CN108724215A - A kind of two finger magic square robot systems of automatic reduction magic square - Google Patents
A kind of two finger magic square robot systems of automatic reduction magic square Download PDFInfo
- Publication number
- CN108724215A CN108724215A CN201810623075.3A CN201810623075A CN108724215A CN 108724215 A CN108724215 A CN 108724215A CN 201810623075 A CN201810623075 A CN 201810623075A CN 108724215 A CN108724215 A CN 108724215A
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- Prior art keywords
- magic square
- steering engine
- finger
- shell
- control system
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of two finger magic square robot systems of automatic reduction magic square, incrustation, and the interior partition board that passes through of shell is formed two layers, control system is placed in bottom space, setting magic square robot, is arranged support device inside the shell, support device includes in upper space：Ball screw component, including ball screw and feed screw nut, ball screw both ends are separately connected bearing part and motor；Magic square holder, including connecting rod and magic square holder, magic square holder are the triangular prism hollowed out, connecting rod is connected and fixed with the feed screw nut on ball-screw.Camera inside the shell is set, realize the image in each face of acquisition scans magic square, and be input in control system in the form of color matrix, after being resolved to the color identification of magic square block as the recognizer built in control system, control magic square robot restores the magic square upset.Accuracy of the present invention, it is readable strong, it should be readily appreciated that and watch.
Description
Technical field
The present invention relates to magic square robotic technology fields, and in particular to a kind of two finger magic square robots of automatic reduction magic square
System.
Background technology
Magic square is a kind of protean puzzle, also referred to as Lu Bike squares, and 1974 by Budapest, HUN
Architecture institute Shandong Bick teaching inventive.Since its is extremely subtle, there is large quantities of fans, also has to magic square extensively in academia
General and in-depth study, and the achievement in research of magic square 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 comprehensively analyze and manage, the magic square arbitrarily upset can be restored automatically.
Existing magic square robot, due to not having support device, causes to hold in operating process when operating magic square
Easily there is mistake.
Invention content
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide the two of a kind of automatic reduction magic square
Refer to magic square robot system.
The technical solution adopted to achieve the purpose of the present invention is：
A kind of two finger magic square robot systems of automatic reduction magic square, include the shell of the uncovered of rectangular shape, described
It is formed two layers by partition board in shell, control system, the interior setting magic square robot of upper space, the evil spirit is placed in bottom space
Square robot includes：
Left arm, the left arm include two fingers being oppositely arranged, the first steering engine of control left arm steering, control
Two finger grips or the second steering engine for unclamping magic square, the first steering engine are connect with the output end of the second steering engine by mechanical wrist,
Two fingers are connected by gear engagement structure, and the second steering engine is sequentially connected with one of finger；
Right arm, the right arm are identical as the structure of left arm；
Support device inside the shell is set, and the support device includes：
Ball screw component, including ball screw and feed screw nut, the ball screw both ends be separately connected bearing part and
The convert rotational motion of motor is linear motion by motor；
Magic square holder, including connecting rod and magic square holder, magic square holder are the triangular prism hollowed out, the connecting rod and rolling
Feed screw nut on ballscrew is connected to a fixed.
Camera inside the shell is set, realizes the image in each face of acquisition scans magic square, and with the shape of color matrix
Formula is input in control system, after being resolved to the color identification of magic square block as the recognizer built in control system, controls magic square
Robot restores the magic square upset.
First steering engine is fixed on the skewback on manipulator branch top, and the mechanical wrist is that two angles are straight
The L shape structure of the surface plate composition at angle, two surface plates are connected to a fixed in the first steering engine and the second steering engine respectively.
The triangular prism is isosceles right angle trigonometry triangular prism, and right angle opposite side inwardly hollows out to form right angle groove-like structure, directly
The length of the arm of angle is the length of a magic square block.
The present invention has the following advantages：
(1) accuracy is high：It when initially putting magic square, is carried out by support device, reduces the error of manual operation, reduced
The error probability of system.
(2) readable strong：Two refer to magic square robot bionic human hand, and the process of simulation human hand reduction magic square is readable stronger,
It should be readily appreciated that and watch.
Description of the drawings
Fig. 1 is the schematic diagram of two finger magic square robot systems of automatic reduction magic square；
Fig. 2 is the schematic diagram of two finger magic square robots；
Fig. 3 is the attachment structure schematic diagram of magic square holder and ball screw；
Fig. 4 is the structural schematic diagram of magic square holder；
In figure：1：Shell, 2：Magic square robot, 3：Left arm, 31：First steering engine, 32：Second steering engine, 33：Third rudder
Machine, 34：4th steering engine, 41：First finger, 42：Second finger, 43：Third finger, 44：4th finger, 51：Manipulator support,
52：Mechanical wrist, 60：Ball screw component 60,61：Ball screw, 62：Feed screw nut, 63：Magic square holder, 64：Bearing part,
65：Micro-driving motor, 631：Connecting rod, 632：Magic square support slot, 7：Control system, 8：Camera, 81：Camera bracket,
11：Circular hole, 12：Partition board.
Specific implementation mode
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. 1-4, the two of a kind of automatic reduction magic square refers to magic square robot systems, including：
The shell of the uncovered of rectangular shape, the interior partition board 12 that passes through of the shell 1 are formed two layers, and control is placed in bottom space
System 7 processed, the interior setting magic square robot 2 of upper space, the magic square robot include：
Left arm 3, the left arm include two steering engines, finger, holders, and the first steering engine 31 is used for controlling steering, and second
Steering engine 32 is used for promptly or unclamps magic square, and the first steering engine 31 is connected with the output end of the second steering engine 32 by mechanical wrist 52,
First finger 41 is connected with the second steering engine 32, and second finger 42 is connected with the first finger 41 by gear engagement structure, the second rudder
Machine 32 moves, and drives the movement of the first finger 41, drives second finger 42 by gear engagement structure, realizes finger grips and pine
It opens；First steering engine 31 is fixed on by screw and nut on the skewback on 51 top of manipulator support, and by screw by manipulator
The bottom surface of wrist 52 is fixed in the rotation axis of the first steering engine 31, and mechanical wrist is the surface plate composition that two angles are right angle.The
One steering engine 31 is mounted on by screw on the side of mechanical wrist 52；
Right arm 4, the right arm is identical as the structure of left arm, and third steering engine 33 is used for controlling steering, the 4th steering engine
34 are used for promptly or unclamp magic square, and third steering engine 34 is connected with the output end of the 4th steering engine 33, third finger 43 and third rudder
Machine 34 is connected, and the 4th finger 44 is connected with third finger 43 by gear engagement structure；Remaining is same as above, and is no longer described in detail, and asks
With reference to the explanation of left arm.
Support device inside the shell is set, and the support device includes：
Ball screw component 60, including ball screw 61 and feed screw nut 62, screw both end are separately connected bearing part 64
And micro-driving motor 65, it is linear motion by the convert rotational motion of motor；Bearing part 64 and micro-driving motor 65 are distinguished
It is fixed on the rear wall of shell and on partition board.
Magic square holder 63, the magic square holder 63 form for 3D printing, including connecting rod 631 and magic square support slot 632, evil spirit
Side's support 632 is the triangular prism hollowed out, and triangular prism is isosceles right angle trigonometry triangular prism, and right angle opposite side inwardly hollows out, the right angle length of side
Degree is a magic square block length, and connecting rod is connected with the feed screw nut on ball-screw, realizes the lifting of magic square.
The ball screw 61 is connected with magic square holder 63, and evil spirit is controlled by controlling moving up and down for ball screw 61
Square holder 63 moves up and down, and then realizes that magic square raising and lowering is operated when specific operation instead of human hand, initially
Position keeps certain so that the original state that magic square robot captures magic square every time is identical, reduces displacement when gripping.
Camera 8 inside the shell is set, and the camera requires, the camera 8 and control compatible with control system
System 7 is compatible with, and realizes the identification for magic square block color, the convenient follow-up resolving for carrying out algorithm.
The circuit board in order to control of the control system 7, the control system is connected with four above-mentioned steering engines, with ball screw
The input terminal of motor be connected, be connected with camera through signal wire, can realize and control the movement of steering engine, the rising of ball screw
Image is acquired to each face of magic square with declining, controlling camera；Existing available MCU controls core may be used in the control system
Piece or 51 microcontrollers are realized.
Preferably, there are one circular holes 11 for 1 bottom baffles upper side edge of the shell, to fixing camera branch
Frame 81；When restoring magic square, there are four angles, i.e., 0 with the 4th steering engine 34 of right arm for second steering engine 32 of the left arm
Degree, 90 degree, 180 degree, 270 degree, no matter the second steering engine 32 and the 4th steering engine 34 are in which kind of angle, left-hand finger and right finger
Vertically.
First finger 41 of the left arm, the second finger of second finger 42, the first finger 43 of right arm, right arm
44 inside can increase anti-skidding rubber, and magic square is clamped with mechanical finger, increase frictional force using rubber so that magic square captures more
Add securely.
Original state：
Magic square holder is in minimum point, the second steering engine 32 and the 4th rudder between the second steering engine 32 and the 4th steering engine 34
Machine 34 is open configuration simultaneously, and the first steering engine 31 is in 0 degree with 33 steering engine of third steering engine.
Clamp magic square：
The magic square upset is placed on magic square holder 63, control system 7 controls ball screw 61 by controlling lead screw motor
Rise, magic square holder is driven to reach specified altitude assignment with magic square thereon, then ball screw 61 stops under the control of control system 7
Only rise.Control system 7 controls the second steering engine 32 and the 4th steering engine 34 clamps magic square.Control system 7 controls ball screw at this time
61 drive magic square holders drop to bottommost, ensure the reduction for not interfering with magic square.
Color scanning：Control system controls 6 faces of 8 scan round magic square of camera, and scanning situation is divided into two kinds：Scanning
To 9 magic square blocks, scanning to 8 magic square blocks (hand is firmly grasped, and a hand is decontroled).It scans to 8 magic square blocks, waits for finally sweeping
Retouch one piece of progress complementary scan for completing to lack it.
Magic square restores：After magic square scanning is completed, it is input in the form of color matrix in control system 7 by by preset
Algorithm resolved, wait after the completion of resolving, magic square restored.
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 (3)
1. the two of a kind of automatic reduction magic square refer to magic square robot system, which is characterized in that including：
The shell of the uncovered of rectangular shape, the shell is interior to be formed two layers by partition board, and control system is placed in bottom space,
Setting magic square robot, the magic square robot include in upper space：
Left arm, the left arm include two fingers being oppositely arranged, the first steering engine of control left arm steering, control two
Finger grips or the second steering engine for unclamping magic square, the first steering engine are connect with the output end of the second steering engine by mechanical wrist, two
Finger is connected by gear engagement structure, and the second steering engine is sequentially connected with one of finger；
Right arm, the right arm are identical as the structure of left arm；
Support device inside the shell is set, and the support device includes：
Ball screw component, including ball screw and feed screw nut, the ball screw both ends are separately connected bearing part and motor,
It is linear motion by the convert rotational motion of motor；
Magic square holder, including connecting rod and magic square holder, magic square holder are the triangular prism hollowed out, the connecting rod and ball wire
Feed screw nut on thick stick is connected to a fixed.
Camera inside the shell is set, realizes the image in each face of acquisition scans magic square, and defeated in the form of color matrix
Enter into control system, after being resolved to the color identification of magic square block as the recognizer built in control system, controls magic square machine
People restores the magic square upset.
2. the two of automatic reduction magic square as described in claim 1 refer to magic square robot system, which is characterized in that first rudder
Machine is fixed on the skewback on manipulator branch top, and the mechanical wrist is the L-shaped for the surface plate composition that two angles are right angle
Shape structure, two surface plates are connected to a fixed in the first steering engine and the second steering engine respectively.
3. the two of automatic reduction magic square as described in claim 1 refer to magic square robot system, which is characterized in that the triangular prism
For isosceles right angle trigonometry triangular prism, right angle opposite side inwardly hollows out to form right angle groove-like structure, and the length of right-angle side is a magic square
The length of block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810623075.3A CN108724215A (en) | 2018-06-15 | 2018-06-15 | A kind of two finger magic square robot systems of automatic reduction magic square |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810623075.3A CN108724215A (en) | 2018-06-15 | 2018-06-15 | A kind of two finger magic square robot systems of automatic reduction magic square |
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| Publication Number | Publication Date |
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| CN108724215A true CN108724215A (en) | 2018-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810623075.3A Pending CN108724215A (en) | 2018-06-15 | 2018-06-15 | A kind of two finger magic square robot systems of automatic reduction magic square |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366505A (en) * | 2018-12-18 | 2019-02-22 | 北京理工大学珠海学院 | Both arms magic cube-solving robot and its application method |
| CN110815248A (en) * | 2019-10-07 | 2020-02-21 | 华南理工大学 | Magic cube solving robot and magic cube teaching system and method |
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| CN103240747A (en) * | 2013-04-18 | 2013-08-14 | 塔米智能科技（北京）有限公司 | Intelligent magic cube solving robot and man-machine interaction system comprising same |
| CN103831829A (en) * | 2014-03-24 | 2014-06-04 | 常州工学院 | Driving device of magic cube solving robot |
| SK72014U1 (en) * | 2014-01-13 | 2014-12-04 | Technická Univerzita V Košiciach | Two arm mechanism for folding the Rubik's Cube |
| CN104552305A (en) * | 2014-12-21 | 2015-04-29 | 浙江大学 | Magic cube solving device capable of performing three-dimensional simulation |
| CN205111860U (en) * | 2015-10-21 | 2016-03-30 | 合肥探奥自动化有限公司 | Separate magic cube robot suitable for flow and demonstrate |
| CN207415382U (en) * | 2017-11-07 | 2018-05-29 | 兰州工业学院 | A kind of Second-order magic cube restores robot |
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2018
- 2018-06-15 CN CN201810623075.3A patent/CN108724215A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103240747A (en) * | 2013-04-18 | 2013-08-14 | 塔米智能科技（北京）有限公司 | Intelligent magic cube solving robot and man-machine interaction system comprising same |
| SK72014U1 (en) * | 2014-01-13 | 2014-12-04 | Technická Univerzita V Košiciach | Two arm mechanism for folding the Rubik's Cube |
| CN103831829A (en) * | 2014-03-24 | 2014-06-04 | 常州工学院 | Driving device of magic cube solving robot |
| CN104552305A (en) * | 2014-12-21 | 2015-04-29 | 浙江大学 | Magic cube solving device capable of performing three-dimensional simulation |
| CN205111860U (en) * | 2015-10-21 | 2016-03-30 | 合肥探奥自动化有限公司 | Separate magic cube robot suitable for flow and demonstrate |
| 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 (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366505A (en) * | 2018-12-18 | 2019-02-22 | 北京理工大学珠海学院 | Both arms magic cube-solving robot and its application method |
| CN110815248A (en) * | 2019-10-07 | 2020-02-21 | 华南理工大学 | Magic cube solving robot and magic cube teaching system and 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 |
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Application publication date: 20181102 |