Magic cube solving robot of tenon splicing structure

Abstract

The invention relates to the field of intelligent robots, in particular to a magic cube solving robot which is high in speed, stable and low in cost. The robot comprises a rack formed by splicing acrylic plates, a steering engine, a single-chip microcomputer control panel, a camera and an upper computer. The upper computer control system is upper computer software running on a computer, the upper computer software calls a camera to collect color information of six faces of the Rubik's cube in six times, and the illumination intensity consistency of the six collected pictures is guaranteed. Most of the materials are formed by splicing transparent acrylic plates through tenon structures, and the advantages of being light in weight, low in cost and the like are achieved.

Description

Technical Field

[0001] The invention belongs to the field of intelligent robots, and in particular relates to a high-speed, stable and low-cost robot for solving a third-order Rubik's Cube. Background Art

[0002] The Rubik's Cube is recognized as the most educational toy in the world. It was originally created by a professor named Rubik to train his students' spatial thinking ability. It has been popular for centuries with its unique charm. With the development of electronic information technology, various types of Rubik's Cube-solving robots have emerged. However, it is still a challenge to create a portable, simple, low-cost and educationally meaningful Rubik's Cube-solving robot. Summary of the invention

[0003] The technical problem to be solved by the present invention is to improve the convenience and stability of the use of a three-order Rubik's Cube robot and reduce the cost. In view of the above technical problems, the present invention proposes a three-order Rubik's Cube solving robot with a Falcon-shaped splicing structure, which can greatly improve the portability of a traditional three-order Rubik's Cube solving robot and reduce the manufacturing cost.

[0004] A robot for solving a Rubik's Cube with a Falcon-shaped splicing structure, characterized in that the robot body is mostly made of 3mm thick acrylic plate cut pieces spliced ​​together by a Falcon-shaped structure, and can be used as a teaching tool to cultivate students' hands-on ability. The structure includes a gripper (1), an arm support (2), an upper connecting rod (3), a lower connecting rod (4), a curved arm (5), a base (6), a leg (7), a tray (8), a servo (9), a camera support (11), a camera (12), and a single-chip microcomputer control board (13). Compared with the prior art, the beneficial effects of this work are:

[0005] 1. Small size and light weight, the legs (7) and the camera bracket (11) can be folded to reduce the size and be easy to carry;

[0006] 2. The structure is simple, and most of the machine body is made of acrylic panels spliced ​​together by the Falcon structure;

[0007] 3. Low power consumption, the driving voltage required for this machine is 5v BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0009] Figure 1 This is a schematic diagram of the robot structure.

[0010] Figure 2 It is a bottom view of the base (6).

[0011] Figure 3 A schematic diagram of the installation of a straight-line rudder arm (14) and a curved arm (5).

[0012] Figure 4 A schematic diagram of the installation of the cross-shaped rudder arm (15) and the steering gear (9).

[0013] Figure 5 A schematic diagram showing the contact between the lower connecting rod (4) and the raised portion of the arm support (2).

[0014] Figure 6 Schematic diagram of the gripper (1) in the retracted state.

[0015] Figure 7 Schematic diagram of the gripper (1) in the limit position state.

[0016] Figure 8 Schematic diagram of the gripper (1) in the flipped state. Fig. 9 Schematic diagram of the installation position of the upper connecting rod (3) and the lower connecting rod (4). Fig.10 Schematic diagram of the bottom of the tray (8). Fig.11 Schematic diagram of the bottom of the base (6).

[0017] Reference numerals:

[0018] 1-hand gripper; 2-arm bracket; 3-upper connecting rod; 4-lower connecting rod; 5-bend arm; 6-base; 7-leg; 8-tray; 9-servo; 10-three-order magic cube; 11-camera bracket; 12-camera; 13-single-chip microcomputer control board; 14-straight rudder arm; 15-cross rudder arm; DETAILED DESCRIPTION

[0019] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0020] The lower computer of this machine is a single-chip microcomputer control board, and the upper computer is the upper computer software running on the computer.

[0021] like Figure 1As shown, the three-order Rubik's cube robot is made of acrylic plate cut pieces spliced ​​together through a falcon splicing structure, and can be used as a teaching tool to cultivate students' hands-on ability. Its structure includes a gripper (1), an arm bracket (2), an upper connecting rod (3), a lower connecting rod (4), a curved arm (5), a base (6), a leg (7), a tray (8), a steering gear (9), a camera bracket (11), a camera (12), a single-chip control board (13), a straight-shaped rudder arm (14), and a cross-shaped rudder arm (15).

[0022] The curved arm (5) is connected to a straight-line rudder arm (14) fixed on a steering gear (9) at the rear of the base (6), and the steering gear (9) drives the curved arm (5) and further drives the hand claw (1) to move.

[0023] The legs (7) support the front end of the base (6) so that the tray (8) is at a certain angle to the horizontal ground. The ends of the legs (7) are connected to the left and right sides of the base (6) by bolts. The legs (7) are rotated with the bolts as the axis to adjust the angle between the tray (8) and the ground. When the manipulator pushes the three-dimensional Rubik's cube to flip backward as a whole, due to the effect of gravity and the fact that the surface of the tray (8) is too smooth due to the use of an acrylic plate, the gripper (1) can easily flip the three-dimensional Rubik's cube (10) backward 90 degrees by cooperating with the tray (8).

[0024] The arc line on the lower connecting rod (4) is tangent to the raised arc structure on the arm support (such as Figure 5 As shown in FIG. 1 , when the lower connecting rod (4) and the upper connecting rod (3) drive the gripper (1) to move, the movement trajectory of the gripper (1) is affected by the arc on the lower connecting rod (4).

[0025] The upper connecting rod (3) assists the lower connecting rod (4) in driving the gripper (1) to move, and the two, together with the bent arm (5) and the connecting end of the gripper (1), form a four-bar structure (such as Fig. 9 shown).

[0026] The machine is also characterized in that the driving parts of the tray (8) and the bending arm (5) are both steering gears (9).

[0027] The tray (8) is used to hold a Rubik's Cube (10). A certain face of the Rubik's Cube (10) is aligned with the gripper (1). The gripper (1) keeps the upper two layers of the Rubik's Cube (10) stationary. The gripper (1) drives the tray (8) through the servo (9) to rotate the bottom layer of the Rubik's Cube (10) 90 degrees clockwise or 90 degrees counterclockwise to achieve the purpose of twisting the Rubik's Cube. Alternatively, the other faces of the Rubik's Cube (10) can be rotated to face the gripper (1). The bottom of the tray (8) is a double-layer 3mm thick acrylic plate. The uppermost surface is in contact with the Rubik's Cube (10). There is a concave hole in the middle of the lowermost layer (such as Fig.10), the concave hole is matched with the cross-shaped rudder arm (15), and the screw can pass through the cross-shaped rudder arm (15) and be connected to the upper acrylic plate of the tray. The length of the screw after installation does not exceed the surface of the tray (8) to avoid friction with the magic cube on the surface of the tray (8).

[0028] The invention is also characterized in that the camera support (11) is installed together with the legs (7) on the base (6), and the position of the camera support (11) can be adjusted by rotating it.

[0029] The base (6) is divided into three positions, the front position is used to install a steering gear (9) for rotating the tray (8), the middle position is used to install a single chip control board (13), and the rear position is used to install a steering gear (9) for moving the bending arm (5). The partition between the three positions on the base has a U-shaped hole (such as Fig.11 As shown), it is convenient for the wires of the steering gears (9) in the bins at both ends to be connected to the single-chip microcomputer control board (13) in the middle bin through the U-shaped hole.

[0030] The entire robot arm is composed of a bent arm (5), an upper connecting rod (3), a lower connecting rod (4), and a gripper (1). There are three main states. The first state is a retracted state (such as Figure 6 ), when the upper connecting rod (3) and the lower connecting rod (4) drive the gripper (1), the ends thereof are tangent to the arc structure in front of the arm support (2), and when the tray (8) drives the three-level Rubik's cube (10) to rotate, they do not interfere with the motion trajectory of the three-level Rubik's cube (10). The second is the limited position state (such as Figure 7 ), the upper connecting rod (3) and the lower connecting rod (4) drive the gripper (1) so that the gripper (1) blocks the left and right sides of the upper two layers of the three-dimensional Rubik's Cube (10). When the tray (8) rotates, the upper two layers of the three-dimensional Rubik's Cube (10) are limited, and only the bottom layer of the three-dimensional Rubik's Cube (10) rotates with the tray (8). The third state is the flip state (such as Figure 8 ), at this time, the tray (8) remains stationary, and the three-dimensional magic cube (10) is turned over 90 degrees as a whole due to the thrust of the gripper (1) and the action of gravity, so that the other faces of the three-dimensional magic cube are in contact with the surface of the tray (8).

[0031] Since the machine has only one camera (12), before solving the Rubik's Cube, the gripper (1) and the tray (8) need to cooperate with each other to align the six faces of the Rubik's Cube (10) one by one with the camera (12), so that the upper computer software can call the camera (12) to identify the color of the Rubik's Cube (10). After successfully identifying the color of the Rubik's Cube (10), the upper computer software converts the restoration formula into mechanical steps and sends it to the lower computer. The lower computer controls the gripper (1) and the tray (8) according to the mechanical steps to restore the Rubik's Cube.

[0032] The operation method of restoring the three-order magic cube of the present invention comprises the following steps:

[0033] Step 1: Place the Rubik's Cube (10) in the tray.

[0034] Step 2: Connect the machine to power.

[0035] Step 3: Connect the machine to the computer via a data cable.

[0036] Step 4: Open the host computer software and click Start.

[0037] Step 5: Take the solved Rubik's Cube from the tray (8) and put the next Rubik's Cube to be solved in the tray.

[0038] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A three-order Rubik's Cube solving robot with a Falcon-shaped splicing structure, characterized in that: The robot body is mostly made of 3mm thick acrylic plate cut pieces spliced ​​together by a falcon structure, which can be used as a teaching tool to cultivate students' hands-on ability. Its structure includes a gripper (1), an arm bracket (2), an upper connecting rod (3), a lower connecting rod (4), a curved arm (5), a base (6), a supporting leg (7), a tray (8), a steering gear (9), a camera bracket (11), a camera (12), and a single-chip control board (13).

2. The bending arm (5) is connected to a straight-line rudder arm (14) fixed on a steering gear at the rear of the base. The steering gear (9) drives the bending arm (5) and further drives the claw (1) to move.

3. The support legs (7) support the front end of the base (6) so that the tray (8) forms a certain angle with the horizontal ground. The support legs are connected to the left and right sides of the base (6) by bolts. The angle between the tray (8) and the ground can be adjusted by rotating the support legs with the bolts as the axis.

4. The arc on the lower connecting rod (4) is tangential to the raised arc structure on the arm support (2). When the lower connecting rod (4) and the upper connecting rod (3) drive the gripper (1) to move, the movement trajectory of the gripper (1) is affected by the arc on the lower connecting rod (4).

5. The upper connecting rod (3) assists the lower connecting rod (4) in driving the gripper (1) to move, and the two, together with the curved arm (5) and the connecting end of the gripper (1), form a four-link structure.

6. The feature of the machine is that the driving parts of the tray (8) and the bending arm (5) are both steering gears (9).

7. The tray (8) is used to hold the Rubik's Cube (10). A certain face of the Rubik's Cube (10) is aligned with the gripper (1). The gripper (1) keeps the upper two layers of the Rubik's Cube (10) stationary. The tray (8) is driven by the cross-shaped rudder arm (15) on the steering gear (9) to rotate the bottom layer of the Rubik's Cube (10) 90 degrees clockwise or 90 degrees counterclockwise to achieve the purpose of twisting the Rubik's Cube.

8. It is also characterized by its camera support, which is installed on the base (6) together with the legs (7), and its position can be adjusted by rotating the end of the camera support (11).

9. The base (6) is divided into three positions. The front position is used to install a steering gear (9) for rotating the tray (8), the middle position is used to install a single-chip microcomputer control board (13), and the rear position is used to install a steering gear (9) for moving the bending arm (5).

10. The gripper (1) changes position under the action of the upper connecting rod (3) and the lower connecting rod (4) so ​​that the three-dimensional magic cube is turned over 90 degrees as a whole or the upper two layers of the three-dimensional magic cube on the tray do not rotate with the movement of the tray.

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