CN103831829B - A kind of magic square solves robot driving device - Google Patents
A kind of magic square solves robot driving device Download PDFInfo
- Publication number
- CN103831829B CN103831829B CN201410111047.5A CN201410111047A CN103831829B CN 103831829 B CN103831829 B CN 103831829B CN 201410111047 A CN201410111047 A CN 201410111047A CN 103831829 B CN103831829 B CN 103831829B
- Authority
- CN
- China
- Prior art keywords
- magic square
- rotating mechanism
- motor
- cam lock
- support
- 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.)
- Active
Links
Abstract
The invention discloses a kind of magic square and solve robot driving device, belong to robotics.The present invention includes stage body, z to clamping mechanism, z to rotating mechanism, x to rotating mechanism, cam lock, x to reciprocating mechanism and control device, z is to two central blocks of clamping mechanism on clamping magic square body opposite; Z is axially connected to clamping mechanism to rotating mechanism with z; X controls obverse rotation on magic square body to rotating mechanism by cam lock; On cam lock incision magic square body obverse 2/3; X moves back and forth together with cam lock to rotating mechanism to reciprocating mechanism along the x-axis direction for control x; Control device performs corresponding action to rotating mechanism and x to reciprocating mechanism to rotating mechanism, x for control z.The present invention makes magic square solve robot to have that structure is simple, with low cost, software and hardware resources takies less, be easy to manufacture and the advantage such as application popularization, and drive unit action stability is high, and it is high that magic square solves reduction efficiency.
Description
Technical field
The present invention relates to a kind of robot driving device, more particularly, relate to a kind of magic square and solve robot driving device.
Background technology
Puzzle toy is one of current puzzle the most popular, and the magic square restoring any initial state generally acknowledges to have suitable difficulty.Therefore there is the technology being resolved automatic reduction magic square by machine.Might as well will can replace manual operation, automatically restore the mechanism of magic square referred to as " magic square robot ".
Magic square Robotics is subject to extensive concern, but really there is not yet as " the magic square robot " of toy series and appear on the market, and bottleneck is its high production cost and use cost.Such as, Le Gao magic square robot and other high-grade intelligent magic square robots, the mostly driving element of needs 8 or more, its advantage is apparent: the free degree is many, recovering efficiency is high, good stability.But the mechanical mechanism of complexity must cause a lot of problem, such as volume is relatively huge, structure relative complex, causes that cost is high, volume is large, resource cost is many; In addition, high use cost, height professionalism also limit its application popularization.
Chinese Patent Application No. 201310135362.7, Shen Qing Publication day is on August 14th, 2013, invention and created name is: a kind of intelligence is separated magic square robot and employed the human-computer interaction system of this robot, this application case relate to the human-computer interaction system that a kind of intelligence is separated magic square robot and employed this robot, comprise robot body, cylinder and air pump, also comprise main control system, camera, mechanical arm and magic square storehouse, truss is provided with cylinder, the cylinder rod of cylinder is provided with the magic square storehouse for placing magic square, robot body is provided with above truss, robot body is connected with the mechanical arm for carrying out separating magic square action, truss be provided with for image data and be transferred to the camera of main control system, air pump is connected with mechanical arm with cylinder respectively, its mechanical arm comprises band guide rod cylinder, set a table for two, a gas pawl and two wrench, robot body is fixed with band guide rod cylinder, band guide rod cylinder is connected with two set a table, gas pawl is installed on setting a table, a pair spanner is installed on gas pawl.This application case to some extent solves separates the interactive poor problem of magic square robot, but it adopts the mechanical arm of six degree of freedom, structure action is complicated, volume is larger, and cost and power consumption higher, be difficult to application popularization, be used for the use of the science of science popularization robot of science and technology center, advance, reliability and security.
Summary of the invention
1. invent the technical problem that will solve
The object of the invention is to overcome that existing magic square solves robot architecture's complexity, bulky, energy consumption is high and be difficult to the extensively universal deficiency used, a kind of magic square is provided to solve robot driving device, adopt technical scheme of the present invention, make magic square solve robot to have that structure is simple, with low cost, software and hardware resources takies less, be easy to manufacture and the advantage such as application popularization, and drive unit action stability is high, it is high that magic square solves reduction efficiency.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of magic square of the present invention solves robot driving device, comprise stage body, also comprise z to clamping mechanism, z to rotating mechanism, x to rotating mechanism, the cam lock be axially connected to rotating mechanism with x, x to reciprocating mechanism and control device, described z is installed on stage body to clamping mechanism, two central blocks on clamping magic square body opposite; Described z is axially connected to clamping mechanism to rotating mechanism with z, and rotate around z-axis any direction for controlling magic square body, this z-axis crosses the center of magic square body; Described x rotates to rotating mechanism around x-axis any direction, and control obverse rotation on magic square body by cam lock, this x-axis crosses the center of magic square body, and is orthogonal to same plane with z-axis; On described cam lock incision magic square body obverse 2/3; Described x is installed on stage body to reciprocating mechanism, moves back and forth along the x-axis direction to rotating mechanism for control x together with cam lock; Described control device is connected to rotating mechanism, x to reciprocating mechanism to rotating mechanism, x with z respectively, performs corresponding action for control z to rotating mechanism, x to rotating mechanism and x to reciprocating mechanism.
Further, described z comprises the first support and z to motor to rotating mechanism, and the first described support is fixed on stage body, and described z is fixed on the first support to motor, and is axially connected to clamping mechanism with z.
Further, described z comprises the first clamp device, the second clamp device, removable rotating shaft and the second support to clamping mechanism, one end of the first described clamp device is connected to motor with z, one end of the second described clamp device is connected with removable rotating shaft, described removable rotating shaft is installed on the second support, and the second described support is fixed on stage body.
Further, described x comprises the 3rd support and x to motor to rotating mechanism, and described x is fixed on the 3rd support to motor, and is axially connected with cam lock.
Further, described x comprises slide block, guide rail, connecting rod, crank and steering wheel to reciprocating mechanism, described guide rail is fixed on stage body, described slide block matches with guide rail, the 3rd described support is fixed on slide block, and one end and the slide block of described connecting rod are hinged, and one end of the other end and crank is hinged, the other end of described crank is fixed in the rotating shaft of steering wheel, and described steering wheel is fixed on stage body.
Further, described control device comprises single-chip microcomputer and motor-drive circuit, and described z is connected with single-chip microcomputer respectively by motor-drive circuit with steering wheel to motor, x to motor.
Further, the jaws height of described cam lock is long slightly larger than the rib of magic square body, and the width of described cam lock is 2/3 of magic square body rib length, and the jaws shape of described cam lock is wedge shape.
Further, described z is to motor the stepper motor that model is the built-in decelerator of 35BYJ412 to motor and x.
Further, the model of described steering wheel is MG995.
Further, described single-chip microcomputer adopts MCS51 series monolithic.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with existing known technology, there is following remarkable result:
(1) a kind of magic square of the present invention solves robot driving device, its z is axially connected to clamping mechanism to rotating mechanism with z, rotate around z-axis any direction for controlling magic square body, this z-axis crosses the center of magic square body, x rotates to rotating mechanism around x-axis any direction, obverse rotation on magic square body is controlled by cam lock, this x-axis crosses the center of magic square body, and be orthogonal to same plane with z-axis, x is installed on stage body to reciprocating mechanism, move back and forth along the x-axis direction together with cam lock to rotating mechanism for control x, 3 driving mechanisms are only adopted to realize the restoring function of magic square, simplify the structure of drive unit, greatly reduce manufacturing cost,
(2) a kind of magic square of the present invention solves robot driving device, and its z comprises the first support and z to motor to rotating mechanism, and z is fixed on the first support to motor, and is axially connected to clamping mechanism with z; Z comprises the first clamp device, the second clamp device, removable rotating shaft and the second support to clamping mechanism, and one end of the first clamp device is connected to motor with z, and one end of the second clamp device is connected with removable rotating shaft; X comprises the 3rd support and x to motor to rotating mechanism, and x is fixed on the 3rd support to motor, and is axially connected with cam lock; X comprises slide block, guide rail, connecting rod, crank and steering wheel to reciprocating mechanism, slide block matches with guide rail, and the 3rd support is fixed on slide block, and one end and the slide block of connecting rod are hinged, one end of the other end and crank is hinged, and the other end of crank is fixed in the rotating shaft of steering wheel; Due to the minimizing of driver part, make magic square solve robot body smaller volume, lower power consumption, use cost reduction, service efficiency improve, and are beneficial to large-scale production and popularize; And software and hardware resources takies few, drive unit action stability is high, and it is high that magic square solves reduction efficiency;
(3) a kind of magic square of the present invention solves robot driving device, its control device comprises single-chip microcomputer and motor-drive circuit, z is connected with single-chip microcomputer respectively by motor-drive circuit with steering wheel to motor, x to motor, homing action is carried out by single-chip microcomputer direct controlling and driving device, performing a programme write is convenient, and single-chip microcomputer runs and responds fast;
(4) a kind of magic square of the present invention solves robot driving device, the jaws height of cam lock is long slightly larger than the rib of magic square body, the width of cam lock is 2/3 of magic square body rib length, the jaws shape of cam lock is wedge shape, reduce cam lock stuck probability in the process of incision magic square body, improve magic square homing action stability;
(5) a kind of magic square of the present invention solves robot driving device, its z is to motor the stepper motor that model is the built-in decelerator of 35BYJ412 to motor and x, the model of steering wheel is MG995, single-chip microcomputer adopts MCS51 series monolithic, buying is convenient, and with low cost, stable performance, be easy to manufacture and application popularization.
Accompanying drawing explanation
Fig. 1 is that a kind of magic square of the present invention solves robot driving device structural representation;
Fig. 2 is the structural representation of the cam lock in the present invention.
Label declaration in schematic diagram:
1, stage body; 2, the first support; 3, z is to motor; 4, the first clamp device; 5, the second support; 6, removable rotating shaft; 7, the second clamp device; 8, the 3rd support; 9, x is to motor; 10, cam lock; 11, slide block; 12, guide rail; 13, connecting rod; 14, crank; 15, steering wheel; 16, control device; 17, magic square body; 101, oblique angle.
Detailed description of the invention
For understanding content of the present invention further, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment
As everyone knows, magic square has " up and down before and after " six faces, carefully analyze the structure of magic square and study its recuperation, can find, in reduction process, do not need six faces to rotate, and any surface that wherein five faces of only need rotating can be equivalent to magic square is all controllable rotary, meets magic square and restore requirement.
On the basis of the above, composition graphs 1, a kind of magic square of the present embodiment solves robot driving device, comprise stage body 1, z to clamping mechanism, z to rotating mechanism, x to rotating mechanism, the cam lock 10 be axially connected to rotating mechanism with x, x to reciprocating mechanism and control device 16, z is installed on stage body 1 to clamping mechanism, two central blocks on clamping magic square body 17 opposite, and the taking-up of magic square body 17 can be facilitated, firm to magic square body 17 clamping again; Z is axially connected to clamping mechanism to rotating mechanism with z, and rotate around z-axis any direction for controlling magic square body 17, this z-axis crosses the center of magic square body 17, can realize the switching in magic square body 17 4 faces like this; X rotates to rotating mechanism around x-axis any direction, obverse rotation on magic square body 17 is controlled by cam lock 10, this x-axis crosses the center of magic square body 17, and be orthogonal to same plane with z-axis, in conjunction with z to the switching of rotating mechanism to magic square body 17 4 faces, the rotation in magic square body 17 4 faces can be completed; Cam lock 10 to cut on magic square body 17 obverse 2/3, magic square body 17 remains a 1/3 just in time corresponding face, utilize z can realize the rotation in this face to rotating mechanism, thus the freedom and flexibility completing total five faces rotates; X is installed on stage body 1 to reciprocating mechanism, moves back and forth along the x-axis direction to rotating mechanism for control x together with cam lock 10, realizes flexible switching and the rotation in magic square body 17 5 faces; Control device 16 is connected to rotating mechanism, x to reciprocating mechanism to rotating mechanism, x with z respectively, perform corresponding action to rotating mechanism and x to reciprocating mechanism to rotating mechanism, x for control z, control device 16 can be installed on any vacant position of stage body 1.The present embodiment only adopts 3 driving mechanisms to realize the rotation in magic square five faces, realizes automatic calculation return function, simplifies the structure of drive unit, greatly reduce manufacturing cost.
As shown in Figure 1, a kind of magic square of the present embodiment solves robot driving device, wherein, z comprises the first support 2 and z to motor 3 to rotating mechanism, first support 2 is fixed on stage body 1, and z is fixed on the first support 2 to motor 3, and is axially connected to clamping mechanism with z; Z comprises the first clamp device 4, second clamp device 7, removable rotating shaft 6 and the second support 5 to clamping mechanism, one end of first clamp device 4 is connected to motor 3 with z, one end of second clamp device 7 is connected with removable rotating shaft 6, for clamping magic square body 17 between first clamp device 4 and the second clamp device 7, removable rotating shaft 6 is installed on the second support 5, by moving axially removable rotating shaft 6, can complete clamping or the taking-up of magic square body 17, the second support 5 is fixed on stage body 1; X comprises the 3rd support 8 to rotating mechanism and x is fixed on the 3rd support 8 to motor 9, x to motor 9, and is axially connected with cam lock 10, and x all crosses the center of magic square body 17 to motor 9 and z to the axis of motor 3, and is orthogonal in same level; X comprises slide block 11, guide rail 12, connecting rod 13, crank 14 and steering wheel 15 to reciprocating mechanism, guide rail 12 is fixed on stage body 1, slide block 11 matches with guide rail 12,3rd support 8 is fixed on slide block 11, one end and the slide block 11 of connecting rod 13 are hinged, one end of the other end and crank 14 is hinged, and the other end of crank 14 is fixed in the rotating shaft of steering wheel 15, and steering wheel 15 is fixed on stage body 1; Control device 16 comprises single-chip microcomputer and motor-drive circuit, z is connected with single-chip microcomputer respectively by motor-drive circuit with steering wheel 15 to motor 3, x to motor 9, single-chip microcomputer is programmed based on now widely used magic square " seven step retrieving algorithms ", and coordinate hardware interface and the driving power of suitably design, what automatically can complete arbitrary initial state magic square solves recovery, homing action is carried out by single-chip microcomputer direct controlling and driving device, performing a programme write is convenient, and single-chip microcomputer runs and responds fast.A kind of magic square of the present embodiment solves robot driving device, due to the minimizing of driver part, makes magic square solve robot body smaller volume, lower power consumption, and use cost reduces, service efficiency improves, and is beneficial to large-scale production and popularizes; And software and hardware resources takies few, only adopt 3 drive motors to realize the restoring function of magic square, drive unit action stability is high, and it is high that magic square solves reduction efficiency.
As shown in Figure 2, the jaws height of the cam lock 10 in the present embodiment is long slightly larger than the rib of magic square body 17, is convenient to the incision of cam lock 10; The width of cam lock 10 is 2/3 of magic square body 17 rib length, ensure that the face corresponding to residue 1/3 rib length can rotate freely; Be provided with oblique angle 101 inside the jaws of cam lock 10, form wedge structure, reduce cam lock 10 stuck probability in the process of incision magic square body 17, improve magic square homing action stability.
Consider that magic square solves economy, the wearability of robot and is easy to processability, stage body 1, first support 2, second support 5 in the present embodiment, the 3rd support 8, first clamp device 4, second clamp device 7 and cam lock 10 all adopt production of nylon plate, process equipment can select carving machine or milling machine, wherein, stage body 1, first support 2 and the second support 5 one-body molded.Z is to motor 9 stepper motor that model is the built-in decelerator of 35BYJ412 to motor 3 and x; The model of steering wheel 15 is MG995; Single-chip microcomputer adopts MCS51 series monolithic, and parts buying is convenient, and with low cost, stable performance, be easy to manufacture and application popularization.
A kind of magic square of the present embodiment solves robot driving device, enormously simplify the complexity of magic square robot, thus reduces manufacture and application cost.See Fig. 1, concrete action is as follows: utilize the first clamp device 4 and the second clamp device 7 that magic square body 17 is clamped in z-axis, magic square body 17 is cut but under non-rotary situation, z can realize the obverse rotation of magic square body 17 of the first clamp device 4 clamping to motor 3 at cam lock 10; When magic square body 17 do not cut by cam lock 10, z can control magic square body 17 unitary rotation to motor 3, thus one of four faces choosing magic square body 17 are near cam lock 10, when cam lock 10 is after the driving incision of steering wheel 15 enters magic square body 17, controlled the rotation in selected face by x to motor 9.Like this, amount to the rotation that can realize magic square body 17 5 faces and control (magic square body 17 corresponding surface of the second clamp device 7 clamping does not rotate), any one side being equivalent to magic square body 17 is all controllable rotary, meets magic square and restores requirement.
A kind of magic square of the present embodiment solves robot driving device, and the plug-in of its control device 16 comprises two key components: one is the realization of " seven step retrieving algorithms "; Two is decomposition and the cooperation control programs thereof of each recovery step in retrieving algorithm.Illustrate, as shown in Figure 1, rotate in (face namely corresponding to y-axis positive direction) above magic square body 17, can be analyzed to following steps: 1, control steering wheel 15 drive link 13 and drive x to move to x-axis negative direction to rotating mechanism, cam lock 10 is moved to suitable distance, makes cam lock 10 be in non-incision state; 2, control z to motor 3 around z-axis counterclockwise half-twist; 3, controlling steering wheel 15 drives cam lock 10 to move to x-axis positive direction, until cam lock 10 effectively incision magic square body 17; 4, control x rotates to motor 9, completes the rotation in this face.
Adopt a kind of magic square of the present invention to solve robot driving device, recovery is carried out to the magic square of different original state and solves test, all achieve and restore completely.A kind of magic square of the present invention solves robot driving device, make magic square solve robot to have that structure is simple, with low cost, software and hardware resources takies less, be easy to manufacture and the advantage such as application popularization, and drive unit action stability is high, it is high that magic square solves reduction efficiency.
Below be schematically described the present invention and embodiment thereof, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, without creatively designing the frame mode similar to this technical scheme and embodiment, all should protection scope of the present invention be belonged to.
Claims (8)
1. a magic square solves robot driving device, comprise stage body (1), it is characterized in that: also comprise z to clamping mechanism, z to rotating mechanism, x to rotating mechanism, the cam lock (10) be axially connected to rotating mechanism with x, x to reciprocating mechanism and control device (16), described z is installed on stage body (1) to clamping mechanism, two central blocks on clamping magic square body (17) opposite; Described z is axially connected to clamping mechanism to rotating mechanism with z, and rotate around z-axis any direction for controlling magic square body (17), this z-axis crosses the center of magic square body (17); Described x rotates to rotating mechanism around x-axis any direction, and control the upper obverse rotation of magic square body (17) by cam lock (10), this x-axis crosses the center of magic square body (17), and is orthogonal to same plane with z-axis; Described cam lock (10) incision magic square body (17) upper obverse 2/3; Described x is installed on stage body (1) to reciprocating mechanism, moves back and forth along the x-axis direction to rotating mechanism for control x together with cam lock (10); Described control device (16) is connected to rotating mechanism, x to reciprocating mechanism to rotating mechanism, x with z respectively, performs corresponding action for control z to rotating mechanism, x to rotating mechanism and x to reciprocating mechanism; Wherein, described z comprises the first support (2) and z to motor (3) to rotating mechanism, and described the first support (2) is fixed on stage body (1), and described z is fixed on the first support (2) to motor (3), and is axially connected to clamping mechanism with z; Described z comprises the first clamp device (4), the second clamp device (7), removable rotating shaft (6) and the second support (5) to clamping mechanism, one end of described the first clamp device (4) is connected to motor (3) with z, one end of described the second clamp device (7) is connected with removable rotating shaft (6), described removable rotating shaft (6) is installed on the second support (5), and described the second support (5) is fixed on stage body (1).
2. a kind of magic square according to claim 1 solves robot driving device, it is characterized in that: described x comprises the 3rd support (8) and x to motor (9) to rotating mechanism, described x is fixed on the 3rd support (8) to motor (9), and is axially connected with cam lock (10).
3. a kind of magic square according to claim 2 solves robot driving device, it is characterized in that: described x comprises slide block (11) to reciprocating mechanism, guide rail (12), connecting rod (13), crank (14) and steering wheel (15), described guide rail (12) is fixed on stage body (1), described slide block (11) matches with guide rail (12), the 3rd described support (8) is fixed on slide block (11), one end and the slide block (11) of described connecting rod (13) are hinged, one end of the other end and crank (14) is hinged, the other end of described crank (14) is fixed in the rotating shaft of steering wheel (15), described steering wheel (15) is fixed on stage body (1).
4. a kind of magic square according to claim 3 solves robot driving device, it is characterized in that: described control device (16) comprises single-chip microcomputer and motor-drive circuit, described z is connected with single-chip microcomputer respectively by motor-drive circuit with steering wheel (15) to motor (3), x to motor (9).
5. a kind of magic square according to claim 4 solves robot driving device, it is characterized in that: the jaws height of described cam lock (10) is long slightly larger than the rib of magic square body (17), the width of described cam lock (10) is 2/3 of magic square body (17) rib length, and the jaws shape of described cam lock (10) is wedge shape.
6. a kind of magic square according to claim 5 solves robot driving device, it is characterized in that: described z is to motor (9) stepper motor that model is the built-in decelerator of 35BYJ412 to motor (3) and x.
7. a kind of magic square according to claim 6 solves robot driving device, it is characterized in that: the model of described steering wheel (15) is MG995.
8. a kind of magic square according to claim 7 solves robot driving device, it is characterized in that: described single-chip microcomputer adopts MCS51 series monolithic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410111047.5A CN103831829B (en) | 2014-03-24 | 2014-03-24 | A kind of magic square solves robot driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410111047.5A CN103831829B (en) | 2014-03-24 | 2014-03-24 | A kind of magic square solves robot driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103831829A CN103831829A (en) | 2014-06-04 |
| CN103831829B true CN103831829B (en) | 2015-08-19 |
Family
ID=50795884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410111047.5A Active CN103831829B (en) | 2014-03-24 | 2014-03-24 | A kind of magic square solves robot driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103831829B (en) |
Families Citing this family (10)
| 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 |
| CN105082141A (en) * | 2015-05-08 | 2015-11-25 | 上海交通大学 | Execution modules, magic cube resolving robot and use method for magic cube resolving robot |
| CN106903696B (en) * | 2017-03-20 | 2023-05-12 | 河南师范大学 | Four-axis symmetrical magic cube solving robot |
| CN108159682B (en) * | 2018-02-09 | 2024-01-09 | 南月（广州）机器人科技有限公司 | Magic cube and automatic restoration device thereof |
| CN108673528B (en) * | 2018-06-12 | 2023-10-10 | 南月（广州）机器人科技有限公司 | Magic cube and magic cube restoration robot of same |
| CN108724215A (en) * | 2018-06-15 | 2018-11-02 | 天津大学 | A kind of two finger magic square robot systems of automatic reduction magic square |
| CN109704060A (en) * | 2018-09-27 | 2019-05-03 | 东莞市摩械智能科技有限公司 | A kind of automatic loading and unloading mechanism and carving machine |
| CN109483559B (en) * | 2018-09-28 | 2021-11-16 | 南月（广州）机器人科技有限公司 | Foldable magic cube rotating robot |
| CN109176558B (en) * | 2018-10-23 | 2023-12-01 | 西华大学 | Magic cube reduction device and magic cube robot |
| CN110561455A (en) * | 2019-09-18 | 2019-12-13 | 合肥工业大学 | Magic cube robot manipulator |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2132712C1 (en) * | 1998-04-27 | 1999-07-10 | Петрашкевич Валерий Вильгельмович | Three-dimensional game in the form of magic cube |
| CN201993978U (en) * | 2010-11-29 | 2011-09-28 | 安徽省中科探奥科技有限公司 | Robot |
| CN102699917A (en) * | 2012-06-08 | 2012-10-03 | 北京工业大学 | Magic cube-solving robot based on intelligent mobile phone |
| CN202724650U (en) * | 2012-08-25 | 2013-02-13 | 广东奥飞动漫文化股份有限公司 | Center shaft structure of magic cube toy |
| CN103240747B (en) * | 2013-04-18 | 2016-07-06 | 塔米智能科技（北京）有限公司 | A kind of intelligence solves magic square robot and employs the human-computer interaction system of this robot |
| CN103350419A (en) * | 2013-06-25 | 2013-10-16 | 塔米智能科技（北京）有限公司 | Intelligent magic cube solving robot capable of autonomously grabbing magic cube, as well as magic cube solving method of intelligent magic cube solving robot |
-
2014
- 2014-03-24 CN CN201410111047.5A patent/CN103831829B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN103831829A (en) | 2014-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103831829B (en) | A kind of magic square solves robot driving device | |
| CN104552308B (en) | A kind of magic cube-solving robot of tetragonal symmetry structure | |
| CN104227713B (en) | A kind of crops carrying device based on Arduino single-chip microcomputer | |
| CN105459140A (en) | Servo grip of cell module | |
| CN204108998U (en) | A kind of manipulator of automatic sampling | |
| CN203199561U (en) | Mechanical arm assembly | |
| CN204248882U (en) | A kind of novel buttons manipulator | |
| CN106144153A (en) | A kind of safe computer transport case | |
| CN202894121U (en) | Clamping mechanism capable of driving workpiece to rotate | |
| CN104908060A (en) | Five-degree-of-freedom parallel-series bionic shoulder joint | |
| CN103056883B (en) | Double-manipulator coordination control system and double-manipulator coordination control method | |
| CN206764789U (en) | A kind of programmable robot of automatic solution magic square | |
| CN208896102U (en) | A kind of mechanical arm learning from instruction system | |
| CN205870535U (en) | Three degree of freedom gear drive manipulators | |
| CN110351485A (en) | A kind of machine vision tracking rotation device and control method | |
| CN203471788U (en) | Multi-joint mechanical arm | |
| CN203313528U (en) | Dual-positioning and pressing device | |
| CN204431257U (en) | A kind of solution magic square robot of tetragonal symmetry structure | |
| CN203543034U (en) | Hybrid manipulator | |
| CN104400778B (en) | A kind of control method of the carrying of the crops based on Arduino single-chip microcomputer | |
| CN105557198A (en) | Picker | |
| CN114714327A (en) | Fusion system of mechanical arm and dexterous hand and motion control method | |
| CN205836024U (en) | A kind of 3D printer intelligent controlling device | |
| CN207858853U (en) | The single arm robot of optical mirror slip cleaning equipment | |
| CN205497463U (en) | Disconnect -type robot drags teaching handle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181128 Address after: 213017 143 Qingyang North Road, Tianning District, Changzhou City, Jiangsu Province Patentee after: Mamat Electronic Technology (Changzhou) Co., Ltd. Address before: 213022 Wushan Road, Xinbei District, Changzhou, Jiangsu Province, No. 1 Patentee before: Changzhou Polytechnic College |