CN109432800A - Nonpolarity based on radial magnetizing builds honeycomb type track building blocks and its holder device - Google Patents
Nonpolarity based on radial magnetizing builds honeycomb type track building blocks and its holder device Download PDFInfo
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- CN109432800A CN109432800A CN201811610647.0A CN201811610647A CN109432800A CN 109432800 A CN109432800 A CN 109432800A CN 201811610647 A CN201811610647 A CN 201811610647A CN 109432800 A CN109432800 A CN 109432800A
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- 230000000694 effects Effects 0.000 claims abstract description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 20
- 150000001875 compounds Chemical class 0.000 claims description 10
- 229910052742 iron Inorganic materials 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 238000002347 injection Methods 0.000 abstract description 2
- 239000007924 injection Substances 0.000 abstract description 2
- 238000005381 potential energy Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004064 recycling Methods 0.000 description 4
- 229940125904 compound 1 Drugs 0.000 description 3
- 229940125782 compound 2 Drugs 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 235000007926 Craterellus fallax Nutrition 0.000 description 1
- 240000007175 Datura inoxia Species 0.000 description 1
- SFBMLGJOOALENT-UHFFFAOYSA-N [Co].[Ni].[Nd] Chemical compound [Co].[Ni].[Nd] SFBMLGJOOALENT-UHFFFAOYSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/04—Building blocks, strips, or similar building parts
- A63H33/046—Building blocks, strips, or similar building parts comprising magnetic interaction means, e.g. holding together by magnetic attraction
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/04—Building blocks, strips, or similar building parts
- A63H33/044—Buildings
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Toys (AREA)
Abstract
Honeycomb type track building blocks and its holder device are built the present invention relates to nonpolarity based on radial magnetizing, is made of honeycomb type building block, holder device and ball.Building block upper or lower surface is equipped with the circular hole of certain depth, by way of being placed into radial magnetizing magnet class device in circular hole, make to achieve the effect that nonpolarity attraction between building blocks, cooperation holder device builds the building block track of various connections, ball is allowed to realize the purpose that ball rolls in connection track by the potential energy of ball at kinetic energy from top entry injection, it keeps children to the interest of toy, is beneficial to children and gives the rein to imagination and tap intellectual resources.
Description
Technical field
Type of the present invention is related to a kind of educational toy, specifically a kind of children's track block toy.
Background technique
Existing children intelligent toy is mostly fixed shape or structure, and this toy is with low uncertainty, and playability is lower, children
How long play will not begin to detest, and flexibly usually can not have the function being fixed to each other by the track building blocks built of free splicing, because
This had both resulted in the difficulty of the alignment between rail assembly, was easy to collapse again in building blocks build process, be unfavorable for establishing children from
Confidence.In order to solve the above problem, it is intended that make rail system type more horn of plenty by way of increasing building blocks number of surfaces
It is changeable, so as to greatly improve the flexibility and diversity that track is built.Between building blocks be mutually linked fixation in terms of, Wo Menyi
A kind of track block toy with mortise-tenon joint structure is proposed in succession (patent No.: 201620422049.0) to have with one kind
Track block toy (the patent No.: 201621087720.7) of coupling connecting device.However it was verified that it is this by Tenon or
Coupling connecting device combine mode, in building blocks build process otherwise complicated operation or limit building blocks overturning take
A possibility that building.On the other hand, by the way of Tenon, round log tenon be easy to cause children to miss as self-existent small part
Food forms security risk.And if take the mode of being of coupled connections, device protrudes from building blocks surface, largely affects
Build aesthetics.Therefore, it is intended that providing one kind has higher playability, builds the concealed flexible track system of connection type
System, to obtain more preferably game experiencing.
Summary of the invention
Honeycomb type track building blocks are built the purpose of the present invention is to provide nonpolarity based on radial magnetizing and its branch is rack-mounted
It sets, to solve the problems mentioned in the above background technology.
To achieve the above object, the invention provides the following technical scheme:
Nonpolarity based on radial magnetizing builds honeycomb type track building blocks and its holder device, including building block, branch are rack-mounted
It sets and ball；The building block is divided into three classes: one kind is monolith building block, i.e. shape is the building block of regular hexagonal prism, this positive six
The height of prism is about the 4/5 of its transversal regular hexagon inscribed circle diameter；Second class is half high building block, i.e. shape is also positive six ribs
Column, cross section is identical as monolith building block, the half of a height of monolith building block；Third class is half thick building block, i.e. shape is
Straight quadrangular, cross section is the half of monolith building block, highly identical as monolith building block；Each side of the building block
There is chamfering；The building block is all provided with various tracks in addition to rail-free cushion block, these tracks are by several basal orbit units
It is composed；The basal orbit unit is divided into face track and track body again；The face track, which refers to run through, acts on building blocks
The track of block upper or lower surface, ball can be rolled by the face track through upper surface in the upper surface of building blocks, face track
Act on building block lower surface is played to form complete track with the upper surface face track of building block below the building blocks
The effect in empty avoiding ball moving path；The entrance of the face track can be divided into two kinds, and a kind of track entrance center is upper and lower
The center of Surface Edge, another entrance center is at the center of building blocks side, by any combination for choosing access point
Basis of formation face track element, the base surface track element being composed can be divided into linear type base surface track, large arc type base
Plinth face track and three kinds of track of roundlet camber base surface, form compound face track by itself any combination of these three types of tracks
Set；The track body acts only on monolith building block and half thick building block, it is intended to the channel between building block different sides is connected,
Ball is set to be rolled to another face from a face of building block by the track, according to the difference of track body entrance, institute
Several form can be divided by stating track body；The entrance center point of the track body can be located at the central point and building blocks of building blocks top surface
The central point of side；The export center point of the track body can be located at the center or building blocks center side position on the lower side of building blocks side
Two classes, it is the track body that any connection by choosing one or more entrance, which is combined,；On the monolith building block
Or the circular hole that depth is about monolith building block height 90% or so is all equipped at the hexagonal of lower surface, circular hole should not be formed with track
Interference, the diameter of circular hole are about 10% or so of monolith building block cross section regular hexagon side length, circular hole side wall should with close on product
The wooden side wall keeps the minimum range in about aperture 25% or so, and the magnet class that cylindrical radial magnetizes is placed into the circular hole
Device, magnet diameter size are slightly smaller than Circularhole diameter, it is freely rotated can in hole, finally fill in circular hole straight with circular hole
The identical round log tenon of diameter size, the depth for filling in round log tenon is about 10% or so of monolith building block height；Round log tenon side
Wall is coated with glue；Due to the half that the height of half high building block is monolith building block, for building block high for half, it is upper or
Circular hole depth at the regular hexagon hexagonal of lower surface is about the 80% of half high building block, and circular hole is from the opposite position for closing on building blocks side wall
It sets identical with monolith building block；The depth of half thick building block circular hole is identical with monolith building block, is located at upper or lower surface four corners,
Circular hole side wall should with close on building blocks side wall keep be about aperture 25% or so minimum range；The holder device includes three pieces perpendicular
120 degree of iron plates put directly are in, there are corresponding recesses at the top and bottom of three pieces of iron plates, by another connection plate described
Three blocks of steel plates are attached by fixation by screw in groove, there is the circular hole arranged in certain sequence, the diameter of circular hole on iron plate
Equal to building block race way diameter.
Compared with prior art, the beneficial effects of the present invention are: the configuration of the present invention is simple, design is rationally, cheap, non-
Often with interesting, since magnet can be move freely in building blocks, children can pass through magnetic when building building blocks between building blocks
Mutually nonpolarity attraction achievees the effect that arbitrary height is located by connecting to iron phase, it is ensured that the stability and track for building building blocks were connected
Smoothness is vacantly built since building block can attract to be fixed on holder device, can be realized more flexible and changeable
Track building experience keeps children to the interest of toy, is beneficial to children and gives the rein to imagination and tap intellectual resources.
Detailed description of the invention
Fig. 1 is that nonpolarity based on radial magnetizing described in the embodiment of the present invention builds honeycomb type track building blocks and its bracket
The overall structure diagram of device；
Fig. 2 is that nonpolarity based on radial magnetizing described in the embodiment of the present invention builds honeycomb type track building blocks and its bracket
Structural schematic diagram in device inside building block；
Fig. 3 is that nonpolarity based on radial magnetizing described in the embodiment of the present invention builds honeycomb type track building blocks and its bracket
The structural schematic diagram of three classes building block in device；
Fig. 4 is that nonpolarity based on radial magnetizing described in the embodiment of the present invention builds honeycomb type track building blocks and its bracket
The top view of facet Trajectory Sets in the middle part of device；
Fig. 5 is that nonpolarity based on radial magnetizing described in the embodiment of the present invention builds honeycomb type track building blocks and its bracket
The structural schematic diagram of seperated track element in the middle part of device；
Fig. 6 is that nonpolarity based on radial magnetizing described in the embodiment of the present invention builds honeycomb type track building blocks and its bracket
The structural schematic diagram of the different building block of dtex in the middle part of device；
Fig. 7 is that nonpolarity based on radial magnetizing described in the embodiment of the present invention builds honeycomb type track building blocks and its bracket
Device passes through the part finished product track modular construction being arranged in a combination signal by various face track elements and track body unit
Figure.
As shown in 1-7 in figure: 1, building block；2, holder device；3, ball；4, holder device connects plate；5, screw；6,
Holder device circular hole；7, building block circular hole；8, cylindrical radial magnetizes magnet class device；9, cylindrical dowel；10, monolith building blocks
Block；11, half high building block；12, half thick building block；13, large arc type base surface Trajectory Sets top view；14, linear type basis
Face Trajectory Sets top view；15, roundlet camber base surface Trajectory Sets top view；16, the compound face Trajectory Sets of straight line are overlooked
Figure；17, the compound face Trajectory Sets top view of big small arc-shaped；18, compound 1 top view of face Trajectory Sets of orthodrome straight line；19,
Compound 2 top view of face Trajectory Sets of orthodrome straight line；20, compound 1 top view of face Trajectory Sets of orthodrome；21, small arc-shaped
Compound 1 top view of face Trajectory Sets of straight line；22, compound 2 top view of face Trajectory Sets of small arc-shaped straight line；23, small arc-shaped is multiple
Mould assembly face Trajectory Sets top view；24, compound 2 top view 2 of face Trajectory Sets of orthodrome；25, the compound face track of three straight lines
Gather top view；26, the compound face Trajectory Sets top view of three small arc-shapeds；27, the compound face Trajectory Sets of two orthodrome straight lines
Top view；28, the compound face Trajectory Sets top view of two orthodrome small arc-shapeds；29, binary track assembled unit 1；30, base body
Track element 1；31, base body track element 2；32, base body track element 3；33, binary track assembled unit 2；34, basic
Track body unit 4；35, base body track element 5；36, base body track element 6；37, the double assembled units 3 of binary track；38,
Binary track assembled unit 4；39, base body track element 7；40, base body track element 8；41, basis recycling track element；
42, basis recycling track element 2；43, spring layer power rail unit 1；44, spring layer power rail unit 2；45, basic spring layer is dynamic
Power track element 1；46, basic spring layer power rail unit 2；47, basic spring layer power rail unit 3；48, basal layer power rail
Road unit 4.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in figs. 1-7, a kind of track block toy described in the embodiment of the present invention, including building block 1, holder device 2
With ball 3；Preferably, choosing regular hexagonal prism cross section regular hexagon inscribed circle diameter is 50mm, is highly 40mm, institute
Stating building block track diameter is 16mm, and the building block lower surface is equipped with building block circular hole 7, which is 4.5mm, for product
Wooden unit circular hole 7 and track do not form interference, select building block circular hole depth for 36mm.Circle is all placed in the building block circular hole
Cylindricality radial magnetizing magnet class device 8, the attraction in order to guarantee magnet is sufficiently large, preferably, it is big to choose Gauss value
In the neodymium cobalt nickel magnet that 4600, the magnet trade mark is N48, and in order to guarantee that magnet is freely rotatable work in building block circular hole
Dynamic, it is highly 10mm that the diameter for choosing magnet, which is 4mm,.Magnet can the free movement in building block circular hole 7, to reach any two
Between block building blocks can nonpolarity attraction effect, magnet height is less than the height of building block circular hole 7, so two blocks of building blocks attract each other
When can with any relative altitude of free positioning, increase building blocks build process in playing method.Building block circular hole side wall and close on building blocks
Side wall keeps certain distance, if institute's preset space is excessive, magnetic force is insufficient between will cause building blocks, can not attract each other well,
If institute's preset space is too small, building blocks side is easily broken, and magnet can drop out building block, the danger for be easy to causeing children to eat by mistake,
Preferably, building block circular hole side wall and the minimum range for closing on building blocks side wall holding 1mm.Then in building block circular hole
Round log tenon 9 identical with the Circularhole diameter size is filled in, round log tenon 9 drops out building block in order to prevent, preferably, described
9 side wall of round log tenon is coated with carpenter's glue.Since building block shape is regular hexagonal prism, building building blocks is integrally honeycomb type,
So the building block of some half blocks is needed to be used in conjunction with each other together, object for appreciation is built with more convenient building building blocks and increase building blocks
Method, therefore we devise the building block of three classes shape: monolith building block 10, half high building block 11 and half thick building block 12.Institute
It states building block track and is divided into face track and track body, the face Trajectory Sets include several according to the difference of track entrance height
Specific track element, the face track entrance are divided into two kinds, a kind of center of track entrance center on upper and lower surface side
Position, at the center of building blocks side, Fig. 4 lists the top view of part face Trajectory Sets at another entrance center, wherein
Base surface track can be divided into large arc type base surface track 13, linear type base surface track 14 and roundlet camber base surface track 15
Three classes form compound face Trajectory Sets by itself any combination of these three types of tracks, the compound face in part are listed in Fig. 4
Trajectory Sets 16,17,18,19,20,21,22,23,24,25,26,27,28.The track body acts only on monolith building blocks, purport
Channel between conducting building blocks cube different sides, is rolled to ball 3 separately from a face of building blocks by the track
One face.The two entrances central point of the track body is located at the central point of building blocks top surface and the central point of building blocks side,
The outlet of the track body can be located at center or building blocks center side two class of position on the lower side of building blocks side, selection one or more
Any combination of a entrance is the track body.Fig. 4 list part basis track body unit 30,31,32,34,35,
36,39,40 and multiple entrance any combination made of binary track assembled unit 29,33,37,38.Effectively to recycle rolling
Pearl designs basis recycling track element 41 as shown in Figure 5 and basis recycling track element 42.In order to which ball can be quicklyd increase
Forward speed does not devise basic spring layer power rail building blocks as shown in Figure 4 with us according to the position of entrance, choose into
Mouthful in the center on upper surface side, outlet in different center sides, collectively form basic spring layer power rail unit 45,
46,47,48, spring layer power rail unit is composed of basic spring layer power rail unit with other faces track element, such as
It has been combined into spring layer power rail unit 43 and spring layer power rail unit 44.The holder device 2 includes three pieces vertical mutual
The iron plate put at 120 degree has corresponding recesses at the top and bottom of three pieces of iron plates, connects plate 4 by another holder device and exists
Three blocks of steel plates are attached by fixation by screw 5 in the groove, there is the holder device arranged in certain sequence circle on iron plate
The diameter in hole 6, the holder device circular hole is equal to building block race way diameter.Fig. 7 is shown to the track in Fig. 4, Fig. 5 and Fig. 6
Unit carries out the 144 kinds of track building blocks shapes formed after appropriate permutation and combination.Children can will be accumulated by the sucking action of magnet
Wooden unit is close to holder device 2 and is vacantly built, and can also build the track of various connections based on building blocks from bottom to top, allow rolling
Pearl 3 is from top entry injection, by the potential energy of ball 3 at kinetic energy, realizes the purpose rolled in connection track, beneficial
In the space imagining ability and manipulative ability of exploitation children.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (1)
1. nonpolarity based on radial magnetizing builds honeycomb type track building blocks and its holder device, it is characterised in that:
The track block toy includes building block, holder device and ball；
The building block is divided into three classes: one kind be monolith building block, i.e., shape be regular hexagonal prism building block, the regular hexagonal prism
Height is about the 4/5 of its transversal regular hexagon inscribed circle diameter；Second class is half high building block, i.e. shape is also regular hexagonal prism,
Cross section is identical as monolith building block, the half of a height of monolith building block；Third class is half thick building block, i.e. shape is straight tetragonous
Column, cross section is the half of monolith building block, highly identical as monolith building block；
Each Bian Douyou chamfering of the building block；
The building block is all provided with various tracks in addition to rail-free cushion block, these tracks are combined by several basal orbit units
Made of；The basal orbit unit is divided into face track and track body again；
The face track refers to through acting on the track of building block upper or lower surface, and ball can be by through upper surface
Face track building blocks upper surface roll, face rail effect in building block lower surface be in order to the building blocks below building block
Upper surface face track forms complete track, plays the role of empty avoiding ball moving path；The entrance of the face track can divide
It is two kinds, a kind of track entrance center is in the center on upper and lower surface side, and another entrance center is in building blocks side
Center, by choose access point any combination basis of formation face track element, the base surface track element being composed can
It is divided into linear type base surface track, large arc type base surface track and three kinds of track of roundlet camber base surface, passes through these three types of rails
Itself any combination in road forms compound face Trajectory Sets；
The track body acts only on monolith building block and half thick building block, it is intended to the channel between building block different sides is connected,
Ball is set to be rolled to another face from a face of building block by the track, according to the difference of track body entrance, institute
Several form can be divided by stating track body；The entrance center point of the track body can be located at the central point and building blocks of building blocks top surface
The central point of side；The export center point of the track body can be located at the center or building blocks center side position on the lower side of building blocks side
Two classes, it is the track body that any connection by choosing one or more entrance, which is combined,；
The circle that depth is about monolith building block height 90% or so is all equipped at the hexagonal of monolith building block upper or lower surface
Hole, circular hole should not form interference with track, and the diameter of circular hole is about 10% left side of monolith building block cross section regular hexagon side length
The right side, circular hole side wall should be placed into the circular hole with the minimum range for closing on building blocks side wall holding about aperture 25% or so
The magnet class device that cylindrical radial magnetizes, magnet diameter size are slightly smaller than Circularhole diameter, it are freely rotated can in hole, most
Round log tenon identical with Circularhole diameter size is filled in circular hole afterwards, the depth for filling in round log tenon is about monolith building block height
10% or so；The round log tenon side wall is coated with glue；It is right due to the half that the height of half high building block is monolith building block
For Yu Bangao building block, the circular hole depth at the regular hexagon hexagonal of upper or lower surface is about the 80% of half high building block, circular hole
It is identical with monolith building block from the relative position for closing on building blocks side wall；The depth and monolith building block phase of half thick building block circular hole
Together, be located at upper or lower surface four corners, circular hole side wall should with close on building blocks side wall keep be about aperture 25% or so most narrow spacing
From；
The holder device includes three pieces and is in 120 degree of iron plates put vertically, has at the top and bottom of three pieces of iron plates corresponding
Groove passes through screw by another connection plate in the groove and three blocks of steel plates is attached fixation, has on iron plate by one
The diameter of fixed tactic circular hole, circular hole is equal to building block race way diameter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811610647.0A CN109432800A (en) | 2018-12-28 | 2018-12-28 | Nonpolarity based on radial magnetizing builds honeycomb type track building blocks and its holder device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811610647.0A CN109432800A (en) | 2018-12-28 | 2018-12-28 | Nonpolarity based on radial magnetizing builds honeycomb type track building blocks and its holder device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109966761A (en) * | 2019-05-10 | 2019-07-05 | 泛美科技(北京)有限公司 | A kind of magnetic building blocks that can be built with quick stereo |
| CN111657830A (en) * | 2020-04-08 | 2020-09-15 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Magnetic drive intestinal tract medicine applying capsule robot with anchoring function |
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| CN205269019U (en) * | 2015-11-11 | 2016-06-01 | 深圳市翰童科技有限公司 | Magnetic building block |
| CN205627100U (en) * | 2016-03-24 | 2016-10-12 | 深圳市翰童科技有限公司 | Magnetic building blocks |
| CN205699476U (en) * | 2016-05-09 | 2016-11-23 | 杭州大清智能技术开发有限公司 | A kind of track block toy with mortise-tenon joint structure |
| CN207627924U (en) * | 2016-09-23 | 2018-07-20 | 杭州大清智能技术开发有限公司 | A kind of track block toy with coupling connecting device |
| CN108854109A (en) * | 2017-05-16 | 2018-11-23 | 郭秋霞 | A kind of magnetic building blocks |
| CN207871540U (en) * | 2018-01-31 | 2018-09-18 | 苏州市立鼎家具设计制造有限公司 | It can be used as the alternating expression building blocks of holder |
| CN207871541U (en) * | 2018-01-31 | 2018-09-18 | 苏州市立鼎家具设计制造有限公司 | Cheese's type building blocks |
| CN209771344U (en) * | 2018-12-28 | 2019-12-13 | 杭州大清智能技术开发有限公司 | nonpolarity building honeycomb track building block based on radial magnetization and support device thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109966761A (en) * | 2019-05-10 | 2019-07-05 | 泛美科技(北京)有限公司 | A kind of magnetic building blocks that can be built with quick stereo |
| CN111657830A (en) * | 2020-04-08 | 2020-09-15 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Magnetic drive intestinal tract medicine applying capsule robot with anchoring function |
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