SK72014U1 - Two arm mechanism for folding the Rubik's Cube - Google Patents

Abstract

The two-arm Rubik's cube assembly consists of a support frame (1), support profiles (2) and two handling arms (3), the arm consists of a pneumatic linear actuator (4), a linear coupling (5), a pneumatic rocker drive (6) , swivel coupling (7), pneumatic gripper (8), jaws (9) and pneumatic throttle valves (10).

Description

The technical solution generally relates to a constructional solution of a device for folding a Rubik's cube, which is adapted especially for handling a 3x3x3 Rubik's cube with dimensions of 57x57x57 mm or for handling other present items. The technical solution generally falls within robotic technology.

BACKGROUND OF THE INVENTION

Existing devices for folding Rubik's cube are designed on the basis of servo drives with special gripping heads of various shapes. These tentacles catch the cube all around the perimeter or only in the middle of the cube. Also, the number of cube gripper servo drives varies and ranges from 2 to 6. At present, there are known devices for folding a Rubik cube built from a cube or a cube consisting of dedicated devices and two-arm robots.

The essence of the technical solution

The essence of the proposed technical solution of the two-arm mechanism for folding Rubik's cube consists in the construction of a square-shaped supporting frame oriented diagonally perpendicular to the horizontal plane, to which two identical manipulation arms clamping at right angles to each other. a linear drive which is mounted to the support frame, wherein a sliding portion of the pneumatic linear drive is fitted with a linear clutch to which the pneumatic part-turn actuator is mounted and a rotary part of the pneumatic part-drive is mounted on which the pneumatic gripper is mounted; T-shaped jaws are attached to the pneumatic gripper fingers by means of mounting joints. In the initial state prior to insertion of the workpiece into the jaws, both the pneumatic linear actuators are in the extended state and the pneumatic rotary actuators are rotated so that the jaws in the expanded state are in a horizontal plane. The pneumatic part-turn actuator rotates with the object clamped between the jaws in the range of 0 ° to 90 °. The design of the two-armed mechanism for folding the Rubik's cube is designed to precisely manipulate and fold the Rubik's cube.

Picture overview / W

The two-arm mechanism for folding the Rubik's cube according to this invention will be illustrated in more detail by means of the figures:

In FIG. 1 is a front view of a two-armed mechanism for folding a Rubik's cube with a description of the components.

In FIG. 2 shows the overall arrangement of the functional parts of the arm in an exploded state with a description of the individual parts.

Exemplary embodiment ______—— .......—- ......... .......

Example:

The mechanical part of the twin-arm mechanism for folding the Rubik's cube consists of a square-shaped support frame 1, composed of aluminum mounting profiles and stored

On the support profiles 2. Two arms 3 are mounted to the support frame 1, being located at the bottom of the support frame 1 and oriented with the jaws to each other, clamping at right angles to each other. The arm 3 itself consists of a pneumatic linear drive 4, which is connected to a pneumatic rocker 6 by means of a linear clutch 5, which is connected to the pneumatic gripper 8 to which the pair of jaws 9 is connected by a rocker 7.

With respect to the embodiment of the arm 3, the linear clutch 5 is attached by the underside to the ejection part 4a of the pneumatic linear drive 4 and by the upper side to the pneumatic part-turn actuator 6. T-shaped jaws 9 are mounted on the fingers 8a of the pneumatic gripper 8. The jaws 9 are adapted to grip the cube by only one center row of the Rubik's cube.

The velocity of the individual pneumatic components is controlled by the pneumatic throttle valves 10 which are located on each pneumatic member.

Industrial usability

The device according to the proposed solution can be used to manipulate the Rubik's cube with various variants of 3x3x3, 4x4x4 and others, after corresponding adaptation of individual dimensions of the device. The mechanism can be equipped with a camera and software system for folding Rubik's cube from any of the unfolded combinations.

Claims (3)

PROTECTION REQUIREMENTS A two-armed mechanism for folding a Rubik cube, characterized in that it consists of a square-shaped support frame (1) oriented diagonally perpendicular to the horizontal plane to which two identical handling arms (3) at right angles to each other are mounted and for stability two support profiles (2) are mounted at the bottom of the support frame (1). A two-armed mechanism for folding a cube according to claim 1, characterized in that the handling arm (3) is composed of a pneumatic linear drive (4) which is mounted to the support frame (1) and to the extension part (4a). a pneumatic linear drive (4) is fitted with a linear clutch (5) to which the pneumatic part-turn actuator (6) is mounted and a rotary part (6a) of the pneumatic part-turn actuator (6) is mounted on which the mounting part is mounted a pneumatic gripper (8), wherein T-shaped jaws (9) are fastened to the fingers (8a) of the pneumatic gripper (8) by mounting joints (9). A two-armed mechanism for folding a cube according to claims 1 and 2, characterized in that the support frame (1) is composed of mounting aluminum profiles. -7 " Fig. 1 • · · · · φ · · · · · f f Μ Μ 7- Fig. 2 INDUSTRIAL PROPERTY OFFICE OF THE SLOVAK REPUBLIC Svermova 43, 974 04 Banska Bystrica 4 RESEARCH RESEARCH PÚV 7-2014 A. Classification of the subject of the utility model application according to the IPC B25J 9/02, B25J 11/00, A63F 9/08 B. Search Areas_________________________________________ Survey in minimal PCT documentation: B25J, A63F Survey in non-PCT documentation: B25J, A63F