CN209868610U - Four-column magic cube solving robot device and system - Google Patents
Four-column magic cube solving robot device and system Download PDFInfo
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- CN209868610U CN209868610U CN201822254545.1U CN201822254545U CN209868610U CN 209868610 U CN209868610 U CN 209868610U CN 201822254545 U CN201822254545 U CN 201822254545U CN 209868610 U CN209868610 U CN 209868610U
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- magic cube
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Abstract
The utility model relates to a magic cube robot device and system are separated to four column types, the device includes the support, goes up chuck and six motors, wherein: the six motors are all composed of a motor body and a coupler, and the coupler is used for connecting the magic cube and the motor body; the bracket consists of a base, four upright posts distributed on the base in a cross shape and a bottom motor mounting groove which is arranged on the base and is positioned in the center of the four upright posts, wherein the top ends of the four upright posts are respectively provided with a side motor mounting groove for simultaneously mounting motor bodies of the four motors from the upper part; the upper chuck is detachably erected at the tops of the two opposite upright columns and is provided with a top motor mounting groove which is arranged opposite to the bottom motor mounting groove. Compared with the prior art, the utility model discloses the simple easy preparation of structure, convenient assembling, the operation is reliable, and the suitability wide range makes things convenient for the exhibition, and is with low costs, easily the student master reduction magic cube principle and software secondary development.
Description
Technical Field
The utility model relates to a solve magic cube robot, especially relate to a magic cube robot device and system are separated to four column types.
Background
Magic cubes have been popular around the world for many years, and until the advent of magic cube robots, people have relied only on manual magic cube interpretation. Magic cube robots have started to appear in recent years at home and abroad, and quickly attract the attention of many people, wherein the magic cube robots mainly comprise scientific communities, pure magic cube players and students with strong interest in scientific design. However, one important reason why the magic cube robot is not widely popularized is that the magic cube robot is too high in cost, large in manufacturing difficulty and complex in structure.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a simple structure easily makes in order to overcome the defect that above-mentioned prior art exists, convenient assembling, the operation is reliable, and the suitability wide range makes things convenient for the exhibition, and is with low costs, easily the student master restore magic cube principle and with four column type magic cube robot device and system of solving of software secondary development. Has strong teaching practicability and entertainment significance.
The purpose of the utility model can be realized through the following technical scheme:
the utility model provides a magic cube robot device is separated to four column types, include:
the six motors are composed of a motor body and a coupler, the coupler is used for connecting the magic cube and the motor body,
the bracket consists of a base, four upright posts which are distributed on the base in a cross shape and a bottom motor mounting groove which is arranged on the base and is positioned in the center of the four upright posts, the top ends of the four upright posts are respectively provided with a side motor mounting groove for simultaneously mounting the motor bodies of the four motors from the upper part,
and the upper chuck is detachably erected at the tops of the two opposite stand columns and is provided with a top motor mounting groove which is arranged opposite to the bottom motor mounting groove.
Preferably, the side motor mounting groove is formed by a space which is vertically arranged on the top end of the upright post and is surrounded by four angle steels, and the motor body is installed from the upper part of the side motor mounting groove.
Preferably, a gasket is arranged between the side motor mounting groove and the motor body. Because this design is the open loop, need scan the magic cube colour and the colour is established the difference, so need dismouting magic cube, can not be dead to the magic cube fixed on the design post, so the clearance of us design is a bit big, after the magic cube is installed, guarantees the fixed of motor by the gasket. The motor is fixed so that the shaft coupling of the motor is consistent with the central line of the magic cube, and the magic cube and the motor cannot rotate to slide to influence the final result.
Preferably, the upper chuck is provided with two fixing rings which are respectively sleeved outside a space surrounded by four angle steels on two opposite upright columns.
Preferably, the cross section of the upright post is rectangular, circular, triangular or elliptical. The upright post can be made of posts with different shapes as long as four motors on the side can be fixed and kept on the same plane.
Preferably, the connection of the puzzle to the motor body is achieved by removing the cover of the central block of each face of the puzzle and extending the free end of the coupling into the central block. The utility model discloses the preferred cuboid type shaft coupling that adopts the cross-section to be the square. In the practical use process, couplers with different shapes (the section is cylindrical, triangular, oval and the like) can be used, and only one surface of the motor and one surface of the magic cube can be ensured to synchronously rotate.
Preferably, the bottom motor mounting groove and the top motor mounting groove are only required to fix the motor, and may be dedicated fixing grooves.
Preferably, in operation, the free ends of the couplings of the six motors point towards the centre of the cube.
The utility model also provides a magic cube robot system is separated to four column types, including controller, camera and four column types separate magic cube robot device, the controller include PC and singlechip, camera and PC communication be connected, PC, singlechip and motor communication are connected. The utility model discloses with PC-singlechip (preferably adopt Arduino singlechip) -driving motor, perfect restoration magic cube is guaranteed jointly to the trinity.
Further preferably, the motor is a stepping motor with the model number of J-4218HB 2403.
Further preferably, the Arduino singlechip adopts an ArduinoMEGA2560-rumps singlechip with six motor drivers.
The utility model also provides a magic cube robot system's application method is separated to four columns type, including following step:
s1: mounting motors in the bottom motor mounting groove and the top mounting groove in advance;
s2: scanning and identifying colors of the magic cube by using a camera, transmitting data into a controller, performing step calculation, taking down covers of central blocks of six surfaces of the magic cube, and recording the colors of the covers;
s3: the shaft couplings of the four motors extend into the center blocks on the four side surfaces of the magic cube, then are placed into and fixed in the motor mounting grooves on the side surfaces of the four upright posts from the upper part, and the shaft couplings of the motors in the motor mounting grooves at the bottom are inserted into the center blocks on the bottom surface of the magic cube;
s4: arranging an upper chuck frame at the tops of two opposite upright columns, and inserting a coupler of a motor in a motor mounting groove at the top into a central block on the top surface of the magic cube;
s5: and the controller controls the motor to rotate according to the calculation steps to solve the magic cube.
Compared with the prior art, the utility model discloses following beneficial effect has:
(1) the utility model discloses a base and last chuck and shaft coupling can all independently design and oneself print, and six motors are placed also simply, greatly reduced's the preparation degree of difficulty and cost of manufacture.
(2) The utility model discloses an adopt be that six motors operate simultaneously, just can restore the magic cube in twenty rotations, great improvement restore the speed of magic cube robot.
(3) The utility model discloses a PC holds to singlechip to drive division trinity, carries out the scan to the magic cube by the computer, calculates and step reach the Arduino singlechip that links to each other with the computer, and six motors that link to each other with it by singlechip direct control again carry out the reduction action, and the execution step is simple, and the singlechip meets fastly.
(4) The utility model discloses a four stands and go up chuck and base and fix six motors each, can add on fixing on four stands and hold the gasket and let the motor fixed more steady, the dead probability of card can not appear, and reduction stability is higher.
(5) The utility model discloses a magic cube robot system is separated to four column types, its motor and Arduino singlechip low price, stable performance easily independently design and use to popularize.
Drawings
Fig. 1 is a schematic structural view of a four-column magic cube solving robot device of the present invention;
fig. 2 is a schematic view of a bracket of the four-column magic cube solving robot device of the present invention;
fig. 3 is a schematic view of the motor of the four-column magic cube-solving robot apparatus of the present invention.
In the figure, 1 is a motor, 11 is a motor body, 12 is a coupler, 2 is a base, 21 is a bottom motor mounting groove, 3 is a stand column, 31 is a side motor mounting groove, 311 is an angle steel, 4 is an upper chuck, 41 is a fixing ring, and 5 is a magic cube.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Example 1
The utility model provides a magic cube robot device is separated to four column types, as shown in fig. 1 ~ 3, includes support, upper chuck 4 and six motors 1, wherein: the six motors 1 are composed of a motor body 11 and a coupler 12 (preferably, the motor body 11 and the coupler 12 are connected in an interference fit manner), and the coupler 12 is used for connecting the magic cube 5 and the motor body 11; the support is composed of a base 2, four upright posts 3 distributed on the base 2 in a cross shape and a bottom motor mounting groove 21 arranged on the base 2 and positioned in the centers of the four upright posts 3, wherein the top ends of the four upright posts 3 are respectively provided with a side motor mounting groove 31 for simultaneously mounting motor bodies 11 of the four motors 1 from the upper part; the upper chuck 4 is detachably erected on the top of the two opposite columns 3 and has a top motor mounting groove disposed opposite to the bottom motor mounting groove 21.
The cross section of the upright post 3 in the present embodiment is rectangular, circular, triangular, oval or other shapes, and is preferably rectangular. In this embodiment, the side motor mounting groove 31 is preferably formed by a space surrounded by four angle steels 311 vertically disposed at the top end of the column 3, and the motor body 11 is mounted from above the side motor mounting groove 31. And a gasket is further preferably arranged between the side motor mounting groove 31 and the motor body 11. In this embodiment, the upper chuck 4 has two fixing rings 41, which are respectively used for being sleeved outside the space defined by the four angle steels 311 on the two opposite upright posts 3. In this embodiment, the cover of the center block of each surface of the magic cube 5 is removed, and the free end of the coupling 12 extends into the center block, so that the magic cube 5 and the motor body 11 are connected. In operation, the free ends of the couplings 12 of the six motors 1 point to the center of the cube 5.
The embodiment also discloses a magic cube robot system is separated to four-column type, including magic cube robot device is separated to controller, camera and four-column type, the controller includes PC and singlechip, and the camera is connected with the PC communication, and PC, singlechip and motor communication are connected. In the embodiment, a PC (personal computer) -single chip microcomputer (preferably an Arduino single chip microcomputer) -driving motor is adopted, and the perfect restoring magic cube is ensured by the three-in-one. The motor adopts a stepping motor with the model number of J-4218HB 2403. The Arduino single chip microcomputer adopts a single chip microcomputer with six motor drivers of ArduinoMEGA 2560-rumps.
The use method of the four-column magic cube solving robot system comprises the following steps:
s1: mounting the motor 1 in the bottom motor mounting groove 21 and the top mounting groove in advance;
s2: scanning and color recognition are carried out on the magic cube 5 by using a camera, data are transmitted to a controller, step calculation is carried out, covers of center blocks of six surfaces of the magic cube 5 are taken down, and the colors of the covers are recorded (the colors of the covers of the center blocks of all the surfaces of the magic cube 5 are recorded, because the colors are an important mark for success at last, and then, for example, the side facing us is red, the upper side is blue, the left side is white, and other colors are fixed);
s3: the couplings 12 of the four motors 1 extend into the center blocks of the four side surfaces of the magic cube 5, and then are simultaneously placed and fixed into the motor mounting grooves 31 (gaskets can be used) on the side surfaces of the four upright posts 3 from the upper part, so that the couplings 12 of the motors 1 in the motor mounting grooves 21 at the bottom are inserted into the center blocks on the bottom surface of the magic cube 5;
s4: erecting the upper chuck 4 at the tops of two opposite upright posts 3, and inserting a coupler 12 of the motor 1 in a motor mounting groove at the top into a central block on the top surface of the magic cube 5;
s5: the controller controls the motor 1 to rotate according to the calculation steps to solve the magic cube.
In the aspect of a single chip microcomputer, an Arduino single chip microcomputer and a corresponding motor driver are used for controlling six stepping motors, the driving of the stepping motors needs special motor drivers, an A4988 driver is selected, and the motor drivers have 3 parameters needing to be controlled and are respectively enable (en), direction (dir) and pulse (pul). The basic instructions of the magic cube need to be input to rotate the magic cube: "U, D, F, B, R, L, U2, D2, F2, B2, R2, L2, U ', D', F ', B', R 'L',". The corresponding motion relationships of the motors corresponding to the 18 letters are shown in table 1:
TABLE 1
The rotation speed subdivision analysis can divide the motor driver A4988 into five modes, namely full subdivision, 2 subdivision, 4 subdivision, 8 subdivision and 16 subdivision respectively, and respectively indicate that the required pulse is 200, 400, 800, 1600 and 3200 pulses when the motor rotates for 360 degrees.
Such as: digitalWrite (5, HIGH);
delayMicroseconds(100)；
digitalWrite(5,LOW)；
delayMicroseconds(100)；
the control program above represents a pulse with a duration of 200us, and if eight segments are used, 3200us is required for each 360 ° revolution of the motor, i.e. 312.5r/s, 18750 r/min.
In practical experiments, however, we do not need 360 degrees, only 90 degrees/180 degrees/270 degrees, and because we choose 8 segments, we only need 400 steps/800 steps/1200 steps correspondingly.
The problem of moment is not considered here because the forces needed to turn the cube are small. Finally, serial port communication is used for transmitting instructions, and the serial port communication of the Arduino can only be received and judged by a single byte, namely U2, U' and the like of two bytes cannot be judged, so that I utilize an enabling switch driven by a stepping motor to solve the problem.
1. Form 90 ° in the table:
when the serial port receives a single letter, such as U, the top motor is powered on and rotated by 90 degrees only when the enabling of the U is opened, and other motors are all closed. Then another single letter, such as D, is received, and only the lower motor, which is enabled for D, is energized and rotated 90, and the other motors are all turned off. The remaining four letter principle is the same.
2. 180 ° type in table:
if the letter +2 is received, the principle is the same as 1, except that the rotation angle is changed to 180 °.
3. If a "single letter +'" is received, the principle is similar, but it would simply be rotated twice, once 180 °, twice 90 °, and a total of 270 °, corresponding to a 90 ° reversal.
After the calculation is completed, the calculation steps are transmitted through the Arduino serial port, the six motors are driven by the single chip microcomputer to rotate respectively, the magic cube is restored twenty steps, the robot is detached, the magic cube is taken out, the center faces of the six faces of the magic cube are placed in sequence, and the disordered magic cube is restored.
The embodiments described above are intended to facilitate the understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention according to the disclosure of the present invention.
Claims (8)
1. The utility model provides a magic cube robot device is separated to four columns type which characterized in that includes:
the six motors (1) are composed of motor bodies (11) and couplers (12), the couplers (12) are used for connecting the magic cube (5) and the motor bodies (11),
the support comprises a base (2), four upright posts (3) which are distributed on the base (2) in a cross shape, and bottom motor mounting grooves (21) which are arranged on the base (2) and are positioned at the centers of the four upright posts (3), wherein the top ends of the four upright posts (3) are respectively provided with a side motor mounting groove (31) for simultaneously mounting motor bodies (11) of the four motors (1) from the upper part,
and the upper chuck (4) is detachably erected at the tops of the two opposite upright columns (3) and is provided with a top motor mounting groove which is opposite to the bottom motor mounting groove (21).
2. The four-pole magic cube solving robot device as claimed in claim 1, wherein the side motor mounting groove (31) is formed by a space surrounded by four angle steels (311) vertically arranged at the top end of the upright post (3), and the motor body (11) is installed from above the side motor mounting groove (31).
3. The four-pole magic cube solving robot device as claimed in claim 2, wherein a gasket is provided between the side motor mounting groove (31) and the motor body (11).
4. The four-column magic cube solving robot device of claim 2, wherein the upper chuck (4) has two fixing rings (41) respectively used for being sleeved outside a space surrounded by four angle steels (311) on two opposite columns (3).
5. A four-post magic cube robot device according to claim 1, characterized in that the cross section of the upright post (3) is rectangular, circular, triangular or elliptical.
6. A four-pole magic cube robot device, according to claim 1, characterized by the fact that the connection of the magic cube (5) and the motor body (11) is achieved by removing the cover of the central block of each face of the magic cube (5) and by extending the free end of the coupling (12) into the central block.
7. A four-pole magic cube robot device according to claim 5, characterized in that, in operation, the free ends of the couplings (12) of the six motors (1) point towards the center of the cube (5).
8. The four-column magic cube solving robot system is characterized by comprising a controller, a camera and the four-column magic cube solving robot device according to any one of claims 1 to 7, wherein the controller comprises a PC (personal computer) and a single chip microcomputer, the camera is in communication connection with the PC, and the PC, the single chip microcomputer and a motor are in communication connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822254545.1U CN209868610U (en) | 2018-12-29 | 2018-12-29 | Four-column magic cube solving robot device and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822254545.1U CN209868610U (en) | 2018-12-29 | 2018-12-29 | Four-column magic cube solving robot device and system |
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| Publication Number | Publication Date |
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| CN209868610U true CN209868610U (en) | 2019-12-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571501A (en) * | 2018-12-29 | 2019-04-05 | 上海建桥学院 | Four-column type magic cube-solving robot device, system and application method |
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2018
- 2018-12-29 CN CN201822254545.1U patent/CN209868610U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571501A (en) * | 2018-12-29 | 2019-04-05 | 上海建桥学院 | Four-column type magic cube-solving robot device, system and application method |
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| 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: 20191231 Termination date: 20211229 |