A magic cube solving robot

Abstract

The application relates to a magic cube restoring robot and relates to the technical field of robots. The existing magic cube robot structure can only restore a three-order magic cube, but cannot restore a four-order magic cube. The fixed steering wheel is controlled to rotate forward, the fixed support is moved to the second layer of the top of the four-order magic cube, the double-shaft steering wheel is controlled to rotate reversely, the middle-layer magic cube block is moved to the third layer of the four-order magic cube, the step motor is controlled to rotate forward, the upper two layers of the four-order magic cube can rotate relative to the lower two layers, the double-shaft steering wheel is reset, the fixed steering wheel is controlled to rotate forward, the fixed support is moved to the third layer of the top of the four-order magic cube, the step motor is controlled to rotate, the fourth layer of the four-order magic cube is rotated alone, the overturning steering wheel is controlled to drive the overturning support to rotate clockwise, the overturning support is matched with the four-order magic cube, and the four-order magic cube is overturned. Therefore, the four-order magic cube can be restored by using the structure. The application is suitable for restoring the four-order magic cube.

Description

Technical Field

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

[0002] With the development of technology and the improvement of people's living standards, the demand for activities that enhance thinking skills is constantly increasing. The Rubik's Cube, as one of the many brain-training toys, has maintained its popularity for a long time, with competitions held annually, including those using robots to solve it. These robots identify the colors of the cube, adjust its orientation, and then twist it to solve it. However, existing Rubik's Cube solving robots are complex in structure, large in size, difficult to manufacture, and expensive, making it difficult to popularize and promote them. Furthermore, current Rubik's Cube solving robots on the market are all designed for 3x3 cubes; there is no effective structure for 4x4 and above.

[0003] In summary, the existing Rubik's Cube robot structure can only solve 3x3 Rubik's Cubes, but cannot solve 4x4 Rubik's Cubes. Summary of the Invention

[0004] This invention addresses the problem that existing Rubik's Cube robot structures can only solve 3x3 Rubik's Cubes but cannot solve 4x4 Rubik's Cubes, and proposes a Rubik's Cube solving robot.

[0005] The present invention provides a Rubik's Cube solving robot, which comprises a base 1, a motor base 2, a stepper motor 3, a flange 4, a servo motor connecting frame 5, a dual-axis servo motor 6, a middle layer Rubik's Cube block 7, a Rubik's Cube support base 8, a vertical frame 9, a flip servo motor 10, a flip bracket 11, a fixed servo motor 12, and a fixed bracket 13.

[0006] A motor mount 2 is provided at one end of the upper surface of the base 1, and the upper surface of the motor mount 2 is machined with a slope. A stepper motor 3 is provided on the motor mount 2. The output shaft of the stepper motor 3 is fixedly connected to the servo motor connecting frame 5 through a flange 4. A dual-axis servo motor 6 is provided at the center of the upper surface of the servo motor connecting frame 5. The cross-section of the middle layer cube block 7 is U-shaped, and the output end of the dual-axis servo motor 6 is connected to the top of the middle layer cube block 7. A cube support seat 8 is provided vertically above the servo motor connecting frame 5, and the two ends of the bottom surface of the cube support seat 8 are fixedly connected to the upper surface of the servo motor connecting frame 5 through connecting rods. A vertical frame 9 is provided at the other end of the upper surface of the base 1. A fixed servo motor 12 and a flip servo motor 10 are provided on one side of the vertical frame 9 from top to bottom. A fixed bracket 13 is provided on the output end of the fixed servo motor 12, and a flip bracket 11 is provided on the output end of the flip servo motor 10.

[0007] Furthermore, the slope of the upper surface of the motor base 2 is 60°;

[0008] Furthermore, the upper surface of the stepper motor 3 is fixedly positioned in contact with the inner top surface of the motor base 2;

[0009] Furthermore, both the flipping bracket 11 and the fixed bracket 13 have Y-shaped cross-sections;

[0010] Furthermore, the width of the opening end of the flip bracket 11 is smaller than the width of the opening end of the fixed bracket 13.

[0011] Furthermore, the width of the fourth-order Rubik's Cube 14 is smaller than the width of the opening end of the fixed bracket 13;

[0012] Furthermore, during use, the 4x4 Rubik's Cube 14 is placed on the cube support base 8. The existing control unit controls the rotation angles of the stepper motor 3, dual-axis servo motor 6, flip servo motor 10, and fixed servo motor 12. Controlling the fixed servo motor 12 to rotate clockwise moves the fixed bracket 13 to the top second layer of the 4x4 Rubik's Cube 14. Then, controlling the dual-axis servo motor 6 to rotate counter-clockwise moves the middle layer cube block 7 to the third layer of the 4x4 Rubik's Cube 14. Finally, controlling the stepper motor 3 to rotate clockwise allows the 4x4 Rubik's Cube 14 to rotate. The upper two layers rotate relative to the lower two layers; the dual-axis servo motor 6 is reset, and the fixed servo motor 12 is controlled to rotate clockwise, driving the fixed bracket 13 to move to the top third layer of the fourth-order Rubik's Cube 14. Then, the stepper motor 3 is controlled to rotate, realizing the independent rotation of the fourth layer of the fourth-order Rubik's Cube 14; the flipping servo motor 10 is used to drive the flipping bracket 11 to rotate clockwise, so that the flipping bracket 11 and the fourth-order Rubik's Cube 14 can be flipped; thus, the fourth-order Rubik's Cube 14 can be restored using this structure.

[0013] Compared with the prior art, the present invention has the following advantages:

[0014] This invention overcomes the shortcomings of existing technologies by placing a 4x4 Rubik's Cube on a support base. An existing control unit controls the rotation angles of a stepper motor, a dual-axis servo, a flip servo, and a fixed servo. Controlling the fixed servo to rotate clockwise moves the fixed support to the top second layer of the 4x4 Rubik's Cube. Then, controlling the dual-axis servo to rotate counter-clockwise moves the middle layer blocks to the third layer. Finally, controlling the stepper motor to rotate clockwise allows the top two layers and bottom two layers of the 4x4 Rubik's Cube to rotate relative to each other. Resetting the dual-axis servo and controlling the fixed servo to rotate clockwise moves the fixed support to the top third layer of the 4x4 Rubik's Cube. Then, controlling the stepper motor to rotate allows for the independent rotation of the fourth layer. Controlling the flip servo to rotate the flip support clockwise allows the flip support and the 4x4 Rubik's Cube to be flipped. Therefore, this structure allows for the solving of a 4x4 Rubik's Cube. Attached Figure Description

[0015] Figure 1This is a three-dimensional structural diagram of a Rubik's Cube solving robot according to the present invention;

[0016] Figure 2 This is an axonometric view of a Rubik's Cube solving robot according to the present invention. Detailed Implementation

[0017] Specific implementation method one: Combining Figure 1 and Figure 2 This embodiment describes a Rubik's Cube solving robot, which comprises a base 1, a motor base 2, a stepper motor 3, a flange 4, a servo motor connecting frame 5, a dual-axis servo motor 6, a middle layer Rubik's Cube block 7, a Rubik's Cube support base 8, a vertical frame 9, a flip servo motor 10, a flip bracket 11, a fixed servo motor 12, and a fixed bracket 13.

[0018] A motor mount 2 is provided at one end of the upper surface of the base 1, and the upper surface of the motor mount 2 is machined with a slope. A stepper motor 3 is provided on the motor mount 2. The output shaft of the stepper motor 3 is fixedly connected to the servo motor connecting frame 5 through a flange 4. A dual-axis servo motor 6 is provided at the center of the upper surface of the servo motor connecting frame 5. The cross-section of the middle layer cube block 7 is U-shaped, and the output end of the dual-axis servo motor 6 is connected to the top of the middle layer cube block 7. A cube support seat 8 is provided vertically above the servo motor connecting frame 5, and the two ends of the bottom surface of the cube support seat 8 are fixedly connected to the upper surface of the servo motor connecting frame 5 through connecting rods. A vertical frame 9 is provided at the other end of the upper surface of the base 1. A fixed servo motor 12 and a flip servo motor 10 are provided on one side of the vertical frame 9 from top to bottom. A fixed bracket 13 is provided on the output end of the fixed servo motor 12, and a flip bracket 11 is provided on the output end of the flip servo motor 10.

[0019] In this specific embodiment, during use, the 4x4 Rubik's Cube 14 is placed on the cube support 8. The existing control unit controls the rotation angles of the stepper motor 3, dual-axis servo motor 6, flip servo motor 10, and fixed servo motor 12. Controlling the fixed servo motor 12 to rotate clockwise moves the fixed bracket 13 to the top second layer of the 4x4 Rubik's Cube 14. Then, controlling the dual-axis servo motor 6 to rotate counter-clockwise moves the middle layer cube block 7 to the third layer of the 4x4 Rubik's Cube 14. Finally, controlling the stepper motor 3 to rotate clockwise allows the 4x4 Rubik's Cube 14 to rotate. The upper two layers of the cube 14 rotate relative to the lower two layers. The dual-axis servo motor 6 is reset, and the fixed servo motor 12 is controlled to rotate clockwise, driving the fixed bracket 13 to move to the top third layer of the fourth-order Rubik's Cube 14. Then, the stepper motor 3 is controlled to rotate, so that the fourth layer of the fourth-order Rubik's Cube 14 can be rotated independently. The flipping servo motor 10 is used to drive the flipping bracket 11 to rotate clockwise, so that the flipping bracket 11 and the fourth-order Rubik's Cube 14 can be flipped. Thus, the fourth-order Rubik's Cube 14 can be restored using this structure.

[0020] Specific Implementation Method Two: Combining Figure 1 and Figure 2This embodiment further defines the robot described in Specific Embodiment 1. In this embodiment, the upper surface of the motor base 2 of the Rubik's Cube solving robot has an inclination slope of 60°.

[0021] Specific implementation method three: Combining Figure 1 and Figure 2 This embodiment further defines the robot described in Specific Embodiment Two. In this embodiment, the upper surface of the stepper motor 3 is fixedly arranged in contact with the inner top surface of the motor base 2.

[0022] In this specific embodiment, the stepper motor 3 is mounted on the base 1 at a 60° angle via the motor mount 2.

[0023] Specific implementation method four: Combination Figure 1 and Figure 2 This embodiment further defines the robot described in Specific Embodiment 1. In this embodiment, the flipping bracket 11 and the fixed bracket 13 of the Rubik's Cube solving robot have Y-shaped cross sections.

[0024] Specific Implementation Method Five: Combining Figure 1 and Figure 2 This embodiment further defines the robot described in Specific Embodiment 1. In this embodiment, the width of the opening end of the flipping bracket 11 is smaller than the width of the opening end of the fixed bracket 13.

[0025] Specific Implementation Method Six: Combination Figure 1 and Figure 2 This embodiment further defines the robot described in Specific Embodiment Five. In this embodiment, the width of the fourth-order Rubik's Cube 14 is smaller than the width of the opening end of the fixed support 13.

[0026] Working principle

[0027] In use, place the 4x4 Rubik's Cube 14 on the cube support base 8. Use the existing control unit to control the rotation angles of the stepper motor 3, dual-axis servo motor 6, flip servo motor 10, and fixed servo motor 12 respectively. Control the fixed servo motor 12 to rotate clockwise, moving the fixed bracket 13 to the top second layer of the 4x4 Rubik's Cube 14. Then control the dual-axis servo motor 6 to rotate counterclockwise, moving the middle layer cube block 7 to the third layer of the 4x4 Rubik's Cube 14. Finally, control the stepper motor 3 to rotate clockwise, which will move the upper part of the 4x4 Rubik's Cube 14. The two layers rotate relative to the bottom two layers; the dual-axis servo motor 6 is reset, and the fixed servo motor 12 is controlled to rotate clockwise, driving the fixed bracket 13 to move to the top third layer of the 4x4 Rubik's Cube 14. Then, the stepper motor 3 is controlled to rotate, realizing the independent rotation of the fourth layer of the 4x4 Rubik's Cube 14; the flipping servo motor 10 is used to drive the flipping bracket 11 to rotate clockwise, so that the flipping bracket 11 and the 4x4 Rubik's Cube 14 can be flipped; thus, the 4x4 Rubik's Cube 14 can be restored using this structure.

Claims

1. A Rubik's Cube solving robot, characterized in that: It includes a base (1), a motor mount (2), a stepper motor (3), a flange (4), a servo motor connector (5), a dual-axis servo motor (6), a middle-layer cube block (7), a cube support base (8), a vertical frame (9), a flip servo motor (10), a flip bracket (11), a fixed servo motor (12), and a fixed bracket (13); A motor mount (2) is provided at one end of the upper surface of the base (1), and the upper surface of the motor mount (2) is machined with a slope. A stepper motor (3) is provided on the motor mount (2). The output shaft of the stepper motor (3) is fixedly connected to the servo motor connecting frame (5) through a flange (4). A dual-axis servo motor (6) is provided at the center of the upper surface of the servo motor connecting frame (5). The cross-section of the middle layer Rubik's Cube block (7) is U-shaped, and the output end of the dual-axis servo motor (6) is connected to the top of the middle layer Rubik's Cube block (7). A cube support base (8) is provided vertically above the frame (5), and the bottom two ends of the cube support base (8) are fixedly connected to the upper surface of the servo connecting frame (5) by connecting rods. A vertical frame (9) is provided at the other end of the upper surface of the base (1). A fixed servo (12) and a flip servo (10) are provided on one side of the vertical frame (9) from top to bottom. A fixed bracket (13) is provided on the output end of the fixed servo (12), and a flip bracket (11) is provided on the output end of the flip servo (10).

2. The Rubik's Cube solving robot according to claim 1, characterized in that: The slope of the upper surface of the motor base (2) is 60°.

3. A Rubik's Cube solving robot according to claim 2, characterized in that: The upper surface of the stepper motor (3) is fixedly connected to the inner top surface of the motor base (2).

4. A Rubik's Cube solving robot according to claim 1, characterized in that: The cross-sections of the flipping bracket (11) and the fixed bracket (13) are both Y-shaped.

5. A Rubik's Cube solving robot according to claim 1, characterized in that: The width of the opening end of the flip bracket (11) is smaller than the width of the opening end of the fixed bracket (13).

6. A Rubik's Cube solving robot according to claim 5, characterized in that: The width of the 4x4 Rubik's Cube (14) is smaller than the width of the opening end of the fixed support (13).

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