CN108839050A - A kind of magic square robot arm - Google Patents
A kind of magic square robot arm Download PDFInfo
- Publication number
- CN108839050A CN108839050A CN201810621039.3A CN201810621039A CN108839050A CN 108839050 A CN108839050 A CN 108839050A CN 201810621039 A CN201810621039 A CN 201810621039A CN 108839050 A CN108839050 A CN 108839050A
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- CN
- China
- Prior art keywords
- mechanical
- magic square
- finger
- arm
- steering engine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of magic square robot arm, including mechanical arm, first steering engine of mechanical finger and the driving mechanical finger rotation is installed on the mechanical arm, the manipulator is mounted on the mechanical arm by mechanical wrist, and connect the second steering engine for driving the mechanical finger to carry out release or clamping movement, two mechanical fingers are meshed by meshing teeth, one of them described mechanical finger and second steering engine are sequentially connected, creeper is provided on the inside magic square clamping face of two mechanical fingers, and the lower section of the creeper is provided with support member in the medial surface of two mechanical fingers, to form a upwards thrust to clamped magic square.The present invention increases frictional force using creeper with mechanical finger clamping magic square, so that magic square crawl is stronger, provides top power using support member, so that the wrong second layer for grabbing magic square is avoided, it is more stable, it is not easy to make mistakes, it can completely restore magic square.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of magic square robot arm.
Background technique
Magic square is a kind of protean puzzle, also referred to as Lu Bike square, is built by Budapest, HUN within 197 years
Build institute's Shandong Bick teaching inventive.Since its is extremely subtle, there is large quantities of fans, academia also have to magic square extensively and
In-depth study, and magic square research achievement has also obtained many applications.
Magic square robot is that magic square image is obtained, handled and known based on image analysis and computer vision
Not, and to magic square information it is comprehensively analyzed and is managed, the magic square arbitrarily upset is restored automatically.
The manipulator of magic square robot be it is a kind of can imitate the certain holding functions of human arm, by fixed routine crawl, carry
The automatic pilot of object or operational instrument completes various expected operations, has people and mechanical mobile phone concurrently on construction and performance
The advantage of device respectively.
Manipulator is made of executing agency, driving mechanism and control system three parts.Hand is used to grasp workpiece (or work
Tool) component such as pressed from both sides according to by the shape of grasping object, size, weight, material and job requirements and there are many structure type
Hold type, holding type and absorbent-type etc..Driving mechanism makes hand complete various rotations (swing), movement or compound motion to realize rule
Fixed movement changes by the position of grasping object and posture.The self-movements mode such as the lifting of movement mechanism, flexible, rotation, claims
For the freedom degree of manipulator.In order to grab the object of any position and orientation in space, there need to be 6 freedom degrees.Freedom degree is machine
The key parameter of tool hand design.Freedom degree is more, and the flexibility of manipulator is bigger, and versatility is wider, and structure is also more complicated.One
As special manipulator have 2~3 freedom degrees.Control system completes spy by the control of the motor to each freedom degree of manipulator
Fixed movement.
Existing standard machinery arm is extremely difficult to the requirement of magic square robot in accuracy, causes to be easy to appear operation mistake
Accidentally, it influences to operate.
Summary of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide a kind of magic square robotics
Arm.
The technical solution adopted to achieve the purpose of the present invention is：
A kind of magic square robot arm, including mechanical arm are equipped with mechanical finger and driving institute on the mechanical arm
The first steering engine of mechanical finger rotation is stated, the manipulator is mounted on the mechanical arm by mechanical wrist, and connects driving
The mechanical finger unclamp or the second steering engine of clamping movement, two mechanical fingers are meshed by meshing teeth,
One of them described mechanical finger and second steering engine are sequentially connected, and are arranged on the inside magic square clamping face of two mechanical fingers
There is creeper, and the lower section of the creeper is provided with support member in the medial surface of two mechanical fingers, to clamped
Magic square forms a upwards thrust.
The creeper uses sheet rubber, and is bonded on the mechanical finger.
The support member is bonded on the mechanical finger.
The upper end of the support member forms an inclined-plane, the inclined-plane be from the medial surface of the mechanical finger inwardly
The axis of symmetry is in the structure tilted down.
Magic square robot arm of the present invention, clamps magic square with mechanical finger, increases frictional force using creeper, so that magic
Side's crawl is stronger, provides top power using support member and passes through two machines so that mistake be avoided to grab the second layer of magic square
Tool hand mating die apery hand restores magic square, more stable before improvement, not easy to make mistakes, can completely restore magic square.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of magic square robot arm；
Fig. 2 is the main view schematic diagram of the mechanical finger on magic square robot arm.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
Referring to shown in Fig. 1-2, a kind of magic square robot arm, including：
Mechanical arm 7 is equipped with the first steering engine of mechanical finger 3 and the driving mechanical finger rotation on the mechanical arm
6, the manipulator is mounted on the mechanical arm by mechanical wrist 5, and connect the driving mechanical finger realize unclamp or
The second steering engine 8 of magic square is clamped, one end of two mechanical fingers is meshed by meshing teeth, one of them described machinery
Finger and second steering engine are sequentially connected, and are provided with creeper 1 on the inside magic square clamping face of two mechanical fingers, and described
The lower section of creeper is provided with support member 2 in the medial surface of two mechanical fingers, with to clamped magic square formed one to
Lifting force.
The creeper 1 uses certain thickness rubber skin, grabs the position of magic square in mechanical finger by glue
Increase frictional force.The support member is gone out by 3d printing and making, by glue at the long-neck position of mechanical finger, gives magic square
One upward thrust.
Wherein, the mechanical arm 7 is a machinery mount, fixed to support total.By the first steering engine 6
It controls manipulator and carries out spinning movement, grasping movement is carried out by the second steering engine 8 control mechanical finger 3.It can thus complete to grab
Firmly magic square and rotate the movement of magic square.
The upper end of the support member forms an inclined-plane, the inclined-plane be from the medial surface of the mechanical finger inwardly
The axis of symmetry is in the structure tilted down.Preferably, one triangular prism component of the support member.
In addition, the two sides of the clamping part of the mechanical finger increase separately a thickening plate in order to provide better operation,
To increase the contact area of mechanical finger and magic square.
First steering engine 6 can be fixed on mechanical arm 7 by screw and nut, can be by screw by mechanical wrist 5
Bottom surface be fixed in the rotation axis of the first steering engine 6, by the first steering engine 6 control mechanical wrist rotation.Mechanical wrist 5 is two
Angle is the plane composition at right angle.First steering engine 6 is mounted on 5 one sides of mechanical wrist by screw, by two mechanical fingers 3
On gear part aligned engagement, and the gear part of one of mechanical finger is mounted in the rotation axis of the second steering engine 8, by
Two steering engines 8 control the rotation of one of mechanical finger, then are driven by gear part, to reach two mechanical fingers 3 of control
The movement for being clamped or unclamping.
Since mechanical finger has creeper, to increase the frictional force contacted with magic square, so that operational process is more
Steadily and surely.It solves once existing mechanical finger grabs not tight magic square, will lead to switching process error, lead to magic square or manipulator
The problem of damage.Meanwhile once also solve the second layer color lump that handgrip catches magic square, will also result in more serious magic square or
Manipulator damage, it will usually the problem of making mechanical finger fracture.
In addition, due to being provided with fixed support member.When mechanism finger closure prepares to firmly grasp magic square, support member
Top side can give one upward thrust of magic square, it is too forward so as to avoid position of the finger on magic square, avoid
Catch the second layer.The size of support member is appropriate, avoids bumping against when clamping, and also to avoid the rotation for influencing magic square.Addition
Substantially just solve that magic square robot occurs during restoring magic square after this support member leads because grabbing the second layer
The error of cause, it is ensured that the smooth reduction of magic square.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of magic square robot arm, which is characterized in that including mechanical arm, be equipped on the mechanical arm mechanical finger with
And the first steering engine of the driving mechanical finger rotation, the manipulator are mounted on the mechanical arm by mechanical wrist, and
The connection driving mechanical finger unclamp or the second steering engine of clamping movement, two mechanical fingers pass through meshing teeth
It is meshed, one of them described mechanical finger and second steering engine are sequentially connected, the inside magic square clamping of two mechanical fingers
Creeper is provided on face, and the lower section of the creeper is provided with support member in the medial surface of two mechanical fingers, with right
Clamped magic square forms a upwards thrust.
2. magic square robot arm as described in claim 1, which is characterized in that the creeper uses sheet rubber, and is bonded
On the mechanical finger.
3. magic square robot arm as described in claim 1, which is characterized in that the support member is bonded in the manipulator
On finger.
4. magic square robot arm as described in claim 1, which is characterized in that the upper end of the support member forms one tiltedly
Face, it is in the structure tilted down which, which is from the axis of symmetry of the medial surface of the mechanical finger inwardly,.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810621039.3A CN108839050A (en) | 2018-06-15 | 2018-06-15 | A kind of magic square robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810621039.3A CN108839050A (en) | 2018-06-15 | 2018-06-15 | A kind of magic square robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108839050A true CN108839050A (en) | 2018-11-20 |
Family
ID=64202027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810621039.3A Pending CN108839050A (en) | 2018-06-15 | 2018-06-15 | A kind of magic square robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108839050A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110721463A (en) * | 2019-11-18 | 2020-01-24 | 重庆邮电大学 | Magic cube restoration mechanical structure |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552305A (en) * | 2014-12-21 | 2015-04-29 | 浙江大学 | Magic cube solving device capable of performing three-dimensional simulation |
| DE202015106531U1 (en) * | 2015-12-01 | 2016-01-14 | Röhm Gmbh | grab |
| CN206883653U (en) * | 2017-06-30 | 2018-01-16 | 陈兴 | A kind of Revenge Cube restores robot |
| CN207415382U (en) * | 2017-11-07 | 2018-05-29 | 兰州工业学院 | A kind of Second-order magic cube restores robot |
-
2018
- 2018-06-15 CN CN201810621039.3A patent/CN108839050A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552305A (en) * | 2014-12-21 | 2015-04-29 | 浙江大学 | Magic cube solving device capable of performing three-dimensional simulation |
| DE202015106531U1 (en) * | 2015-12-01 | 2016-01-14 | Röhm Gmbh | grab |
| CN206883653U (en) * | 2017-06-30 | 2018-01-16 | 陈兴 | A kind of Revenge Cube restores robot |
| CN207415382U (en) * | 2017-11-07 | 2018-05-29 | 兰州工业学院 | A kind of Second-order magic cube restores robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110721463A (en) * | 2019-11-18 | 2020-01-24 | 重庆邮电大学 | Magic cube restoration mechanical structure |
| CN110721463B (en) * | 2019-11-18 | 2023-02-03 | 重庆邮电大学 | Magic cube restoration mechanical structure |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181120 |
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| WD01 | Invention patent application deemed withdrawn after publication |