CN204891163U - Automatic separate magic cube device - Google Patents
Automatic separate magic cube device Download PDFInfo
- Publication number
- CN204891163U CN204891163U CN201520572315.3U CN201520572315U CN204891163U CN 204891163 U CN204891163 U CN 204891163U CN 201520572315 U CN201520572315 U CN 201520572315U CN 204891163 U CN204891163 U CN 204891163U
- Authority
- CN
- China
- Prior art keywords
- magic square
- connecting rod
- stepper motor
- camera
- separates
- 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
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an automatic separate magic cube device, including the workstation, be provided with on the workstation supporting magic cube supporting assembly, be used for the centre gripping magic cube and carry out pivoted centre gripping subassembly and carry out the camera taken to the magic cube, the quantity of centre gripping subassembly is four groups, and four group's centre gripping subassemblies encircle the setting of supporting assembly equipartition, supporting assembly is including the bracket of supporting magic cube and the step motor that drive carrier goes on going up and down, the centre gripping subassembly is including the mechanical clamping jaw that sets firmly mounting panel on the workstation, sets firmly the 2nd step motor on the mounting panel and be connected with the 2nd step motor's spindle nose, camera, a step motor and the 2nd step motor are connected with electrical system. The utility model discloses an automatic separate magic cube device has simple structure, manufacturing cost and maintains advantages such as low cost.
Description
Technical field
The utility model relates to a kind of device of automatic solution magic square.
Background technology
Magic square is a kind of educational toy strengthening student's spatial thinking ability, but for playing the new hand of magic square, restoring the magic square upset is have higher difficulty.Traditional magic square recovery operation is mainly calculated by human brain, reduces eventually through manually-operated mode.Although also there is the robot that some magic squares reduce in prior art, because this type of robot architecture's complexity, production cost and maintenance cost are high, be difficult to promote the use of.
Summary of the invention
The utility model is intended to solve above-mentioned mentioned technical problem, provides that a kind of structure is simple, production cost and the cheap automatic solution magic square device of maintenance cost.
The utility model is realized by following technical scheme:
A kind of magic square of solution automatically device, comprise workbench, workbench is provided with the bearing assembly of supporting magic square, for clamping magic square and carrying out the clamp assemblies rotated and the camera taken magic square, the quantity of described clamp assemblies is four groups, and four groups of clamp assemblies are around the uniform setting of bearing assembly;
Described bearing assembly comprises the first stepper motor that the supporting bracket of magic square and driven bracket carry out being elevated;
The mechanical grip that described clamp assemblies comprises the installing plate be fixedly arranged on workbench, is fixedly arranged on the second stepper motor on installing plate and is connected with the spindle nose of the second stepper motor;
Described camera, the first stepper motor are connected with electric-control system with the second stepper motor.
Preferably, described mechanical grip comprises the connecting plate on the spindle nose being fixedly arranged on the second stepper motor, be fixedly arranged on steering wheel on connecting plate and for the upper holder block that crimps magic square and lower lock block, first connecting rod and second connecting rod is hinged with between upper holder block and connecting plate, third connecting rod and double leval jib is hinged with between lower lock block and connecting plate, upper holder block and lower lock block, first connecting rod and third connecting rod, second connecting rod and double leval jib are all symmetrical arranged centered by the axis of the second stepper motor, described steering wheel drives first connecting rod and third connecting rod to rotate in gear-driven mode simultaneously.
Preferably, described first connecting rod parallels setting with second connecting rod, and described third connecting rod parallels setting with double leval jib.
Preferably, described first connecting rod, second connecting rod, third connecting rod and double leval jib are provided with two groups, and are symmetricly set on the both sides of connecting plate respectively.
Preferably, described upper holder block and lower lock block include the pressure contact portion of crimping magic square, and the compression joint area of described pressure contact portion and magic square is less than or equal to the half of the grid area of magic square.
Preferably, described workbench is provided with the first through hole that accommodating bracket runs through.
Preferably, described camera is arranged at immediately below magic square, described bracket is provided with the second through hole for making the bottom surface of camera to magic square take.
Preferably, described electric-control system comprises main control system, and camera, parallel port interface board, step actuator and the actuator driving plate to be connected with main control system, first stepper motor is connected with step actuator with the second stepper motor, step actuator is connected with parallel port interface board, and steering wheel is connected with actuator driving plate.
Preferably, described main control system, camera, parallel port interface board, actuator driving plate, step actuator are all arranged in electronic box, and described workbench is plate, and workbench is arranged at the top of electronic box.
The beneficial effects of the utility model are: automatic solution magic square device of the present utility model, by arranging camera, thus automatically can identify magic square, and by presetting the program of separating magic square, making automatically to separate magic square device and going to carry out automatic reduction to magic square by performing different programs.Automatic solution magic square device of the present utility model, the teaching being equally also suitable for colleges and universities uses, and this is automatically separated magic square device and student can be excited the interest of academic program, carries out learning and putting into practice in allowing student be at play.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in further detail, wherein:
Fig. 1 is the structural representation of a kind of embodiment automatically separating magic square device;
Fig. 2 is the structural representation of the mechanical grip in Fig. 1.
Detailed description of the invention
Automatic solution magic square device as shown in Figure 1 and Figure 2, comprise workbench 2, workbench 2 is provided with the bearing assembly of supporting magic square 1, for clamping magic square 1 and carrying out the clamp assemblies rotated and the camera taken magic square 1, bearing assembly can be arranged at the center of workbench 2.The quantity of clamp assemblies is four groups, and four groups of clamp assemblies are around the uniform setting of bearing assembly, and namely four groups of clamp assemblies are oppositely arranged with a side of magic square 1 respectively.
Often organize bearing assembly and comprise the first stepper motor that the supporting bracket of magic square 1 and driven bracket carry out being elevated.By arranging liftable bracket, make clamp assemblies clamp magic square 1 rotate time, bearing assembly decline after to make clamp assemblies have enough spaces to rotate.
Clamp assemblies comprises the installing plate 31 be fixedly arranged on workbench 2, the second stepper motor 32 be fixedly arranged on installing plate 31, and the mechanical grip be connected with the spindle nose of the second stepper motor 32.Mechanical grip rotates under the driving of the second stepper motor 32, thus can make clamp assemblies that the skin of magic square 1 can be driven to rotate.
Camera, the first stepper motor are connected with electric-control system with the second stepper motor 32.Camera is used for taking pictures to magic square 1, camera can be arranged on as required directly over magic square 1 or immediately below.Preferably, camera is arranged on immediately below magic square 1.During use, carry out unitary rotation by clamp assemblies clamping magic square 1, thus can take pictures in totally 6 faces to the front, back, left, right, up, down of magic square 1, the photo after taking pictures is identified by main control system 51.Go out the solution of best reduction magic square 1 after main control system 51 identifies photo by the program computation preset, and completed the reduction of magic square 1 according to this solution by four groups of clamp assemblies.
Mechanical grip comprises the connecting plate 33 on the spindle nose being fixedly arranged on the second stepper motor 32, be fixedly arranged on steering wheel 34 on connecting plate 33 and for the upper holder block 35 that crimps magic square 1 and lower lock block 36, first connecting rod 41 and second connecting rod 42 is hinged with between upper holder block 35 and connecting plate 33, third connecting rod 43 and double leval jib 44 is hinged with between lower lock block 36 and connecting plate 33, upper holder block 35 and lower lock block 36, first connecting rod 41 and third connecting rod 43, second connecting rod 42 and double leval jib 44 are all arranged symmetrically centered by the axis of the second stepper motor 32, steering wheel 34 drives first connecting rod 41 and third connecting rod 43 to rotate in gear-driven mode simultaneously.Namely, upper holder block 35, first connecting rod 41, second connecting rod 42 and connecting plate 33 form a lanar four rod mechanism, drive first connecting rod 41 to rotate by steering wheel 34, thus make upper holder block 35 crimp with magic square 1 or be separated with magic square 1.Similarly, lower lock block 36, third connecting rod 43, double leval jib 44 and connecting plate 33 also form another lanar four rod mechanism.Also just make can to control upper holder block 35 by a steering wheel 34 close to each other with lower lock block 36 or be separated.Certainly, also upper holder block 35 and lower lock block 36 can be controlled respectively by two steering wheels 34.Preferably, first connecting rod 41 parallels setting with second connecting rod 42, and third connecting rod 43 parallels setting with double leval jib 44.
In order to make the lanar four rod mechanism uniform force at upper holder block 35 and lower lock block 36 place, operate steadily, first connecting rod 41, second connecting rod 42, third connecting rod 43 and double leval jib 44 are provided with two groups, and are symmetricly set on the both sides of connecting plate 33 respectively.
Particularly, upper holder block 35 and lower lock block 36 include the pressure contact portion 37 of crimping magic square 1, pressure contact portion 37 is less than or equal to the half of the grid area of magic square 1 with the compression joint area of magic square 1, thus camera is taken pictures to magic square 1 grid that pressure contact portion 37 abuts can effectively to avoid pressure contact portion 37 to stop.A side of magic square is made up of 9 grids, therefore, the grid area of magic square is 1/9th of a magic square side gross area, and the area due to pressure contact portion 37 is less than or equal to the half of the grid area of magic square 1, thus camera can be made the color of 9 grids can be taken obtain.
Certainly, pneumatic clamps also can be adopted to refer to for above-mentioned mechanical grip or other clamping elements substitute.
Bearing assembly can be arranged on the top of workbench 2 completely, also partly can be arranged on the top of workbench 2 to make overall structure compacter.When bearing assembly part is arranged on the top of workbench 2, workbench 2 is provided with the first through hole 21 that accommodating bracket runs through.
When camera is arranged at immediately below magic square 1, bracket is provided with the second through hole for making the bottom surface of camera to magic square 1 take.Particularly, bracket comprises the supporting part 61 of supporting magic square 1 and the sleeve 62 of supporting supporting part 61, supporting part 61 is provided with above-mentioned second through hole, and corresponding second through hole of sleeve 62 is arranged, the namely axis of sleeve 62 and the axes coincide of the second through hole, camera can be arranged at the inner chamber of sleeve 62.
Electric-control system comprises main control system 51, and camera, parallel port interface board 53, step actuator 54 and the actuator driving plate 52 to be connected with main control system 51, first stepper motor is connected with step actuator 54 with the second stepper motor 32, step actuator 54 is connected with parallel port interface board 53, and steering wheel 34 is connected with actuator driving plate 52.Also be, main control system 51 to be connected with camera by USB interface and to receive image information; Main control system 51 is by parallel port interface board 53 and step actuator 54, utilize the pulse signal of each port output logic of parallel port interface board 53 change generation control first stepper motor and the second stepper motor 32 and direction signal to be sent to step actuator 54, thus drive the first stepper motor and the second stepper motor 32 to rotate; Main control system 51 is connected with steering wheel 34 by actuator driving plate 52, drives steering wheel 34 driving mechanical jaw folding thus captures magic square.
Main control system 51, camera, parallel port interface board 53, actuator driving plate 52, step actuator 54 are all arranged in electronic box 5.When workbench 2 is plate, workbench 2 can be arranged at the top of electronic box 5.
Above embodiment is only not limited in order to the technical solution of the utility model to be described, all do not depart from the utility model spirit and scope any amendment or equivalently to replace, it all should be encompassed in the scope of technical solutions of the utility model.
Claims (9)
1. automatically separate magic square device for one kind, comprise workbench, it is characterized in that, workbench is provided with the bearing assembly of supporting magic square, for clamping magic square and carrying out the clamp assemblies rotated and the camera taken magic square, the quantity of described clamp assemblies is four groups, and four groups of clamp assemblies are around the uniform setting of bearing assembly;
Described bearing assembly comprises the first stepper motor that the supporting bracket of magic square and driven bracket carry out being elevated;
The mechanical grip that described clamp assemblies comprises the installing plate be fixedly arranged on workbench, is fixedly arranged on the second stepper motor on installing plate and is connected with the spindle nose of the second stepper motor;
Described camera, the first stepper motor are connected with electric-control system with the second stepper motor.
2. one according to claim 1 separates magic square device automatically, it is characterized in that, described mechanical grip comprises the connecting plate on the spindle nose being fixedly arranged on the second stepper motor, be fixedly arranged on steering wheel on connecting plate and for the upper holder block that crimps magic square and lower lock block, first connecting rod and second connecting rod is hinged with between upper holder block and connecting plate, third connecting rod and double leval jib is hinged with between lower lock block and connecting plate, upper holder block and lower lock block, first connecting rod and third connecting rod, second connecting rod and double leval jib are all symmetrical arranged centered by the axis of the second stepper motor, described steering wheel drives first connecting rod and third connecting rod to rotate in gear-driven mode simultaneously.
3. one according to claim 2 separates magic square device automatically, it is characterized in that, described first connecting rod parallels setting with second connecting rod, and described third connecting rod parallels setting with double leval jib.
4. one according to claim 2 separates magic square device automatically, it is characterized in that, described first connecting rod, second connecting rod, third connecting rod and double leval jib are provided with two groups, and is symmetricly set on the both sides of connecting plate respectively.
5. one according to claim 2 separates magic square device automatically, it is characterized in that, described upper holder block and lower lock block include the pressure contact portion of crimping magic square, and the compression joint area of described pressure contact portion and magic square is less than or equal to the half of the grid area of magic square.
6. one according to claim 1 separates magic square device automatically, it is characterized in that, described workbench is provided with the first through hole that accommodating bracket runs through.
7. one according to claim 1 separates magic square device automatically, it is characterized in that, described camera is arranged at immediately below magic square, described bracket is provided with the second through hole for making the bottom surface of camera to magic square take.
8. one according to claim 1 separates magic square device automatically, it is characterized in that, described electric-control system comprises main control system, and camera, parallel port interface board, step actuator and the actuator driving plate to be connected with main control system, first stepper motor is connected with step actuator with the second stepper motor, step actuator is connected with parallel port interface board, and steering wheel is connected with actuator driving plate.
9. one according to claim 8 separates magic square device automatically, it is characterized in that, described main control system, camera, parallel port interface board, actuator driving plate, step actuator are all arranged in electronic box, and described workbench is plate, and workbench is arranged at the top of electronic box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520572315.3U CN204891163U (en) | 2015-07-30 | 2015-07-30 | Automatic separate magic cube device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520572315.3U CN204891163U (en) | 2015-07-30 | 2015-07-30 | Automatic separate magic cube device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204891163U true CN204891163U (en) | 2015-12-23 |
Family
ID=54913380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520572315.3U Active CN204891163U (en) | 2015-07-30 | 2015-07-30 | Automatic separate magic cube device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204891163U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107990209A (en) * | 2017-11-29 | 2018-05-04 | 深圳市雷凌广通技术研发有限公司 | A kind of adjustable spotlight of range of exposures for electric power overhaul |
| CN108159682A (en) * | 2018-02-09 | 2018-06-15 | 南月（广州）机器人科技有限公司 | A kind of automatic clearing apparatus of magic square and the magic square |
| CN109176558A (en) * | 2018-10-23 | 2019-01-11 | 西华大学 | A kind of magic square reduction apparatus and magic square robot |
| CN109676628A (en) * | 2019-02-25 | 2019-04-26 | 长春大学 | Magic square robot |
| CN112606005A (en) * | 2020-11-24 | 2021-04-06 | 辽宁科技大学 | Intelligent magic cube robot |
-
2015
- 2015-07-30 CN CN201520572315.3U patent/CN204891163U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107990209A (en) * | 2017-11-29 | 2018-05-04 | 深圳市雷凌广通技术研发有限公司 | A kind of adjustable spotlight of range of exposures for electric power overhaul |
| CN108159682A (en) * | 2018-02-09 | 2018-06-15 | 南月（广州）机器人科技有限公司 | A kind of automatic clearing apparatus of magic square and the magic square |
| 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 |
| CN109176558A (en) * | 2018-10-23 | 2019-01-11 | 西华大学 | A kind of magic square reduction apparatus and magic square robot |
| CN109176558B (en) * | 2018-10-23 | 2023-12-01 | 西华大学 | Magic cube reduction device and magic cube robot |
| CN109676628A (en) * | 2019-02-25 | 2019-04-26 | 长春大学 | Magic square robot |
| CN112606005A (en) * | 2020-11-24 | 2021-04-06 | 辽宁科技大学 | Intelligent magic cube robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204891163U (en) | Automatic separate magic cube device | |
| CN104552305A (en) | Magic cube solving device capable of performing three-dimensional simulation | |
| CN106003007A (en) | Linked mechanical arm applied to rod clamping | |
| CN207634949U (en) | A kind of English teaching multimedia device | |
| CN209717458U (en) | A kind of positioning device for pcb board | |
| CN105957438B (en) | A kind of automatic automobile assembly tutoring system and its application process | |
| CN109366505A (en) | Both arms magic cube-solving robot and its application method | |
| CN206869903U (en) | Object clamping part and robot | |
| CN110900649B (en) | Manipulator device and intelligent chess playing robot | |
| CN218572798U (en) | Intelligent magic cube | |
| CN205996960U (en) | A kind of magic square resolves robot | |
| CN204414093U (en) | A kind of symmetrical expression Three Degree Of Freedom based on mobile platform can load machinery hand | |
| CN208773565U (en) | A kind of parallel robot teaching application apparatus | |
| CN204471381U (en) | A kind of solution magic square device carrying out three-dimensional artificial | |
| CN214847326U (en) | Financial specialty is economic curve and is illustrated board for study | |
| CN113084840A (en) | Double-arm humanoid-hand full-automatic third-order magic cube reduction robot | |
| CN105513484B (en) | A kind of multifunctional movement controls practical traning platform | |
| CN201316537Y (en) | Electric building block | |
| CN209380752U (en) | Both arms magic cube-solving robot | |
| CN209312305U (en) | Connection simulator for training on electric power | |
| CN207858862U (en) | A kind of clamping device for processing connector manipulator | |
| CN206198677U (en) | Artificial toy doll eyeball Manual revolving gear | |
| CN109332536A (en) | A kind of servo apparatus for bending of more PIN needles | |
| CN215730237U (en) | Preschool education teaching show teaching aid | |
| CN215125531U (en) | Novel international economy and trade chart making device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |