CN206883653U - A kind of Revenge Cube restores robot - Google Patents
A kind of Revenge Cube restores robot Download PDFInfo
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- CN206883653U CN206883653U CN201720779468.4U CN201720779468U CN206883653U CN 206883653 U CN206883653 U CN 206883653U CN 201720779468 U CN201720779468 U CN 201720779468U CN 206883653 U CN206883653 U CN 206883653U
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- cam
- magic square
- rotating shaft
- robot
- rotary module
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Abstract
Automatic magic cube-solving robot equipment is the utility model is related to, specially a kind of Revenge Cube restores robot；It includes：Bottom plate, computer control system and colour recognition device, base is installed on bottom plate, the mandrel connector of magic square nine that base is provided with is used to install transmission system, the operating system that Revenge Cube restores robot is divided into three modules, respectively X is to rotary module, Y-direction rotary module, Z-direction rotary module, three rotary modules are equipped with single Installation Modes identical power system mounting bracket, three stepping motors and the rotating shaft corresponding with each stepping motor are fixed with dynamical system mounting bracket, cam structure is installed in rotating shaft；Its advantage is：The type of drive of gripper is converted to the type of drive of special cam, transmission system is simplified, every rotation side of Revenge Cube can be provided separately rotary power, not produce interference between each other, the kind of drive is simple, effectively shortens the recovery operation time of Revenge Cube.
Description
Technical field
Automatic magic cube-solving robot equipment is the utility model is related to, specially a kind of Revenge Cube restores robot.
Background technology
Puzzle toy is presently the most one of popular puzzle, and the magic square for restoring any initial state generally acknowledges have quite
Difficulty, Revenge Cube are considered as most bad recovery in 2-5 rank magic squares, although the change kind analogy quadravalence of Five dimensional magic cube is more,
But the central block of Revenge Cube is not fixed, cannot also be restored with general method.A total of 8 angles of Revenge Cube
Block, 24 side blocks and 24 central blocks.It is made up of 56 squares, i.e. about 7401*10^45 kinds.24 side blocks can not be carried out arbitrarily
Transposition, and two pieces of side blocks of each group of color identical are distinguishing, because side block is related to the color in two faces.So side block
Change sum a total of 24！Kind.Because state is identical in changing in space and state that color is different can be computed repeatedly, institute
With real status number should also divided by 24.Therefore there is the technology that automatic reduction magic square is resolved by machine.It can take
" magic square robot " is referred to as manual operation, the automatic mechanism for restoring magic square.Magic cube-solving robot using robot as carrier,
Solves magic square reduction problem using artificial intelligence technology.The robot that existing market resets magic square is generally three rank magic square recovery machines
Device people." a kind of magic square robot of tetragonal symmetry structure " as designed by Application No. 201510013273.4, magic square is put
Put in the basic execution unit of four symmetrical configurations, it is vertically fixed two-by-two by foot-supporting frame, and is together fixed on chassis
On, form a symmetrical and stable quadrilateral structure.Two foot-supporting frame tops are equipped with mobile phone secured adjusted support to fixation
Smart mobile phone, the mechanism containing motor, steering wheel, associated gear and connecting rod composition in four groups of basic execution units, being capable of same time control
The rotation and opening and closing of gripper processed, realization turn magic square.Through analysis, the magic square robot can only restore to three rank magic squares,
When being restored to magic squares more than three ranks, its transmission system need to change again, be produced using the athletic meeting of the transmission system gripper
Interfere, the recovery of three rank above magic squares can not be realized.
Therefore devise a kind of Revenge Cube and restore robot, the type of drive of gripper is converted to the drive of special cam
Dynamic magic square mode, while its transmission system more simplifies, rotary power can be provided separately in every rotation side of Revenge Cube, mutually
Between do not produce interference, the kind of drive is simple, effectively shortens the recovery operation time of Revenge Cube.
Utility model content
The utility model provides a kind of Revenge Cube and restores robot, effectively solves four present in prior art
Rank magic square restores the problem of difficulty is big, by using the linkage of nine axles and special actuated by cams mode so that installed in the device
On the choosing of Revenge Cube every turn side and can individually rotate, do not produce interference mutually, the kind of drive is simple, and it is magic to have reached shortening quadravalence
The purpose of square recovery operation time.
To achieve the above object, the technical solution adopted in the utility model is specific as follows：
A kind of Revenge Cube restores robot, including：The bottom plate 1 of robot is restored for installing fixed Revenge Cube,
Computer control system 2 and colour recognition device 3 are installed on bottom plate 1, it is characterised in that：Base 4, bottom are installed on bottom plate 1
The mandrel connector 401 of magic square nine that seat 4 is provided with is used to install transmission system, and the top of nine mandrel connector of magic square 401 is provided with and used
In the magic square monolithic fixed seat 402 of fixed Revenge Cube 22, the operating system that Revenge Cube restores robot is divided into three modules,
For respectively X to rotary module 5, Y-direction rotary module 6, Z-direction rotary module 7, three rotary modules are equipped with single, installation mould
Formula identical power system mounting bracket 8, is fixed with three stepping motors on dynamical system mounting bracket 8, is respectively：First stepping
Motor 9, the second stepping motor 10, the 3rd stepping motor 11, the first rotating shaft 12 corresponding with each stepping motor,
Two rotating shafts 13 and the other end of the 3rd rotating shaft 14 are installed on the mandrel connector 401 of magic square nine；Is installed with first rotating shaft 12
One cam 15, and it is sequentially installed with the first cam set 16 and the second cam set 17, two cam sets by two bearings point thereon
Formed by the cam 19 of driven gear 18 and second, the first cam set 16 is driven by the driving gear 20 in the second rotating shaft 13
Dynamic, the second cam set 16 is driven by the driving gear 20 in the 3rd rotating shaft 14.
It is equipped with the cam 19 of first cam 15 and second with magic square monolithic apart from corresponding latch 21, each two
The distance between adjacent latch 21 is the width of magic square single-order, drives magic square treating selvedge to rotate by latch 21.
The X is identical to rotary module 5, Y-direction rotary module 6, the transmission mode of Z-direction rotary module 7, respectively installation and magic square
Three two-by-two on orthogonal face so that different to the rotation position of magic square.
The cam 19 of driven gear 18 and second in the cam set 17 of first cam set 16 and second interfixes, rotation
It is synchronous.
The beneficial effects of the utility model are：First, using the kind of drive of three rotary modules, nine stepping motors, often
One magic-square rotary side can individually rotate, and avoid transmission system interference problem in transmission process.
Using magic square hornblock fixed seat structure, one piece of magic square at the right-angled apices of magic square is fixed so that its is attached
Three choosings of band turn side and are fixed, and reduce magic-square rotary amount and transmission system, have reached shortening Revenge Cube recovery operation
The purpose of time.
Using special cam structure, only by the rotation of rotation driving magic square each edge, step up to rotate with manipulator
Compare, simplify the transmission system of monolithic, and then optimize the integral drive-system of magic square robot.
Brief description of the drawings
Fig. 1 is integral installation structural representation of the present utility model；
Fig. 2 is that the utility model magic square restores drive mechanism schematic diagram；
Fig. 3 is the utility model X to rotary module structure chart；
Fig. 4 is the utility model X to rotary module structure chart two；
Fig. 5 is this practical understructure schematic diagram；
Fig. 6 is the utility model the first cam structure schematic diagram；
Fig. 7 is the utility model cam set structural representation；
Fig. 8 is magic square rotary principle figure.
Shown in figure：Bottom plate 1, computer control system 2, colour recognition device 3, base 4, the mandrel connector 401 of magic square nine, evil spirit
Corner block fixed seat 402, X are to rotary module 5, Y-direction rotary module 6, Z-direction rotary module 7, dynamical system mounting bracket 8, the first step
Enter motor 9, the second stepping motor 10, the 3rd stepping motor 11, first rotating shaft 12, the second rotating shaft 13, the 3rd rotating shaft 14,
First cam 15, the first cam set 16, the second cam set 17, driven gear 18, the second cam 19, driving gear 20, latch 21,
Revenge Cube 22.
Embodiment
Below in conjunction with the accompanying drawings and pass through specific embodiment further instruction the technical solution of the utility model：
Embodiment 1
A kind of Revenge Cube as shown in Figure 1-2 restores robot, by bottom plate 1, computer control system 2, colour recognition
Device 3, base 4, X tie to rotary module 5, Y-direction rotary module 6, Z-direction rotary module 7, composition, its transmission of X, Y, Z-direction rotary module
Structure is identical structure, by：Dynamical system mounting bracket 8, the first stepping motor 9, the second stepping motor 10, the 3rd stepping electricity
Motivation 11, first rotating shaft 12, the second rotating shaft 13, the 3rd rotating shaft 14, the first cam 15, the first cam set 16, the second cam set 17,
Driven gear 18, the second cam 19, driving gear 20 form.
Computer control system 2 and colour recognition device 3 are installed on bottom plate 1, as shown in Figure 1.Evil spirit is carried out in robot
Before Fang Fuwei, Revenge Cube need to be placed on colour recognition device 3 and carry out Model Identification, colour recognition device 3 arrives scanning
The mixed and disorderly Revenge Cube of pattern be transferred in computer control system 2, computer control system 2 carries out model restructuring, and
Calculate optimal rotation step number and minimum magic square reset routine.
The supporting construction that Revenge Cube resets robot is base 4 and dynamical system mounting bracket 8.Base 4 is cylindrical structure,
The mandrel connector 401 of magic square nine of cube structure, the cylinder axis position of base 4 and the mandrel connector 401 of magic square nine are installed thereon
The a certain diagonal of square overlaps.The mandrel connector 401 of magic square nine is used to install and support rotating system, therefore which is provided with rotating shaft
Mounting hole.Magic square monolithic fixed seat 402 is installed on the top of the mandrel connector 401 of magic square nine, magic square monolithic fixed seat 402 is used for
The single magic square of fixed Revenge Cube right angle, its mounting surface are parallel to each other with the mandrel connector 401 of magic square nine.Its overall structure is such as
Shown in Fig. 5.
The operating system that Revenge Cube restores robot is divided into three modules, and respectively X is to rotary module 5, Y-direction rotating mould
Block 6, Z-direction rotary module 7, each module are provided with three transmission devices.When the right angle monolithic that Revenge Cube is fixed fix with
After in magic square hornblock fixed seat 402, its XYZ can rotate to only loose three ranks magic square, therefore each direction of rotation
On be provided only with three transmission devices, and the drive mechanism of three transmission devices is identical with transmission principle, and installation direction is in magic square
Nine mandrel connectors 401 are corresponding.
By X to illustrating exemplified by the transmission system of rotary module 5.Its structure as shown in Figure 3 and Figure 4, is pacified in dynamical system
Shelve and three stepping motors are fixed with 8, be respectively：First stepping motor 9, the second stepping motor 10, the 3rd stepping
Motor 11.First rotating shaft 12, second rotating shaft 13 and threeth rotating shaft 14 other end corresponding with each stepping motor is installed on
On the mandrel connector 401 of magic square nine.First stepping motor 9 is directly connected to be driven with first rotating shaft 12, the second stepping motor 10
The second rotating shaft 13 and the 3rd rotating shaft 14 is driven to rotate by belt pulley with the 3rd stepping motor 11.Fixed peace in first rotating shaft 12
Equipped with the first cam 15, both are relatively fixed.And it is sequentially installed with the first cam set 16 and second by two bearings point thereon
Cam set 17, first rotating shaft 12 do not drive the first cam set 16 and the second cam set 17 to rotate.
The structure of cam 15 is as shown in fig. 6, be special cam structure.Multiple latches 21 are which is provided with, latch 21 can be embedded in
In space between each rank magic square, rotated by cam 15, drive magic square to rotate.The adjacent latch of each two is obtained according to above-mentioned
The distance between 21 be the width of magic square single-order.Its transmission principle is as shown in Figure 8.Two cam sets are by driven gear 18 and
Two cams 19 form, and its structure is as shown in fig. 7, the second cam 19 is identical with the structure of the first cam 15.First cam set 16 is by pacifying
Driving gear 20 in the second rotating shaft 13 drives, and the second cam set 16 is by the driving gear 20 in the 3rd rotating shaft 14
Driving.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (4)
1. a kind of Revenge Cube restores robot, including：The bottom plate (1) of robot is restored for installing fixed Revenge Cube,
Computer control system (2) and colour recognition device (3) are installed on bottom plate (1), it is characterised in that：It is provided with bottom plate (1)
Base (4), the mandrel connector of magic square nine (401) that base (4) is provided with are used to install transmission system, and the mandrel connector of magic square nine
(401) top is provided with the magic square monolithic fixed seat (402) for being used for fixing Revenge Cube (22), and Revenge Cube restores the behaviour of robot
It is divided into three modules as system, respectively X revolves to rotary module (5), Y-direction rotary module (6), Z-direction rotary module (7), three
Revolving die block is equipped with single Installation Modes identical dynamical system mounting bracket (8), is fixed with dynamical system mounting bracket (8)
Three stepping motors, it is respectively：First stepping motor (9), the second stepping motor (10), the 3rd stepping motor
(11), the first rotating shaft corresponding with each stepping motor (12), the second rotating shaft (13) and the installation of the 3rd rotating shaft (14) other end
In on the mandrel connector of magic square nine (401)；The first cam (15) is installed with first rotating shaft (12), and passes through two axles thereon
Hold and point be sequentially installed with the first cam set (16) and the second cam set (17), two cam sets are by driven gear (18) and second
Cam (19) is formed, and the first cam set (16) is driven by the driving gear (20) in the second rotating shaft (13), the second cam
Group (16) is driven by the driving gear (20) in the 3rd rotating shaft (14).
2. a kind of Revenge Cube according to claim 1 restores robot, it is characterised in that：First cam (15) and
It is equipped with second cam (19) with magic square monolithic between corresponding latch (21), the adjacent latch of each two (21)
Distance is the width of magic square single-order, drives magic square treating selvedge to rotate by latch (21).
3. a kind of Revenge Cube according to claim 1 restores robot, it is characterised in that：The X is to rotary module
(5), Y-direction rotary module (6), Z-direction rotary module (7) transmission mode are identical, are separately mounted to magic square three and are mutually perpendicular to two-by-two
Face on so that it is different to the rotation position of magic square.
4. a kind of Revenge Cube according to claim 1 restores robot, it is characterised in that：First cam set (16)
Interfixed with the driven gear (18) in the second cam set (17) and the second cam (19), rotation is synchronous.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720779468.4U CN206883653U (en) | 2017-06-30 | 2017-06-30 | A kind of Revenge Cube restores robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720779468.4U CN206883653U (en) | 2017-06-30 | 2017-06-30 | A kind of Revenge Cube restores robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206883653U true CN206883653U (en) | 2018-01-16 |
Family
ID=61298368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720779468.4U Expired - Fee Related CN206883653U (en) | 2017-06-30 | 2017-06-30 | A kind of Revenge Cube restores robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206883653U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839050A (en) * | 2018-06-15 | 2018-11-20 | 天津大学 | A kind of magic square robot arm |
| FR3095607A1 (en) | 2019-05-01 | 2020-11-06 | Thibault GRAD | 4x4x4 Rubik's Cube Quick Handling Device |
-
2017
- 2017-06-30 CN CN201720779468.4U patent/CN206883653U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839050A (en) * | 2018-06-15 | 2018-11-20 | 天津大学 | A kind of magic square robot arm |
| FR3095607A1 (en) | 2019-05-01 | 2020-11-06 | Thibault GRAD | 4x4x4 Rubik's Cube Quick Handling Device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180116 Termination date: 20180630 |