A picking device and a chess-playing robot

Abstract

The application provides a chess taking device and a chess robot, and relates to the technical field of robots, which can improve the efficiency of transporting chess pieces at one time, guarantee the efficiency of taking chess pieces, and improve the user experience. The chess taking device in the application is arranged on a mechanical arm of the chess robot, and comprises a chess taking mechanism and a temporary storage mechanism. The chess taking mechanism comprises a chess taking driving element and a chess taking element. The chess taking driving element is used for driving the chess taking element to move towards or away from the mechanical arm. The chess taking element is used for grabbing chess pieces. The temporary storage mechanism comprises a temporary storage driving element and a containing element. The containing element is used for temporarily storing chess pieces. The temporary storage driving element is used for driving the containing element to move between a distribution position and a temporary storage position. The distribution position is on the movement track of the chess taking element. The chess taking device in the application is used for moving chess pieces.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a chess-picking device and a chess-playing robot. Background Art

[0002] With the development of artificial intelligence, related technologies have provided chess-playing robots that can simulate human hands moving chess pieces. On the one hand, this allows people to avoid facing the screen for a long time, which is beneficial to their health; on the other hand, it can create a better gaming atmosphere and be more friendly to the elderly and children.

[0003] Existing chess-playing robots can only grab one piece at a time, then use a robotic arm to transport it to the target location and place it there. This is extremely inefficient when capturing multiple pieces at once, especially in Go. This inefficient capture and placement of pieces degrades the user experience. Summary of the Invention

[0004] The present application provides a chess piece retrieval device and a chess-playing robot, which can improve the efficiency of transporting chess pieces in one time, ensure the efficiency of capturing pieces, and enhance the user experience.

[0005] In the first aspect, the present application provides a chess piece retrieval device, which is arranged on the mechanical arm of a chess-playing robot and includes a chess piece retrieval mechanism and a temporary storage mechanism, wherein the chess piece retrieval mechanism includes a chess piece retrieval driving member and a chess piece retrieval member, the chess piece retrieval driving member is used to drive the chess piece retrieval member to move toward or away from the mechanical arm, and the chess piece retrieval member is used to grab chess pieces; the temporary storage mechanism includes a temporary storage driving member and a storage member, the storage member is used to temporarily store chess pieces, and the temporary storage driving member is used to drive the storage member to move between a distribution position and a temporary storage position; wherein the distribution position is on the movement trajectory of the chess piece retrieval member.

[0006] In a possible implementation of the present application, a plurality of accommodating portions are provided on the accommodating member. When the temporary storage driving member drives the accommodating member to move, the plurality of accommodating portions can correspond to the sub-taking member in sequence.

[0007] In a possible implementation of the present application, the piece-taking driving member is used to drive the piece-taking member to move toward or away from the robotic arm in a vertical direction so as to approach or move away from the chessboard.

[0008] In a possible implementation of the present application, the temporary storage drive is used to drive the accommodating member to move, and the movement of the multiple accommodating parts has a horizontal displacement, so that the multiple accommodating parts correspond to the sub-taking member in sequence; wherein the multiple accommodating parts are distributed on the accommodating member along the horizontal direction.

[0009] In a possible implementation of the present application, the accommodating member is a flat-plate structure, and the accommodating portion is a stepped hole distributed on the accommodating member. The inner contour of the stepped hole is adapted to the outer contour of the chess piece and is used to carry and transport the chess piece. The chess piece retrieval drive member can drive the chess piece retrieval member to pass through the stepped hole in the vertical direction.

[0010] In a possible implementation of the present application, the accommodating member is a disc-shaped structure, and the plurality of accommodating portions are distributed at intervals along the circumferential direction around the center of the accommodating member.

[0011] In a possible implementation of the present application, the temporary storage drive includes a temporary storage motor and a gear transmission assembly. The gear transmission assembly transmits the torque of the temporary storage motor to the center of the accommodating member to drive the accommodating member to rotate, and the multiple accommodating parts rotate around the center of the accommodating member.

[0012] In a possible implementation of the present application, the temporary storage mechanism also includes a limit plate, which is arranged above the container, and there is a limit gap between the limit plate and the container, and the limit plate is used to limit the chess pieces temporarily stored in the container from escaping from the top of the container.

[0013] In a possible implementation of the present application, the sub-picking drive component includes a sub-picking motor and a rope. The sub-picking motor is connected to the sub-picking component through the rope. The sub-picking motor is used to tighten the rope to pull the sub-picking component toward the robotic arm, and to release the rope to allow the sub-picking component to fall under the action of gravity.

[0014] In a possible implementation of the present application, the child-picking motor is arranged on the robotic arm, and the child-picking drive component also includes a rotating wheel, which is arranged at a position on the robotic arm corresponding to the child-picking component. One end of the rope is connected to the child-picking motor, and the other end is connected to the child-picking component after passing around the rotating wheel.

[0015] In a possible implementation of the present application, the chess piece removal component includes an adsorption component and a guide component, the adsorption component is used to provide adsorption force for adsorbing chess pieces, the guide component has a accommodating cavity, the adsorption component is arranged in the accommodating cavity, and the guide component has a guide wall extending along the adsorption direction of the adsorption component, and the distance between the guide wall and the chess piece is smaller than the distance between the adsorption component and the chess piece.

[0016] In a possible implementation of the present application, the guide member is a cylindrical structure with an accommodating cavity formed inside. The guide member can be slidably mounted on the outside of the adsorption member, and the guide wall is the portion of the guide member that extends beyond the adsorption member.

[0017] In a possible implementation of the present application, the inner contour of the guide wall is adapted to the outer contour of the chess piece.

[0018] In a possible implementation of the present application, an elastic buffer mechanism is further included. The elastic buffer mechanism is arranged between the robotic arm and the child-picking component. When the distance between the robotic arm and the child-picking device decreases, the elastic buffer mechanism is in an elastic compression state.

[0019] In a possible implementation of the present application, the elastic buffer mechanism includes a spring. When the distance between the robotic arm and the child-retrieving component decreases, two ends of the spring respectively abut against the robotic arm and the child-retrieving device.

[0020] In a possible implementation of the present application, a piece-taking detection component is further included, which is used to detect the state of the piece-taking component grabbing the chess piece.

[0021] In a possible implementation of the present application, the chess piece picking detection component includes a signal transmitting end and a signal receiving end arranged on both sides of the end of the chess piece picking component. The detection medium emitted by the signal transmitting end passes through the space for grabbing chess pieces at the front end of the chess piece picking component and is injected into the signal receiving end.

[0022] In a possible implementation of the present application, the chess piece picking component includes a chess piece picking body and an electromagnet arranged on a side of the chess piece picking body away from the robotic arm, and the magnetic force of the electromagnet is used to provide an adsorption force for grabbing chess pieces.

[0023] In the second aspect, the present application provides a chess-playing robot, comprising a base, a robotic arm, and the chess piece retrieval device of the first aspect. The robotic arm is connected to the base and can move relative to the base. The chess piece retrieval device is arranged on the robotic arm. When the robotic arm moves relative to the base, it can drive the chess piece retrieval device to move to the target position.

[0024] In a possible implementation of the present application, a camera and a processing unit are also included. The camera is used to photograph the chessboard and obtain image information of the chessboard and the chess pieces. The processing unit is electrically connected to the robotic arm, the chess piece retrieval device and the camera, and is used to control the movement of the robotic arm and the chess piece retrieval device according to the image information obtained by the camera to grab or release the chess pieces.

[0025] The present application provides a chess-picking device and a chess-playing robot. The chess-picking device includes a chess-picking mechanism, and a chess-picking driving member of the chess-picking mechanism drives the chess-picking member to move, so that the chess-picking member can grab or release chess pieces. At the same time, the chess-picking mechanism also includes a temporary storage mechanism, and the storage member of the temporary storage mechanism can temporarily store chess pieces. When the chess-picking mechanism is picking up chess pieces, the chess-picking driving member drives the chess-picking member to move away from the robotic arm. When the chess-picking member contacts the chess piece, it grabs the chess piece. Then, the chess-picking driving member drives the chess-picking member to move toward the robotic arm, and the chess-picking member picks up the chess piece. At this time, when the chess-picking member picks up the chess piece to a specific position, the temporary storage mechanism can temporarily store the chess piece on the chess-picking member. Specifically, the temporary storage driving member drives the storage member to move to the distribution position, that is, the storage member is now located on the movement trajectory of the chess-picking member. The chess-picking member can also move to the distribution position to grab the chess piece. At this time, the chess-picking member releases the chess piece, and the chess piece will be carried in the storage member. Then, the temporary storage driving member can drive the storage member to move to the temporary storage position to temporarily store the chess piece. At this point, the chess piece taking component can perform the chess piece grabbing operation again, so that the chess piece taking device can grab chess pieces multiple times at the same position and temporarily store the chess pieces.

[0026] Then, when the temporarily stored chess pieces need to be transported to another location and put down, the robotic arm drives the entire movement of the chess piece retrieval device, that is, it moves all the temporarily stored chess pieces and the chess pieces grabbed by the chess piece retrieval component to another location together; the chess piece retrieval driver drives the chess piece retrieval component to move away from the robotic arm, releasing the chess pieces grabbed on it to the target position, and then the chess piece retrieval driver can drive the chess piece retrieval component to move toward the robotic arm, so that the chess piece retrieval component moves to the distribution position. At this time, the temporary storage driver drives the container to move to the distribution position, and the chess piece retrieval component grabs the temporarily stored chess piece on the container, and then the temporary storage driver drives the container to move to the temporary storage position, and the chess piece retrieval driver drives the chess piece retrieval component to move away from the robotic mobile phone to put down the chess piece. In this process, the movement of the robotic arm at one time realizes the movement of multiple chess pieces together, that is, it can improve the efficiency of transporting chess pieces at one time, ensure the efficiency of capturing chess pieces, and enhance the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is one of the schematic diagrams of the three-dimensional structure of the chess-playing robot according to an embodiment of the present application;

[0028] Figure 2 This is the second schematic diagram of the three-dimensional structure of the chess-playing robot according to an embodiment of the present application;

[0029] Figure 3 A schematic diagram of electrical connections between components of a chess-playing robot provided in an embodiment of the present application;

[0030] Figure 4 This is a schematic structural diagram of the child-retrieval device according to an embodiment of the present application in a non-child-retrieval state;

[0031] Figure 5This is one of the schematic structural diagrams of the cross section of the extraction device according to an embodiment of the present application;

[0032] Figure 6 This is the second structural diagram of the cross section of the extraction device according to an embodiment of the present application;

[0033] Figure 7 This is a schematic structural diagram of a container of a child-taking device according to an embodiment of the present application;

[0034] Figure 8 This is one of the structural schematic diagrams of the deviation correction during retrieval of the utensil retrieval device according to an embodiment of the present application.

[0035] Figure 9 This is the second structural diagram of the device for correcting deviation when removing a baby according to an embodiment of the present application;

[0036] Figure 10 This is a schematic side structural diagram of the child retrieval device in the child retrieval state according to an embodiment of the present application;

[0037] Figure 11 This is a bottom-up structural diagram of the child retrieval device in the child retrieval state according to an embodiment of the present application;

[0038] Figure 12 This is a schematic diagram of the structure of the chess pieces of the chess-playing robot according to an embodiment of the present application.

[0039] Description of reference numerals:

[0040] 1-base; 2-robotic arm; 21-first connecting arm; 22-second connecting arm; 23-piece-taking chamber; 3-piece-taking device; 31-piece-taking mechanism; 311-piece-taking drive member; 3111-piece-taking motor; 3112-rope; 312-piece-taking member; 32-temporary storage mechanism; 321-temporary storage drive member; 3211-temporary storage motor; 3212-gear transmission assembly; 322-accommodating member; 323-accommodating portion; 324-limiting plate; 33-guide member; 331-accommodating chamber; 332-guide wall; 34-elastic buffer mechanism; 35-piece-taking detection member; 36-piece-taking circuit board; 4-chessboard; 5-chess piece; 51-magnetic conductive member; 6-acquisition module; 7-processing module; 8-main body; 9-chess box. DETAILED DESCRIPTION

[0041] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0042] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, unless otherwise specified, "multiple" means two or more.

[0043] In addition, in the embodiments of the present application, directional terms such as "up", "down", "left" and "right" are defined relative to the orientation of the components in the drawings. It should be understood that these directional terms are relative concepts. They are used for relative description and clarification, and they may change accordingly according to changes in the orientation of the components in the drawings.

[0044] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integrated connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0045] In the embodiments of the present application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0046] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0047] The present invention provides a chess-playing robot that, through an artificial intelligence system, enables a user to play chess. The chess game can be any form of chess, such as Chinese chess, international chess, go, military chess, checkers, and gomoku. It can also be a variety of folk chess games, such as the Chaozhou region's sleight of hand, counter-rebellion chess, and tiger-chasing chess.

[0048] This embodiment of the application provides a chess-playing robot, taking Go as an example, see Figure 1 and Figure 2The chess-playing robot comprises a base 1, a robotic arm 2, a piece-removing device 3, a chessboard 4, and a main body 8. The base 1 is fixed relative to the chessboard 4, while the robotic arm 2 is connected to the main body 8 and can move relative to the base 1. The piece-removing device 3 is mounted on the robotic arm 2. When the robotic arm 2 moves relative to the base 1, the robotic arm 2 can drive the piece-removing device 3 to a target position. With this structural form, the robotic arm 2 can drive the piece-removing device 3 relative to the chessboard 4, allowing the piece-removing device 3 to remove or place a piece.

[0049] Specifically, during the chess-playing robot's process of picking up a piece, the robotic arm 2 first drives the piece-picking device 3 to move to the target position, then the piece-picking device 3 makes a linear motion in the direction close to the chessboard 4 to grab the piece 5, then the piece-picking device 3 makes a linear motion in the direction away from the chessboard 4 to separate the piece 5 from the chessboard 4, and finally the robotic arm 2 drives the piece-picking device 3 with the piece 5 grabbed to move to move the piece 5 elsewhere. During the chess-playing robot's process of placing a piece, the robotic arm 2 first drives the piece-picking device 3 with the piece 5 grabbed to move to the target position, then the piece-picking device 3 makes a linear motion in the direction close to the chessboard 4 and releases the piece 5 onto the chessboard 4, then the piece-picking device 3 makes a linear motion in the direction away from the chessboard 4, and finally the robotic arm 2 drives the piece-picking device 3 to move elsewhere.

[0050] This embodiment of the application provides a chess-playing robot. Figure 1 and Figure 2 , the chessboard 4 can be a part of the chess-playing robot. That is, the chess-playing robot also includes the chessboard 4, and the chessboard 4 base 1 is fixed.

[0051] This embodiment of the application provides a chess-playing robot. Figure 1 and Figure 2 The robotic arm 2 includes a first connecting arm 21 and a second connecting arm 22. One end of the first connecting arm 21 is rotatably connected to the body 8, and the other end is rotatably connected to one end of the second connecting arm 22. The piece-picking device 3 is provided at the other end of the second connecting arm 22. The rotation axis of the first connecting arm 21 relative to the base 1 and the rotation axis of the second connecting arm 22 relative to the first connecting arm 21 are both perpendicular to the chessboard 4. With such a structural form, the robotic arm 2 can drive the piece-picking device 3 to move in a plane parallel to the chessboard 4. One end of the second connecting arm 22 is rotatably connected to the other end of the first connecting arm 21, and the piece-picking device 3 is provided at the other end of the second connecting arm 22, so that the second connecting arm 22 can drive the piece-picking device 3 in a direction parallel to the chessboard 4 to approach or move away from the rotation center of the first connecting arm 21 relative to the robotic arm 2, thereby giving the piece-picking device 3 a larger range of motion in a plane parallel to the chessboard 4, making it easier to move the piece-picking device 3 to the target position.

[0052] Please note that Figure 1 and Figure 2, perpendicular to the chessboard 4, that is, perpendicular to the plane of the chessboard 4 for placing the chess pieces 5, and parallel to the chessboard 4, that is, parallel to the plane of the chessboard 4 for placing the chess pieces 5.

[0053] In some examples of this application, please see Figure 1 and Figure 2 The rotation axis of the first connecting arm 21 and the rotation axis of the second connecting arm 22 may not be perpendicular to the chessboard 4. The rotation axis of the first connecting arm 21 and the rotation axis of the second connecting arm 22 may intersect with the chessboard 4.

[0054] In some examples of this application, please see Figure 1 and Figure 2 The first connecting arm 21 and the second connecting arm 22 may also be slidably connected, and the moving direction of the second connecting arm 22 relative to the first connecting arm 21 intersects with the chessboard 4.

[0055] In some examples of this application, please see Figure 1 and Figure 2 The first connecting arm 21 and the robotic arm 2 may also be slidably connected, and the moving direction of the first connecting arm 21 relative to the robotic arm 2 intersects with the chessboard 4.

[0056] In some examples of this application, please see Figure 1 and Figure 2 The robotic arm 2 can also be an industrial-grade robotic robotic arm 2 produced industrially.

[0057] In some examples of this application, please see Figure 1 and Figure 2 There are multiple robotic arms 2, each equipped with a piece-picking device 3. Multiple robotic arms 2 are distributed along the circumference of the chessboard 4. With this structure, each of the robotic arms 2 drives a corresponding number of piece-picking devices 3. Each piece-picking device 3 is responsible for picking and placing pieces on a corresponding portion of the chessboard 4.

[0058] In some examples of this application, please see Figure 2 and Figure 3 The chess-playing robot also includes a collection module 6 and a processing module 7. The robotic arm 2, the piece-retrieval device 3, and the collection module 6 are all electrically connected to the processing module 7. The collection module 6 is used to collect information about the chessboard 4 and the facing target object. The processing module 7 is used to receive and, based on the received information about the chessboard 4 and the facing target object, calculate and issue instructions or signals to control the actions of the robotic arm and the piece-retrieval device 3. With this structural form, the robotic arm 2 and the piece-retrieval device 3 can perform actions based on the information about the chessboard 4 and the facing target object, thereby enabling better interaction with the user.

[0059] Please note that Figure 1 and Figure 2The chessboard 4 information refers to the information displayed on the chessboard 4, including the positions of the chess pieces 5 on the chessboard 4, the movement positions of the robotic arm 2, etc. The user information refers to the information displayed by the user, including the user's language, expression, action, clothing, appearance, etc.

[0060] In some examples of this application, please see Figure 3 The acquisition module 6 is a camera, a scanner, a recorder, or a combination of one or more.

[0061] In addition, in some examples of this application, please refer to Figure 1 and Figure 2 It may also include a chess box 9 in which chess pieces 5 for playing chess are placed. The robotic arm 2 of the embodiment of the present application can take and place pieces in the chess box 9 and on the chessboard 4 through the piece-taking device 3.

[0062] In some examples of the present application, the chess-playing robot further includes chess pieces 5, which can be used in conjunction with the chess box 9 and chess board 4 of the chess-playing robot and stored in the chess box 9. The chess pieces 5 can be provided with a structure that cooperates with the piece-taking device 3 to facilitate the piece-taking device 3 to grab the chess pieces 5.

[0063] The chess-playing robot of the embodiment of the present application can improve the efficiency of transporting chess pieces 5, ensure the efficiency of capturing chess pieces, and enhance the user experience. Specifically, a new improvement is made to the chess piece removal device 3. The specific implementation method of the chess piece removal device 3 is described below.

[0064] See also Figure 4 、 Figure 5 and Figure 6 , an embodiment of the present application provides a chess piece retrieval device 3, which is arranged on the mechanical arm 2 of a chess-playing robot, and includes a chess piece retrieval mechanism 31 and a temporary storage mechanism 32, wherein the chess piece retrieval mechanism 31 includes a chess piece retrieval driving member 311 and a chess piece retrieval member 312, the chess piece retrieval driving member 311 is used to drive the chess piece retrieval member 312 to move toward or away from the mechanical arm 2, and the chess piece retrieval member 312 is used to grab the chess piece 5; the temporary storage mechanism 32 includes a temporary storage driving member 321 and a accommodating member 322, the accommodating member 322 is used to temporarily store the chess piece 5, and the temporary storage driving member 321 is used to drive the accommodating member 322 to move between the distribution position and the temporary storage position; wherein the distribution position is on the movement trajectory of the chess piece retrieval member 312.

[0065] The chess piece retrieval device 3 provided herein includes a chess piece retrieval mechanism 31. A chess piece retrieval driver 311 of the chess piece retrieval mechanism 31 drives a chess piece retrieval member 312 to move, thereby causing the chess piece retrieval member 312 to grab or release a chess piece 5. The chess piece retrieval device 3 also includes a temporary storage mechanism 32. A storage member 322 of the temporary storage mechanism 32 can temporarily store chess pieces 5. When the chess piece 5 is picked up by the pick-up mechanism 31, the pick-up driving member 311 drives the pick-up member 312 to move away from the robotic arm 2. When the pick-up member 312 contacts the chess piece 5, it grabs the chess piece 5. Then, the pick-up driving member 311 drives the pick-up member 312 to move toward the robotic arm 2, and the pick-up member 312 picks up the chess piece 5. At this time, when the pick-up member 312 picks up the chess piece 5 to a specific position, the temporary storage mechanism 32 can temporarily store the chess piece 5 on the pick-up member 312. Specifically, the temporary storage driving member 321 drives the receiving member 322 to move to the distribution position, that is, the receiving member 322 is now located on the movement trajectory of the pick-up member 312, and the pick-up member 312 can also move to the distribution position to grab the chess piece 5. At this time, the pick-up member 312 releases the chess piece 5, and the chess piece 5 will be carried in the receiving member 322. Then, the temporary storage driving member 321 can drive the receiving member 322 to move to the temporary storage position to temporarily store the chess piece 5. At this point, the piece-taking component 312 can perform the grabbing operation of the chess piece 5 again, so that the piece-taking device 3 can grab the chess piece 5 multiple times at the same position and temporarily store the chess piece 5.

[0066] Then, when it is necessary to transport the temporarily stored chess piece 5 to another position and put it down, the robotic arm 2 drives the entire movement of the chess piece retrieval device 3, that is, it moves all the temporarily stored chess pieces 5 and the chess piece 5 grabbed by the chess piece retrieval component 312 to another position together; the chess piece retrieval driving component 311 drives the chess piece retrieval component 312 to move away from the robotic arm 2, and releases the chess piece 5 grabbed thereon to the target position. Then, the chess piece retrieval driving component 311 can drive the chess piece retrieval component 312 to move toward the robotic arm 2, so that the chess piece retrieval component 312 moves to the distribution position. At this time, the temporary storage driving component 321 drives the receiving component 322 to move to the distribution position, the chess piece retrieval component 312 grabs the chess piece 5 temporarily stored on the receiving component 322, and then the temporary storage driving component 321 drives the receiving component 322 to move to the temporary storage position. The chess piece retrieval driving component 311 drives the chess piece retrieval component 312 to move away from the robotic arm 2 to put the chess piece 5 down. During this process, one movement of the robotic arm 2 enables the simultaneous movement of multiple chess pieces 5 , that is, it can improve the efficiency of transporting chess pieces 5 at one time, ensure the efficiency of capturing chess pieces, and enhance the user experience.

[0067] To further improve the efficiency of transport and capture, see Figure 7 In some embodiments, a plurality of accommodating portions 323 are provided on the accommodating member 322 . When the temporary storage driving member 321 drives the accommodating member 322 to move, the plurality of accommodating portions 323 can correspond to the taking-out member 312 in sequence.

[0068] In this way, each receiving portion 323 on the receiving member 322 can temporarily store a chess piece 5, and then when the chess piece retrieval device 3 is in the same position, multiple chess pieces 5 can be stored on the receiving member 322, further increasing the number of chess pieces 5 that can be stored at one time.

[0069] For example, in some embodiments, see Figure 7 , there are 4 accommodating portions 323.

[0070] The movement trajectory of the picking element 312 and the movement trajectory of the receiving element 322 intersect, so that the chess piece 5 grabbed by the picking element 312 can be placed in the receiving element 322, and the picking element 312 can take out the chess piece 5 temporarily stored in the receiving element 322. Figure 4 、 Figure 5 and Figure 6 In some embodiments, the picking drive 311 is used to drive the picking member 312 to move toward or away from the robotic arm 2 in the vertical direction to approach or move away from the chessboard 4; the temporary storage drive 321 is used to drive the accommodating member 322 to move, and the movement of the multiple accommodating portions 323 has a horizontal displacement, so that the multiple accommodating portions 323 correspond to the picking member 312 in sequence.

[0071] The picking component 312 moves in the vertical direction toward or away from the robotic arm 2 to facilitate the vertical grabbing of the chess piece 5. When grabbing the chess piece 5, the path used when approaching and moving away from the chessboard 4 is minimized, saving time. In addition, grabbing the chess piece 5 in the vertical direction ensures that the position of the picking component 312 in the plane coordinates of the chessboard 4 is constant during the grabbing and placing process, which facilitates positioning and positioning of the picking component 312.

[0072] The picking member 312 grabs the chess piece 5 in the vertical direction and grabs the chess piece 5 to a position where it can intersect with the receiving member 322, that is, the distribution position. When the receiving member 322 moves, it is necessary to enable the receiving portion 323 to have a horizontal displacement to ensure that the receiving portion 323 moves to the distribution position, and moves to other positions that do not interfere with the distribution position, such as the temporary storage position.

[0073] The movement of the accommodating portion 323 can be a linear movement or a curved movement, such as an arc-shaped movement. Moreover, the movement of the accommodating portion 323 can have no height increase or decrease relative to the horizontal plane, or can have height increase or decrease relative to the horizontal plane, as long as the movement of the accommodating portion 323 can enable it to switch between the distribution position and the temporary storage position to facilitate the temporary storage or removal of the chess piece 5 by the retrieval component 312.

[0074] In addition, the movement of the container 322 can be translational, flipping, tilting, etc. In order to facilitate the temporary storage of the chess piece 5, the container 322 of the embodiment of the present application can be translational. The translational movement can include any form of rotation, swinging, sliding, pushing, pulling, etc. along the horizontal plane.

[0075] For example, refer to Figure 5 and Figure 6 , multiple accommodating portions 323 are distributed on the accommodating member 322 along the horizontal direction, and the temporary storage driving member 321 is used to drive the accommodating member 322 to move along the horizontal direction, so that the multiple accommodating portions 323 correspond to the taking member 312 in sequence.

[0076] In this way, the picking component 312 grabs the chess piece 5 in the vertical direction and grabs the chess piece 5 to a position where it can intersect with the receiving component 322, that is, the distribution position. When the temporary storage driving component 321 drives the receiving component 322 to move in the horizontal direction, the receiving portion 323 can be moved in the horizontal direction to the distribution position.

[0077] For example, in other embodiments, the sub-picking drive 311 is used to drive the sub-picking member 312 to move in the vertical direction, and the temporary storage drive 321 is used to drive the accommodating member 322 to move, so that the accommodating portion 323 moves to the distribution position in a direction having a certain angle with the horizontal direction.

[0078] For layout convenience, see Figure 7 In some embodiments, the accommodating member 322 is a flat-plate structure, and the accommodating portion 323 is a stepped hole distributed on the accommodating member 322. The inner contour of the stepped hole is adapted to the outer contour of the chess piece 5 and is used to carry and transport the chess piece 5. The chess piece retrieval driving member 311 can drive the chess piece retrieval member 312 to pass through the stepped hole in the vertical direction.

[0079] It should be noted that the inner contour of the accommodating portion 323 is compatible with the outer contour of the chess piece 5. That is, the internal shape of the accommodating portion 323 on the accommodating member 322 and the external shape and size of the chess piece 5 can completely match. This facilitates limiting the position of the chess piece 5 in the accommodating portion 323, preventing the chess piece 5 from shifting within the accommodating portion 323 when the accommodating member 322 moves. Furthermore, due to the compatible outer shapes, when the chess piece 5 is placed in the accommodating portion 323, it automatically adapts to the shape of the accommodating portion 323, allowing the center of the chess piece 5 to self-align with the center of the accommodating portion 323, thus providing a correction function. Furthermore, when the retrieval member 312 grasps the chess piece 5 in the accommodating portion 323, it ensures accurate grasping.

[0080] The flat-plate structure of the container 322 is easy to layout and takes up less space when moving horizontally. The stepped hole can carry and limit the chess piece 5, making it easy to transport the chess piece 5 between the distribution position and the temporary storage position.

[0081] When the receiving member 322 is a flat plate structure, its specific shape can be set according to actual needs, for example, square, circular, triangular, elliptical, fan-shaped, etc. For example, see Figure 7In some embodiments, the accommodating member 322 is a disc-shaped structure, and the plurality of accommodating portions 323 are circumferentially spaced around the center of the accommodating member 322 .

[0082] In order to realize the temporary storage driving member 321 driving the receiving member 322, please refer to Figure 5 In some embodiments, the temporary storage drive 321 includes a temporary storage motor 3211 and a gear transmission assembly 3212. The gear transmission assembly 3212 transmits the torque of the temporary storage motor 3211 to the center of the container 322, thereby driving the container 322 to rotate. The plurality of receiving portions 323 rotate around the center of the container 322. In this way, the temporary storage motor 3211 outputs torque, which is transmitted to the receiving portion 322 via the gear transmission assembly 3212, thereby driving the receiving portion 322 to rotate, allowing the receiving portion 323 to move between the temporary storage position and the dispensing position.

[0083] The specific implementation of the gear transmission assembly 3212 can be selected according to actual needs. For example, different gear structures will be set for different transmission ratios and different spaces, which is not limited here.

[0084] In order to prevent the chess piece 5 from falling out of the receiving member 322, for example, see Figure 6 In some embodiments, the temporary storage mechanism 32 further includes a limiting plate 324, which is disposed above the container 322. A limiting gap is defined between the limiting plate 324 and the container 322. The limiting plate 324 is used to prevent the chess piece 5 temporarily stored in the container 322 from escaping from above the container 322. Thus, when the chess piece 5 is stored in the container 322, the limiting plate 324 acts as a cover on the chess piece 5, preventing it from accidentally escaping from the container 322. That is, in the event of vibration or shaking of the container 322 during its movement, or accidental human shaking of the robotic arm 2, the provision of the limiting plate 324 ensures that the chess piece 5 remains securely in the container 322 and does not escape, thereby ensuring the normal operation of the chess-playing robot and improving its anti-interference capability.

[0085] In addition, the shape of the limiting plate 324 can be a shape that can cover the movement trajectory of the chess piece 5, such as a ring or a disc. Of course, it needs to have a gap to avoid the distribution position.

[0086] The limiting plate 324 can be fixed on the chess piece retrieval device 3 and not move with the accommodating member 322, or it can be relatively fixed to the accommodating member 322 and move with the accommodating member 322. As long as a limiting gap can be maintained between the limiting plate 324 and the accommodating member 322 to prevent the chess piece 5 from falling out, no limitation is made here.

[0087] In order to realize the movement of the taking-out member 311 driving the taking-out member 312, please refer to Figure 4、 Figure 5 and Figure 6 The child-picking device 3 includes a guide member 33 fixed to the robot arm 2. The guide member 33 includes a receiving chamber 331. The child-picking driving member 311 is transmission-connected to the child-picking member 312. The child-picking member 312 is slidably disposed in the receiving chamber 331. The child-picking driving member 311 is used to drive the child-picking member 312 to slide in the receiving chamber 331. That is, the child-picking driving member 311 can realize the sliding of the child-picking member 312 in the receiving chamber 331.

[0088] There are many ways to implement the sub-driver 311, for example, a motor and screw-nut mechanism, a crank slider mechanism, a worm gear mechanism, a rack and pinion mechanism, a traction rope 3112 mechanism, etc., or a linear motor, a pneumatic / hydraulic cylinder, etc. can be directly used.

[0089] For examples, see Figure 4 and Figure 10 In some embodiments, the sub-picking driving member 311 includes a sub-picking motor 3111 and a rope 3112. The sub-picking motor 3111 is set on the robotic arm 2, and the two ends of the rope 3112 are respectively connected to the sub-picking motor 3111 and the sub-picking member 312; the sub-picking motor 3111 is used to tighten the rope 3112 to pull the sub-picking member 312 toward the robotic arm 2, and to release the rope 3112 to allow the sub-picking member 312 to fall under the action of gravity.

[0090] The retrieval member 312 can be pulled up by means of the rope 3112. When the rope 3112 is released, the retrieval member 312 can fall under the influence of its own gravity, thereby achieving the rise and fall of the retrieval member 312 within the accommodating chamber 331. Compared with other driving methods, the rope 3112 method does not cause hard contact when the retrieval member 312 grabs the chess piece 5 when it falls, and the torque of the chess piece retrieval motor 3111 is not transmitted to the retrieval member 312. When the retrieval member 312 falls, it grabs the chess piece 5 without additional hard pressure, thereby protecting the chess piece 5.

[0091] During the process of the pawn taking device 3 taking the pawn, only the pawn taking component 312 may fall to grab the pawn 5 , or the entire pawn taking device 3 may fall to grab the pawn 5 .

[0092] The entire child-taking device 3 and the child-taking component 312 can move respectively to ensure sufficient up and down travel when taking the child. Wherein, the motion of the guide member 33 of the child-taking device 3 and the child-taking component 312 can be controlled separately or together.

[0093] In some embodiments, the child retrieval member 312 of the child retrieval device 3 is driven by the aforementioned child retrieval driver 311, while the guide member 33 of the child retrieval device 3 is driven by another drive structure. These two drive structures can be independent of each other. Of course, the drive structure of the guide member 33 of the child retrieval device 3 is similar to that of the aforementioned child retrieval driver 311, and various implementation methods are possible. For example, a motor and screw-nut mechanism, a crank-slider mechanism, a worm gear mechanism, a rack-and-pinion mechanism, a traction rope 3112 mechanism, etc., or a linear motor, pneumatic or hydraulic cylinder, etc. can be directly used.

[0094] In other embodiments, the child taking member 312 and the guide member 33 of the child taking device 3 are driven by the above-mentioned child taking driving member 311. For details, please refer to Figure 5 and Figure 6 A sub-removal cavity 23 is provided on the robotic arm 2, and a guide member 33 is slidably arranged in the sub-removal cavity 23. A stopper (not shown in the figure) is provided in the accommodating cavity 331 of the guide member 33. The rope 3112 pulls the sub-removal member 312 toward the robotic arm 2 and abuts against the stopper to move the guide member 33 toward the robotic arm 2.

[0095] In this scheme, the rope 3112 is driven by the pick-up driving member 311 to pull the pick-up member 312 toward the robotic arm 2, and the pick-up member 312 moves upward in the guide member 33. When the pick-up member 312 moves to abut against the stopper in the accommodating cavity 331 of the guide member 33, the pick-up member 312 is pulled by the rope 3112 and will drive the guide member 33 to move upward together. At this time, the guide member 33 can slide along the pick-up cavity 23; when the pick-up driving member 311 releases the rope 3112, the guide member 33 and the pick-up member 312 will fall due to their own gravity. Specifically, the guide member 33 will fall along the pick-up cavity 23. When the guide member 33 falls to the extreme position, the pick-up member 312 will continue to fall along the accommodating cavity 331 of the guide member 33 to grab the chess piece 5.

[0096] The rope 3112 can be any flexible member. For example, the rope 3112 can be a nylon line, a fiber line, a belt, etc.

[0097] In some instances, the picking motor 3111 is a steering gear, and the output shaft of the steering gear is connected to the first end of the swing arm. The output shaft of the steering gear is connected to the first end of the swing arm to drive the rotation of the swing arm. The steering gear is a type of servo motor and is suitable for control systems that require continuous and stable angle changes. It has a compact structure and can be easily installed on the mechanical arm 2, making it an ideal driving component for chess-playing robots. Of course, in some other embodiments, the picking motor 3111 can also be a stepping motor or other types of servo motors.

[0098] It should be noted that the transmission connection between the output shaft of the steering gear and the swing arm can be implemented in a variety of ways, as long as the transmission of rotational torque can be achieved. In some examples, the output shaft of the steering gear is fixedly connected to the swing arm, or the output shaft of the steering gear is connected to the swing arm via a transmission mechanism.

[0099] It should be further explained that the fixed connection between the output shaft of the servo and the swing arm can be a direct connection, such as welding, fastener connection, etc., or an indirect connection, such as connection through a coupling, etc.; the output shaft of the servo and the swing arm are connected through a transmission mechanism, and the transmission mechanism can be a gear structure, belt drive or chain drive, etc.

[0100] In order to prevent the chess piece 5 from being damaged when the chess piece 5 is grabbed by the taking component 312, please refer to Figure 5 The child-picking device 3 of the embodiment of the present application also includes an elastic buffer mechanism 34, which is arranged between the robotic arm 2 and the child-picking component 312. When the distance between the robotic arm 2 and the child-picking component 312 is reduced, the elastic buffer mechanism 34 is in an elastic compression state.

[0101] In this way, the picking member 312 is driven and tightened by the pick-up driving member 311 to pull the picking member 312 toward the robotic arm 2. When the distance between the arm and the picking member 312 continues to decrease, the elastic buffer mechanism 34 is in a compressed state to store elastic potential energy; when the driving member drives the tightening mechanism to release the rope 3112, the rope 3112 will relax. At this time, the picking member 312 is affected by its gravity, and the elastic buffer mechanism 34 releases the elastic potential energy to reset the picking member 312. Then, the gravity and the elastic buffer force work together to move the picking member 312 to the lowest point, placing the grabbed chess piece 5.

[0102] In addition, when the chess robot is not in operation, unconscious human movements may press the piece-picking device 3. The piece-picking device 3 of the embodiment of the present application includes an elastic buffer mechanism 34 arranged between the robotic arm 2 and the piece-picking component 312. At this time, the distance between the robotic arm 2 and the piece-picking component 312 is reduced, and the two ends of the elastic buffer mechanism 34 are respectively against the robotic arm 2 and the piece-picking component 312. The elastic buffer mechanism 34 will automatically absorb external forces, thereby preventing the piece-picking component 312 from colliding with the robotic arm 2 in the opposite direction and causing damage to the piece-picking device 3.

[0103] In some embodiments, the elastic buffer mechanism 34 includes a spring. When the distance between the robot arm 2 and the child-retrieving component 312 decreases, two ends of the spring abut against the robot arm 2 and the child-retrieving device 3 respectively.

[0104] The elastic buffer member of the elastic buffer mechanism 34 is a spring, a rubber pad, etc. In comparison, a spring is easy to deform, has high elasticity, and has good effects in mitigating impact and absorbing vibration.

[0105] In the chess-playing robot provided in the embodiments of the present application, the picking and placing of pieces by the picking device 3 can be achieved by gripping with a mechanical claw or by suction. In the embodiment where the picking and placing of pieces by the picking device 3 can be achieved by suction, a picking and placing correction design is implemented to ensure the accuracy of the picking and placing positions. This allows the picking device 3 to automatically correct the position of the adsorbed chess piece 5 during picking, ensuring accurate placement and enhancing the user experience.

[0106] Specifically, the embodiment of the present application also provides a chess piece retrieval device 3, including a chess piece retrieval component 312 and a guide component 33. The chess piece retrieval component 312 is used to provide an adsorption force for adsorbing the chess piece 5. The guide component 33 has an accommodating cavity 331. The chess piece retrieval component 312 is arranged in the accommodating cavity 331. The guide component 33 has a guide wall 332 extending along the adsorption direction of the chess piece retrieval component 312. The distance between the guide wall 332 and the chess piece 5 is smaller than the distance between the chess piece retrieval component 312 and the chess piece 5.

[0107] The chess piece retrieval device 3 provided in the present application is provided with a guide member 33. A chess piece retrieval member 312 is disposed within the accommodating cavity 331 of the guide member 33. The guide member 33 also has a guide wall 332. The distance between the guide wall 332 and the chess piece 5 is smaller than the distance between the chess piece retrieval member 312 and the chess piece 5. That is, the guide wall 332 is closer to the chess piece 5 than the chess piece retrieval member 312. When the chess piece retrieval device 3 grabs the chess piece 5, the suction force of the chess piece retrieval member 312 attracts the chess piece 5, causing the chess piece 5 to move toward the chess piece retrieval member 312. The chess piece 5 first encounters the guide wall 332. The guide wall 332 can limit and correct the position of the chess piece 5, so that the chess piece 5 is guided by the guide wall 332 and adsorbed into the accommodating cavity 331, and ultimately adsorbed onto the chess piece retrieval member 312. Therefore, due to the provision of the guide member 33, the guide wall 332 can limit and correct the chess piece 5 during the adsorption process, ensuring the accuracy of the chess piece placement and improving the user experience.

[0108] The guide wall 332 contacts the chess piece 5 before the removing member 312 and has the function of limiting the position of the chess piece 5. Specifically, in some embodiments, the guide wall 332 includes a plurality of spaced-apart protrusions, which enclose a receiving cavity 331, which allows the chess piece 5 to fit in the cavity.

[0109] In some other embodiments, see Figure 8 and Figure 9 The guide member 33 is a cylindrical structure with an accommodating cavity 331 formed inside. The guide member 33 can be slidably sleeved on the outside of the sub-piece 312, and the guide wall 332 is the portion of the guide member 33 that exceeds the sub-piece 312.

[0110] See also Figure 10 and Figure 11When the chess piece 5 is attracted by the pick-up member 312, the chess piece 5 is attracted and moves toward the pick-up member 312. When the chess piece 5 hits the guide end of the cylindrical structure (i.e., the guide wall 332), the guide wall 332 interferes with the movement of the chess piece 5 and forces the chess piece 5 to separate from the pick-up member 312. However, at this time, since the pick-up member 312 can always provide a continuous upward adsorption force to the chess piece 5, please refer to Figure 8 and Figure 9 The chess piece 5 will slowly slide along the opening and inner wall of the guide wall 332 into the space limited by the guide wall 332 , and finally enter the accommodating cavity 331 and be adsorbed by the chess piece taking component 312 .

[0111] The relationship between the inner contour of the guide wall 332 and the outer contour of the chess piece 5 determines the accuracy of the correction. Therefore, in some embodiments, the inner contour of the guide wall 332 is adapted to the outer contour of the chess piece 5. Adaptation refers to having mutually adaptable dimensions. For example, when the diameters are equal, there is a certain matching tolerance, so that the chess piece 5 and the inner part of the guide wall 332 can achieve better positioning and guidance.

[0112] For example, in some embodiments, the accommodating cavity 331 is cylindrical, and the inner diameter of the guide wall 332 is larger than the outer diameter of the chess piece 5, and the diameter difference is less than or equal to 1 mm. In this way, the error of the chess piece 5 can be corrected to within 1 mm, which is very effective.

[0113] Of course, the specific diameter difference can be set according to actual needs, and the above within 1mm is just an example. The diameter difference needs to be less than the allowable fault tolerance threshold. The allowable fault tolerance threshold can be set according to the actual size and obtained through theoretical calculations and actual experiments. In different chess-playing robots, the chess pieces 5 may have different specifications, and the corresponding internal diameters of the guide walls 332 may also have different specifications. That is, each chess-playing robot of different specifications may have a different fault tolerance threshold, which may be less than 1mm or less than 2mm. Correspondingly, the allowable correction accuracy is 1mm and 2mm. On this basis, in the embodiment of the present application, based on different allowable fault tolerance thresholds, the diameter difference between the internal diameter of the guide wall 332 and the outer contour of the chess piece 5 will also have different values.

[0114] The retrieval member 312 is located in the accommodating cavity 331. When the retrieval member 312 attracts the chess piece 5, it pulls the chess piece 5 into the accommodating cavity 331. In order to facilitate the retrieval member 312 to attract the chess piece 5 and to transport the chess piece 5 further along the accommodating cavity 331, in some embodiments, the retrieval member 312 is slidable within the accommodating cavity 331.

[0115] See also Figure 8 and Figure 9When the chess piece 5 needs to be adsorbed, the chess piece taking component 312 can move toward the outside of the accommodating cavity 331, so that the chess piece taking component 312 is closer to the chess piece 5, which is convenient for adsorbing the chess piece 5; after the chess piece 5 is adsorbed, the chess piece taking component 312 can move toward the inside of the accommodating cavity 331, and pull the chess piece 5 into the accommodating cavity 331 for correction or transportation.

[0116] It should be noted that in the chess-playing robot of the embodiment of the present application, since the acquisition module 6 is provided, the acquisition module 6 can collect certain information for use by the processing module 7 of the chess-playing robot to process and control the movements of various parts of the chess-playing robot. In the case of grasping the chess piece 5 to correct the deviation of the embodiment of the present application, the acquisition module 6 and the processing module 7 can also perform auxiliary correction.

[0117] For example, the acquisition module 6 includes a camera, and the processing module 7 includes an associated correction processing unit. It also includes a camera and a processing unit. The camera is used to shoot the chessboard 4 and obtain image information of the chessboard 4 and the chess piece 312; the processing unit is electrically connected to the robotic arm 2, the chess piece retrieval device 3 and the camera, and is used to control the movement of the robotic arm 2 and the chess piece retrieval device 3 according to the image information obtained by the camera to grab or release the chess piece 5.

[0118] In order to determine whether the chess piece 5 is captured by the chess-taking device 3, the video information can be obtained by the acquisition module 6 of the chess-playing robot to make an intelligent judgment; or a corresponding detection unit can be set to detect whether the chess piece 5 is captured. For example, please refer to Figure 6 In some embodiments, the piece-retrieving device 3 further includes a piece-retrieving detection member 35 for detecting the state of the piece-retrieving member 312 grasping the chess piece 5. Thus, the piece-retrieving detection member 35 can be used to detect whether the piece-retrieving member 312 has correctly grasped the chess piece 5. The piece-retrieving detection member 35 can also assist in calibrating the accuracy of the piece-retrieving member 312 in grasping the chess piece 5.

[0119] The piece-picking detection component 35 includes a signal transmitting end and a signal receiving end provided on both sides of the end of the piece-picking component 312. The detection medium emitted by the signal transmitting end passes through the space for grabbing the chess piece 5 at the front end of the piece-picking component 312 and is emitted into the signal receiving end. For example, the piece-picking detection component 35 can be an infrared detection module, including an infrared transmitting end and an infrared receiving end, which is provided at the front end after the piece-picking component 312 grabs the chess piece 5. If the piece-picking component 312 correctly grabs the chess piece 5, the infrared light emitted by the infrared transmitting end will irradiate the chess piece 5 and thus cannot reach the infrared receiving end; if the piece-picking component 312 does not grab the chess piece, the infrared light emitted by the infrared transmitting end will directly reach the infrared receiving end. Furthermore, by determining whether the infrared receiving end receives the infrared signal, it can be determined whether the piece-picking component 312 has correctly grabbed the chess piece.

[0120] In addition, the piece-picking detection component 35 can be electrically connected to the processing module 7 of the chess-playing robot. When receiving a signal that the piece-picking component 312 has correctly grasped the chess piece 5, the processing module 7 can perform the next operation, such as controlling the movement of the robotic arm 2 to transport the chess piece 5 to the target position; when receiving a signal that the piece-picking component 312 has not grasped the chess piece 5, the processing module 7 can control the movement of the piece-picking driving component 311 of the piece-picking device 3, so that the piece-picking component 312 grasps the chess piece 5 again until the chess piece 5 is correctly grasped.

[0121] Of course, the sub-detection component 35 can also be equipped with a corresponding processing unit to supply power to the sub-detection component 35 and process and transmit signals. Furthermore, the processing unit can also independently perform the control that the processing module 7 can perform. For example, please refer to Figure 6 The sub-removal device 3 further includes a sub-removal circuit board 36 , and the sub-removal detection member 35 is electrically connected to the sub-removal circuit board 36 .

[0122] In order to achieve the adsorption force of the chess piece taking component 312, in some embodiments, the chess piece taking component 312 is provided with a negative pressure suction port, which can adsorb the chess piece 5 through continuous negative pressure.

[0123] In other embodiments, the chess piece taking component 312 has a pressing suction cup, which can absorb the chess piece 5 by pressing;

[0124] In some other embodiments, the sub-assembly 312 can be implemented using the principle of magnetic adsorption. Specifically, the sub-assembly 312 includes an adsorption body and an electromagnet arranged on the side of the adsorption body away from the robotic arm 2, and the magnetic force of the electromagnet is used to provide adsorption force.

[0125] Of course, the magnetic setting of the picking component 312 must correspond to the magnetic characteristics of the chess piece 5. For example, when the picking component 312 is an electromagnet, the chess piece 5 can be a permanent magnet or a magnetic conductive component 51 (such as metal); the magnetic settings of the picking component 312 and the chess piece 5 can also be interchangeable.

[0126] The chess-playing robot of the embodiment of the present application also includes chess pieces 5. The arrangement of chess pieces 5 corresponds to the arrangement of chessboard 4. At the same time, the arrangement of chess pieces 5 corresponds to the arrangement of taking piece component 312. Figure 11 A magnetic conductive part 51 is provided inside the chess piece 5, and the chess piece taking part 312 includes an electromagnet for adsorbing the magnetic conductive part 51.

[0127] Of course, in some embodiments, the chess piece 312 itself is only composed of a whole piece of electromagnet without other shells, or the chess piece 5 itself is only composed of a whole piece of magnetic conductive part 51, rather than Figure 11 It is also possible to embed the magnetic conductive member 51 inside the chess piece 5.

[0128] In order to ensure that the chess piece 5 is aligned as much as possible when the chess piece 312 is sucked, the electromagnet and the magnetic conductive member 51 are also arranged in a corresponding position. For example, please refer to Figure 12 In some embodiments, the electromagnet is located at the center of the radial cross-section of the accommodating cavity 321, and the magnetic conductive member 51 is located at the center of the radial cross-section of the chess piece 5. Thus, the chess piece retrieval member 312, through the electromagnet at its center, can attract the magnetic conductive member 51 at the center of the chess piece 5. Ultimately, when the chess piece retrieval member 312 attracts the chess piece 5, the center of the chess piece retrieval member 312 is aligned with the center of the chess piece 5, ensuring that the chess piece is aligned and corrected as much as possible during the grasping process.

[0129] In order to facilitate the use of chess piece 5, chess piece 5 can be set to a double-sided structure. For details, please refer to Figure 12 In some embodiments, the magnetic conductive element 51 is located at the center of the chess piece 5 in the axial direction, and is symmetrically arranged on both sides of the chess piece 5 along a radial cross-section from the center. When the chess piece 5 is symmetrically arranged, both sides can serve as the bottom or top surface, increasing the flexibility of the chess piece 5. To ensure consistent gripping force on both sides of the chess piece 5 and sufficient gripping force, the magnetic conductive element 51 is located at the center of the chess piece 5 in the axial direction.

[0130] In order to ensure the state of the chess piece 5 as much as possible when grabbing the chess piece 5, in some embodiments, the surface of the chess piece 5 adsorbed by the grabbing component 312 is a plane. Figure 12 The end faces on both sides of the chess piece 5 are plane. In this way, the contact surface between the taker 312 and the chess piece 5 during adsorption is a plane, which improves the tightness of adsorption on the one hand, and enables the chess piece 5 to be kept in a certain posture and be adsorbed stably on the other hand.

[0131] The serial numbers of the embodiments of this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above are only preferred embodiments of this application and do not limit the scope of the patent of this application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the scope of patent protection of this application.

Claims

1. A chess-picking device, provided on the mechanical arm of a chess-playing robot, characterized in that: include: The chess piece picking mechanism comprises a chess piece picking driving member and a chess piece picking member, wherein the chess piece picking driving member is used to drive the chess piece picking member to move toward or away from the mechanical arm, and the chess piece picking member is used to grab chess pieces; The temporary storage mechanism includes a temporary storage drive and a receiving member, wherein the receiving member is used to temporarily store chess pieces, and the temporary storage drive is used to drive the receiving member to move between a distribution position and a temporary storage position; wherein the distribution position is on the movement trajectory of the chess piece retrieval member.

2. The child retrieval device according to claim 1, characterized in that: The accommodating member is provided with a plurality of accommodating parts. When the temporary storage driving member drives the accommodating member to move, the plurality of accommodating parts are caused to correspond to the sub-taking member in sequence.

3. The child retrieval device according to claim 2, characterized in that: The piece-taking driving member is used to drive the piece-taking member to move toward or away from the robotic arm in a vertical direction so as to approach or move away from the chessboard.

4. The child retrieval device according to claim 2, characterized in that: The temporary storage driving member is used to drive the accommodating member to move, and the movement of the multiple accommodating parts has a horizontal displacement, so that the multiple accommodating parts correspond to the retrieval member in sequence; wherein the multiple accommodating parts are distributed on the accommodating member along the horizontal direction.

5. The child retrieval device according to claim 4, characterized in that: The accommodating member is a flat plate structure, the accommodating portion is a stepped hole distributed on the accommodating member, the inner contour of the stepped hole is adapted to the outer contour of the chess piece, and is used to carry and transport the chess piece, and the chess piece retrieval driving member drives the chess piece retrieval member to pass through the stepped hole in the vertical direction.

6. The child retrieval device according to claim 4, characterized in that: The receiving member is a disc-shaped structure, and the plurality of receiving portions are distributed at intervals along the circumferential direction around the center of the receiving member.

7. The child retrieval device according to claim 2, characterized in that: The temporary storage driving member includes a temporary storage motor and a gear transmission assembly. The gear transmission assembly transmits the torque of the temporary storage motor to the center of the accommodating member to drive the accommodating member to rotate. The plurality of accommodating portions rotate around the center of the accommodating member.

8. The child retrieval device according to claim 1, characterized in that: The temporary storage mechanism further includes a limiting plate, which is arranged above the accommodating member. A limiting gap is provided between the limiting plate and the accommodating member, and the limiting plate is used to limit the chess pieces temporarily stored in the accommodating member from escaping from the top of the accommodating member.

9. The child retrieval device according to claim 1, characterized in that: The child-picking driving member includes a child-picking motor and a rope. The child-picking motor is connected to the child-picking member through the rope. The child-picking motor is used to tighten the rope to pull the child-picking member toward the robotic arm, and to release the rope to allow the child-picking member to fall under the action of gravity.

10. The child retrieval device according to claim 9, characterized in that: The child-taking motor is arranged on the robotic arm, and the child-taking drive component also includes a rotating wheel. The rotating wheel is arranged at a position on the robotic arm corresponding to the child-taking component. One end of the rope is connected to the child-taking motor, and the other end is connected to the child-taking component after passing through the rotating wheel.

11. The child retrieval device according to any one of claims 1 to 10, characterized in that: The chess piece retrieval component includes an adsorption component and a guide component. The adsorption component is used to provide adsorption force for adsorbing chess pieces. The guide component has a accommodating cavity. The adsorption component is arranged in the accommodating cavity. The guide component has a guide wall extending along the adsorption direction of the adsorption component. The distance between the guide wall and the chess piece is smaller than the distance between the adsorption component and the chess piece.

12. The child retrieval device according to claim 11, characterized in that: The guide member is a cylindrical structure with the accommodating cavity formed inside. The guide member is slidably sleeved on the outside of the adsorption member. The guide wall is the portion of the guide member that extends beyond the adsorption member.

13. The child retrieval device according to claim 12, characterized in that: The inner contour of the guide wall is adapted to the outer contour of the chess piece.

14. The sub-retrieving device according to claim 11, characterized in that: It also includes an elastic buffer mechanism, which is arranged between the mechanical arm and the child-taking component. When the distance between the mechanical arm and the child-taking device decreases, the elastic buffer mechanism is in an elastically compressed state.

15. The child retrieval device according to claim 14, characterized in that: The elastic buffer mechanism includes a spring. When the distance between the mechanical arm and the child-taking component decreases, two ends of the spring respectively abut against the mechanical arm and the child-taking device.

16. The child retrieval device according to any one of claims 1 to 10, characterized in that: It also includes a piece-taking detection component, which is used to detect the state of the piece-taking component grabbing the piece.

17. The sub-retrieving device according to claim 16, characterized in that: The chess piece picking detection component includes a signal transmitting end and a signal receiving end provided on both sides of the end of the chess piece picking component. The detection medium emitted by the signal transmitting end passes through the space for grabbing chess pieces at the front end of the chess piece picking component and is injected into the signal receiving end.

18. The child retrieval device according to any one of claims 1 to 10, characterized in that: The chess piece picking component includes a chess piece picking body and an electromagnet arranged on a side of the chess piece picking body away from the mechanical arm. The magnetic force of the electromagnet is used to provide an adsorption force for grabbing chess pieces.

19. A chess-playing robot, characterized in that: include: base; a robotic arm connected to the base and capable of moving relative to the base; The sub-child retrieval device according to any one of claims 1 to 18 is arranged on the robotic arm, and when the robotic arm moves relative to the base, it drives the sub-child retrieval device to move to the target position.

20. The chess-playing robot according to claim 19, characterized in that: It also includes a camera and a processing unit, wherein the camera is used to photograph the chessboard and obtain image information of the chessboard and the chess piece retrieval device; the processing unit is electrically connected to the robotic arm, the chess piece retrieval device and the camera, and is used to control the movement of the robotic arm and the chess piece retrieval device according to the image information obtained by the camera to grab or release the chess piece.

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