Magic cube restoring robot

Abstract

The utility model provides a magic cube restoring robot, and relates to the technical field of magic cube restoring equipment. Each of a first manipulator and a second manipulator of the magic cube restoring robot comprises a first driving motor and a clamping part, and the clamping parts are close to each other to form a clamping space for clamping a magic cube. The clamping part of the first manipulator and the clamping part of the second manipulator are located on the opposite sides of the clamping space, the width of the clamping face of the clamping part corresponds to the width of an angle block of the magic cube, and the driving end of the first driving motor is connected with the clamping part; the control module is connected with the first driving motor, the control module is used for controlling the first driving motor to drive the clamping part to rotate so as to restore the magic cube, clamping and restoring of the magic cube are achieved through the simple first mechanical arm and the second mechanical arm of the transmission mechanism, the occupied space of the magic cube restoring robot can be greatly reduced, and the magic cube restoring efficiency is improved. And stable clamping of the Rubik's cube can be ensured, and the cost of the Rubik's cube restoring robot is effectively reduced.

Description

Technical Field

[0001] This application relates to the field of Rubik's Cube solving equipment technology, and more specifically, to a Rubik's Cube solving robot. Background Technology

[0002] The Rubik's Cube, also known as the Rubik's Cube, is a six-sided cube made of flexible, hard plastic. Each face contains multiple smaller cubes. When sold, the smaller cubes are arranged so that each face of the large cube has the same color. When a face of the large cube is rotated, the single color of its adjacent faces is disrupted, forming a new pattern cube. This process continues with further rotations, resulting in each face containing smaller cubes of a different color. The goal is to restore the scrambled cube to a single color as quickly as possible by rotating it. The center cube, corner cubes, and edge cubes share a single layer, which is typically solved by rotating each of these faces.

[0003] As human life continues to progress, the Rubik's Cube has become an increasingly popular intellectual toy, leading to the emergence of more and more Rubik's Cube solving robots. Most existing Rubik's Cube solving robots use a robotic arm around each corner of the cube to control the rotation of that face, significantly increasing the space occupied. Furthermore, rotating the top and bottom faces often requires a flipping mechanism, and the robotic arm is typically a highly precise six-axis gripper used to clamp the cube's faces for rotation. While six-axis grippers can achieve multi-dimensional motion, they require complex transmission structures. The instability of the connection between the cube and the robotic arm due to the movements between different axes and the complex transmission structure not only makes it difficult to clamp the cube but also significantly increases the cost of the Rubik's Cube solving robot. Utility Model Content

[0004] This application provides a Rubik's Cube solving robot that solves the problems of existing Rubik's Cube robots being space-consuming, costly, and difficult to clamp the Rubik's Cube. To achieve this objective, this application provides the following solutions.

[0005] According to one aspect of the embodiments of this application, a Rubik's Cube solving robot is provided, including: a control module and a first robotic arm and a second robotic arm respectively connected to the control module;

[0006] Both the first robotic arm and the second robotic arm include a first drive motor and a clamping part. The clamping parts are close to each other to form a clamping space for clamping the Rubik's Cube. The clamping parts of the first robotic arm and the second robotic arm are located on opposite sides of the clamping space, and the width of the clamping surface of the clamping part corresponds to the width of the corner piece of the Rubik's Cube. The drive end of the first drive motor is connected to the clamping part.

[0007] The control module is connected to the first drive motor, and the control module is used to control the first drive motor to drive the clamping part to rotate in order to restore the Rubik's Cube.

[0008] In one possible implementation, an image acquisition module with a camera is also included. The camera is positioned above the clamping space and is connected to the control module. The camera is used to acquire images of the Rubik's Cube and transmit the images to the control module.

[0009] In one possible implementation, a display module with a display screen is also included. The display screen is located on one side of the Rubik's Cube solving robot. The control module is connected to the display module, and the control module is used to display the solving formula corresponding to the Rubik's Cube or the color recognition result of the Rubik's Cube's color blocks using the display screen.

[0010] In one possible implementation, a Rubik's Cube support module is also included, which is equipped with a second drive motor, a rack and a Rubik's Cube bracket. The Rubik's Cube bracket is installed on the top of the rack and is opposite to the clamping space. The top side of the Rubik's Cube bracket is provided with a groove for supporting the Rubik's Cube.

[0011] The control module is connected to the second drive motor, and the drive end of the second drive motor is engaged with the rack to drive the cube bracket to rise and fall.

[0012] In one possible implementation, both the first drive motor and the second drive motor include a position sensor with a magnetic chamber, a magnet, and a detection plate. The magnetic chamber is fixed to the drive end of the first drive motor or the second drive motor, the magnet is placed inside the magnetic chamber, and the detection plate is located on the side of the magnet away from the drive end. The detection plate is connected to the control module.

[0013] In one possible implementation, the Rubik's Cube support module further includes a protective cover, the drive end of the second drive motor is provided with a first drive gear, and the protective cover is provided with a rack hole and a motor receiving groove that partially accommodates the second drive motor. The rack is inserted into the rack hole, and the second drive motor is fixed in the motor receiving groove.

[0014] The first drive gear passes through the motor receiving slot and meshes with the rack in the rack hole.

[0015] In one possible implementation, the first robotic arm and the second robotic arm further include a third drive motor and a first transmission mechanism, wherein the drive end of the first drive motor is connected to one end of the first transmission mechanism, the other end of the first transmission mechanism is connected to the third drive motor, and the drive end of the third drive motor is connected to the clamping part.

[0016] In one possible implementation, the first transmission mechanism includes a first connector, a transmission component, and a first base. One side of the first connector is connected to the first drive motor. The side of the first connector away from the first drive motor is provided with a first receiving groove for accommodating the first connector. The drive end of the first drive motor is connected to the transmission component in the first receiving groove.

[0017] The bottom of the first base is fixedly connected to the transmission component, and the third drive motor is fixed on the side of the first base away from the first connecting component.

[0018] In one possible implementation, both the first drive motor and the third drive motor include a power motor, output teeth, a motor housing, and a gear set with multiple meshing gears. The gear set is fixed inside the motor housing, the power input end of the gear set is connected to the power output end of the power motor, one end of the output teeth passes through the motor housing, and the power transmission end of the gear set is connected to the output teeth in a transmission manner.

[0019] In one possible implementation, the clamping part includes an opening and closing gear, a first clamping member, and a second clamping member. The opening and closing gear is fixedly connected to the driving end of a third drive motor. The first clamping member and the second clamping member include transmission bars, which are disposed on both sides of the opening and closing gear. Both the first clamping member and the second clamping member include transmission bars. The transmission bars of the first clamping member and the second clamping member are disposed on the opposite side of the opening and closing gear and mesh with the opening and closing gear.

[0020] The beneficial effects of the technical solutions provided in this application are:

[0021] The Rubik's Cube solving robot provided in this application includes a control module and a first robotic arm and a second robotic arm connected to the control module. Both the first and second robotic arms include a first drive motor and a clamping part. The first and second clamping parts are close to each other to form a clamping space for clamping the Rubik's Cube. The first and second clamping parts are located on opposite sides of the clamping space, and the width of the clamping surfaces of the first and second clamping parts corresponds to the width of the corner pieces of the Rubik's Cube. The drive end of the first drive motor is connected to the clamping part. The control module is connected to the first drive motor and is used to control the first drive motor to rotate the clamping part. This embodiment utilizes the simple transmission mechanism of the first and second robotic arms to achieve the clamping and solving of the Rubik's Cube, which can greatly reduce the space occupied by the Rubik's Cube solving robot, ensure stable clamping of the Rubik's Cube, and effectively reduce the cost of the Rubik's Cube solving robot. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0023] Figure 1 This is a structural diagram of the Rubik's Cube solving robot provided in the embodiments of this application;

[0024] Figure 2 This is a rear view of a portion of the structure of the Rubik's Cube solving robot provided in an embodiment of this application;

[0025] Figure 3 This is a front view of a portion of the structure of the Rubik's Cube solving robot provided in an embodiment of this application;

[0026] Figure 4 A side view of a screen provided for an embodiment of this application;

[0027] Figure 5 This is a partial structural diagram of the Rubik's Cube support module provided in an embodiment of this application;

[0028] Figure 6 This is a partial structural diagram of the second drive motor provided in an embodiment of this application;

[0029] Figure 7 This is a partial structural diagram of the image acquisition module provided in an embodiment of this application;

[0030] Figure 8 A structural diagram of the second robotic arm provided in an embodiment of this application;

[0031] Figure 9 This is a partial structural diagram of the second robotic arm provided in an embodiment of this application;

[0032] Figure 10 This is a partial structural diagram of the first drive motor provided in an embodiment of this application;

[0033] Figure 11 This is a schematic diagram showing the connection between the first drive motor, the connector, and the bearing provided in an embodiment of this application.

[0034] Figure 12 This is a schematic diagram showing the positional relationship between the transmission component and the bearing provided in an embodiment of this application;

[0035] Figure 13 This is a partial structural diagram of the clamping part provided in an embodiment of this application;

[0036] Figure 14 This is a structural diagram of the first clamping member provided in an embodiment of this application. Attached image description:

[0038] 11. Main body; 12. Rubik's Cube; 13. Bottom shell; 2. Display module; 21. Screen fixing component; 22. Display screen; 23. Screen protective cover; 3. First robotic arm; 4. Second robotic arm; 41. Clamping part; 411. Clamping cover; 412. Opening and closing gear; 413. First clamping component; 4131. Clamping rod; 4132. Guide rod; 4133. Transmission bar; 414. Second clamping component; 415. Clamping seat; 416. Protective pad; 417. Third drive motor; 42. First drive motor; 421. Gearbox upper cover; 422. Gearbox lower cover; 43. Second base; 44. Transmission component; 45. First housing; 46. First base; 47. First connecting component; 48. Bearing;

[0039] 5. Image acquisition module; 51. Rear shell; 52. Camera protective cover; 6. Button module; 81. Circuit board motherboard; 91. Protective cover; 92. Rack; 93. Position sensor; 931. Detection board; 932. Magnetic chamber; 94. Second drive motor; 941. Second shell; 942. Third shell; 943. Power motor; 944. Gear set; 945. Transmission gear. Detailed Implementation

[0040] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0041] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” indicates implementation as “A,” or implementation as “A,” or implementation as “A and B.”

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0043] The technical solutions of this application and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0044] The Rubik's Cube solving robot provided in this application is intended to solve at least one technical problem existing in the prior art.

[0045] Optionally, such as Figures 1-14 As shown, the Rubik's Cube solving robot of this application includes: a control module and a first robotic arm 3 and a second robotic arm 4 respectively connected to the control module; both the first robotic arm 3 and the second robotic arm 4 include a first drive motor 42 and a clamping part 41, the two clamping parts 41 are close to each other to form a clamping space for clamping the Rubik's Cube 12, the clamping parts 41 of the first robotic arm 3 and the second robotic arm 4 are located on opposite sides of the clamping space and the width of the clamping surface of the clamping part 41 corresponds to the width of the corner piece of the Rubik's Cube 12, the drive end of the first drive motor 42 is connected to the clamping part 41; the control module is connected to the first drive motor 42, and the control module is used to control the first drive motor 42 to drive the clamping part 41 to rotate to solve the Rubik's Cube 12. The first drive motor 42 can control the clamping part 41 to rotate around the axis of the first robotic arm 3 or the second robotic arm 4 in which it is located.

[0046] Optionally, the control module may include a control chip and a circuit board 81, with the control chip fixed on the circuit board 81 and connected to the circuitry on the circuit board 81. The control chip may be a microcontroller, CPU, or other intelligent chip capable of controlling the first drive motor 42 to clamp the Rubik's Cube 12 and perform the Rubik's Cube 12 solving operation.

[0047] Optionally, the Rubik's Cube solving robot may include a main body 11 and a bottom shell 13. The main body 11 is hollow, and the control module is installed inside the main body 11. The bottom of the main body 11 has an opening, and the shape of the bottom shell 13 corresponds to and is fixed to the opening. The bottom shell 13 and the main body 11 can be relatively fixed together by screws or slots.

[0048] Optionally, two robotic arm mounting holes can be provided at the top of the main body 11. The first robotic arm 3 and the second robotic arm 4 are inserted into different robotic arm mounting holes and electrically connected to the control module inside the main body 11.

[0049] Optionally, the Rubik's Cube solving robot may also include a speaker module, which may include a loudspeaker. This loudspeaker can be connected to a control module and emit sound according to instructions from the control module.

[0050] In one embodiment, a sound outlet can be provided on the bottom shell 13, and a mounting groove is provided on the side of the bottom shell 13 facing the main board 81, with the sound outlet penetrating through the bottom of the mounting groove. The speaker can be fixed in the mounting groove and connected to the main board 81, or it can be fixed in other positions within the main body 81.

[0051] Optionally, the Rubik's Cube solving robot also includes an image acquisition module 5 equipped with a camera. The camera is located above the clamping space and is connected to the control module. The camera is used to acquire images of the Rubik's Cube 12 and transmit the images to the control module.

[0052] Optionally, the image acquisition module 5 may further include a camera protective cover 52, a camera housing, and a first circuit board. The camera protective cover 52 is disposed on the top of the camera housing and faces the camera inside the camera housing. The camera protective cover 52 has an image acquisition hole for capturing images, through which the camera acquires images of the Rubik's Cube 12 within the clamping space. The first circuit board is fixed inside the camera housing and connected to the control module, with the camera fixed to the side of the first circuit board facing the camera protective cover 52.

[0053] In one embodiment, the camera housing can be an elongated structure with a camera mounting groove on one side of the main body 11. One end of the camera housing can be fixed within this mounting groove. The other end of the camera housing extends away from the main body 11 and above the clamping space. The camera housing may include a front shell and a rear shell 51. A camera protective cover 52 is fixed to the side of the front shell away from the rear shell 51, and a first circuit board is fixed to the side of the front shell near the rear shell 51. The front shell and rear shell 51 are fastened together to form a space accommodating the first circuit board and the camera.

[0054] Optionally, the Rubik's Cube solving robot also includes a display module 2 with a display screen. The display screen is set on one side of the Rubik's Cube solving robot. The control module is connected to the display module 2. The control module is used to display the solving formula corresponding to Rubik's Cube 12 or the color recognition result of the Rubik's Cube blocks on the display screen, so as to visualize the scrambling / solving formulas related to Rubik's Cube 12 and the functions of the Rubik's Cube solving robot. Users can choose the content to be displayed on the display screen according to their own situation.

[0055] Optionally, the center of the main body 11 on the side away from the bottom shell 13 can protrude to form a protrusion, and the camera housing and the display screen can be fixed to the opposite side of the protrusion. The display screen can be an LCD screen, an OLED screen, or other types of display screens, and the components in the display screen and the structure and connection relationship between the components can be determined according to the type of display screen.

[0056] In one embodiment, the display screen may include a screen protective cover 23, a first dustproof foam, a display screen 22, a second dustproof foam, and a screen fixing member 21 stacked in sequence. The screen fixing member 21 is disposed on the side of the display screen close to the main body 11, and screw holes may be provided on both sides of the screen fixing member 21. The screen fixing member 21 is fixed to the main body 11 through the screw holes.

[0057] Optionally, to effectively secure the Rubik's Cube 12 and prevent it from falling during its restoration, the Rubik's Cube-solving robot also includes a Rubik's Cube 12 support module equipped with a second drive motor 94, a rack 92, and a Rubik's Cube 12 bracket. The Rubik's Cube 12 bracket is mounted on the top of the rack 92 and is opposite to the clamping space. The top side of the Rubik's Cube 12 bracket has a groove for supporting the Rubik's Cube 12. The control module is connected to the second drive motor 94, and the drive end of the second drive motor 94 is engaged with the rack 92 to drive the Rubik's Cube 12 bracket to rise and fall.

[0058] In one embodiment, one end of the rack 92 can pass through the protrusion and extend into the clamping space. The cube 12 bracket can be located below the clamping portion 41 of the first robotic arm 3 and the second robotic arm 4. The main board 81 of the circuit board can be provided with a motion opening corresponding to the bottom end of the rack 92 and the second drive motor 94. When the rack 92 descends, the other end of the rack 92 can pass through the motion opening to increase the lifting stroke of the rack 92.

[0059] Optionally, the Rubik's Cube solving robot may include a button module 6, which may include keycaps and buttons. The buttons may be mounted on the main board 81 of the circuit board, and the main body 11 may have button holes corresponding to the buttons. The button holes may be located on one side of the protrusion, and the keycaps pass through the button holes to connect one-to-one with the buttons on the main board 81 of the circuit board.

[0060] Optionally, the Rubik's Cube 12 bracket may include a first side plate, a second side plate, a third side plate, and a fourth side plate. The first and second side plates intersect at an angle and are connected. The third side plate is connected to the same end of the first and second side plates, and the fourth side plate is connected to the other end of the first and second side plates. The first, second, third, and fourth side plates form a groove that can partially accommodate the Rubik's Cube 12 in its tilted state. Furthermore, the position of the clamping part 41 holding the Rubik's Cube 12 can be adjusted by raising and lowering the rack 92 to ensure that the clamping surface of the clamping part 41 contacts the Rubik's Cube 12 at the correct position, thus achieving the solution of the Rubik's Cube 12. The adjustment can also be made according to at least one of the size, dimensions, and type of the Rubik's Cube 12, allowing the clamping part 41 to hold different Rubik's Cubes 12.

[0061] Optionally, both the first drive motor 42 and the second drive motor 94 include a position sensor 93 equipped with a magnetic chamber 932, a magnet, and a detection plate 931. The magnetic chamber 932 is fixed to the drive end of the first drive motor 42 or the second drive motor 94. The magnet is placed inside the magnetic chamber 932. The detection plate 931 is located on the side of the magnet away from the drive end and is connected to the control module. The detection plate 931 monitors the rotation angle of the first drive motor 42 and the second drive motor 94 by detecting the change in the magnetic field generated by the rotation of the magnet. This detection method has a small accuracy error (less than 1 degree), which can effectively meet the requirements for status detection of the first drive motor 42 and the second drive motor 94. Furthermore, it requires no calibration and has no accumulated error, thereby reducing robot malfunctions caused by missed steps from the first drive motor 42 and the second drive motor 94.

[0062] Optionally, the Rubik's Cube 12 support module also includes a protective cover 91. The drive end of the second drive motor 94 is provided with a first drive gear, and the protective cover 91 is provided with a rack 92 hole and a motor receiving groove that partially accommodates the second drive motor 94. The rack 92 is inserted into the rack 92 hole, and the second drive motor 94 is fixed in the motor receiving groove. The first drive gear passes through the motor receiving groove and meshes with the rack 92 in the rack 92 hole. The protective cover 91 is fixed inside the main body 11 and can be fixedly connected to the inside of the main body 11 by screws or snap-fit.

[0063] Optionally, the protective cover 91 is located on the side of the main board 81 away from the bottom shell 13, and the rack 92 hole passes through the protective cover 91.

[0064] Optionally, the first robotic arm 3 and the second robotic arm 4 further include a third drive motor 417 and a first transmission mechanism. The drive end of the first drive motor 42 is connected to one end of the first transmission mechanism, the other end of the first transmission mechanism is connected to the third drive motor 417, and the drive end of the third drive motor 417 is connected to the clamping part 41.

[0065] Optionally, the third drive motor 417 may also include a position sensor 93, the structure of which may be the same as that of the position sensor 93 on the first drive motor 42.

[0066] Optionally, the first transmission mechanism includes a first connector 47, a transmission component 44, and a first base 46. One side of the first connector 47 is connected to the first drive motor 42. The side of the first connector 47 away from the first drive motor 42 is provided with a first receiving groove to accommodate the first connector 47. The drive end of the first drive motor 42 is connected to the transmission component 44 in the first receiving groove. The bottom of the first base 46 is fixedly connected to the transmission component 44. The third drive motor 417 is fixed on the side of the first base 46 away from the first connector 47.

[0067] Optionally, the first robotic arm 3 and the second robotic arm 4 can have the same structure, and both can include a second base 43, which is fixed to the main body 11. The second base 43 can be a hollow structure, and the first drive motor 42 can be disposed inside the hollow structure.

[0068] Optionally, the first connector 47 may have a first connecting post on the side near the first drive motor 42, the first connecting post extending to both sides of the first drive motor 42 and fixedly connected to the first drive motor 42. Specifically, the first connecting post may be connected to the first drive motor 42 by means of screws.

[0069] Optionally, the bottom of the first receiving groove may be provided with a through hole, through which the drive end of the first drive motor 42 passes and connects to the transmission component 44 inside the first receiving groove. The bottom of the transmission component may be provided with a protrusion that can be inserted into the through hole at the bottom of the first receiving groove. The drive end of the first drive motor 42 may be fixedly connected to the protrusion at the bottom of the transmission component 44.

[0070] Optionally, the first transmission mechanism may further include a bearing 48 and a first housing 45. The bearing 48 is disposed on the side of the transmission member 44 near the first base 46 and is sleeved on the first base 46. The first housing 45 may be connected to the top of the second base 43, and the first housing 45 is hollow. The bearing 48, the transmission member 44, and the first connecting member 47 are disposed inside the first housing 45.

[0071] Optionally, the first base 46 is hollow to form a cavity, and the third drive motor 417 is fixed in the cavity. The third drive motor 417 drives the clamping part 41 to open and close to clamp Rubik's Cube 12 of different sizes and to release or clamp the Rubik's Cube 12.

[0072] Optionally, both the first drive motor 42 and the third drive motor 417 include a power motor 943, output teeth, a motor housing, and a gear set 944 with multiple meshing gears. The gear set 944 is fixed inside the motor housing. The power input end of the gear set 944 is connected to the power output end of the power motor 943. One end of the output teeth passes through the motor housing, and the power transmission end of the gear set 944 is connected to the output teeth for transmission. Multi-stage high-precision gear transmission is achieved through the multiple gears of the gear set 944, effectively improving transmission efficiency and accuracy, increasing motor torque, and reducing speed, making the transmission more precise and controllable.

[0073] Optionally, the second drive motor 94 may also be provided with a gear set 944 formed by the meshing of multiple gears, and the structure of the second drive motor 94 may be the same as or different from that of the first drive motor 42.

[0074] In one embodiment, the motor housings of the first drive motor 42 and the third drive motor 417 may include a gearbox upper cover 421 and a gearbox lower cover 422, with the gear set 944 fixed within the cavity formed by the gearbox upper cover 421 and the gearbox lower cover 422. The gear set 944 may also include a drive shaft through which one or more gears pass, enabling transmission. The magnetic chamber 932 of the position sensor 93 may be fixed to one of the drive shafts of the gear set 944 to detect the transmission information of the gear set 944. The motor may be located on the side of the gearbox lower cover 422 away from the gearbox upper cover 421.

[0075] In one embodiment, the motor housing of the second drive motor 94 can be formed by fastening together a second housing 941 and a third housing 942, with the gear set 944 and the motor disposed within the motor housing. A position sensor 93 can be disposed on the side of the second drive motor 94. The output end of the second drive motor 94 can be provided with a transmission gear 945, one end of which is connected to the gear set 944 within the motor housing, and the transmission gear 945 meshes with a rack 92 to transmit power.

[0076] Optionally, to realize the opening and closing function of the clamping part 41, the clamping part 41 includes an opening and closing gear 412, a first clamping member 413, and a second clamping member 414. The opening and closing gear 412 is fixedly connected to the driving end of the third drive motor 417. The first clamping member 413 and the second clamping member 414 include transmission bars 4133, which are disposed on both sides of the opening and closing gear 412. Both the first clamping member 413 and the second clamping member 414 include transmission bars 4133. The transmission bars 4133 of the first clamping member 413 and the transmission bars 4133 of the second clamping member 414 are disposed on the opposite side of the opening and closing gear 412 and mesh with the opening and closing gear 412. The rotation of the opening and closing gear 412 drives the first clamping member 413 and the second clamping member 414 to move closer to or further away from each other.

[0077] Optionally, the first clamping member 413 and the second clamping member 414 can have the same structure. The first clamping member 413 may include a guide rod 4132, which is disposed on both sides of the opening and closing gear 412 along with the transmission bar 4133 of the first clamping member 413. The transmission bar 4133 may have multiple teeth evenly spaced on the side near the opening and closing gear 412, which mesh with the opening and closing gear 412. The transmission bar 4133 has a guide groove on the side away from the third drive motor 417, and the guide rod 4132 of the second clamping member 414 is inserted into the guide groove. The opening and closing gear 412 can be connected to the third drive motor 417 via a gear fixing shaft, which passes through the opening and closing gear 412.

[0078] Optionally, the clamping part 41 may further include a clamping seat 415 and a clamping cover 411. The clamping seat 415 may be fixedly connected to the third drive motor 417. The first clamping member 413 and the second clamping member 414 are disposed on the side of the clamping seat 415 away from the third drive motor 417. The cover is clamped on the side of the transmission bar 4133 and the opening and closing gear 412 away from the clamping seat 415.

[0079] Optionally, to clamp the Rubik's Cube 12 and reduce damage to it during clamping operations, the first clamping member 413 and the second clamping member 414 may further include clamping rods 4131 and protective pads 416. The clamping rods 4131 are located on the side of the first clamping member 413 and the second clamping member 414 that are away from each other. One end of the clamping member is connected to the transmission bar 4133 and the guide rod 4132, and the other end extends away from the third drive motor 417. The protective pad 416 is located on the side of the clamping rods 4131 that are close to each other (i.e., on the clamping surface) and is located at the end of the clamping rods 4131 that is away from the third drive motor 417.

[0080] The following section will further explain the Rubik's Cube solving robot through the specific assembly process.

[0081] In one embodiment, the installation process of the Rubik's Cube solving robot includes:

[0082] 1. The main body 11 and the bottom shell 13 are assembled using an upper and lower cover mating method. First, the assembled screen is installed in the slot on one side of the main body 11 and fixed with screws. The second drive motor 94 is installed inside the protective cover 91, and then the protective cover 91 is fixed inside the main body 11 with screws. The rack 92 is passed through the rack 92 hole in the protective cover 91, so that the rack 92 meshes with the gear at the drive end of the second drive motor 94. The Rubik's Cube 12 bracket is installed in the slot at the top of the rack 92. The buttons are set on the main board 81 of the circuit board, and the button caps are placed in the button holes of the main body 11. Then, the main board 81 of the circuit board is fixed inside the main body 11 with screws. The speaker is installed on the bottom shell 13. Finally, the bottom shell 13 is closed and fixed with screws, completing the assembly of the main body 11 of the Rubik's Cube solving robot.

[0083] 2. When installing the camera module, first install the camera protective cover 52 on the front shell, then install the assembled circuit board and camera on the positioning point of the front shell, and finally close the front shell and rear shell 51 to complete the assembly of the image acquisition module 5.

[0084] 3. The first robotic arm 3 and the second robotic arm 4 are assembled using a pinhole fitting and screw fixing method. The third drive motor 417 is fixed to the first base 46 with screws. Then, the first robotic arm 3, the second robotic arm 4, the first base 46, the bearing 48, the transmission component 44, and the first connecting component 47 are assembled. Then, the opening and closing gear 412, the first clamping component 413, the second clamping component 414, and the gear fixing shaft are placed. The clamping cover 411 and the clamping seat 415 are fixed with screws to complete the installation of the clamping part 41. After the installation of the clamping part 41 is completed, the connecting part is... The structure formed by the connector, transmission component 44, and bearing 48 passes through the robotic arm housing. Then, the bearing 48 is placed inside the robotic arm housing. The positioning hole of the transmission component 44 is aligned with the positioning shaft of the first connector 47 and assembled and fixed with screws. Then, the first connector 47 is fixed to the first housing with screws. Then, the first drive motor 42 is fixed to the first connector 47 with screws. Finally, the three screw holes on the second base 43 are aligned with the screw holes on the outside of the first connector 47 and fixed with screws to complete the overall assembly of the first robotic arm 3 and the second robotic arm 4.

[0085] 4. Assemble the entire Rubik's Cube 12 robot by connecting the above-mentioned components together through the main body 11.

[0086] The Rubik's Cube solving robot described in this application has the following advantages:

[0087] 1. The screen module visualizes the scrambling / restoration formulas and various functions of the Rubik's Cube robot, allowing users to select the appropriate functions of the Rubik's Cube robot according to their own needs, thus reducing the difficulty of operation.

[0088] 2. The system employs a position sensor (a structure formed by a magnetic chamber, magnet, and detection plate). The sensor itself has an accuracy error of less than 1 degree, which fully meets the angle deviation required for rotation. No calibration is required during use, and there is no cumulative error, reducing robot malfunctions caused by motor step loss.

[0089] 3. It adopts an image acquisition module with a camera, which can recognize the Rubik's Cube that has been scrambled by the user, and provide a better solving formula for solving it.

[0090] 4. The gear sets of the first drive motor, the second drive motor and the third drive motor adopt multi-stage high-precision gear transmission, which is highly efficient and precise, increases torque and reduces speed, and makes the transmission more accurate and controllable.

[0091] The terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the figures or text.

[0092] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0093] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. A Rubik's Cube solving robot, characterized in that, include: A control module, and a first robotic arm and a second robotic arm respectively connected to the control module; Both the first robotic arm and the second robotic arm include a first drive motor and a clamping part. The clamping parts are close to each other to form a clamping space for clamping the Rubik's Cube. The clamping parts of the first robotic arm and the second robotic arm are located on opposite sides of the clamping space, and the width of the clamping surface of the clamping part corresponds to the width of the corner piece of the Rubik's Cube. The drive end of the first drive motor is connected to the clamping part. The control module is connected to the first drive motor, and the control module is used to control the first drive motor to drive the clamping part to rotate in order to restore the Rubik's Cube.

2. The Rubik's Cube solving robot according to claim 1, characterized in that, It also includes an image acquisition module equipped with a camera, which is located above the clamping space and connected to the control module. The camera is used to acquire images of the Rubik's Cube and transmit the images to the control module.

3. The Rubik's Cube solving robot according to claim 2, characterized in that, It also includes a display module with a display screen, which is located on one side of the Rubik's Cube solving robot. The control module is connected to the display module, and the control module is used to display the solving formula corresponding to the Rubik's Cube or the color recognition result of the Rubik's Cube's color blocks using the display screen.

4. The Rubik's Cube solving robot according to claim 1, characterized in that, It also includes a Rubik's Cube support module equipped with a second drive motor, a rack and a Rubik's Cube bracket, wherein the Rubik's Cube bracket is installed on the top of the rack and is opposite to the clamping space, and the top side of the Rubik's Cube bracket is provided with a groove for supporting the Rubik's Cube; The control module is connected to the second drive motor, and the drive end of the second drive motor is engaged with the rack to drive the cube bracket to rise and fall.

5. The Rubik's Cube solving robot according to claim 4, characterized in that, Both the first drive motor and the second drive motor include a position sensor with a magnetic chamber, a magnet, and a detection plate. The magnetic chamber is fixed to the drive end of the first drive motor or the second drive motor. The magnet is placed inside the magnetic chamber. The detection plate is located on the side of the magnet away from the drive end. The detection plate is connected to the control module.

6. The Rubik's Cube solving robot according to claim 4, characterized in that, The Rubik's Cube support module also includes a protective cover. The drive end of the second drive motor is provided with a first drive gear, and the protective cover is provided with a rack hole and a motor receiving groove that partially accommodates the second drive motor. The rack is inserted into the rack hole, and the second drive motor is fixed in the motor receiving groove. The first drive gear passes through the motor receiving slot and meshes with the rack in the rack hole.

7. The Rubik's Cube solving robot according to claim 1, characterized in that, The first robotic arm and the second robotic arm further include a third drive motor and a first transmission mechanism. The drive end of the first drive motor is connected to one end of the first transmission mechanism, and the other end of the first transmission mechanism is connected to the third drive motor. The drive end of the third drive motor is connected to the clamping part.

8. The Rubik's Cube solving robot according to claim 7, characterized in that, The first transmission mechanism includes a first connector, a transmission component, and a first base. One side of the first connector is connected to the first drive motor. The side of the first connector away from the first drive motor is provided with a first receiving groove to accommodate the first connector. The drive end of the first drive motor is connected to the transmission component in the first receiving groove. The bottom of the first base is fixedly connected to the transmission component, and the third drive motor is fixed on the side of the first base away from the first connecting component.

9. The Rubik's Cube solving robot according to claim 7, characterized in that, Both the first drive motor and the third drive motor include a power motor, output teeth, a motor housing, and a gear set with multiple meshing gears. The gear set is fixed inside the motor housing. The power input end of the gear set is connected to the power output end of the power motor. One end of the output teeth passes through the motor housing, and the power transmission end of the gear set is connected to the output teeth in a transmission connection.

10. The Rubik's Cube solving robot according to claim 1, characterized in that, The clamping part includes an opening and closing gear, a first clamping member, and a second clamping member. The opening and closing gear is fixedly connected to the driving end of the third drive motor. The first clamping member and the second clamping member include transmission bars, which are disposed on both sides of the opening and closing gear. Both the first clamping member and the second clamping member include transmission bars. The transmission bars of the first clamping member and the second clamping member are disposed on the opposite side of the opening and closing gear and mesh with the opening and closing gear.

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