CN104552305A - Magic cube solving device capable of performing three-dimensional simulation - Google Patents
Magic cube solving device capable of performing three-dimensional simulation Download PDFInfo
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- CN104552305A CN104552305A CN201410794127.5A CN201410794127A CN104552305A CN 104552305 A CN104552305 A CN 104552305A CN 201410794127 A CN201410794127 A CN 201410794127A CN 104552305 A CN104552305 A CN 104552305A
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Abstract
The invention discloses a magic cube solving device capable of performing three-dimensional simulation. The magic cube solving device comprises a base, support columns, mounting plates, a camera and a controller, wherein the support columns are arranged on both sides of the base; one mounting plate is arranged between the support columns on both sides and the base respectively; the two mounting plates are arranged oppositely, and form angles being 45 degrees with the horizontal plane; manipulator mechanisms for grabbing a fixed magic cube are arranged on the two mounting plates; the camera is arranged on the top of the support column on one side; the camera faces the magic cube; the controller is arranged on the base; the controller is used for controlling the manipulator mechanisms on the two mounting plates and the camera respectively. The magic cube solving device can be used for simulating the three-dimensional movement of the magic cube, is simple and effective in structure, is low in cost, contributes to product commercialization, can be applied to teaching, and contributes to teaching popularization; on the aspect of teaching, the comprehension of electromechanical system simulation and control basic knowledge can be improved, and the participation enthusiasm is enhanced.
Description
Technical field
The present invention relates to a kind of solution magic square device, particularly related to a kind of solution magic square device carrying out three-dimensional artificial, three-dimensional artificial and recovery can be carried out to magic square reduction process.
Technical background
Tradition magic square needs to calculate by human brain, reduces eventually through manual.In the last few years along with the development of Electromechanical Control technology and Robotics, under the condition of the powerful data computing capability of comprehensive utilization computer and manipulator flexible motion ability, market occurred some separate magic square robots.Disclosed in the patent of 2012101895128 and 2013101353627, separate magic square robot in the number of applying for a patent, to merge and man-machine interactively technical field has more research in the degree of depth with smart mobile phone respectively, its intelligence degree is higher.
But also there is some deficiency in its function aspects:
Existing solution magic square robot can not carry out three-dimensional motion simulation, only have when manipulator is actual that execute after everything could observed result, cannot to magic square method for solving, control attitude and to convert and optimum results carry out virtual checking, the damage of device may be caused due to method fault during use.
The raising of intelligence degree will cause product design more complicated, though be conducive to product commercialization, but consider from teaching angle, student can not be improved to Mechano-Electronic System Simulation and the grasp controlling rudimentary knowledge, the enthusiasm reducing student attempt because system is too complicated on the contrary.
Its cost of complex product is higher, also just improves instruction cost, is unfavorable for that teaching is promoted.
Summary of the invention
In order to solve existing solution magic square robot above shortcomings, the present invention proposes a kind of solution magic square device carrying out three-dimensional artificial.
The technical solution used in the present invention is as follows:
The present invention includes base, be arranged on the support column of base both sides, installing plate, camera and controller; Between the support column of both sides and base, an installing plate is respectively installed, two installing plates are mounted opposite and all horizontal by 45° angle, two installing plates are all provided with the manipulator mechanism for capturing fixing magic square, wherein the support column top of side is provided with camera, and camera is towards magic square; Base is provided with controller, and controller is connected with the manipulator mechanism on two installing plates and camera respectively and controls.
The described support column of support column higher than opposite side being provided with camera side.
Described manipulator mechanism comprises manipulator, chuck, revolving dial, revolution steering wheel and folding steering wheel; Revolving dial is fixed on the bottom surface of installing plate, is fixedly connected with bottom manipulator through installing plate through revolving dial with revolution steering wheel; Folding steering wheel is fixing, and the output shaft of folding steering wheel is connected with the rotating shaft of the actuating arm of manipulator side, and two paw ends at manipulator top are respectively provided with a chuck on a robotic arm, two chuck clamping magic square both sides.
Described revolving dial comprises manipulator installing plate, floating bearing, steering wheel output shaft gusset piece, floating bearing installing plate, revolution steering wheel installing plate, the first attachment screw and the second attachment screw; Two pieces of floating bearing installing plates are arranged on installing plate bottom surface with revolution steering wheel installing plate successively by the second attachment screw is parallel, two pieces of floating bearing installing plate centers are socketed with the manipulator installing plate and steering wheel output shaft gusset piece that are parallel to each other by floating bearing, floating bearing outer ring is arranged between two pieces of floating bearing installing plates, and floating bearing inner ring is fixedly connected between manipulator installing plate and steering wheel output shaft gusset piece by the first attachment screw; Revolution steering wheel is fixed on revolution steering wheel installing plate center, be fixedly connected with manipulator installing plate through installing plate bottom manipulator, the central shaft of steering wheel output shaft gusset piece bottom surface is coaxially fixedly connected with the output shaft of revolution steering wheel, realizes manipulator link with the output shaft of revolution steering wheel by the transition connection function of floating bearing inner ring.
Described chuck is L-shaped, chuck L shape be fixed on the paw end at manipulator top, another side is clipped in magic square side.
Described chuck L clevis is the length of side of a square in magic square at the height on one side, magic square side, and the length of chuck L shape is greater than the length of side of a square in magic square, and is less than total length of side of three squares.
Described controller is connected with the revolution steering wheel of both sides manipulator mechanism and folding steering wheel respectively.
The invention has the beneficial effects as follows:
The present invention can complete smoothly and separate magic square overall process, and structure is simply effective, and cost is lower, is conducive to product commercialization, can be applicable to teaching, is conducive to teaching and promotes.
The present invention effectively uses emulation technology, computer simulation can be carried out to the whole process of separating magic square, magic square color lump distribution recognition methods checking can be completed, magic square method for solving is verified, control attitude converts and the checking of optimum results, because method fault causes device to damage when avoiding verifying on mechanical actuating unit.
The present invention has organically combined the multiple subject knowledges such as Virtual Prototype Technique, dynamical motion Epidemiological Analysis, information, Electronic Control, Machine Design, to industry science especially mechanical subject, has stronger pedagogical; Consider from teaching angle, simple structure can strengthen Mechano-Electronic System Simulation and the bandwagon effect controlling rudimentary knowledge, improves students' participation enthusiasm.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is revolving dial structure of the present invention and scheme of installation thereof.
Fig. 3 is operation principle flow chart of the present invention.
In figure: 1, base, 2, support column, 3, revolution steering wheel, 4, revolving dial, 5, folding steering wheel, 6, manipulator, 7, chuck, 8, installing plate, 9, camera, 10, controller, 11, manipulator installing plate, 12, floating bearing, 13, steering wheel output shaft gusset piece, 14, floating bearing installing plate, 15, revolution steering wheel installing plate, 16, the first attachment screw, the 17, second attachment screw.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated.
As shown in Figure 1, the present invention includes base 1, be arranged on the support column 2 of base 1 both sides, installing plate 8, camera 9 and controller 10; One installing plate 8 is respectively installed between the support column 2 of both sides and base 1, two installing plates 8 are mounted opposite and all horizontal by 45° angle, two installing plate 8 symmetries are installed, two installing plates 8 are all provided with the manipulator mechanism for capturing fixing magic square, wherein support column 2 top of side is provided with camera 9, and camera 9 is towards magic square; Base 1 is provided with controller 10, controller 10 is connected with the manipulator mechanism on two installing plates 8 and camera 9 respectively and controls.
As shown in Figure 1, the support column 2 of support column 2 higher than opposite side of camera 9 side is installed.
As depicted in figs. 1 and 2, manipulator mechanism comprises manipulator 6, chuck 7, revolving dial 4, revolution steering wheel 3 and folding steering wheel 5; Revolving dial 4 is fixed on the bottom surface of installing plate 8, and revolution steering wheel 3 is fixed on bottom revolving dial 4, is fixedly connected with bottom manipulator 6 through installing plate 8 through revolving dial 4 with revolution steering wheel 3, realizes manipulator 6 and revolution steering wheel 3 synchronous axial system; Folding steering wheel 5 is fixed on manipulator 6, the output shaft of folding steering wheel 5 is connected with the rotating shaft of the actuating arm of manipulator 6 side, two paw ends at manipulator 6 top are respectively provided with a chuck 7, two chucks 7 clamp magic square both sides, folding steering wheel 5 controls the folding of the paw end of manipulator 6, thus drives the folding of two chucks 7.Controller 10 turns round steering wheel 3 with the revolving dial of two in the manipulator mechanism of both sides 4 and two respectively and folding steering wheel 5 is connected.
As shown in Figure 2, revolving dial 4 comprises manipulator installing plate 11, floating bearing 12, steering wheel output shaft gusset piece 13, floating bearing installing plate 14, revolution steering wheel installing plate 15, first attachment screw 16 and the second attachment screw 17.Two pieces of floating bearing installing plates 14 are arranged on installing plate 8 bottom surface with revolution steering wheel installing plate 15 successively by the second attachment screw 17 is parallel, two pieces of floating bearing installing plate 14 centers are socketed with the manipulator installing plate 11 and steering wheel output shaft gusset piece 13 that are parallel to each other by floating bearing 12, floating bearing 12 outer ring is arranged between two pieces of floating bearing installing plates 14, and floating bearing 12 inner ring is fixedly connected between manipulator installing plate 11 and steering wheel output shaft gusset piece 13 by the first attachment screw 16; Revolution steering wheel 3 is fixed on revolution steering wheel installing plate 15 center, be fixedly connected with manipulator installing plate 11 through installing plate 8 bottom manipulator 6, the central shaft of steering wheel output shaft gusset piece 13 bottom surface is coaxially fixedly connected with the output shaft of revolution steering wheel 3, realizes manipulator 6 link with the output shaft of revolution steering wheel 3 by the transition connection function of floating bearing inner ring.
As shown in Figure 1, chuck 7 is L-shaped, and L shape is just in time clamped on the seamed edge of magic square, and on the paw end being fixed on manipulator 6 top of the L shape of chuck 7, another side is clipped in magic square side.The height of the L shape another side of chuck 7 is slightly less than the length of side of a square in magic square, the length of the L shape of chuck 7 is greater than the length of side of a square in magic square, and length is less than total length of side of three squares, make two chucks 7 can clamp two adjacent sides of magic square respectively like this, and by revolution steering wheel 3 driven rotary, the one deck in magic square is rotated.
Controller 10 is connected with the revolution steering wheel 3 of both sides manipulator mechanism and folding steering wheel 5 respectively.
Base 1 of the present invention and support column 2 complete by aluminium alloy extrusions is assembled, and controller 10 is fixed on the side section bar of bottom.
The present invention's two manipulators 6 symmetry install and axis all horizontal by 45 °.Manipulator 6 is arranged on revolving dial 4, the utilization of floating bearing 12, reduces each interarticular gap, thus improves rotating accuracy and rigidity.
Camera of the present invention is for gathering by the picture signal upsetting each face of magic square, and camera 9 is arranged on higher side support column 2, and its height and corner all can freely adjust.During use, camera minute surface is right against magic square one side, to ensure the accuracy obtaining image.Camera 9, for carrying out visual identity to the colouring information of each of the three rank magic square upset arbitrarily, resolve, then sets up magic square threedimensional model.
In the present invention, steering wheel 3 and 5 is for the rotation of driving device hand 6 and clamping movement, and controller 10, for controlling the coordinated movement of various economic factors of whole process, can connect computer, as computer and the intermediate performing mechanical device.
As shown in Figure 3, specific implementation process of the present invention is as follows:
The present invention needs to be connected with computer in the specific implementation, the signal obtained camera 9 on the one hand processes and shows and generates magic square threedimensional model, obtain magic square process of solution on the other hand, and the conversion of control attitude is carried out to step and optimizes, and data are passed to controller, control the operation of each steering wheel.
Controller 10 of the present invention is connected with computer through data wire, the connection line of four steering wheels is directly assigned on controller by interface, when output action sequence, computer controls steering wheel motion by USB port connection control device, by servo driving manipulator accurate motion, complete the recovery of magic square and resolve.
By the cooperation of camera and manipulator, made a video recording in each face of magic square, CameraDS class can be used to carry out the collection of original image by DirectShow, then adopt opencv increase income vision storehouse to gather image analyze, draw the color lump distribution situation of magic square in image.The present invention adopt OPENGL to realize absorb the two and three dimensions models show of magic square.
The present invention can adopt magic square contest second prize method of reducing JohnnyX, it is the one based on falling group method, the process of solution obtained adopts six drivings, because this step requires that magic square six face can be rotated, but actual machine device only has two manipulators, can only rotate relative to two of a magic square stationary plane, convert so need to carry out control attitude to it and optimize.
Magic square recuperation three-dimensional artificial of the present invention is realized by OPENGL, completes the series such as integral-rotation driving, the one side rotary actuation display of magic square model.
The present invention utilizes the process of solution after optimizing that converts, and obtains the crawl of two manipulators, release and gyration control sequence, completes magic square restore by servo driving.
Controller 10 of the present invention is connected to obtain control sequence through data wire with computer, and steering wheel link is directly assigned on controller by interface, controls steering wheel capture with driving device hand, discharge and gyration by controller.
The operating procedure of the specific embodiment of the invention:
1) data wire of controller is connected to USB interface of computer, then connects controller switches.
2) serial ports number is set according to camera data line interface.
3) initial position of manipulator is adjusted, by magic square clamping on mechanical paw.
4) complete magic square data acquisition and display successively by software control, magic square process of solution calculates, process of solution converts optimization, servos control sequence calculates.
5) servo driving robot movement, one chuck clamps the side of magic square one deck, and another chuck is clamped the side of the vertical one deck of magic square and carried out rotary motion, after rotating 90 degree, another chuck unclamps back and turn 90 degrees recovery, then the like carry out the rotation of magic square next time again; Only having that a chuck is clamped, under another chuck unclamps situation, chuck is clamped magic square and can be rotated freely magic square, carries out any conversion of magic square position, thus completes the recovery of magic square.
Claims (7)
1. can carry out a solution magic square device for three-dimensional artificial, it is characterized in that: comprise base (1), be arranged on the support column (2) of base (1) both sides, installing plate (8), camera (9) and controller (10); Between the support column (2) of both sides and base (1), an installing plate (8) is respectively installed, two installing plates (8) are mounted opposite and all horizontal by 45° angle, two installing plates (8) are all provided with the manipulator mechanism for capturing fixing magic square, wherein support column (2) top of side is provided with camera (9), and camera (9) is towards magic square; Base (1) is provided with controller (10), controller (10) is connected with the manipulator mechanism on two installing plates (8) and camera (9) respectively and controls.
2. a kind of solution magic square device carrying out three-dimensional artificial according to claim 1, is characterized in that: the described support column (2) of support column (2) higher than opposite side being provided with camera (9) side.
3. a kind of solution magic square device carrying out three-dimensional artificial according to claim 1, is characterized in that: described manipulator mechanism comprises manipulator (6), chuck (7), revolving dial (4), revolution steering wheel (3) and folding steering wheel (5); Revolving dial (4) is fixed on the bottom surface of installing plate (8), and manipulator (6) bottom is fixedly connected with revolution steering wheel (3) through revolving dial (4) through installing plate (8); Folding steering wheel (5) is fixed on manipulator (6), the output shaft of folding steering wheel (5) is connected with the rotating shaft of the actuating arm of manipulator (6) side, two paw ends at manipulator (6) top are respectively provided with a chuck (7), two chuck (7) clamping magic square both sides.
4. a kind of solution magic square device carrying out three-dimensional artificial according to claim 3, is characterized in that: described revolving dial (4) comprises manipulator installing plate (11), floating bearing (12), steering wheel output shaft gusset piece (13), floating bearing installing plate (14), revolution steering wheel installing plate (15), the first attachment screw (16) and the second attachment screw (17), two pieces of floating bearing installing plates (14) are arranged on installing plate (8) bottom surface with revolution steering wheel installing plate (15) successively by the second attachment screw (17) is parallel, two pieces of floating bearing installing plate (14) centers are socketed with by floating bearing (12) the manipulator installing plate (11) and steering wheel output shaft gusset piece (13) that are parallel to each other, floating bearing (12) outer ring is arranged between two pieces of floating bearing installing plates (14), floating bearing (12) inner ring is fixedly connected between manipulator installing plate (11) and steering wheel output shaft gusset piece (13) by the first attachment screw (16), revolution steering wheel (3) is fixed on revolution steering wheel installing plate (15) center, manipulator (6) bottom is fixedly connected with manipulator installing plate (11) through installing plate (8), the central shaft of steering wheel output shaft gusset piece (13) bottom surface is coaxially fixedly connected with the output shaft of revolution steering wheel (3), realizes manipulator (6) link with the output shaft of revolution steering wheel (3) by the transition connection function of floating bearing inner ring.
5. a kind of solution magic square device carrying out three-dimensional artificial according to claim 1, it is characterized in that: described chuck (7) is L-shaped, on the paw end being fixed on manipulator (6) top of chuck (7) L shape, another side is clipped in magic square side.
6. a kind of solution magic square device carrying out three-dimensional artificial according to claim 3, it is characterized in that: the described height of chuck (7) L clevis in magic square side is the length of side of a square in magic square, the length of chuck (7) L shape is greater than the length of side of a square in magic square, and is less than total length of side of three squares.
7. a kind of solution magic square device carrying out three-dimensional artificial according to claim 3, is characterized in that: described controller (10) is connected with the revolution steering wheel (3) of both sides manipulator mechanism and folding steering wheel (5) respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410794127.5A CN104552305A (en) | 2014-12-21 | 2014-12-21 | Magic cube solving device capable of performing three-dimensional simulation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410794127.5A CN104552305A (en) | 2014-12-21 | 2014-12-21 | Magic cube solving device capable of performing three-dimensional simulation |
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Cited By (11)
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| 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 |
| CN107618038A (en) * | 2017-09-20 | 2018-01-23 | 东南大学 | The solution magic square device of low degree-of-freedom |
| CN107895512A (en) * | 2017-11-16 | 2018-04-10 | 谢宗奕 | A kind of three rank magic square automatic identifications and voice study course system |
| CN108136595A (en) * | 2015-09-22 | 2018-06-08 | 富士机械制造株式会社 | component feeding system |
| CN108544510A (en) * | 2018-06-15 | 2018-09-18 | 天津大学 | A kind of automatic recovery magic square robot mechanical arm |
| 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 |
| CN108839050A (en) * | 2018-06-15 | 2018-11-20 | 天津大学 | A kind of magic square robot arm |
| CN109176558A (en) * | 2018-10-23 | 2019-01-11 | 西华大学 | A kind of magic square reduction apparatus and magic square robot |
| CN110561455A (en) * | 2019-09-18 | 2019-12-13 | 合肥工业大学 | Magic cube robot manipulator |
| CN110721463A (en) * | 2019-11-18 | 2020-01-24 | 重庆邮电大学 | Magic cube restoration mechanical structure |
| CN111460997A (en) * | 2020-03-31 | 2020-07-28 | 倪娅丹 | Face recognition system and method based on omnibearing dynamic capture |
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| CN108544510A (en) * | 2018-06-15 | 2018-09-18 | 天津大学 | A kind of automatic recovery magic square robot mechanical arm |
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| CN110561455A (en) * | 2019-09-18 | 2019-12-13 | 合肥工业大学 | Magic cube robot manipulator |
| 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 |
| CN111460997A (en) * | 2020-03-31 | 2020-07-28 | 倪娅丹 | Face recognition system and method based on omnibearing dynamic capture |
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Application publication date: 20150429 |