligned with the clamping space, the two industrial cameras 4 can shoot the images of each surface of the magic cube by matching with the steering engine 22, a control module 5 for processing the information of the industrial cameras 4 and controlling the steering engine 22 and the clamping assembly 23 is arranged on the bottom plate, the control module 5 comprises a steering engine 22 controller, a main control chip 52 and an industrial control computer 53, the steering engine 22 controller, the main control chip 52 and the industrial control computer 53 are all arranged on the base 1 and are connected with each other, the steering engine 22 controller is connected with the steering engines 22 of the two mechanical arms 2 respectively, when the magic cube restoring device is used, the industrial camera 4 transmits data of each side of a photographed magic cube to the industrial personal computer 53, the industrial personal computer 53 calculates the restoring step of the magic cube and then transmits the data to the main control chip 52, the main control chip 52 writes control information according to programs after receiving signals and transmits the control information to the steering engine 22 controller, and the steering engine 22 controller controls the steering engine 22 and the clamping assembly 23 to be matched with each other to achieve restoring of the magic cube.
The utility model discloses a use method is:
when the magic cube is used, as shown in fig. 4, the magic cube is placed on a clamping space formed by two clamps, the clamping assembly 23 is controlled to clamp the magic cube, when the magic cube is clamped, the electric push rod 236 extends out to drive the connecting rod 237 to rotate, the connecting rod 237 slowly pushes the clamping jaws 238 to slide in the sliding grooves 232 when rotating, the two clamping jaws 238 are used for clamping the magic cube, then the magic cube is shot through the two industrial cameras 4, the image information of each surface of the magic cube which is captured is transmitted to the industrial personal computer 53, after the industrial personal computer 53 calculates the optimal step, the processing step is transmitted to the main control chip 52, after the main control chip 52 receives a signal, the installation program generates an operation step, the operation step is transmitted to the steering engine 22 controller, and the steering engine 22 controller controls the corresponding steering engine 22 to rotate for a certain angle according to the program of the main control chip 52, so that the integral rotation or the rotation of a certain surface of the magic cube is realized. When the magic cube is rotated integrally, the two electric push rods 236 on the other mechanical arm 2 are retracted to drive the connecting rod 237 to rotate reversely, and simultaneously drive the clamping jaws 238 connected with the connecting rod to slide along the two ends of the sliding groove 232 for loosening the magic cube.
The above is only the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and the utility model should be covered in the protection scope of the present invention. It should be noted that structures or components illustrated in the drawings are not necessarily drawn to scale, and descriptions of well-known components and processing techniques and technologies are omitted to avoid unnecessarily limiting the invention.
Claims (4)
1. A solve magic cube robot which characterized in that: including base, arm, support frame, industrial camera and control module, the base is the rectangle, all installs the arm on the adjacent two angles of base, the arm includes support, steering wheel and centre gripping subassembly, the support mounting is on the base, installs the steering wheel that the output shaft level set up on the support, installs the centre gripping subassembly that drives magic cube pivoted on the steering wheel, and the centre gripping subassembly of two arms constitutes the centre gripping space with magic cube profile complex, installs the support frame on the bottom plate relative with two arms place curb plates, install industrial camera on the support frame, install the control module who handles industrial camera information and control steering wheel and centre gripping subassembly on the bottom plate.
2. A magic cube-solving robot as claimed in claim 1, wherein: the centre gripping subassembly includes supporting shoe, back shaft, bracing piece, electric putter, connecting rod and clamping jaw, it has vertical spout that runs through to process on the lateral wall that the supporting shoe is close to centre gripping space one side, and the supporting shoe mid-mounting that faces away from with the spout in opposite directions has the back shaft with steering wheel output shaft, all process on the supporting shoe at spout both ends and connect the arch, install the bracing piece along spout length direction is parallel on every connection arch, and the one end that the supporting shoe was kept away from to every bracing piece all articulates there is electric putter, and electric putter towards centre gripping space, and electric putter's the end that stretches out all articulates there is the connecting rod, and the gliding clamping jaw along spout length direction is all installed at the both ends of spout, and the one end that the clamping jaw was kept away from to every connecting rod is articulated with adjacent clamping jaw.
3. A magic cube-solving robot as claimed in claim 1, wherein: the support frame is the type of falling L, installs the industry camera that aligns with the centre gripping space on support frame top and the lateral wall.
4. A magic cube-solving robot as claimed in claim 1, wherein: the control module comprises a steering engine controller, a main control chip and an industrial personal computer, wherein the steering engine controller, the main control chip and the industrial personal computer are all installed on the base and are connected with one another, and the steering engine controller is connected with steering engines of the two mechanical arms respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120352338.9U CN214446442U (en) | 2021-02-02 | 2021-02-02 | Magic cube solving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120352338.9U CN214446442U (en) | 2021-02-02 | 2021-02-02 | Magic cube solving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214446442U true CN214446442U (en) | 2021-10-22 |
Family
ID=78137410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120352338.9U Expired - Fee Related CN214446442U (en) | 2021-02-02 | 2021-02-02 | Magic cube solving robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214446442U (en) |
-
2021
- 2021-02-02 CN CN202120352338.9U patent/CN214446442U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN117001647B (en) | Multi-angle grabbing device based on three-dimensional positioning and grabbing method thereof | |
| CN214446442U (en) | Magic cube solving robot | |
| CN108285087A (en) | A kind of clamping holding device of aluminium cell | |
| CN110351485A (en) | A kind of machine vision tracking rotation device and control method | |
| CN209054266U (en) | A kind of thermal imaging system auxiliary stabilizing device | |
| CN215325380U (en) | Full-automatic turnover mechanism for notebook computer | |
| CN210115547U (en) | Soldering tin machine tool | |
| CN210998743U (en) | Magic cube solving robot | |
| CN211306327U (en) | Two-axis magic cube robot | |
| CN213065328U (en) | Tracking cradle head | |
| CN113141500A (en) | Three-dimensional image acquisition system | |
| CN220471102U (en) | Image shooting device capable of being adjusted at multiple angles | |
| CN218819014U (en) | Movable mounting bracket of camera | |
| CN213828671U (en) | Clamping device is used in processing of industrial electronic watch | |
| CN218348259U (en) | Intelligent monitoring device for indoor power distribution construction | |
| CN206290928U (en) | Image processing equipment support based on multimedia teaching | |
| CN216040689U (en) | Combined self-locking clamp for bridge cable | |
| CN220051481U (en) | Processing tool capable of being clamped rapidly | |
| CN205989340U (en) | Mechanical hand machinery arm configuration | |
| CN219326299U (en) | Robot clamp | |
| CN210398216U (en) | Clamp for clamping photographic equipment | |
| CN218124787U (en) | Multifunctional computer external camera | |
| CN216611311U (en) | Mechanical equipment's for electromechanical engineering conveyor | |
| CN218095076U (en) | Belt conveyor of convenient assembly is with equipment support that patrols and examines | |
| CN212169625U (en) | Clamping device with steering function for machining mechanical rotating shaft |
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: 20211022 |