阅读说明：本技术 一种魔方复原机械结构 (Magic cube restoration mechanical structure ) 是由 魏博 贺仁智 周详宇 邓聪颖 杨茸 于 2019-11-18 设计创作，主要内容包括：本发明公开了一种魔方复原机械结构,包括三个L型的支撑板,支撑板的两边长度相同,三个支撑板的两端依次首尾相连且三个支撑板所处平面两两相互垂直,相邻两个支撑板绕两者之间的连接点转动90°能够相互重合,其中两个支撑板的拐点处垂直安装有手臂,手臂的前端安装有手指,手臂的后端连有步进电机和联轴器,两个手指正对第三个支撑板的拐点处安装有摄像头,手指上安装有数字舵机,数字舵机与步进电机和联轴器电连接。本发明一种魔方复原机械结构,通过三个钢板连接在一起,形成三个点的支撑结构,不仅结构简单,容易调整,同时操作过程中的结构稳定性高,不易发生形变等情况。(The invention discloses a magic cube restoration mechanical structure which comprises three L-shaped supporting plates, wherein the lengths of two sides of each supporting plate are the same, two ends of each supporting plate are sequentially connected end to end, planes of the three supporting plates are mutually vertical in pairs, two adjacent supporting plates rotate by 90 degrees around a connecting point between the two supporting plates and can be mutually superposed, an arm is vertically arranged at an inflection point of each supporting plate, a finger is arranged at the front end of each arm, a stepping motor and a coupler are connected to the rear end of each arm, a camera is arranged at the position, opposite to the inflection point of the third supporting plate, of each finger, a digital steering engine is arranged on each finger, and the digital steering engines are electrically connected with the. According to the magic cube restoration mechanical structure, the three steel plates are connected together to form a three-point supporting structure, so that the magic cube restoration mechanical structure is simple in structure, easy to adjust, high in structural stability in the operation process and not prone to deformation and the like.)

1. The utility model provides a magic cube restores mechanical structure, a serial communication port, backup pad (1) including three L type, the both sides length of backup pad (1) is the same, the both ends of three backup pad (1) are end to end in proper order and two liang of mutually perpendicular in three backup pad (1) place plane, two adjacent backup pad (1) rotate 90 can coincide each other around the tie point between the two, wherein arm (2) are installed perpendicularly to the flex point department of two backup pad (1), finger (3) are installed to the front end of arm (2), the rear end of arm (2) even has step motor (4) and shaft coupling (5), camera (6) are just installed to the flex point department of third backup pad (1) in two finger (3), install digital steering wheel on finger (3), digital steering wheel is connected with step motor (4) and shaft coupling (5) electricity.

2. A magic cube restoration mechanism according to claim 1, wherein the surface of the finger (3) that is used to contact the magic cube is covered with a rubber sheet (7) with lines, and the rubber sheet (7) is attached to the finger (3) by foam rubber (8).

3. A magic cube restoration mechanism according to claim 1, wherein the support plate (1) is machined from 45 gauge steel.

4. A puzzle recovery mechanism according to claim 1, wherein the fingers (3) are shaped to match the curvature of a human finger.

Technical Field

The invention relates to the field of magic cube restoration, in particular to a mechanical magic cube restoration structure.

Background

The task of recovery of a puzzle is generally divided into two phases: firstly, the color of the magic cube is input and recognized by using an artificial intelligence technology, before the magic cube is restored, a computer sends an instruction to one of the mechanical arms, so that the mechanical arm performs a specific action on the magic cube placed on a fingertip of the magic cube, and six faces of the magic cube appear in front of a camera according to a set rule; and then, the magic cube is restored by using the manipulator for operation. However, the existing manipulator and arm are not easy to adjust due to poor stability of the supporting structure or complex structure during operation.

Disclosure of Invention

The invention aims to solve the technical problem that the existing mechanical arm and arm have poor stability of a supporting structure or complex structure and are difficult to adjust in the operation process, and aims to provide a magic cube restoration mechanical structure.

The invention is realized by the following technical scheme:

the utility model provides a magic cube recovers mechanical structure, backup pad including three L type, the both sides length of backup pad is the same, two liang of mutually perpendicular in end to end and the plane that three backup pad was located in proper order at the both ends of three backup pad, two adjacent backup pads rotate 90 and can coincide each other around tie point between the two, wherein the arm is installed perpendicularly to the flex point department of two backup pads, the finger is installed to the front end of arm, the rear end of arm even has step motor and shaft coupling, two fingers just install the camera to the flex point department of third backup pad, install digital steering wheel on the finger, digital steering wheel is connected with step motor and shaft coupling electricity.

According to the magic cube restoration mechanical structure, the three steel plates are connected together to form a three-point supporting structure, so that the magic cube restoration mechanical structure is simple in structure, easy to adjust, high in structural stability in the operation process and not prone to deformation and the like. The mechanical structure is connected together through the three supporting plates, when the mechanical structure is used, the three connecting points among the three supporting plates are used as supporting placing points, namely the whole supporting structure is placed on the working platform through the three supporting points, the mechanical structure has the advantages of easiness in adjustment, stable structure and the like, meanwhile, the stability of the supporting structure is high, the internal structure cannot deform under the action of external force, and the mechanical arm, the wall and the like are well supported.

The surface that is used for on the finger with the magic cube contact coats and is stamped the rubber thin slice of taking the line, adopts the foamed rubber to laminate between rubber thin slice and the finger, can increase the coefficient of friction of the contact surface of finger and magic cube, has solved the problem that the magic cube that frictional force less leads to easily drops, and laminates through the foamed rubber then has increased the elasticity of finger.

The backup pad adopts 45 steel sheet processing to form, and backup pad intensity is high, and the rigidity is good, is difficult for producing the deformation, improves whole bearing structure's stability.

The structural shape of the finger is matched with the radian of the finger of a person. In the process of turning the magic cube, due to the size error, the friction force and the like of the magic cube, the pose of the magic cube is deviated, and the deviation can be accumulated in multiple turning, so that restoration failure is caused, the radian of fingers of a person is simulated in the design of the finger configuration, the part processing is realized by adopting the 3D printing technology, and the magic cube can be corrected when deviating from an expected position.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. according to the magic cube restoration mechanical structure, the three steel plates are connected together to form a three-point supporting structure, so that the magic cube restoration mechanical structure is simple in structure, easy to adjust, high in structural stability in the operation process and not prone to deformation and the like;

2. according to the magic cube restoration mechanical structure, the friction coefficient of the contact surface of the fingers and the magic cube can be increased, the problem that the magic cube is easy to fall due to small friction force is solved, and the elasticity of the fingers is increased by attaching the magic cube through the foam rubber;

3. according to the magic cube restoration mechanical structure, the radian of fingers of a person is simulated during finger configuration design, part processing is realized by adopting a 3D printing technology, and the magic cube can be corrected when deviating from an expected position;

4. according to the magic cube restoration mechanical structure, the support plate is formed by machining a No. 45 steel plate, the support plate is high in strength and good in rigidity, deformation is not prone to occurring, and the stability of the whole support structure is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a schematic diagram of the reactor structure of the present invention;

FIG. 2 is a schematic view of the finger structure according to the present invention.

Reference numbers and corresponding part names in the drawings:

1-supporting plate, 2-arm, 3-finger, 4-stepping motor, 5-coupler, 6-camera, 7-rubber sheet and 8-foam rubber.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.