CN207888654U - A kind of robot upsetting three rank magic squares - Google Patents
A kind of robot upsetting three rank magic squares Download PDFInfo
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- CN207888654U CN207888654U CN201820004703.5U CN201820004703U CN207888654U CN 207888654 U CN207888654 U CN 207888654U CN 201820004703 U CN201820004703 U CN 201820004703U CN 207888654 U CN207888654 U CN 207888654U
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Abstract
The utility model provides a kind of robot upsetting three rank magic squares, master control rack, master control borad, collet, collet steering engine and the bearing steering engine being connected including rack and with the rack, the collet is located at the upper end of the collet steering engine, the collet steering engine is located at the upper end of the bearing steering engine, the bearing steering engine is set in the rack, and the master control borad is set in the master control rack and is connect with the bearing steering engine and the collet steering engine signal.Robot only needs two collets just to complete the work for upsetting magic square, simplifies operation, has saved cost.The collet of robot can be manufactured with 3D printer, and frame assembly can be used laser cutting plank part manufacture, most of part of entire robot that fast construction may be implemented, and reproducibility is strong.Robot can be used for extremely visitor's study, and wound visitor's education case uses.
Description
Technical field
The utility model is related to robot field more particularly to a kind of robots upsetting three rank magic squares.
Background technology
Magic square has been developed as a wide-spread hand limit fortune even to this day in the invention just fashionable whole world soon
It is dynamic.Magic square fan is generally keen to restore magic square, is but unwilling that the too many time is spent to upset magic square, upsets even if oneself
It is arbitrarily to upset, is not operated according to certain method of upsetting, if there is a magic square upsets machine, just solve this pain
Point.
It is required for judge artificial to carry out upsetting magic square according to certain step in large-scale cube games numerous at present, if
There is a machine that can help to judge, to complete this work, manpower can be saved, save the time.
Invention content
In view of this, the utility model provides a kind of fast construction, reproducible strong, easy to operate upsets three rank magic squares
Robot.
The robot provided by the utility model for upsetting three rank magic squares, including rack and the main controller that is connected with the rack
Frame, the robot further include master control borad, collet, collet steering engine and bearing steering engine, and the collet is located at the collet steering engine
Upper end, the collet steering engine are located at the upper end of the bearing steering engine, and the bearing steering engine is set in the rack, the master control borad
It is connect in the master control rack and with the bearing steering engine and the collet steering engine signal.
Further, the collet includes left collet and right collet, the left collet and the right collet be mutually perpendicular to and
The vertical line of bottom surface and the angle of horizontal plane of the left collet and the right collet are 45 degree.
Further, the collet includes two clamping jaws, and described two clamping jaws are fixed on the upper surface of the collet steering engine
And can be relatively moved along the upper surface of the collet steering engine, the upper surface of the collet steering engine is plane.
Further, the medial surface of described two clamping jaws includes that the first folder face, the second folder face and third press from both sides face from top to bottom,
The first folder face presss from both sides face relative to the folder perpendicular to the upper surface of the collet steering engine, the second folder face and the third
The upper surface of head steering engine is obliquely installed, and the acute angle formed between second folder face and the upper surface of the collet steering engine is more than
The acute angle formed between the third folder face and the upper surface of the collet steering engine.
Further, the height in first folder face is less than or equal to the length of a square of standard magic square, and described the
The length in one folder face is greater than or equal to the length of a square in standard magic square, and less than or equal to two squares in standard magic square
The sum of length.
Further, the height in first folder face is equal to the half of the length of side of a square of standard magic square, the first folder
The length in face is equal to the sum of the length of two squares of standard magic square.
Further, the bearing steering engine includes steering gear body and rotary shaft, and the steering gear body is fixed on the rack
On, the upper end of the rotary shaft is connected with the collet steering engine, and the lower end of the rotary shaft is fixedly connected with the steering gear body.
Further, bearing is arranged with outside the lower end of the rotary shaft, the bearing is fixed on the upper surface of the rack,
The steering gear body is connected, the angle formed between the upper surface of the rack and the upper surface of the master control rack is
135 degree, the upper surface of the rack is vertical with the rotary shaft.
Further, the collet steering engine includes left collet steering engine and right collet steering engine, and the bearing steering engine includes left axle
Steering engine and right bearing steering engine are held, the master control borad is connect with the collet steering engine and the bearing steering engine by data line；It is described
Master control borad includes the servo driving module being connected with the collet steering engine and the bearing steering engine.
Further, the master control borad further includes bluetooth module, buzzer module and indicator light；The master control borad passes through institute
It states bluetooth module and receives the instruction that host computer is sent；The master control borad connects buzzer, the finger by the buzzer module
Show that lamp is arranged on the panel of the master control borad.
The utility model embodiment has technique effect beneficial below：
1. traditional solution magic square machinery is all to complete work with four collets, robot only needs two collets just to complete
The work for upsetting magic square, simplifies operation, has saved cost.
2. the collet of robot can be manufactured with 3D printer, laser cutting plank part manufacture can be used in frame assembly, whole
Fast construction may be implemented in most of part of a robot, and reproducibility is strong.Robot can be used for extremely visitor's study, and wound visitor
Case is educated to use.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and being implemented in accordance with the contents of the specification, and in order to allow the above and other purpose, feature of the utility model
It can be clearer and more comprehensible with advantage, it is special below to lift preferred embodiment, and coordinate attached drawing, detailed description are as follows.
Description of the drawings
Fig. 1 is the schematic diagram of the robot provided by the utility model for upsetting three rank magic squares；
Fig. 2 is the control configuration diagram of the robot provided by the utility model for upsetting three rank magic squares.
Specific implementation mode
Further to illustrate that the utility model is to reach the technological means and effect that predetermined goal of the invention is taken, below
In conjunction with attached drawing and preferred embodiment, to the utility model, detailed description are as follows.
Referring to Fig. 1, a kind of robot upsetting three rank magic squares provided by the utility model, including rack (including left machine
Frame 10 and right rack 5), collet (including left collet 14 and right collet 1), collet steering engine (including left collet steering engine 13 and right collet
Steering engine 2), bearing (including left bearing 3 and right bearing 12), bearing steering engine (including left bearing steering engine 11 and right bearing steering engine 4), foot
Frame (including left foot frame 9 and right crus of diaphragm frame 6), master control rack 7 and master control borad 8.
Wherein, left collet 14 and right collet 1 are located at the upper end of left collet steering engine 13 and right collet steering engine 2, left collet
Steering engine 13 and right collet steering engine 2 are located at the upper end of left bearing steering engine 11 and right bearing steering engine 4, left bearing steering engine 11 and right axle
The upper end inboard that steering engine 4 is located at left frame 10 and right rack 5 is held, left bearing 3 and right bearing 12 are sheathed on left bearing respectively
The lower end of steering engine 11 and right bearing steering engine 4, left foot frame 9 and right crus of diaphragm frame 6 are located at the lower end of left frame 10 and right rack 5, main
Control rack 7 is connected between left frame 10 and right rack 5, is fixed by rivet between left frame 10 and right rack 5, master control borad
8 are set to the inside of master control rack 7, are located between two master control racks 7.
Further, it is in above-mentioned, left collet 14 and right collet 1 are manufactured using 3D printer, 1 phase of left collet 14 and right collet
The vertical line of bottom surface and the angle of horizontal plane of mutual vertical and left collet 14 and right collet 1 are 45 degree.Left collet 14 and right collet 1 are each
If there are two clamping jaw, which is fixed on the upper surface of corresponding collet steering engine and can do phase along the upper surface of collet steering engine
To movement, to clamp and unclamp magic square.Collet steering engine is semicircle, and upper surface is plane.
Further, the medial surface of two clamping jaws includes respectively that the first folder face 15, second presss from both sides face 16 and third folder face 17,
In, the first folder face 15 is located at the top of clamping jaw, and perpendicular to the upper surface of collet steering engine, and the second folder face 16 is located in clamping jaw
Portion, the first folder face 15 of connection and third press from both sides face 17, and third folder face 17 is located at the bottom of clamping jaw.Second folder face 16 and third press from both sides face 17
Upper surface relative to collet steering engine is obliquely installed, and acute angle folded between the second folder face 16 and the upper surface of collet steering engine is big
Acute angle folded between face 17 and the upper surface of collet steering engine is pressed from both sides in third.In this way, the utility model robot can be increased
Compatibility makes the utility model can be used for upsetting with various sizes of a variety of magic squares, for example, when the machine using the utility model
When device people clamps the magic square with larger particles, magic square is clamped using the second folder face 16 or third folder face 17.
Further, the height in the first folder face 15 is less than the length of a square of standard magic square, the length in the first folder face 15
Degree is more than the length of a square in standard magic square, and less than the sum of the length of two squares.More specifically, the first folder face 15
Height be equal to standard magic square a square length half, first folder face 15 length be equal to standard magic square two sides
The sum of length of block.In this way, can in order to robot execute rotation magic square action when steadily clamp magic square top layer and
Bottom is conducive to the operation for executing rotation magic square.
In above-mentioned, bearing steering engine includes steering gear body 19 and rotary shaft 18, and the upper end of rotary shaft 18 is connected with collet steering engine,
The lower end of rotary shaft 18 is fixedly linked with steering gear body 19, and steering gear body 19 is fixed in corresponding rack.Collet steering engine is fixed
In rotary shaft 18, it can be rotated with rotary shaft 18, and drive clamping jaw to rotate simultaneously；When collet steering engine rotates clockwise, two
Clamping jaw is relatively moved to close direction, collet tightening；When collet steering engine rotates counterclockwise, two clamping jaws are to separate direction
Relative movement, collet loosen.As shown in Fig. 2, master control borad is provided with servo driving module, servo driving module and collet steering engine and
Bearing steering engine is connected by data line, so as to be controlled the action of collet steering engine and bearing steering engine using master control borad.
Further, the lower end outer cover of rotary shaft is equipped with bearing, and bearing is fixed on the upper surface of rack, with steering gear body
It is connected, forms 135 degree of angle between the upper surface and the upper surface of master control rack of rack, upper surface and the rotary shaft 18 of rack is hung down
Directly.The setting of bearing can increase the stability of rotary shaft rotation, the shaking generated when rotary shaft being avoided to rotate and discontinuous.
Further, master control borad 8 is additionally provided with bluetooth module, buzzer module and indicator light；Master control borad 8 passes through bluetooth
Module receives the instruction that host computer is sent；Master control borad 8 connects buzzer by buzzer module, and indicator light is arranged in master control borad 8
Panel on.
When the robot using the utility model carries out upsetting the operation of three rank magic squares, three rank magic squares are put into left collet
14 and right collet 1 in；Switch button is pressed, the indicator light of master control borad 8 lights, and buzzer sounds；The use of host computer (can be PC
Hold host computer or mobile phone terminal host computer) input formula, the initialization of collet steering engine, left collet 14 and right collet 1 move to clamping shape
State；Left bearing steering engine 11 and the correspondence of right bearing steering engine 4 are rotated by 90 °, the entirety that drives rotary shaft 18 and left collet 14 to form and
The entirety correspondence that rotary shaft 18 and right collet 1 form is rotated by 90 °；One of left collet steering engine 13 and right collet steering engine 2 are controlled
It makes one of left collet 14 and right collet 1 and moves to releasing orientation from clamped condition；Left bearing steering engine 11 and right bearing rudder
Machine 4 corresponds to -90 degree of rotation, what the entirety and rotary shaft 18 and right collet 1 for driving rotary shaft 18 and left collet 14 to form formed
Mass motion completes the rotation of an an angle of 90 degrees in three one face of rank magic square to initial position；Repeatedly above step can
Upset work with realize the multiple faces of magic square；The submitting magic square that left bearing steering engine 11 and right bearing steering engine 4 execute master control borad 8 refers to
It enables, left bearing steering engine 11 and right bearing steering engine 4 rotate, the entirety and rotary shaft 18 for driving rotary shaft 18 and left collet 14 to form
The integral-rotation formed with right collet 1, meanwhile, left collet 14 or right collet 1 move to releasing orientation from clamped condition, magic square by
Gravity slides out.
The beneficial effects of the utility model：
1. traditional solution magic square machinery is all to complete work with four collets, robot only needs two collets just to complete
The work for upsetting magic square, simplifies operation, has saved cost.
2. the collet of robot can be manufactured with 3D printer, laser cutting plank part manufacture can be used in frame assembly, whole
Fast construction may be implemented in most of part of a robot, and reproducibility is strong.Robot can be used for extremely visitor's study, and wound visitor
Case is educated to use.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation be not limited to the utility model although the utility model has been disclosed with preferred embodiment as above, it is any ripe
Professional and technical personnel is known, is not being departed within the scope of technical solutions of the utility model, when in the technology using the disclosure above
Hold the equivalent embodiment made a little change or be modified to equivalent variations, as long as being without departing from technical solutions of the utility model
Hold, any simple modification, equivalent change and modification made by the above technical examples according to the technical essence of the present invention, still
It is within the scope of the technical solutions of the present invention.
Claims (10)
1. a kind of robot upsetting three rank magic squares, including rack and the master control rack that is connected with the rack, it is characterised in that：
The robot further includes master control borad, collet, collet steering engine and bearing steering engine, and the collet is located at the upper of the collet steering engine
End, the collet steering engine are located at the upper end of the bearing steering engine, and the bearing steering engine is set in the rack, and the master control borad is set
It is connect in the master control rack and with the bearing steering engine and the collet steering engine signal.
2. the robot according to claim 1 for upsetting three rank magic squares, it is characterised in that：The collet include left collet and
Right collet, the left collet and the right collet are mutually perpendicular to and the vertical line and water of the bottom surface of the left collet and the right collet
The angle of plane is 45 degree.
3. the robot according to claim 1 for upsetting three rank magic squares, it is characterised in that：The collet includes two folders
Pawl, described two clamping jaws are fixed on the upper surface of the collet steering engine and can do opposite shifting along the upper surface of the collet steering engine
Dynamic, the upper surface of the collet steering engine is plane.
4. the robot according to claim 3 for upsetting three rank magic squares, it is characterised in that：The medial surface of described two clamping jaws
Include that the first folder face, the second folder face and third press from both sides face, upper table of the first folder face perpendicular to the collet steering engine from top to bottom
Face, second folder face and third folder face are obliquely installed relative to the upper surface of the collet steering engine, and second folder
The acute angle formed between face and the upper surface of the collet steering engine is more than the upper surface in third folder face and the collet steering engine
Between the acute angle that is formed.
5. the robot according to claim 4 for upsetting three rank magic squares, it is characterised in that：The height in first folder face is small
In or equal to standard magic square a square length, it is described first folder face length be greater than or equal to standard magic square in a side
The length of block, and less than or equal to the sum of the length of two squares in standard magic square.
6. the robot according to claim 4 for upsetting three rank magic squares, it is characterised in that：The height etc. in first folder face
In the half of the length of side of a square of standard magic square, the length in the first folder face be equal to two squares of standard magic square length it
With.
7. the robot according to claim 1 for upsetting three rank magic squares, it is characterised in that：The bearing steering engine includes steering engine
Ontology and rotary shaft, the steering gear body are fixed on the rack, and the upper end of the rotary shaft is connected with the collet steering engine,
The lower end of the rotary shaft is fixedly connected with the steering gear body.
8. the robot according to claim 7 for upsetting three rank magic squares, it is characterised in that：The lower end housing of the rotary shaft
Equipped with bearing, the bearing is fixed on the upper surface of the rack, connects the steering gear body, the upper surface of the rack
The angle formed between the upper surface of the master control rack is 135 degree, the upper surface and the rotary shaft of the rack
Vertically.
9. the robot according to claim 1 for upsetting three rank magic squares, it is characterised in that：The collet steering engine includes left folder
Head steering engine and right collet steering engine, the bearing steering engine include left bearing steering engine and right bearing steering engine, the master control borad and the folder
Head steering engine is connected with the bearing steering engine by data line；The master control borad includes and the collet steering engine and the bearing steering engine
Connected servo driving module.
10. the robot according to claim 1 for upsetting three rank magic squares, it is characterised in that：The master control borad further includes indigo plant
Tooth module, buzzer module and indicator light；The master control borad receives the instruction that host computer is sent by the bluetooth module；It is described
Master control borad connects buzzer by the buzzer module, and the indicator light is arranged on the panel of the master control borad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820004703.5U CN207888654U (en) | 2018-01-02 | 2018-01-02 | A kind of robot upsetting three rank magic squares |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820004703.5U CN207888654U (en) | 2018-01-02 | 2018-01-02 | A kind of robot upsetting three rank magic squares |
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| Publication Number | Publication Date |
|---|---|
| CN207888654U true CN207888654U (en) | 2018-09-21 |
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ID=63551362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201820004703.5U Active CN207888654U (en) | 2018-01-02 | 2018-01-02 | A kind of robot upsetting three rank magic squares |
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| CN (1) | CN207888654U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN116619412A (en) * | 2023-06-08 | 2023-08-22 | 广州淦源智能科技有限公司 | Intelligent magic cube solving system |
-
2018
- 2018-01-02 CN CN201820004703.5U patent/CN207888654U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN116619412A (en) * | 2023-06-08 | 2023-08-22 | 广州淦源智能科技有限公司 | Intelligent magic cube solving system |
| CN116619412B (en) * | 2023-06-08 | 2024-01-23 | 广州淦源智能科技有限公司 | Intelligent magic cube solving system |
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