CN210998743U - Magic cube solving robot - Google Patents

Abstract

The utility model discloses a magic cube solving robot, which comprises a base, wherein an oblique angle platform is symmetrically arranged on the base, an mechanical arm is arranged on the oblique angle platform along the oblique direction of the oblique angle platform, the mechanical arm comprises a clamping mechanism, a rotating mechanism and a driving mechanism, the rotating mechanism comprises an air slip ring and a bearing device, the clamping mechanism comprises a pneumatic clamping jaw, the pneumatic clamping jaw is arranged on the top surface of the bearing device, the pneumatic clamping jaw is connected with a rotor of the air slip ring through an auxiliary air pipe, a stator of the air slip ring is connected with a main air pipe, the main air pipe is connected with an air pump, and a; the two clamping mechanisms form a magic cube rotating platform; the magic cube rotating platform is characterized by further comprising four wide-angle industrial cameras, wherein the four wide-angle industrial cameras are respectively arranged on the upper side, the lower side, the left side and the right side of the magic cube rotating platform. The utility model discloses can realize that both arms restore the magic cube to promote image recognition efficiency, and then promote magic cube restoration efficiency.

Description

A Rubik's Cube Solving Robot

technical field

The utility model relates to the field of teaching robots, in particular to a Rubik's cube solving robot.

Background technique

With the development of science and technology, Rubik's cube restoration is a perfect combination of human intelligence and physical strength, full of challenges. In many competitions at home and abroad, the Rubik's Cube Restoration Race is listed as a sub-item, and the record of the shortest time for restoring the Rubik's Cube is constantly being refreshed. Therefore, it is necessary to design a device for automatically solving the Rubik's Cube.

Most of the existing Rubik's Cube restoration robots use three or more clamping mechanisms. Three or more clamping mechanisms need to complete the clamping and rotation of the Rubik's Cube, which requires higher requirements for the placement of the Rubik's Cube and the control system. Therefore, it is a key issue to study a Rubik's cube restoration robot with double gripping mechanism imitating human hands. On the other hand, the existing Rubik's cube solving robots mostly use a single camera for image acquisition, which is inefficient.

Utility model content

The purpose of the present utility model is to provide a Rubik's Cube solving robot capable of imitating the double-arm restoration of the Rubik's Cube, so as to solve the problems raised by the above-mentioned background technology.

In order to achieve the above purpose, the technical scheme of the present utility model is as follows:

A Rubik's cube solving robot includes a base, a beveled platform is symmetrically installed on the base, a robotic arm is mounted on the beveled platform along its inclined direction, the robotic arm includes a clamping mechanism, a rotating mechanism and a driving mechanism, and the rotating mechanism Including an air slip ring and a bearing device, the bearing device includes an upper fixing plate and a lower fixing plate, the upper fixing plate and the lower fixing plate are detachably connected, and a flange is fixedly installed on the lower fixing plate, and the flange is located on the upper fixing plate Between and the lower fixing plate, the rotor of the air slip ring is fixedly connected with the lower fixing plate, and the stator of the air slip ring is fixedly installed on the oblique angle platform; the driving mechanism includes a stepping motor, and the output shaft of the stepping motor is connected with a coupling. The shaft coupling is connected with an elongated shaft, and the elongated shaft is fixedly connected with the flange through the air slip ring; the clamping mechanism includes a pneumatic gripper, which is installed on the top surface of the upper fixed plate, and the pneumatic gripper The auxiliary gas pipe is connected with the rotor of the gas slip ring, the stator of the gas slip ring is connected with the main gas pipe, the main gas pipe is connected with the air pump, and the valve is installed on the main gas pipe; the two clamping mechanisms constitute the Rubik's cube rotating platform;

It also includes four wide-angle industrial cameras. The four wide-angle industrial cameras are respectively installed on the upper, lower, left, right, and four sides of the Rubik's Cube rotating platform, and a rectangular frame for installing the wide-angle industrial cameras is vertically installed on the base.

Preferably, the angle between the inclined platform and the base is 45°.

Preferably, the flange is fixedly connected to the elongated shaft through fastening screws.

Preferably, the pneumatic gripper is a flat gripper.

The beneficial effects of the present utility model:

(1) Adopt human-like double clamping mechanism, imitating human hands, using two-finger clamping mechanism, two degrees of freedom, which can flexibly realize the clamping and rotation of the Rubik's cube;

(2) The cube in the clamped state is inclined, and four wide-angle industrial cameras can identify the patterns on the six surfaces of the cube, which can improve the speed of recognition and judgment, and further improve the speed of restoring the cube;

(3) The stepping motor cooperates with the air slip ring, the stepping motor can realize the precise rotation of the Rubik's cube, and the air slip ring can avoid the twisting of the auxiliary gas pipe when the Rubik's cube is rotated, thus ensuring the stability of the Rubik's cube when it rotates.

Description of drawings

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

Fig. 2 is the exploded schematic diagram of the rotating mechanism of the utility model;

FIG. 3 is a schematic diagram of a holding Rubik's cube of the present invention.

Markings in the figure: 1-base, 11-bevel platform, 12-rectangular frame, 21-pneumatic gripper, 3-rotating mechanism, 31-air slip ring, 32-carrying device, 321-upper fixing plate, 322-lower Fixed plate, 323-flange, 41-stepper motor, 42-coupling, 5-wide-angle industrial camera.

Detailed ways

Below in conjunction with the accompanying drawings in this embodiment, the technical solutions in this embodiment will be described clearly and completely, but this should not be construed as limiting the present utility model to a specific embodiment, only for explanation and understanding:

As shown in FIG. 1 , FIG. 2 and FIG. 3 , the present embodiment provides a Rubik's cube solving robot, including a base 1, a bevel platform 11 is symmetrically installed on the base 1, and the angle between the bevel platform 11 and the horizontal plane is 45°, A robotic arm is installed on the inclined platform 11 along its inclined direction.

The robotic arm includes a clamping mechanism, a rotating mechanism 3 and a driving mechanism.

The drive mechanism includes a stepping motor 41, which is detachably mounted on the oblique platform 11 through bolts, the output shaft of the stepping motor 41 is connected with a coupling 42, and the coupling 42 is connected with an extension axis.

The rotating mechanism 3 includes an air slip ring 31 and a bearing device 32. The bearing device 32 includes an upper fixing plate 321 and a lower fixing plate 322. The upper fixing plate 321 and the lower fixing plate 322 are detachably connected, and the lower fixing plate 322 is fixed on the upper A flange 323 is installed, the flange 323 is located between the upper fixing plate 321 and the lower fixing plate 322, the rotor of the air slip ring 31 is fixedly connected with the lower fixing plate 322, and the stator of the air slip ring 31 is fixedly installed on the bevel platform 11, the end of the extension shaft of the coupling 42 away from the stepping motor 41 passes through the air slip ring 31 and is fixedly connected to the flange 323, and the flange 323 is fixedly connected to the extension shaft by tightening screws. The rotation of the output shaft of the motor 41 will drive the rotor of the air slip ring 31 to rotate. The stepping motor 41 cooperates with the air-slip ring 31 and has an exquisite design, and the precise rotation of the Rubik's cube can be realized through the stepping motor 41 .

The clamping mechanism includes a pneumatic gripper 21, which is installed on the top surface of the upper fixing plate 321. The pneumatic gripper 21 is connected with the rotor of the air slip ring 31 through a secondary air pipe, and the stator of the air slip ring 31 is connected through the main air pipe. There is an air pump, and a control valve is installed on the main air pipe. By adjusting the control valve, the pneumatic gripper 21 can clamp or loosen the Rubik's cube. The pneumatic gripper 21 is a flat gripper, which is convenient for gripping the Rubik's Cube, and the two gripping mechanisms constitute a Rubik's Cube rotating platform. The use of the air-slip ring 31 can avoid the twisting of the auxiliary air pipe when the Rubik's cube is rotated, thereby ensuring the stability of the Rubik's cube when it is rotated.

This embodiment also includes four wide-angle industrial cameras 5. The four wide-angle industrial cameras 5 are respectively installed on the upper, lower, left, right, and four sides of the Rubik's Cube platform, and are used to photograph the surface of the Rubik's Cube. The Rubik's Cube in the clamped state is inclined. The camera 5 can identify patterns on the six surfaces of the Rubik's Cube, and a rectangular frame 12 for installing the wide-angle industrial camera 5 is vertically installed on the base 1 .

How this embodiment works:

Place the Rubik's Cube on the Rubik's Cube rotating platform composed of two pneumatic grippers 21, and control the air pump through an electric valve, so that the pneumatic grippers 21 can grasp the Rubik's cube. In the middle, four wide-angle industrial cameras 5 shoot the pattern arrangement on the surface of the Rubik's Cube, a stepping motor 41 is activated, its output shaft rotates to drive the coupling 42 to rotate, and the extension shaft of the coupling 42 rotates to drive the bearing device 32 to rotate, carrying The rotation of the device 32 drives the pneumatic gripper 21 to rotate, so that the Rubik's cube layer clamped by the pneumatic gripper 21 rotates. Make one pneumatic gripper 21 clamp the Rubik's Cube, release the other pneumatic gripper 21, turn the pneumatic gripper 21 that clamps the Rubik's Cube, and then clamp the loosened pneumatic gripper 21 to the Rubik's Cube, so as to realize the adjustment of the Rubik's Cube on different sides. rotate.

Obviously, the above-mentioned embodiments are only examples for the purpose of clear description, and are not intended to limit the implementation manner. For those skilled in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. However, the obvious changes or changes derived therefrom still fall within the protection scope of the present invention.

Claims (4)

1. A Rubik's Cube robot, comprising a base (1), a bevel platform (11) is symmetrically installed on the base (1), and a robotic arm is installed along its inclined direction on the bevel platform (11), characterized in that: The mechanical arm includes a clamping mechanism, a rotating mechanism (3) and a driving mechanism, the rotating mechanism (3) includes an air slip ring (31) and a bearing device (32), the bearing device (32) includes an upper fixing plate ( 321) and the lower fixing plate (322), the upper fixing plate (321) and the lower fixing plate (322) are detachably connected, and a flange (323) is fixedly installed on the lower fixing plate (322), and the flange (323) Located between the upper fixing plate (321) and the lower fixing plate (322), the rotor of the air slip ring (31) is fixedly connected to the lower fixing plate (322), and the stator of the air slip ring (31) is fixedly installed on the bevel platform ( 11); the drive mechanism includes a stepping motor (41), the output shaft of the stepping motor (41) is connected with a coupling (42), and the coupling (42) is connected with an elongated shaft, and the elongated shaft passes through The air-passing slip ring (31) is fixedly connected with the flange (323); the clamping mechanism includes a pneumatic gripper (21), the pneumatic gripper (21) is installed on the top surface of the upper fixing plate (321), and the pneumatic gripper ( 21) The auxiliary gas pipe is connected with the rotor of the gas slip ring (31), the stator of the gas slip ring (31) is connected with the main gas pipe, the main gas pipe is connected with an air pump, and a valve is installed on the main gas pipe; the two clamping mechanisms constitute a Rubik's cube rotation platform; It also includes four wide-angle industrial cameras (5), the four wide-angle industrial cameras (5) are respectively installed on the upper, lower, left, right, and four sides of the Rubik's Cube rotating platform, and the base (1) is vertically installed with a wide-angle industrial camera (5). 5) of the rectangular frame (12). 2 . The Rubik's Cube solving robot according to claim 1 , wherein the angle between the inclined platform ( 11 ) and the base ( 1 ) is 45°. 3 . 3 . The Rubik's Cube solving robot according to claim 1 , wherein the flange ( 323 ) is fixedly connected to the elongated shaft by tightening screws. 4 . 4. A Rubik's cube solving robot according to claim 1, characterized in that: the pneumatic gripper (21) is a flat gripper finger.

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