CN104552308B - A kind of magic cube-solving robot of tetragonal symmetry structure - Google Patents
A kind of magic cube-solving robot of tetragonal symmetry structure Download PDFInfo
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- CN104552308B CN104552308B CN201510013273.4A CN201510013273A CN104552308B CN 104552308 B CN104552308 B CN 104552308B CN 201510013273 A CN201510013273 A CN 201510013273A CN 104552308 B CN104552308 B CN 104552308B
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Abstract
A kind of magic cube-solving robot of tetragonal symmetry structure, which is related to Study of Intelligent Robot Control and mechanical design field.Magic square is placed in the basic performance element of four symmetrical configurations, and which passes through foot-supporting frame and vertically fixes two-by-two, and is together fixed on chassis, forms a symmetrical and stable quadrilateral structure.Two foot-supporting frame tops are equipped with mobile phone secured adjusted support to fixed smart mobile phone.Mechanism containing motor, steering wheel, associated gear and connecting rod composition in four groups of basic performance elements, can be while the rotation and opening and closing of control machine machinery claw, realize efficiently turning magic square.Smart mobile phone coordinates performance element to realize that image color information is gathered, and is sent to controller by Blue-tooth communication method.Controller completes to calculate the logic reduction of magic square using special algorithm, and generates corresponding execution step, controls then performance element and magic square is quickly reduced.
Description
Technical field
The present invention relates to Study of Intelligent Robot Control and mechanical design field, specifically provide a kind of solution of tetragonal symmetry structure
Magic square robot.
Background technology
The research of robotics has promoted the development of many artificial intelligence thoughts, has some technologies can be in artificial intelligence study
In be used for set up world state model and description world state change process.A kind of tetragonal symmetry structure as herein described
Magic cube-solving robot is, using robot as carrier, to realize going back the quick of three rank magic square of random disorder using artificial intelligence technology
Former work.
Patent No. CN201310135362.7, a kind of entitled intelligent magic cube-solving robot and has used the robot
Human-computer interaction system, discloses a kind of magic cube-solving robot.Including robot body, cylinder and air pump, it is characterised in that：Also wrap
Control main frame, mechanical arm, camera and magic square storehouse are included, cylinder is provided with timber truss, on the cylinder rod of cylinder, use is provided with
In the magic square storehouse for placing magic square, there is robot body above truss, be connected with robot body and move for carrying out solution magic square
The mechanical arm of work, is provided with for gathered data on truss and is transferred to the camera of control main frame, air pump respectively with air pump
It is connected with mechanical arm.
However, there is following defect in foregoing invention,
1. pneumatic type structure is adopted, and control accuracy is low, and volume is larger, not with good portability and stability.
2. two mutually perpendicular mechanical arms are devised, and it is excessively numerous and diverse to complete the step of once effectively operating, recovering efficiency
It is not high.
3. due to magic square, in reduction process, stress point is less, and magic square occurs and rocks, and have impact on the accurate of reduction step
Carry out.
4. increasing with reduction step, the systematic error turned by magic square can accumulate, and causing magic square to block cannot restore.
5. the folding and rotation of claw can not be completed simultaneously.
The content of the invention
In order to be able to realize the quick reduction work using artificial intelligence technology to three rank magic square of random disorder, the present invention is provided
A kind of magic cube-solving robot of the tetragonal symmetry structure based on smart mobile phone.Its executing agency has height pair using a kind of
The mechanism being made up of four groups of motor steering wheels and associated gear and connecting rod of title property, can in not only solving each gripper rotary course
The coiling problem that can be produced, the also rotation and opening and closing to claw are independently controlled.The common cooperation of four groups of executing agencies, from
Four direction is clamped and turns magic square, is ensured stability and efficiency of the system in solution magic square operation.Additionally, which is whole
With good portability and compatibility, its mobile phone secured adjusted support is detachable for body design, and can adjust to adapt to absolutely mostly
Base is in the smart mobile phone of Android operation system.
It is a kind of magic cube-solving robot of tetragonal symmetry structure that the present invention solves the scheme that adopted of its technical problem, the machine
Device people includes that magic square (1), smart mobile phone (2), basic performance element (8), control panel, foot-supporting frame (6), base (7), mobile phone are fixed
Adjusting bracket, control system；
Basic performance element (8) is including motor (9), motor plate (10), pillar (11), header board (12), main shaft (13), ball
Bearing part (14), big chute (15), L-type lever (16), lever location hole (17), steering wheel plate (18), steering wheel list rocking arm (19), rudder
Machine (20), push rod (21), connecting rod (22), rotating shaft (23), pawl (24), bearing pin (25), push rod shoulder block (26), sleeve (27), jump ring
(28), little gear (29), gear wheel (30)；
Mobile phone secured adjusted support includes that mobile phone lateral adjustments block, (3), mobile phone longitudinally adjust post (4), general mobile phone are fixed
Block (5)；Mobile phone longitudinally adjust post (4) is connected with foot-supporting frame (6)；Mobile phone lateral adjustments block, (3) is fixed on mobile phone longitudinally adjust
Post (4) top, mobile phone lateral adjustments block, (3), mobile phone longitudinally adjust post (4) are connected with general mobile phone fixed block (5)；Smart mobile phone
(2) on general mobile phone fixed block (5)；
Wherein magic square (1) is stably placed in four basic performance elements (8) symmetrically arranged, foot-supporting frame (6)
It is fixed with the header board (12) in each basic performance element (8), make that four basic performance elements (8) are adjacent to be vertically connected two-by-two, and
It is fixed on base (7) jointly, forms a symmetrical and stable quadrilateral structure；
Steering wheel (20) is fixed on steering wheel plate (18), and as steering wheel (20) is rotated, steering wheel list rocking arm (19) is rotated, and is driven
L-type lever (16) is moved, and L-type lever (16) is fixed by lever location hole (17), has big chute (15), ball bearing part thereon
(14) it is fixed with L-type lever (16) on big chute (15), and be fixed on main shaft (13) by sleeve (27) and jump ring (28),
I.e. as steering wheel (20) is rotated, ball bearing part (14) is slided up and down along main shaft (13)；
Pawl (24) is fixed on connecting rod (22) and rotating shaft (23) by bearing pin (25), and connecting rod (22) is solid with push rod (21)
Fixed, ball bearing part (14) is slided up and down along main shaft (13), drives push rod (21) to transport with connecting rod (22) through push rod shoulder block (26)
It is dynamic, the opening and closing of control claw (24) then；
Motor (9) is fixed between header board (12) and motor plate (10) by pillar (11), and motor (9) is rotated and drives little tooth
Wheel (29) is rotated, and drives then gear wheel (30) to rotate, and gear wheel (30) is coaxial with main shaft (13), drives main shaft (13) to rotate,
Main shaft (13) is rotated and drives rotating shaft (23) to rotate, and realizes the rotation of pawl (24)；
The control system of the magic square (1) includes host computer smart mobile phone, slave computer processor, performance element and power management
Module.
The steering wheel (20) that described control claw (24) is opened and closed is high-precision metal steering wheel；The motor that control claw (24) rotates
(9) it is DC micromotor.
The opening and closing of described pawl (24) and spinfunction are separate, can realize simultaneously.Pawl (24) in rotary course not
There is coiling.
Mobile phone lateral adjustments block, (3), mobile phone longitudinally adjust post (4), the material of general mobile phone fixed block (5) are stainless steel column
Shape structure；Smart mobile phone (2) highest is 100 millimeters from the vertical range of magic square (1).
The basic performance element (8) of described four, is individually positioned in four sides of magic square (1), and correspondence two is held substantially
In magic square (1) also pawl (24) front end of row unit (8) one layer magic square of Individual gripper (1) can complete rotation, i.e., at a distance of 50 millimeters
During original, rotation can be realized in its four sides in the case where not commutating, and improve execution efficiency.
In described control system, host computer unit includes the smart mobile phone based on Android operation system, wherein including
The supporting App of a magic cube-solving robot, camera, flash lamp and bluetooth module；Slave computer is mainly including STM32 series microcontrollers
Device, bluetooth module；Performance element mainly include LM293DD motor drive modules, DC micromotor, high-precision metal steering wheel and
Necessary linkage；Power management module mainly includes 3.7V lithium batteries, 12V poly-lithium batteries and Voltage stabilizing module.
Compared with existing most of magic cube-solving robots, the present invention is had the advantage that as follows.
Using DC micromotor and high accuracy steering wheel as executing agency, low in energy consumption, small volume, high precision, controlling party
Just.Material is easily obtained, and homogeneity of product is strong.
In the structure design of executing agency, using four groups of adjacent orthogonal basic system units two-by-two.Compact conformation,
Firm grip.Additionally, the mechanism solves the problems, such as ever-present coiling in gripper rotation process.
The common cooperation of four groups of basic system units, clamps from four direction and turns magic square so that execution once has
The efficiency of effect step is greatly improved, the problem changed hands during reducing magic-square rotary.
Steering wheel connecting rod connects on the bearing coaxial with main shaft, and control bearing is relative before and after main shaft to slide, then control claw
The opening and closing of son.The design does not interfere with each other the opening and closing of claw and rotation, improves the efficiency of magic square restoring operation.
Magic square color lump information is caught using its camera for carrying using based on Android intelligent as host computer, and
Control flash lamp realizes the supplementary function to light.Devise mobile phone to fix and adjusting bracket, make the suitable different model of the present invention
The smart mobile phone of size, increased the compatibility and adaptability of the invention.
Description of the drawings
Fig. 1 is a kind of overall appearance figure of the magic cube-solving robot of tetragonal symmetry structure；
Fig. 2 is a kind of executing agency's figure of magic cube-solving robot of tetragonal symmetry structure；
Fig. 3 is a kind of mechanism unit front view of the magic cube-solving robot of tetragonal symmetry structure；
Fig. 4 is a kind of mechanism unit side view of the magic cube-solving robot of tetragonal symmetry structure；
Fig. 5 is a kind of mechanism unit top view of the magic cube-solving robot of tetragonal symmetry structure；
Fig. 6 is a kind of system diagram of the magic cube-solving robot of tetragonal symmetry structure；
In figure：1st, magic square；2nd, smart mobile phone；3rd, mobile phone lateral adjustments block,；4th, mobile phone longitudinally adjust post；5th, general mobile phone is solid
Determine block；6th, prop up seat leg；7th, base；8th, basic performance element；9th, motor；10th, motor plate；11st, pillar；12nd, header board；13rd, main shaft；
14th, ball bearing part；15th, big chute；16th, L-type lever；17th, lever location hole；18th, steering wheel plate；19th, steering wheel list rocking arm；20、
Steering wheel；21st, push rod；22nd, connecting rod；23rd, rotating shaft；24th, pawl；25th, bearing pin；26th, push rod shoulder block；27th, sleeve；28th, jump ring；29th, it is little
Gear；30th, gear wheel.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is further described to the present invention, but embodiments of the present invention are not
It is limited to this.
Magic cube-solving robot constructive embodiment：
The present embodiment is a kind of structure design of the magic cube-solving robot of tetragonal symmetry structure, its structure chart such as Fig. 1,2,3,
4th, shown in 5.
Fig. 1, the explanation of 2 structures, magic square (1) is stably placed in 4 basic performance elements (8), relatively basic to perform list
50 millimeters of the gripper front end distance of first (8)；4 basic performance elements (8) are vertically connected two-by-two by foot-supporting frame (6) is adjacent,
And be fixed on base (7) jointly, form a symmetrical and stable quadrilateral structure；Smart mobile phone (2) is placed on hand
It is on machine fixed block (5) and fixed；Smart mobile phone (2) is controlled by mobile phone longitudinally adjust post (4) with the vertical height of magic square (1), its
Maximum height is less than 100 millimeters.
The structure explanation of Fig. 3,4,5, steering wheel (20) are fixed on steering wheel plate (18), as steering wheel (20) is rotated, steering wheel list
Rocking arm (19) is rotated, and drives L-type lever (16) motion, and L-type lever (16) is fixed by lever location hole (17), has big cunning thereon
Groove (15), ball bearing part (14) are fixed with L-type lever (16) on big chute (15), and pass through sleeve (27) and jump ring (28)
It is fixed on main shaft (13), i.e. as steering wheel (20) is rotated, ball bearing part (14) is slided up and down along main shaft (13)；
Pawl (24) is fixed on connecting rod (22) and rotating shaft (23) by bearing pin (25), and connecting rod (22) is solid with push rod (21)
Fixed, ball bearing part (14) is slided up and down along main shaft (13), drives push rod (21) to transport with connecting rod (22) through push rod shoulder block (26)
It is dynamic, the opening and closing of control claw (24) then；
Motor (9) is fixed between header board (12) and motor plate (10) by pillar (11), and motor (9) is rotated and drives little tooth
Wheel (29) is rotated, and drives then gear wheel (30) to rotate, and gear wheel (30) is coaxial with main shaft (13), drives main shaft (13) to rotate,
Main shaft (13) is rotated and drives rotating shaft (23) to rotate, and realizes the rotation of pawl (24)；
The advantage brought by said structure design is as follows：
1. smart mobile phone is adjustable with the distance of magic square and fixed block, improves the compatibility of magic cube-solving robot；
2. four symmetrical executing agencies can work independently simultaneously, improve the efficiency of solution magic square；
3. DC micromotor and high-precision metal steering wheel are selected, volume is reduced, it is ensured that control accuracy and homogeneity of product.
4. the mechanism unit design of uniqueness, it is ensured that the opening and closing and rotation of steering wheel and motor difference control claw, does not mutually do
Disturb, improve job stability and efficiency.
The working Examples of magic cube-solving robot：
The present embodiment is a kind of working method of the magic cube-solving robot of tetragonal symmetry structure, its system diagram as shown in fig. 6,
It is made up of host computer unit, lower computer unit, performance element and power management module.Wherein, host computer unit mainly includes base
In the smart mobile phone of Android operation system, wherein comprising the supporting App of a magic cube-solving robot, camera, flash lamp and indigo plant
Tooth module；Slave computer mainly includes STM32 Series of MCU, bluetooth module；Performance element is mainly driven including LM293DD motors
Dynamic model block, DC micromotor, high-precision metal steering wheel and necessary linkage；Power management module mainly includes 3.7V lithiums electricity
Pond, 12V poly-lithium batteries and Voltage stabilizing module composition.
Host computer unit mainly completes the collecting work of magic square colouring information to be restored.By the application program of smart mobile phone
The unlatching of control camera, gathers the colouring information of magic square 9 color lumps of top surface；Then by the default execution of the next machine controller
Unit control program, control performance element rotation magic square, sequentially into other 5 faces of magic square as top surface, it is ensured that camera is complete
Catch each complexion block message；After the completion of the colouring information collection in each face of magic square, application program is by the information with the shape of array
Formula is converted, and sends slave computer to by bluetooth module.Additionally, dark so that camera identification color lump when current light is detected
When difficult, application program controlling flash lamp is normally opened, and light filling process is done to the current environment residing for magic cube-solving robot.
Lower computer unit mainly completes the logical calculated of magic square reduction and controls the work of performance element.By bluetooth module
Receive the array of representative image information, logic reduction is carried out to array using CFOP algorithms compiled in advance and is calculated, gone back
Minimum step number needed for the former magic square and often walk corresponded manner.Every step corresponded manner is changed into into the control instruction to executing agency
Sequence, storage is in the microcontroller.Then according to control instruction sequence control performance element.
Performance element mainly completes the collection of magic square color lump and reduces work.In the incipient stage of solution magic square, performance element control
Magic square processed is fixing motion, it is ensured that all occurring once at top per one side for magic square, coordinates the color of host computer special
Levy collection；In the control signal that the execution stage of solution magic square, performance element are provided according to slave computer, complete to turn magic square.
Wherein, the opening and closing of the servos control gripper in performance element；The rotation of mini-motor control mechanical arm.
Power management module mainly completes the powered operation of magic cube-solving robot.Wherein, in smart mobile phone
3.7v lithium batteries are powered for which；While the poly-lithium battery of one 12v is directly powered for DC micromotor, also by 5v
Voltage stabilizing module and 3.3v Voltage stabilizing modules are respectively steering wheel, motor drive module, bluetooth module and microcontroller and power.
As described above, the present invention just can be realized well.Above-described embodiment is only presently preferred embodiments of the present invention, is not used
To limit the practical range of the present invention；I.e. all impartial changes done according to the present invention and modification, all required by right of the present invention
Claimed scope covered.
Claims (6)
1. a kind of magic cube-solving robot of tetragonal symmetry structure, it is characterised in that：The robot includes magic square (1), smart mobile phone
(2), basic performance element (8), control panel, foot-supporting frame (6), base (7), mobile phone secured adjusted support, control system；
Basic performance element (8) is including motor (9), motor plate (10), pillar (11), header board (12), main shaft (13), ball bearing
Part (14), big chute (15), L-type lever (16), lever location hole (17), steering wheel plate (18), steering wheel list rocking arm (19), steering wheel
(20), push rod (21), connecting rod (22), rotating shaft (23), pawl (24), bearing pin (25), push rod shoulder block (26), sleeve (27), jump ring
(28), little gear (29), gear wheel (30)；
Mobile phone secured adjusted support includes mobile phone lateral adjustments block, (3), mobile phone longitudinally adjust post (4), general mobile phone fixed block
(5)；Mobile phone longitudinally adjust post (4) is connected with foot-supporting frame (6)；Mobile phone lateral adjustments block, (3) is fixed on mobile phone longitudinally adjust post
(4) top, mobile phone lateral adjustments block, (3), mobile phone longitudinally adjust post (4) are connected with general mobile phone fixed block (5)；Smart mobile phone
(2) on general mobile phone fixed block (5)；
Wherein magic square (1) is stably placed on four symmetrically in the basic performance elements (8) of arrangement, foot-supporting frame (6) with it is each
Header board (12) in basic performance element (8) is fixed, makes that four basic performance elements (8) are adjacent to be vertically connected two-by-two, and jointly
It is fixed on base (7), forms a symmetrical and stable quadrilateral structure；
Steering wheel (20) is fixed on steering wheel plate (18), and as steering wheel (20) is rotated, steering wheel list rocking arm (19) is rotated, and drives L-type
Lever (16) is moved, and L-type lever (16) is fixed by lever location hole (17), has big chute (15), ball bearing part thereon
(14) it is fixed with L-type lever (16) on big chute (15), and be fixed on main shaft (13) by sleeve (27) and jump ring (28),
I.e. as steering wheel (20) is rotated, ball bearing part (14) is slided up and down along main shaft (13)；
Pawl (24) is fixed on connecting rod (22) and rotating shaft (23) by bearing pin (25), and connecting rod (22) is fixed with push rod (21), rolling
Pearl bearing part (14) is slided up and down along main shaft (13), drives push rod (21) to move with connecting rod (22) through push rod shoulder block (26), after
And the opening and closing of control claw (24)；
Motor (9) is fixed between header board (12) and motor plate (10) by pillar (11), motor (9) rotation driving pinion
(29) rotate, drive then gear wheel (30) to rotate, gear wheel (30) is coaxial with main shaft (13), drive main shaft (13) to rotate, it is main
Axle (13) is rotated and drives rotating shaft (23) to rotate, and realizes the rotation of pawl (24)；
The control system of the magic cube-solving robot includes host computer smart mobile phone, slave computer processor, performance element and power supply pipe
Reason module；
The executing agency of four symmetrical structures can work independently simultaneously.
2. the magic cube-solving robot of a kind of tetragonal symmetry structure according to claim 1, it is characterised in that：Described control
The steering wheel (20) that pawl (24) is opened and closed is high-precision metal steering wheel；The motor (9) that control claw (24) rotates is DC micromotor.
3. the magic cube-solving robot of a kind of tetragonal symmetry structure according to claim 1, it is characterised in that：Described pawl
(24) opening and closing and spinfunction is separate, can realize simultaneously.
4. the magic cube-solving robot of a kind of tetragonal symmetry structure according to claim 1, it is characterised in that：Mobile phone is laterally adjusted
Locking nub (3), mobile phone longitudinally adjust post (4), the material of general mobile phone fixed block (5) are stainless steel column construction；Smart mobile phone (2)
Highest is 100 millimeters from the vertical range of magic square (1).
5. the magic cube-solving robot of a kind of tetragonal symmetry structure according to claim 1, it is characterised in that：Described four
Basic performance element (8), is individually positioned in four sides of magic square (1), before the pawl (24) of two basic performance elements (8) of correspondence
End one layer magic square of Individual gripper (1) can complete rotation at a distance of 50 millimeters.
6. the magic cube-solving robot of a kind of tetragonal symmetry structure according to claim 1, it is characterised in that：Described control
In system, host computer unit includes the smart mobile phone based on Android operation system, wherein matching somebody with somebody comprising a magic cube-solving robot
Set App, camera, flash lamp and bluetooth module；Slave computer mainly includes STM32 Series of MCU, bluetooth module；Perform list
It is first mainly to include LM293DD motor drive modules, DC micromotor, high-precision metal steering wheel and necessary linkage；Power supply
Management module mainly includes 3.7V lithium batteries, 12V poly-lithium batteries and Voltage stabilizing module.
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Cited By (1)
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| CN110978002A (en) * | 2019-12-03 | 2020-04-10 | 武汉东湖学院 | Intelligent magic cube disordering device |
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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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| CN109571500A (en) * | 2018-12-29 | 2019-04-05 | 上海建桥学院 | Six axis magic cube-solving robot device of cartridge type, system and application method |
| CN110815248B (en) * | 2019-10-07 | 2024-02-20 | 华南理工大学 | Magic cube solving robot and magic cube teaching system and method |
| CN112606005A (en) * | 2020-11-24 | 2021-04-06 | 辽宁科技大学 | Intelligent magic cube robot |
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