CN215318710U - Four-axis magic cube restores robot - Google Patents
Four-axis magic cube restores robot Download PDFInfo
- Publication number
- CN215318710U CN215318710U CN202120378917.0U CN202120378917U CN215318710U CN 215318710 U CN215318710 U CN 215318710U CN 202120378917 U CN202120378917 U CN 202120378917U CN 215318710 U CN215318710 U CN 215318710U
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- Prior art keywords
- supporting platform
- platform
- magic cube
- supporting
- shaft
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- Expired - Fee Related
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- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000013016 damping Methods 0.000 claims abstract description 5
- 239000013589 supplement Substances 0.000 claims abstract description 5
- 230000006698 induction Effects 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims 1
- 238000011084 recovery Methods 0.000 abstract description 2
- 241000282414 Homo sapiens Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a four-axis magic cube restoration robot, which comprises a supporting platform, wherein four corners of the bottom surface of the supporting platform are connected with a base through damping springs, two corners of the supporting platform are respectively provided with a supporting frame, one end of one supporting frame, which is far away from the supporting platform, is connected with an industrial camera, one end of the other supporting frame, which is far away from the supporting platform, is connected with an induction light supplement lamp, mutually vertical sliding rails are paved on the supporting platform, 4 executing mechanisms which are symmetrical in pairs are installed on the sliding rails, driving shafts of rotating motors of two opposite executing mechanisms are connected with vertical pressing strips, and driving shafts of rotating motors of the other two opposite executing mechanisms are connected with oblique pressing strips. The utility model can realize automatic recovery, is convenient to debug and control, and is convenient for teaching and use.
Description
Technical Field
The utility model belongs to the field of teaching robots, and particularly relates to a four-axis magic cube restoration robot.
Background
In the creative competitive project of the creative competition of the intelligent robot creative competition in colleges and universities, the magic cube robot is designed and manufactured according to the human magic cube competition rules, and the mechanical, electronic, information and natural scientific knowledge are comprehensively utilized to realize the aim of faster calculation and more flexible and rapid turning than human beings. The restoration of the existing magic cube restoration robot can be realized only by long-time debugging before competition or teaching, and the restoration control mechanism is complex and is easy to lose control, so that the restoration fails.
Disclosure of Invention
The utility model aims to solve the technical problem of the prior art, and provides a four-axis magic cube restoration robot which is simple to debug, easy to control, capable of accurately completing magic cube restoration tasks required by competitions within required time, and meanwhile, capable of being used for teaching and convenient for intuitively explaining difficulties in the magic cube restoration process.
The technical scheme adopted by the utility model is as follows: a four-axis magic cube restoration robot comprises a supporting platform, four corners of the bottom surface of the supporting platform are connected with a base through damping springs, two corners of the supporting platform are respectively provided with a supporting frame, one end of one supporting frame, far away from the supporting platform, is connected with an industrial camera, one end of the other supporting frame, far away from the supporting platform, is connected with an induction light supplement lamp, the supporting platform is paved with mutually perpendicular sliding rails, 4 executing mechanisms which are symmetrical with each other in pairs are installed on the sliding rails, each executing mechanism comprises a stepping motor, the stepping motor is fixed on the surface of the supporting platform, a driving shaft of the stepping motor is connected with a driving gear, the top of the driving gear is provided with a sliding platform, the bottom of the sliding platform is provided with a rack meshed with the driving gear, one end, close to the inner side of the supporting platform, of the surface of the sliding platform is provided with a fixed seat, and a rotating motor is installed and fixed on the fixed seat, the fixing seat is characterized in that connecting rods are fixedly connected to two sides of the fixing seat, the bottom ends of the connecting rods are connected with idler wheels through rotating shafts, the idler wheels are arranged on the sliding rails and are in rolling fit with the sliding rails, a driving shaft of a rotating motor of each of two opposite actuating mechanisms is connected with a vertical pressing strip, and a driving shaft of a rotating motor of each of the other two opposite actuating mechanisms is connected with an oblique pressing strip.
Preferably, the axle center of one side of the driving gear, which is far away from the stepping motor, is connected with a rotating shaft, the end part of the rotating shaft is connected with a supporting rod through a shaft sleeve, and the supporting rod is fixed on the surface of a supporting platform.
Preferably, a driving shaft of the rotating motor is connected with the vertical pressing bar or the oblique pressing bar through a triangular pressing bar.
The utility model has the beneficial effects that:
(1) the robot is driven by a pure mechanical transmission mechanism and a stepping motor and a rotating motor, so that the whole robot is simple to debug and easy to control;
(2) the magic cube is restored by adopting a pure mechanical transmission mechanism, and the magic cube can be stopped or started at any time to restore and control, so that each part can be stopped at a stopping position, and teaching can be conveniently carried out after the key position is stopped.
The utility model can realize automatic recovery, is convenient to debug and control, and is convenient for teaching and use.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of an actuator according to the present invention;
fig. 3 is a schematic diagram of the present invention.
In the figure: 1. a support platform; 2. a damping spring; 3. a base; 4. a support frame; 5. an industrial camera; 6. a sensing light supplement lamp; 7. a slide rail; 8. an actuator; 9. pressing strips vertically; 10. oblique layering; 11. a support bar; 81. a stepping motor; 82. a drive gear; 83. a sliding platform; 84. a fixed seat; 85. a rotating electric machine; 86. a connecting rod; 87. a roller; 88. a pressure lever.
Detailed Description
The utility model will be described in further detail with reference to the following drawings and specific embodiments.
Examples
As shown in fig. 1, 2 and 3, the four-axis magic cube restoring robot provided in this embodiment includes a supporting platform 1, four corners of a bottom surface of the supporting platform 1 are connected to a base 3 through damping springs 2, two corners of the supporting platform 1 are respectively provided with a supporting frame 4, one end of one supporting frame 4 away from the supporting platform 1 is connected to an industrial camera 5 through a universal joint, one end of the other supporting frame 4 away from the supporting platform 1 is connected to an induction light supplement lamp 6 through a universal joint, the supporting platform 1 is paved with mutually perpendicular sliding rails 7, the sliding rails 7 are provided with 4 executing mechanisms 8 which are symmetrical with each other two by two, each executing mechanism 8 includes a stepping motor 81, the stepping motor 81 is fixed on the surface of the supporting platform 1 through a base, a driving shaft of the stepping motor 81 is connected to a driving gear 82, and an axis of one side of the driving gear 82 away from the stepping motor 81 is connected to a rotating shaft, the end part of the rotating shaft is connected with a supporting rod 11 through a shaft sleeve, the supporting rod 11 is fixed on the surface of the supporting platform 1, the top of the driving gear 82 is provided with a sliding platform 83, the bottom of the sliding platform 83 is provided with a rack meshed with the driving gear 82, one end of the surface of the sliding platform 83 close to the inner side of the supporting platform 1 is provided with a fixed seat 84, a rotating motor 85 is fixedly arranged on the fixed seat 84, the end part of the driving shaft of the rotating motor 85 is connected with a triangular pressure lever 88, the two sides of the fixed seat 84 are fixedly connected with a connecting rod 86, the bottom end of the connecting rod 86 is connected with a roller 87 through a rotating shaft, the roller 87 is arranged on the sliding rail 7 and is matched with the sliding rail 7 in a rolling way, wherein the driving shaft of the rotating motor 85 of two opposite actuating mechanisms 8 is connected with a vertical pressing bar 9 through a pressing bar 88, the driving shafts of the rotating motors 85 of the other two opposite actuating mechanisms 8 are connected with an oblique pressing strip 10 through a pressing rod 88; the widths of the vertical pressing strips 9 and the widths of the oblique pressing strips 10 are both matched with the width of a single magic cube, meanwhile, the vertical pressing strips 9 and the oblique pressing strips 10 can be realized through the rotating motor 85, and only two opposite actuating mechanisms 8 need to be the vertical pressing strips 9, and the other two opposite actuating mechanisms 8 are the oblique pressing strips 10.
During the use, gather the pattern data of each face of magic cube through industrial camera 5, then through the pattern data of each face of industrial computer analysis magic cube, then give an operating procedure who restores the magic cube, the rethread industrial computer comes control actuating mechanism 8 to restore according to this operating procedure.
The single surface of the magic cube is rotated:
controlling the step motors 81 connected with the two vertical pressing strips 9 to work to drive the driving gears 82 to rotate, so that the sliding platform 83 slides inwards, the two vertical pressing strips 9 press the middle layers of the two opposite sides of the magic cube oppositely to complete the clamping of the magic cube, then controlling the other two step motors 81 connected with the oblique pressing strips 10 to work to press the two oblique pressing strips 10 on the surfaces of the two other sides of the magic cube, and then controlling one rotating motor 85 connected with the oblique pressing strips 10 to work, so that the rotating motor 85 drives the pressing rods 88 to rotate, namely, the pressing strips are driven to rotate, and the magic cube is fixed by the other three parts, so that one surface of the magic cube pressed by the pressing strips rotates, and the rotation of the single surface of the magic cube is realized;
the magic cube is rotated:
the stepping motors 81 of the two opposite actuating mechanisms 8 are controlled to work, so that the vertical pressing strips 9 or the inclined pressing strips 10 of the two actuating mechanisms 8 mutually press the magic cube to realize magic cube clamping, and then the rotating motors 85 of the two clamped actuating mechanisms 8 are controlled to synchronously rotate, so that the rotation of the whole magic cube is completed.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and inventive concept provided by the present invention should be covered within the scope of the present invention.
Claims (3)
1. The utility model provides a four-axis magic cube restores robot which characterized in that: comprises a supporting platform (1), four corners of the bottom surface of the supporting platform (1) are connected with a base (3) through damping springs (2), two corners on the supporting platform (1) are respectively provided with a support frame (4), one end of one support frame (4) far away from the supporting platform (1) is connected with an industrial camera (5), one end of the other support frame (4) far away from the supporting platform (1) is connected with an induction light supplement lamp (6), the supporting platform (1) is paved with mutually vertical slide rails (7), 4 executing mechanisms (8) which are symmetrical with each other in pairs are installed on the slide rails (7), each executing mechanism (8) comprises a stepping motor (81), the stepping motor (81) is fixed on the surface of the supporting platform (1), the driving shaft of the stepping motor (81) is connected with a driving gear (82), and the top of the driving gear (82) is provided with a sliding platform (83), the bottom of sliding platform (83) is the rack with drive gear (82) meshing, and sliding platform (83) surface is close to one end department that supports platform (1) inboard and is equipped with fixing base (84), and the installation is fixed with rotating electrical machines (85) on fixing base (84), fixing base (84) both sides fixedly connected with connecting rod (86), connecting rod (86) bottom are connected with gyro wheel (87) through the pivot, and on slide rail (7) and with slide rail (7) roll cooperation are arranged in gyro wheel (87), wherein the drive shaft of rotating electrical machines (85) of two relative actuating mechanism (8) is connected with vertical layering (9), and the drive shaft of rotating electrical machines (85) of two relative actuating mechanism (8) has slant layering (10) in addition.
2. The four-axis magic cube restoration robot of claim 1, wherein: the shaft center of one side of the driving gear (82) far away from the stepping motor (81) is connected with a rotating shaft, the end part of the rotating shaft is connected with a supporting rod (11) through a shaft sleeve, and the supporting platform (1) surface is fixed by the supporting rod (11).
3. The four-axis magic cube restoration robot of claim 1 or 2, wherein: and a driving shaft of the rotating motor (85) is connected with the vertical pressing strip (9) or the oblique pressing strip (10) through a triangular pressing rod (88).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120378917.0U CN215318710U (en) | 2021-02-02 | 2021-02-02 | Four-axis magic cube restores robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120378917.0U CN215318710U (en) | 2021-02-02 | 2021-02-02 | Four-axis magic cube restores robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215318710U true CN215318710U (en) | 2021-12-28 |
Family
ID=79581500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120378917.0U Expired - Fee Related CN215318710U (en) | 2021-02-02 | 2021-02-02 | Four-axis magic cube restores robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215318710U (en) |
-
2021
- 2021-02-02 CN CN202120378917.0U patent/CN215318710U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20211228 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |