CN106313019A - Chinese chess playing robot and work method thereof - Google Patents
Chinese chess playing robot and work method thereof Download PDFInfo
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- CN106313019A CN106313019A CN201510457231.XA CN201510457231A CN106313019A CN 106313019 A CN106313019 A CN 106313019A CN 201510457231 A CN201510457231 A CN 201510457231A CN 106313019 A CN106313019 A CN 106313019A
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Abstract
The invention discloses a Chinese chess playing robot and a work method thereof. The Chinese chess playing robot is used in Chinese chess playing and comprises tracks, sliding blocks, electromagnets, a power device, a motion control module and a controller. The tracks are arranged on the axis X, the axis Y and the axis Z correspondingly, and the axis X, the axis Y and the axis Z are perpendicular to one another in the space. The sliding blocks are provided with grooves. Chess pieces can be taken and placed through powering on and off of the electromagnets. The power device supplies power to the sliding blocks. The motion control module is used for converting instruction signals controlling the power device into the corresponding walking distance and direction signals. The controller is used for analyzing the instruction signals controlling the power device and the electromagnets to get or lose electric energy and then sending the signals to the motion control module. According to the Chinese chess playing robot and the work method thereof, chess game playing is demonstrated inside and outside a computer screen at the same time, and therefore chess teaching and lesson giving are facilitated, and manual operation and long-time screen facing are avoided. The Chinese chess playing robot is simple in structure, novel in appearance, stable in performance and convenient to operate; and the good publicity effect and the good advertizing effect can be achieved, meanwhile, the weight is small, and dismounting and carrying are easy.
Description
Technical field
The present invention relates to a kind of equipment used in science and education test and recreation.It is more particularly related to a kind of chess game robot being used in during Chinese chess is played chess and method of work thereof.
Background technology
Chinese chess is Han nationality's chess developmental game, and Chinese chess has the history of more than 3,000 year in China, belongs to the one of two people's antagonism game.Owing to apparatus is simple, interesting strong, become popular extremely wide skill in playing chess activity.It is one of 78 sports items formally carrying out of China.
Existing mode of playing chess: one is to need optional equipment and particular place or personnel, and necessary manual operation, cause and cannot meet rhythm of life quickening requirement more easily, thus significantly impact the game experiencing that individual is joyful；Two are and computer chess, always take expression in the eyes facing to screen.
But there is following features in the existing mode of playing chess: one, manual operation have impact on the game experiencing that individual is joyful；Two, expression in the eyes is taken in the face of computer screen for a long time, easily tired, affect one's power of vision；Three, it is not easy to the teaching of skill in playing chess and gives lessons.How to design one and avoid long-time in the face of computer, it is not necessary to manual operation, it is simple to the chess game robot imparting knowledge to students and giving lessons, thing urgent problem.
Summary of the invention
The present invention, in order to overcome the defect of prior art, discloses a kind of chess game robot and method of work thereof.
It is an object of the present invention to control motor system by computer and put chess piece, it is achieved demonstrate chess game inside and outside computer screen simultaneously and play chess, it is simple to the teaching of skill in playing chess and giving lessons, it is to avoid manual operation and long-time in the face of screen.
A further object of the invention is, designs a kind of simple in construction, stable performance, chess game robot with low cost.
In order to realize according to object of the present invention and further advantage, it is provided that a kind of chess game robot, it is used in during Chinese chess plays chess, it is characterised in that including:
Track, it is separately positioned on X, Y and Z axis, and described X, Y and Z axis are mutually perpendicular in space；
Slide block, which is provided with groove, and described slide block is put in orbit by groove card, and described Y-axis track installation is on the slide block of X-axis track, and Z axis track installation is on the slide block of Y-axis track；
Electric magnet, it is by gain and loss electric energy taking and placing chess piece, and described electric magnet is fixed on the slide block of Z axis track；
Power set, it provides power for slide block so that slide block produces displacement in orbit, and described power set fixedly mount in orbit；
Motion-control module, it is for being converted into corresponding travel distance and direction signal by the command signal controlling power set, and this signal is transferred to power set；
Controller, it is sent to motion-control module after being resolved by the command signal controlling power set and electric magnet gain and loss electric energy；
Host computer, it is for the command signal of editor control power set, and is transmitted to controller；
Power supply, it provides electric energy for above-mentioned power set, motion-control module, controller and host computer.
Preferably, also include:
Showcase, it is the table top shown for equipment, exhibition booth cover to be fixed on cabinet and assemble, and described track and host computer are fixed on the exhibition booth of showcase, and motion-control module, controller, host computer and power supply are arranged on inside showcase.
Preferably, the guide rail in described X, Y and Z-direction rotating and installs leading screw, leading screw one end is fixed in the rotating shaft of power set, thread bush connected nut on leading screw, and nut is fixed on slide block, and the slide block on screw turns linkage nut moves.
Preferably, the guide rail in described X, Y and Z-direction being installed conveyer belt, conveyer belt is rotatably connected in the rotating shaft of power set, and conveyer belt is fixed slide block, and conveyer belt moves catenating slider and moves.
Preferably, the table top of described exhibition booth being installed the robot model of thermoplastic shaping, install speaker at the chest of robot model, speaker connects host computer voice system.
Preferably, eye and the ear of described robot model arranges light bar.
Preferably, described host computer having touch screen, touch screen is arranged on the exhibition booth of showcase.
In order to realize according to object of the present invention and further advantage, additionally provide the method for work of a kind of chess game robot, comprise the following steps:
Step one, in orthogonal X, Y, Z axis attachment rail, track is installed slide block and power set, power set catenating slider；
Step 2, Y-axis track installation are on the slide block of X-axis track, and Z axis track installation, on the slide block of Y-axis track, the slide block of Z axis track is installed electric magnet；
Step 3, host computer send chess piece mobile route and instruct to controller, and controller is sent to motion-control module after resolving instruction, the power set Mobile electromagnetic ferrum in moving control module for controlling X, Y, Z axis；
Step 4, controller control electric magnet gain and loss electric energy, it is achieved chess piece moves.
Preferably, described chess piece moves into and moves and eat chess；
Move:
Electric magnet is pushed to above the chess piece of starting point by power set, after the effect of chess piece internal magnetization holds electric magnet, electric magnet is pushed to above terminal by power set again, now controller is energized to electric magnet, electric magnet produces the magnetic contrary with chess piece inner magnet, and electric magnet pushes chess piece open under magneticaction so that chess piece falls the terminal on chessboard, power set propelling movement electric magnet, to initial point, completes action of moving；
Eat chess:
Electric magnet is pushed to above the chess piece of destination county by power set, after the effect of chess piece internal magnetization holds electric magnet, electric magnet is pushed to above pendulum point by power set again, now controller is energized to electric magnet, electric magnet produces the magnetic contrary with chess piece inner magnet, electric magnet pushes chess piece open under magneticaction so that chess piece falls at pendulum point, and power set push electric magnet to initial point；Electric magnet is pushed to above the chess piece of starting point by power set, after the effect of chess piece internal magnetization holds electric magnet, electric magnet is pushed to above terminal by power set again, now controller is energized to electric magnet, electric magnet produces the magnetic contrary with chess piece inner magnet, and electric magnet pushes chess piece open under magneticaction so that chess piece falls the terminal on chessboard, power set propelling movement electric magnet, to initial point, completes to eat chess action.
The present invention at least includes following beneficial effect: put chess piece owing to computer controls motor system, realize inside and outside computer screen, demonstrating chess game to play chess simultaneously, therefore it is easy to the teaching of skill in playing chess and gives lessons, avoid manual operation and long-time in the face of screen, its simple in construction, novel appearance, stable performance, easy to operate；Owing to whole motor system is arranged on the exhibition booth of showcase, therefore, it is possible to reach good the effect of publicity and demonstration effect, the most lightweight it be readily disassembled and carry.
Part is embodied by the further advantage of the present invention, target and feature by description below, and part is also by by being understood by the person skilled in the art the research of the present invention and practice.
Accompanying drawing explanation
Fig. 1 is the rail mechanism schematic diagram of chess game robot in one embodiment of the present of invention；
Fig. 2 is the internal circuit diagram of chess game robot in one embodiment of the present of invention；
Fig. 3 is the overall structure schematic diagram of chess game robot in one embodiment of the present of invention；
Fig. 4 is the rail mechanism schematic diagram of chess game robot in an alternative embodiment of the invention；
Fig. 5 is the sliding panel internal structure schematic diagram of chess game robot in an alternative embodiment of the invention；
Fig. 6 is the slide block structure schematic diagram of chess game robot in an alternative embodiment of the invention.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art can implement according to this with reference to description word.
Should be appreciated that used herein such as " have ", other element one or more or the existence of a combination thereof or interpolation do not allotted in " comprising " and " including " term.
Fig. 1 to 3 shows a kind of way of realization according to the present invention, it is shown that the transmittance process of signal.Including: on X, Y and Z axis, it is respectively provided with X track 1, Y track 2 and Z track 3, described X track 1, Y track 2 and Z track 3 are mutually perpendicular in space, be slidably installed on X track 1, Y track 2 and Z track 3 an X slide block 4, Y slide block 5 and Z slide block 6 respectively, described Y track 2 is weldingly fixed on an X slide block 4, and Z track 3 is weldingly fixed on Y slide block 5；nullDescribed X track 1 is made up of three track strips being laid in X-axis，Two of which track strip 61 and 62 is at a distance of nearer，Track strip 61 and 62 is fixedly mounted in fixed plate 7，Fixed plate 7 is fixed on the exhibition booth 81 of showcase 8，Exhibition booth 81 is placed on cabinet 82，Article 3 track strip 63 be fixedly mounted at a distance of the most front two farther out，Article 3 track strip 63 is fixedly mounted on exhibition booth 81，Between track strip 61 and 62, the two ends of X-direction are respectively mounted fixed block 9 and X-axis motor 10，Rotate in the middle part of described fixed block 9 and leading screw 11 one end is installed，Leading screw 11 other end is fixed on the rotating spindle of X-axis motor 10，Leading screw 11 thread bush connected nut 12，Nut 12 is weldingly fixed on below an X slide block 4，Described X slide block 4 both sides are provided with groove，Oneth X slide block 4 is fastened on track strip 61 and 62 by groove，Track strip 63 also engages the 2nd X slide block 41；Two ends, described Y track 2 side are respectively welded and are fixed on above an X slide block 4 and the 2nd X slide block 41, described Y track 2 is made up of at a distance of nearer track strip 21 and 22 two be laid in Y-axis, track strip 21 and 22 is fixed in fixed plate 7, track strip 21 and 22 cross section is approximation " 8 " font that alleviating distention in middle-JIAO portion, two is narrow, Y slide block 5 one side is provided with claw, described Y slide block 5 is slided by claw and agrees with the outer edge at track strip 21 and 22, claw clasps track strip edge and prevents from departing from, and leading screw and y-axis stepper motor 13 on Y track 2 are fixed in the way of as X track 1；Described Z track 3 is made up of at a distance of nearer track strip 31 and 32 two be laid on Z axis, track strip 31 and 32 is fixed on Y slide block 5, be slidably installed in the way of as Y track 2 on track strip 31 and 32 Z slide block 6, and leading screw and Z axis motor 14 on Z track 3 are fixed in the way of as Y track 2；Described Z slide block 6 side is fixing connects sheet 15 one end, connects sheet 15 other end fixed electromagnet 16.
The robot model 17 of thermoplastic shaping is fixed on described exhibition booth 81, speaker 18 is installed at the chest of robot model 17, speaker 18 connects the voice system of computer, light bar 19 is all pasted by eye and the ear of described robot model 17, described computer is provided with touch screen 20, touch screen 20 is fixed on the exhibition booth 81 of showcase 8, described X track 1, papery chessboard 23 is pasted on exhibition booth 81 below Y track 2 and Z track 3, 64 grid it are decorated with on chessboard 23, 94 cross points, 32 chess pieces are placed by rule on the cross point of chessboard 23, the internal fill of described chess piece is by permanent magnet magnetic piece.
nullDescribed X-axis motor 10、Y-axis stepper motor 13 installation the most corresponding with on Z axis motor 14 X-axis stepper motor driver、Y-axis stepper motor driver and Z axis stepper motor driver，X-axis stepper motor driver、Y-axis stepper motor driver and Z axis stepper motor driver equal data cube computation mpc003，The command signal controlling motor is converted into corresponding travel distance and direction signal by mpc003，Mpc003 passes through Serial Port Line PL2303 data cube computation single-chip microprocessor MCU，Single-chip microprocessor MCU is sent to mpc003 after being resolved by control motor，Single-chip microprocessor MCU also controls electric magnet gain and loss electric energy，Single-chip microprocessor MCU also by Serial Port Line PL2303 data cube computation in computer，Computer is for the command signal of editor control motor，And it is transmitted to single-chip microprocessor MCU，Mpc003 upper connection controls X-axis motor 10、Y-axis stepper motor 13 and Z axis motor 14 return the switch S2 of initial point、S3 and S4 one end，Switch S2、S3 and S4 other end ground connection，When pressing switch S2、After S3 and S4，Electric magnet 16 is by X-axis motor 10、Y-axis stepper motor 13 and Z axis motor 14 are pushed to the zero of XYZ axle.
Above-mentioned each assembly is powered by 220V power supply, capacitor FUSE and on and off switch S1 it is sequentially connected in series on the live wire of 220V power supply, two of switch S1 rear end connect display lamp KEY between zero line and live wire, the supply voltage of touch screen integrated machine is that 220V is directly connected with zero line and live wire；X-axis motor 10, y-axis stepper motor 13 and Z axis motor 14 are first connected reconnection on 220V power supply with 24V voltage reduction module；Controller is first connected reconnection on 220V power supply with 5V voltage reduction module.
During man-machine chess, totally it is divided into two big-movement processes: move and eat chess
Move: initial point starting point > terminal；
Eat chess: initial point > terminal > pendulum point > initial point > starting point > terminal.
Note: initial point: the zero on XYZ axle, after each release, unification returns to initial point；
Starting point: the position of chess piece on chessboard；
Terminal: on chessboard, chess piece often walks the position that will place；
Pendulum point: the putting position of captured piece.
Work process:
One, Guan Bi on and off switch S1 system reset, electric magnet returns to zero；
Two, opening computer click and start game, single-chip microprocessor MCU receives the initiation command of computer, and the information feedback to the computer that will receive, robot completes handshake procedure；
Three, on the touch screen of computer, operate the walking path of chess piece, the instruction sent according to computer, single-chip microprocessor MCU resolves instruction, data after resolving are transferred to mpc003, corresponding pulse and direction signal are transferred to the stepper motor driver of XYZ axle by mpc003, the rotation direction of drive stepping motor and revolution；
The signal transduction process moved:
Electric magnet is pushed to above the chess piece of starting point by motor, after the effect of chess piece internal magnetization holds electric magnet, electric magnet is pushed to above terminal by motor again, now single-chip microprocessor MCU is energized to electric magnet, electric magnet produces the magnetic contrary with chess piece inner magnet, and electric magnet pushes chess piece open under magneticaction so that chess piece falls the terminal on chessboard, electric magnet is pushed to initial point by motor, completes action of moving；
Eat the signal transduction process of chess:
Electric magnet is pushed to above the chess piece of destination county by motor, after the effect of chess piece internal magnetization holds electric magnet, electric magnet is pushed to above pendulum point by motor again, now single-chip microprocessor MCU is energized to electric magnet, electric magnet produces the magnetic contrary with chess piece inner magnet, electric magnet pushes chess piece open under magneticaction so that chess piece falls at pendulum point, and electric magnet is pushed to initial point by motor；Electric magnet is pushed to above the chess piece of starting point by motor, after the effect of chess piece internal magnetization holds electric magnet, electric magnet is pushed to above terminal by motor again, now single-chip microprocessor MCU is energized to electric magnet, electric magnet produces the magnetic contrary with chess piece inner magnet, and electric magnet pushes chess piece open under magneticaction so that chess piece falls the terminal on chessboard, electric magnet is pushed to initial point by motor, completes to eat chess action；
Four, after each release, single-chip microprocessor MCU feedback data, to host computer, does not receives return data, it is impossible to carry out next step action.
Note: in motor process, point touching screen is invalid.
X track 1, Y track 2 and Z track 3 are mutually perpendicular in space so that electric magnet moves to any one point in space；Oneth X slide block 4 and the 2nd X slide block 41 two are slidably mounted on X track, and Y track two ends are set up and are fixed on two slide blocks；Y slide block 5 is slidably mounted on Y track, is used for fixing Z track；Z slide block 6 is slidably mounted on Z track, is used for fixedly mounting electric magnet；Fixed plate 7 is for trapped orbit bar；Showcase 8 provides the table top being easy to show for product；Fixed block 9 is used for fixing leading screw；X-axis motor 10 provides the power rotated for the leading screw on X track；Leading screw 11 is for each slide block of transmission；Nut 12 is socketed on leading screw, for connection sliding block and leading screw；Y-axis stepper motor 13 provides the power rotated for the leading screw on Y track；Z axis motor 14 provides the power rotated for the leading screw on Z track；Connect sheet 15 for electric magnet being fixed on Z slide block；Electric magnet 16 is used for holding chess piece or pushing chess piece open；Robot model 17 makes overall appearance design more life-like, attractive in appearance；Speaker 18 is for propagating the acoustical signal of computer；Light bar 19 decorating machines human model so that it is colorful is brilliant；Touch screen 20 Plate Procedure is convenient and swift.
nullFig. 4 to 6 shows and includes quadra 101 in another embodiment，Quadra 101 is by by a、b、c、The square that d four edges is constituted，Across sliding panel 102 on quadra 101，By sliding panel 102、Limit b、Limit d is set to X-axis，The limit a vertical with X-axis、Limit c is set to Y-axis，The slide rail 103 parallel with limit c it is provided with outside described limit c，Y-axis dual-axle motor 104 is installed inside a of limit，The axial both sides of rotation of Y-axis dual-axle motor 104 extend，Rotary shaft one end of Y-axis dual-axle motor 104 extend out to outside a of limit，The other end extend out to outside the c of limit，Its two ends fixed pulley 105，The rotary shaft of Y-axis dual-axle motor 104 is parallel with limit b，All rotate on the limit a and limit c of limit d and belt wheel 105 is installed，Transmission is connected by conveyer belt 106 between belt wheel 105.Longitudinal bearing 107 on slip cap on described slide rail 103, it is welded and fixed X-axis motor 108 on longitudinal bearing 107, the transmission of X-axis motor 108 is axially fixed on longitudinal bearing 107, described sliding panel 102 one end is weldingly fixed on the side of X-axis motor 108, fixing with the conveyer belt 106 on the c of limit, the other end is fixed on the conveyer belt 106 of limit a simultaneously.Described X-axis motor 108 is in transmission connection the belt wheel 105 within sliding panel 102 by conveyer belt 106, belt wheel 105 rotates and is fixed on the internal other end of sliding panel 102, described sliding panel 102 both sides mid-portion concave, sliding panel 102 cross section is I-shaped, sliding panel 102 both sides card is buckled with slide block 109, slide block 109 linear electric motors 110 that fixed rotating shaft is downward below, fixed electromagnet 111 in the rotating shaft of linear electric motors 110.Described slide block 109 is made up of stator 112 and roller 113, and stator 112 presents down isometric I-shaped, and stator 112 surrounding above rotates fixing four rolling 113, and four rolling 113 is buckled in sliding panel 102 both sides recess two-by-two.
As it has been described above, according to the present invention, put chess piece owing to computer controls motor system, it is achieved demonstrate chess game inside and outside computer screen and play chess simultaneously, therefore it is easy to the teaching of skill in playing chess and gives lessons, it is to avoid manual operation and long-time in the face of screen, its simple in construction, novel appearance, stable performance, easy to operate；Owing to whole motor system is arranged on the exhibition booth of showcase, therefore, it is possible to reach good the effect of publicity and demonstration effect, the most lightweight it be readily disassembled and carry.
Although embodiment of the present invention are disclosed as above, but it is not restricted in description and embodiment listed utilization.It can be applied to various applicable the field of the invention completely.For those skilled in the art, it is easily achieved other amendment.Therefore, under the general concept limited without departing substantially from claim and equivalency range, the present invention is not limited to specific details and shown here as the legend with description.
Claims (9)
1. a chess game robot, is used in during Chinese chess plays chess, it is characterised in that including:
Track, it is separately positioned on X, Y and Z axis, and described X, Y and Z axis are mutually perpendicular in space；
Slide block, which is provided with groove, and described slide block is put in orbit by groove card, and described Y-axis track installation is on the slide block of X-axis track, and Z axis track installation is on the slide block of Y-axis track；
Electric magnet, it is by gain and loss electric energy taking and placing chess piece, and described electric magnet is fixed on the slide block of Z axis track；
Power set, it provides power for slide block so that slide block produces displacement in orbit, and described power set fixedly mount in orbit；
Motion-control module, it is for being converted into corresponding travel distance and direction signal by the command signal controlling power set, and this signal is transferred to power set；
Controller, it is sent to motion-control module after being resolved by the command signal controlling power set and electric magnet gain and loss electric energy；
Host computer, it is for the command signal of editor control power set, and is transmitted to controller；
Power supply, it provides electric energy for above-mentioned power set, motion-control module, controller and host computer.
2. chess game robot as claimed in claim 1, it is characterised in that also include:
Showcase, it is the table top shown for equipment, exhibition booth cover to be fixed on cabinet and assemble, and described track and host computer are fixed on the exhibition booth of showcase, and motion-control module, controller, host computer and power supply are arranged on inside showcase.
3. chess game robot as claimed in claim 1, it is characterized in that, rotate on guide rail in described X, Y and Z-direction and leading screw is installed, leading screw one end is fixed in the rotating shaft of power set, thread bush connected nut on leading screw, nut is fixed on slide block, and the slide block on screw turns linkage nut moves.
4. chess game robot as claimed in claim 1, it is characterised in that installing conveyer belt on the guide rail in described X, Y and Z-direction, conveyer belt is rotatably connected in the rotating shaft of power set, and conveyer belt is fixed slide block, and conveyer belt moves catenating slider and moves.
5. chess game robot as claimed in claim 1, it is characterised in that install the robot model of thermoplastic shaping on the table top of described exhibition booth, installs speaker at the chest of robot model, speaker connects host computer voice system.
6. chess game robot as claimed in claim 5, it is characterised in that eye and the ear of described robot model arrange light bar.
7. chess game robot as claimed in claim 1, it is characterised in that having touch screen on described host computer, touch screen is arranged on the exhibition booth of showcase.
8. a method of work for chess game robot, comprises the following steps:
Step one, in orthogonal X, Y, Z axis attachment rail, track is installed slide block and power set, power set catenating slider；
Step 2, Y-axis track installation are on the slide block of X-axis track, and Z axis track installation, on the slide block of Y-axis track, the slide block of Z axis track is installed electric magnet；
Step 3, host computer send chess piece mobile route and instruct to controller, and controller is sent to motion-control module after resolving instruction, the power set Mobile electromagnetic ferrum in moving control module for controlling X, Y, Z axis；
Step 4, controller control electric magnet gain and loss electric energy, it is achieved chess piece moves.
9. the method for work of chess game robot as claimed in claim 8, described chess piece moves into moves and eats chess；
Move:
Electric magnet is pushed to above the chess piece of starting point by power set, after the effect of chess piece internal magnetization holds electric magnet, electric magnet is pushed to above terminal by power set again, now controller is energized to electric magnet, electric magnet produces the magnetic contrary with chess piece inner magnet, and electric magnet pushes chess piece open under magneticaction so that chess piece falls the terminal on chessboard, power set propelling movement electric magnet, to initial point, completes action of moving；
Eat chess:
Electric magnet is pushed to above the chess piece of destination county by power set, after the effect of chess piece internal magnetization holds electric magnet, electric magnet is pushed to above pendulum point by power set again, now controller is energized to electric magnet, electric magnet produces the magnetic contrary with chess piece inner magnet, electric magnet pushes chess piece open under magneticaction so that chess piece falls at pendulum point, and power set push electric magnet to initial point；Electric magnet is pushed to above the chess piece of starting point by power set, after the effect of chess piece internal magnetization holds electric magnet, electric magnet is pushed to above terminal by power set again, now controller is energized to electric magnet, electric magnet produces the magnetic contrary with chess piece inner magnet, and electric magnet pushes chess piece open under magneticaction so that chess piece falls the terminal on chessboard, power set propelling movement electric magnet, to initial point, completes to eat chess action.
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| CN109648584A (en) * | 2019-02-27 | 2019-04-19 | 广州大学 | The control platform of Ruan Qiu robot based on magnetic fluid |
| CN110585692A (en) * | 2019-10-15 | 2019-12-20 | 哈尔滨理工大学 | Device for assisting physically disabled person to play Chinese chess through voice control |
| CN113172596A (en) * | 2021-04-28 | 2021-07-27 | 中电建成都铁塔有限公司 | Cantilever type welding robot with adjustable position and height |
| CN113506496A (en) * | 2021-07-13 | 2021-10-15 | 上海智而仁信息科技有限公司 | Magic square teaching method and device |
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| CN109648584A (en) * | 2019-02-27 | 2019-04-19 | 广州大学 | The control platform of Ruan Qiu robot based on magnetic fluid |
| CN110585692A (en) * | 2019-10-15 | 2019-12-20 | 哈尔滨理工大学 | Device for assisting physically disabled person to play Chinese chess through voice control |
| CN113172596A (en) * | 2021-04-28 | 2021-07-27 | 中电建成都铁塔有限公司 | Cantilever type welding robot with adjustable position and height |
| CN113172596B (en) * | 2021-04-28 | 2022-07-01 | 中电建成都铁塔有限公司 | Cantilever type welding robot with adjustable position and height |
| CN113506496A (en) * | 2021-07-13 | 2021-10-15 | 上海智而仁信息科技有限公司 | Magic square teaching method and device |
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