Magic cube restoring device

Abstract

The present application relates to the technical field of robots, and in particular to a magic cube restoring device. The magic cube restoring device comprises two first clamping mechanisms, each of which comprises a driver, a rotating member and two clamping arms. The rotating member and the clamping arms rotate around the same axis under the action of the driver. The rotating member is provided with two radially extending movable grooves, and the clamping arms are respectively fitted in the movable grooves. A linkage structure is arranged between the clamping arms and the driver. The linkage structure comprises a linkage cam surface for contacting the linkage end. The center of the arc formed by the linkage cam surface deviates from the axis. When the driver drives the clamping arms to rotate, the two clamping arms move away from each other or move towards each other. The present application has the advantages of better clamping effect on the magic cube and less damage to the magic cube. The present application also has the advantages of compact structure and no need to separately set the clamping driver and the rotating restoring driver.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a Rubik's Cube solving device. Background Technology

[0002] Chinese patent application number 201810621039.3 discloses a Rubik's Cube robot arm. The robotic arm is equipped with mechanical fingers and a first servo motor that drives the mechanical fingers to rotate. A robotic hand is mounted on the robotic arm via a mechanical wrist and is connected to a second servo motor that drives the mechanical fingers to perform opening or clamping movements. The two mechanical fingers are engaged by meshing teeth. One of the mechanical fingers is connected to the second servo motor for transmission. Anti-slip skin is provided on the inner Rubik's Cube clamping surface of the two mechanical fingers, and a support component is provided below the anti-slip skin on the inner side of the two mechanical fingers.

[0003] In the above solution, the rotation of the two mechanical fingers is achieved by gear meshing, thereby clamping the Rubik's Cube. However, the minimum swing amplitude of the mechanical fingers is the same each time, and it is difficult to control the mechanical fingers to swing with a smaller amplitude, which will cause the Rubik's Cube to be crushed. In addition, the mechanical fingers in the above solution clamp by swinging. Although there are rubber pieces at the ends of the mechanical fingers, the contact area between the mechanical fingers and the Rubik's Cube is still small, making it difficult to stably clamp the Rubik's Cube. Summary of the Invention

[0004] The purpose of this invention is to provide a Rubik's Cube solving device that provides better gripping effect and is less likely to damage the Rubik's Cube.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a Rubik's Cube solving device, comprising two first clamping mechanisms, each first clamping mechanism comprising a driver, a rotating component linked to the output end of the driver, and two clamping arms that rotate synchronously with the rotating component. The rotating component and the clamping arms rotate around the same axis of rotation under the action of the driver. The rotating component is provided with two radially extending movable grooves, and the clamping arms are respectively fitted into one of the movable grooves. One end of the clamping arm is a clamping end for contacting the Rubik's Cube, and the other end of the clamping arm is a linkage end. The linkage end of the clamping arm is coupled with the driver with a linkage structure. The linkage structure includes a linkage arc surface for contacting the linkage end. The center of the arc formed by the linkage arc surface is offset from the axis of rotation. Under the action of the linkage structure, when the driver drives the clamping arms to rotate, the two clamping arms move in opposite directions or towards each other along the extension direction of the movable groove.

[0006] This invention achieves back-to-back or front-to-back movement of two opposing clamping arms by moving the clamping arms along the movable groove. Compared to a swinging method, this ensures a larger clamping surface for each Rubik's Cube clamping action, and the clamping ends of the clamping arms do not make point contact with the cube, resulting in better and more stable clamping. To facilitate the rotation and restoration of the Rubik's Cube, the size of the clamping end face should be smaller than the size of one cube's end face, or the same as the size of one cube's end face. The actuator can be a servo motor.

[0007] The linkage end of the clamping arm is in contact with the linkage arc surface of the linkage structure. As the rotating component drives the clamping arm to rotate, the linkage end of the clamping arm will move along the linkage arc surface. When the linkage arc surface is a smooth arc surface, the radial movement distance of the clamping arm relative to the axis of rotation after rotating a certain angle is controllable. The minimum displacement of the clamping arm can be set to be smaller, thereby avoiding the situation where the Rubik's Cube is damaged due to the small distance between the two clamping ends after the clamping arm clamps the Rubik's Cube.

[0008] This invention not only clamps the Rubik's Cube, but also allows for rotation while clamping, thus enabling the cube to be rotated for easier solving. The rotating components and other parts of this invention can be used for both clamping and rotating the cube, making the device structure more compact and eliminating the need for separate clamping and rotation / solving drivers.

[0009] Preferably, the linkage structure includes a fixing member with a linkage arc surface on its circumferential outer wall. The linkage end is always in contact with the linkage arc surface. The linkage arc surface is connected to a mating arc surface, and the center of the arc formed by the mating arc surfaces is coaxial with the rotation axis. Compared to carving an arc groove on the end face of the fixing member, machining the linkage arc surface on the circumferential outer wall of the fixing member is more convenient and makes it easier for the linkage end to always be in contact with the linkage arc surface under the action of external forces such as elastic elements. The mating arc surface is used to keep the clamping arm stationary while the rotating part continues to rotate, thereby facilitating the rotation and restoration of the Rubik's Cube.

[0010] Preferably, the linkage end is always in contact with the fixing member under the action of the first elastic element. The linkage end is in contact with the linkage arc surface and the mating arc surface under the action of the first elastic element. When the movement stroke of the clamping arm is too large, the clamping end of the clamping arm will not be in rigid contact with the Rubik's Cube. The first elastic element will absorb the collision force to avoid the Rubik's Cube being over-clamped and thus to prevent the Rubik's Cube from breaking.

[0011] Preferably, the first elastic element is annular and sleeved on the two clamping arms. That is, by using a single first elastic element, the simultaneous elastic action of both clamping arms can be achieved, which is more convenient.

[0012] Preferably, the fixing member includes a first fixing member and a second fixing member that respectively contact the two clamping arms. The first fixing member and the second fixing member have the same structural shape. The linkage end of one clamping arm contacts the linkage arc surface of the first fixing member, and the linkage end of the other clamping arm contacts the linkage arc surface of the second fixing member. The first fixing member and the second fixing member are centrally symmetrically arranged. The first fixing member and the second fixing member are respectively used to support the linkage end of one clamping arm, and the first fixing member and the second fixing member have the same shape and can be manufactured simultaneously.

[0013] Preferably, each of the clamping arms is rotatably fixed to one end of a first connecting rod, and a first support member is provided between the other ends of the two first connecting rods. The two ends of the first support member are rotatably fixed to a first connecting rod. When the distance between the two clamping arms changes, the first support member will also move axially along the axis of rotation, thereby pressing against or moving away from the Rubik's Cube, thus improving the clamping and fixing effect of the Rubik's Cube.

[0014] Preferably, the rotating component has an axially extending shaft at its rotation axis, and a sleeve is slidably fitted onto the shaft, with the sleeve fixed to the first support component. The shaft guides the first support component, preventing it from tilting and ensuring effective contact between the end face of the first support component and the surface of the Rubik's Cube.

[0015] Preferably, the rotating component is linked to the second clamping mechanism, which includes a second connecting rod. One end of the second connecting rod contacts the rotating component, and the other end is fixed to one end of the second support component. The other end of the second support component extends towards the rotating component. Under the action of the second elastic element, the end of the second connecting rod is always supported on the end face of the rotating component. The end face of the rotating component is provided with a helical surface. Both the second connecting rod and the second support component are restricted to move in a straight line. When the rotating component rotates and the second connecting rod contacts the helical surface, both the second connecting rod and the second support component move along the straight line. By setting the helical surface to generate an axial distance difference, the second support component can move along the straight line / rotation axis axially, thereby clamping the other side of the Rubik's Cube and further improving the clamping and fixing effect of the Rubik's Cube.

[0016] Preferably, the end face of the rotating component has a first plane and a second plane sequentially along the circumferential direction. The first plane and the second plane have an axial distance difference, and the second plane smoothly connects to the first plane through a helical surface. The second clamping mechanism is U-shaped, and the second connecting rod or the second support member slides in the guide groove of the fixed seat. The guide groove is arranged through the entire structure along the straight direction. The first plane and the second plane are planes without axial distance fluctuations. When the end of the second connecting rod is located on the first plane or the second plane, it is in the state of clamping the Rubik's Cube and the state of not clamping the Rubik's Cube, respectively. By setting the fixed seat, the second clamping mechanism is guided to ensure stability during use. At the same time, the setting of the fixed seat also facilitates the fitting and counteracting of the second elastic member.

[0017] Preferably, both the linkage end and the end of the second link near the rotating component have rotating blocks with a circular outer edge of their inherent cross-section. By incorporating rotating blocks, friction with the rotating and fixed components is reduced, thereby extending the service life.

[0018] This invention has the advantages of better clamping effect on Rubik's Cube and less likelihood of damage or breakage. It also has the advantages of more compact structure and no need to set up separate clamping drivers and rotation and restoration drivers. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a structure according to Embodiment 1 of the present invention.

[0020] Figure 2 This is a schematic diagram of the structure of the first bearing mechanism in use according to Embodiment 1 of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of the first bearing mechanism in Embodiment 1 of the present invention.

[0022] Figure 4 This is a schematic diagram of the structure of the fastener and clamping arm in Embodiment 1 of the present invention.

[0023] Figure 5 This is a schematic diagram of a fastener according to Embodiment 1 of the present invention.

[0024] Figure 6 This is a schematic diagram of a structure according to Embodiment 2 of the present invention.

[0025] Figure 7 This is a schematic diagram of a structure used in Embodiment 2 of the present invention.

[0026] Figure 8 This is a schematic diagram of the structure of the rotating component in Embodiment 2 of this example. Detailed Implementation

[0027] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0028] Example 1

[0029] Depend on Figures 1 to 5 As shown, this embodiment discloses a Rubik's Cube solving device, including a fixed platform 100 and two first clamping mechanisms. The fixed platform 100 has a placement space at its center for placing a Rubik's Cube 200. The fixed platform has a fixed surface around its perimeter relative to the placement space. Each first clamping mechanism includes a driver 1, a rotating component 2 linked to the output end of the driver 1, and two clamping arms 3 that rotate synchronously with the rotating component 2. The driver 1 is a servo motor and is fixed to the fixed surface. The driver 1 has an extended output shaft. The rotating component 2 is fixed to the output shaft and rotates synchronously. The rotating component 2 and the clamping arms 3 rotate around the same axis of rotation under the action of the driver 1. The output shaft can be composed of the driver output shaft of the driver itself and a transmission output shaft fixed to the rotating component 2. The driver output shaft and the transmission output shaft can be connected synchronously and coaxially through a coupling sleeve.

[0030] Depend on Figures 2 to 3 As shown, the rotating component 2 is in the shape of a circular plate. On opposite sides of the rotating component 2, there are two radially extending movable grooves 21 that penetrate the outer circumferential wall of the rotating component 2. The two movable grooves 21 are on the same straight line, and the two clamping arms 3 are respectively fitted into one movable groove 21. The rotating component 2 has an axially extending shaft portion 22 at its rotation axis, and a sleeve 23 is coaxially slidably fitted onto the shaft portion 22.

[0031] Depend on Figures 1 to 4 As shown, one end of the clamping arm 3 is a clamping end 31 for contacting the Rubik's Cube 200, and the other end is a linkage end 32. The clamping end 31 of the clamping arm 3 is located on one side of the axial direction of the rotating component 2, and the linkage end 32 is located on the other side of the axial direction of the rotating component 2. The linkage end 32 of the clamping arm 3 is rotatably fixed with a first rotating block 33 having a circular outer edge. The first rotating block 33 can be a bearing or a roller. Laterally extending limiting protrusions 34 are provided on both opposite sides of the rotating component 2, meaning the rotating component 2 is restricted between the limiting protrusions 34 on opposite sides. The end face of the rotating component 2 contacts the surface of the limiting protrusions 34 to prevent the clamping arm 3 from tilting relative to the rotating component 2.

[0032] Depend on Figures 1 to 3As shown, the linkage end 32 of the clamping arm 3 is coupled with the driver 1 through a linkage structure. The linkage structure includes two fixing members 4, each with a linkage arc surface 41 on its outer circumferential wall for contacting the linkage end 32. Under the action of the first elastic member 5, the linkage end 32 of the two clamping arms 3 is always in contact with the linkage arc surface 41 of one of the fixing members 4. Under the action of the linkage structure, since the center of the linkage arc surface 41 is offset from the self-rotation axis, when the driver 1 drives the clamping arm 3 to rotate, the two clamping arms 3 move in opposite directions or towards each other along the extension direction of the movable groove 21. The first elastic member 5 is annular and sleeved on the outside of the two clamping arms 3, and the first elastic member 5 can be a rubber ring.

[0033] Depend on Figures 2 to 5 As shown, the two fixing components are the first fixing component 42 and the second fixing component 43. The first fixing component 42 and the second fixing component 43 have the same structural shape and are centrally symmetrically arranged. A fixing sleeve 11 is fitted on the output shaft of the driver 1. The first fixing component 42 and the second fixing component 43 are both fixed on the fixing sleeve 11 and arranged sequentially along the axial direction. The housing of the driver 1 is fixed to one end of the anti-rotation rod 12, and the other end of the anti-rotation rod 12 is fixed to the first fixing component 42 and the second fixing component 43. The first fixing component 42 and the second fixing component 43 are fixed to the fixing sleeve 11 by a key structure, and keyways 44 are formed at the inner edges of the first fixing component 42 and the second fixing component 43. In this embodiment, the outer circumferential wall of the fixing member 4 is provided with two linkage arc surfaces 41, and a mating arc surface 45 is smoothly connected between the two linkage arc surfaces 41. The center of the arc formed by the mating arc surface 45 is located on the axis of the rotation axis / rotating member 2. The distance between the linkage arc surface 41 near the mating arc surface 45 and the axis of the rotation axis / rotating member 2 is less than the distance between the linkage arc surface 41 away from the mating arc surface 45 and the axis of the rotation axis / rotating member 2.

[0034] Depend on Figures 2 to 4 As shown, the two clamping arms 3 are rotatably fixed to one end of a first connecting rod 35, and a first support member 36 is provided between the other ends of the two first connecting rods 35. The two ends of the first support member 36 are rotatably fixed to a first connecting rod 35, and the sleeve 23 is fixed to the first support member 36. The shaft 22 can be coaxially linked with the output shaft of the driver 1, or it can be directly fixed to the rotating member 2. The first connecting rod 35 is bent into a V-shape, and the first support member 36 includes a plate-shaped structure for contacting the Rubik's Cube 200 and two hinged protrusions 37 located on the side of the plate-shaped structure near the rotating member 2. The ends of the first connecting rod 35 are hinged to the hinged protrusions 37.

[0035] Example 2

[0036] Depend on Figures 6 to 8As shown, the difference between this embodiment and embodiment 1 is that two second clamping mechanisms are added on the basis of embodiment 1, and each second clamping mechanism is paired with a first clamping mechanism.

[0037] The second clamping mechanism is linked to the rotating component 2. The second clamping mechanism includes a second connecting rod 61 and a second support member 62. The second clamping mechanism is U-shaped, and the second connecting rod 61 is L-shaped in its top view. One end of the second connecting rod 61 is used to contact the rotating component 2 and rotatably fix a second rotating block 63 with a circular outer edge. The second rotating block 63 can be a bearing or a roller. The second support member 62 is connected to the end of the second connecting rod 61 away from the bent portion of the second rotating block 63, and provides a placement space for placing the Rubik's Cube 200 at the center of the fixed platform 100. Both the second connecting rod 61 and the second support member 62 are restricted to moving in a straight line.

[0038] A fixed seat 6 is provided on the fixed platform 100 opposite to the driver 1. The fixed seat 6 has a guide groove, the extension direction of which is parallel to the axis of rotation / rotating component 2. The second connecting rod 61 is slidably disposed in the guide groove, thereby restricting the movement of both the second connecting rod 61 and the second support component 62 in a straight line. To prevent the second connecting rod 61 from rotating, the outer edge shape of the cross-section of the second connecting rod 61 and the inner edge shape of the cross-section of the guide groove are both non-circular. The second connecting rod 61 has an outwardly extending fixed protrusion 64, and a second elastic element 7 is provided between the fixed protrusion 64 and the fixed seat 6. Under the action of the second elastic element 7, the second rotating block 63 at the end of the second connecting rod 61 is always supported on the end face of the rotating component 2.

[0039] The outer edge of the rotating component 2 has a first plane 24 and a second plane 25 arranged sequentially along the circumferential direction. The first plane 24 and the second plane 25 have an axial distance difference, and the second plane 25 is further away from the driver 1 than the first plane 24. The two ends of the second plane 25 are smoothly connected to the first plane 24 via a helical surface 26. When the rotating component 2 rotates and the second rotating block 63 of the second connecting rod 61 contacts the helical surface 26, both the second connecting rod 61 and the second support member 62 move along the aforementioned straight line direction, so that the second support member 62 contacts or moves away from the Rubik's Cube 200. In this embodiment, the dimensions of each component are set according to different models (different sizes) of the 3x3 Rubik's Cube.

[0040] This invention uses a first clamping mechanism and a second clamping mechanism to clamp and position the Rubik's Cube. The clamping ends of the first support member, the second support member, and the clamping arms all have planar contact surfaces with the Rubik's Cube, resulting in a larger clamping surface. Furthermore, the first and second elastic members prevent direct rigid clamping of the Rubik's Cube, thus improving the clamping effect and preventing damage or breakage. Simultaneously, the actuator of this invention drives both the clamping action of the first and second clamping mechanisms and also enables the rotation of the first clamping mechanism, eliminating the need for separate clamping and rotation / restoration actuators.

Claims

1. A Rubik's cube reduction device, characterized by: The first clamping mechanism comprises a driver, a rotating member connected with the output end of the driver, and two clamping arms connected with the rotating member and rotating synchronously, the rotating member and the clamping arms rotate around the same axis under the action of the driver, the rotating member is provided with two radially extending movable grooves, the clamping arms are respectively matched in the movable grooves, one end of the clamping arms is a clamping end for contacting the Rubik's Cube, the other end of the clamping arms is a connecting end, the connecting end of the clamping arms is matched with the driver through a connecting structure, the connecting structure comprises a connecting arc surface for contacting the connecting end, the center of the arc formed by the connecting arc surface deviates from the axis, under the action of the connecting structure, when the driver drives the clamping arms to rotate, the two clamping arms move away from each other or move towards each other along the extension direction of the movable grooves. The connecting structure comprises a fixed member, the fixed member is provided with the connecting arc surface on the circumferential outer wall, the connecting arc surface is connected with a matched arc surface, the center of the arc formed by the matched arc surface is coaxial with the axis, the connecting end is always in contact with the fixed member under the action of a first elastic member, the fixed member comprises a first fixed member and a second fixed member for respectively contacting the two clamping arms, the first fixed member and the second fixed member have the same structure, the connecting end of one clamping arm is in contact with the connecting arc surface of the first fixed member, the connecting end of the other clamping arm is in contact with the connecting arc surface of the second fixed member, the first fixed member and the second fixed member are centrally symmetrically arranged.

2. The Rubik's Cube reduction device of claim 1, wherein: The first elastic member is annular and is sleeved on the two clamping arms.

3. The Rubik's Cube reduction device according to claim 1 or 2, characterized in that: The clamping arms are respectively rotationally fixed with one end of a first connecting rod, the other ends of the two first connecting rods are provided with a first support, and the two ends of the first support are respectively rotationally fixed with a first connecting rod.

4. The Rubik's Cube reduction device of claim 3, wherein: The rotating member is provided with an axially extending shaft at the axis, a sleeve is slidably sleeved on the shaft, and the sleeve is fixed with the first support.

5. The Rubik's Cube reduction device of claim 1 or 2, wherein: The rotating member is connected with a second clamping mechanism, the second clamping mechanism comprises a second connecting rod, one end of the second connecting rod is in contact with the rotating member, the other end of the second connecting rod is fixed with one end of a second support, the other end of the second support extends towards the rotating member, and the end of the second connecting rod is always supported on the end face of the rotating member under the action of a second elastic member, the end face of the rotating member is provided with a helical surface, and the second connecting rod and the second support are limited to move in a straight line direction; when the rotating member rotates and the second connecting rod is in contact with the helical surface, the second connecting rod and the second support move along the straight line direction.

6. The Rubik's Cube reduction device of claim 5, wherein: The end face of the rotating member has a first plane and a second plane in sequence in the circumferential direction, the first plane and the second plane have a distance difference in the axial direction, and the second plane is smoothly connected with the first plane through the helical surface; the second clamping mechanism is arranged in a U shape, the second connecting rod or the second support is slidably matched in a guide groove of a fixed seat, and the guide groove is arranged in the straight line direction.

7. The Rubik's Cube reduction device of claim 5, wherein: The end of the rotating member close to the rotating member is rotationally fixed with a rotating block with a circular cross section.

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