Tilting device and board game robot

Abstract

The utility model provides a turnover device and a board game robot, the upper surface of a turnover magnet fixing piece is provided with a circular groove for embedding a turnover electromagnet, the turnover electromagnet is assembled in the circular groove of the turnover magnet fixing piece through a screw, the lower surface of the turnover magnet fixing piece is pasted with a turnover motor foot pad, and the turnover motor foot pad is connected with the turnover magnet fixing piece. Assembling grooves are formed in the two sides of the overturning magnet fixing piece, overturning magnet fixing piece silica gel is assembled in the two assembling grooves, a flat connecting hole is formed in the magnet fixing piece in the tangent direction of the overturning electromagnet, and an output shaft of the overturning motor is fixedly connected with the connecting hole; compared with the prior art, the board game robot has the advantages that man-machine interaction operation can be performed through the arrangement of the panel assembly, and the board game robot can simulate people to play chess pieces through the arrangement of the mechanical arm assembly and can assist the chess piece turning device in feeding and taking the chess pieces.

Description

Technical Field

[0001] The utility model relates to the technical field of board games, in particular to a board game device and a board game robot. Background Art

[0002] When entertaining, people will play board games to pass the time. The flipping of chess pieces by existing board game robots is a difficult part to accomplish, and manual flipping is required. Therefore, a flipping device and a board game robot are proposed. Utility Model Content

[0003] In order to solve at least one of the above-mentioned technical shortcomings, the utility model provides a flip device, including: a flip motor, a flip electromagnet, a flip magnet fixing silicone, a flip magnet fixing, and a flip motor foot pad. The upper surface of the flip magnet fixing is provided with a circular groove for embedding the flip electromagnet. The flip electromagnet is assembled into the circular groove of the flip magnet fixing by screws. The lower surface of the flip magnet fixing is pasted with a flip motor foot pad. Assembly grooves are provided on both sides of the flip magnet fixing. The two assembly grooves are both equipped with flip magnet fixing silicone. The magnet fixing is provided with a flat connecting hole along the tangential direction of the flip electromagnet, and the output shaft of the flip motor is fixedly connected to the connecting hole.

[0004] Furthermore, it also includes a mechanical arm assembly for picking up chess pieces located above the flip electromagnet, the mechanical arm assembly includes a motor fixing hardware arranged in a U shape, a bearing groove is arranged at one end of the upper surface of the motor fixing hardware, two 6905ZZ bearings are arranged in the bearing groove, an annular partition is arranged in the middle of the bearing groove for separating the two 6905ZZ bearings, a limiting fixing hardware is inserted into the two 6905ZZ bearings, a synchronous pulley is arranged at the bottom of the limiting fixing hardware through a screw sleeve, and the upper surface of the motor fixing hardware is A motor is provided at one end, and a synchronous pulley 2 is provided on the output shaft of the motor through the motor fixing hardware, and a synchronous belt 1 is provided between the synchronous pulley 2 and the synchronous pulley 1; synchronous belt adjustment and tensioning mechanisms fixed to the U-shaped groove of the motor fixing hardware are provided on both sides of the synchronous belt 1, and a motor magnet fixing hardware is coaxially provided at the bottom end of the limit fixing hardware 1 through a screw, the motor magnet fixing hardware is U-shaped in the middle, and both ends of the top extend outward to form horizontal ends, and a cylinder is provided at the bottom in the middle, and the bottom of the motor magnet fixing hardware The cylinder is attached to the magnet by glue, and an encoder mainboard 1 is provided on the motor fixing hardware through an encoder fixing hardware 1, which is located directly below the magnet; the robotic arm assembly also includes arm joint hardware, one end of the arm joint hardware is provided with a motor 2 which is coaxial with the limit fixing hardware, the output shaft of the motor 2 is provided with a synchronous pulley 3 through a screw, and the other end of the arm joint hardware is provided with a bearing slot 2, and a synchronous pulley 4 is provided in the bearing slot 2 through a 61804ZZ bearing and a 6805ZZ bearing, and the 61804ZZ bearing and The 6805ZZ bearings are respectively located at both ends of the synchronous pulley shaft 4, a synchronous belt 2 is arranged between the synchronous pulley 3 and the synchronous pulley 4, a synchronous belt adjustment and tensioning mechanism 2 fixed to the inside of the arm joint hardware is arranged on one side of the synchronous belt 2, an encoder mainboard 2 is fixedly connected to the motor 2 through an encoder mainboard fixing part, a flange coaxial with the output shaft of the motor 2 is arranged at the top edge of the limit fixing hardware 1 and the bottom of one end of the arm joint hardware, and the arm joint hardware and the limit fixing hardware 1 are assembled together through flanges and screws;It also includes an arm joint A sleeved on the arm joint hardware, the arm joint A is provided with an arm joint decorative part, an arm joint C arranged in an L shape is fixed on the synchronous pulley four by screws, an arm joint D is arranged inside the arm joint C, a mounting frame is provided in the middle of the upper surface of the arm joint D, a motor three is arranged on the arm joint D through the mounting frame, a fixed linear bearing is provided at the output end of the motor three, the fixed linear bearing includes a shaft connected to the output end of the motor three and a fan-shaped piece fixed to the outer wall of the shaft, a U-shaped groove is provided in the middle of the arc surface of the fan-shaped piece, a mounting seat is provided on the upper surface of the end of the arm joint D away from the synchronous pulley four, and a The arm joint D is provided with a SZU3-12-4U bearing through a mounting seat and a shaft rotation connection, and a line bearing fixed to the mounting seat is provided on the periphery of the SZU3-12-4U bearing, and a magnetic shell A is fixedly connected to the lower surface of the arm joint D below the SZU3-12-4U bearing, and a magnetic shell B is sleeved inside the magnetic shell A, and an electromagnet is provided at the bottom end of the magnetic shell B, and springs are provided inside the magnetic shell B and the magnetic shell A, and a fixed line bracket is fixedly connected to the bottom of the spring, and the top of the spring is supported to the lower surface of the arm joint D, and a magnet is provided between the fixed line bracket and the fixed line bearing to suspend the upper and lower lines. ;

[0005] A table game robot includes a turning device, including: a base component, a flat plate component, a mechanical arm component and a chessboard component, the turning device is assembled on the edge of the upper surface of the chessboard component, the chessboard component is assembled on the bottom of the base component, the flat plate component is assembled on the top front part of the base component, and the mechanical arm component is assembled on the base component.

[0006] Furthermore, the base assembly includes a front shell of the base and a rear shell of the base, a U-shaped groove with an opening on the outside is formed in the middle of the front shell of the base, a speaker mesh is formed on the upper surface of the bottom of the front shell of the base, and flannel is glued on the speaker mesh by glue, a power button hole is formed on one side of the bottom of the front shell of the base and the rear shell of the base, a side edge decoration is provided in the power button hole, a power button decoration is provided in the outer groove of the side edge decoration, a power button is provided in the power button decoration, a power button is provided on the inner side of the side edge decoration, a support bracket is provided between the front shell of the base and the rear shell of the base, and the front shell of the base A camera lens, a visual camera and a picture book camera are provided at the top edge of the base, a camera board is provided inside the top of the base front shell, an FPC line is plugged into the camera board, a base rear shell is provided on the back of the base front shell, a base bottom shell A is assembled at the bottom of the base front shell and the base rear shell, an MCU mainboard and an MCU mainboard heat sink are provided on the base bottom shell A, a base bottom shell B is provided at the bottom of the base bottom shell A, a number of base foot pads are glued to the lower surface of the base bottom shell B, a BOS speaker located inside the speaker mesh is provided inside the bottom of the base front shell.

[0007] Furthermore, a rotating seat is provided in the middle of the U-shaped groove, and the tablet assembly includes: a tablet front shell and a tablet back shell, an LCD assembly is adhered to the outer surface of the tablet front shell, and a plurality of conductive foams are adhered to the back of the LCD assembly, a light sensing module and a front camera are provided on the edge of the outer surface of the tablet front shell, a double MIC small board is provided on the inner side of the tablet front shell, and MIC silicone is assembled on the double MIC small board, a main control motherboard, a volume plus and minus key small board and a download TYPE-C small board are assembled on the inner side of the tablet front shell by screws, a motherboard heat dissipation aluminum sheet is adhered to the main control motherboard by thermal conductive silicone, a rotating shaft is provided on the back of the tablet back shell, the rotating shaft is rotatably connected to the rotating seat, a volume plus and minus key is provided on the tablet back shell, and TYPE-C silicone is provided at the jack of the download TYPE-C small board.

[0008] Furthermore, the chessboard assembly includes a chessboard front shell, a flip device fixed to the left edge of the upper surface of the chessboard front shell, and the middle of the upper surface of the chessboard front shell is the chessboard, the right edge of the chessboard front shell is provided with a button module and a function button main board, light bar lenses are provided on all four sides of the upper surface of the chessboard front shell by adhesive, a light bar main board assembled on the chessboard front shell is provided directly below the light bar lenses, a chessboard bottom shell is provided at the bottom of the chessboard front shell, and eight foot pads are evenly provided on the lower surface of the chessboard bottom shell by adhesive.

[0009] Furthermore, the inner bottom wall of the chessboard bottom shell is provided with reinforcing ribs consisting of a plurality of regular hexagons. Beneficial Effects

[0010] When flipping a chess piece, place the magnetic chess piece on the flipping electromagnet, energize the flipping electromagnet, and magnetically attract the chess piece through magnetic force. The flipping motor rotates 180° clockwise. After the chess piece is flipped, the flipping electromagnet is powered off, and the flipping motor rotates counterclockwise to make the flipping electromagnet leave the top of the chess piece, so that the flipped chess piece can proceed to the next step.

[0011] When turning over chess pieces, the motor 3 is driven to rotate the fixed line bearing, so that the upper and lower lines of the magnet hanging are wound around the fixed line bearing, so that the other end of the upper and lower lines of the magnet hanging pulls the fixed line bracket upward, so that the spring is compressed, and the magnetic shell B is inserted into the inner part of the magnetic shell A. At the same time, the electromagnet is energized to make the electromagnet magnetically attract the chess pieces, and the complete operation of taking, turning and delivering chess pieces is performed;

[0012] Compared with the prior art, the utility model can perform human-computer interactive operation through the setting of the flat panel component, and the table game robot can simulate people to play chess and place pieces through the setting of the mechanical arm component, and can assist the turning device to perform the operation of sending and taking pieces.

[0013] The realization of the purpose, functional features and advantages of the present invention will be further described in conjunction with embodiments and with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Axonometric view of the utility model board game robot Figure 1 .

[0015] Figure 2 It is a top view of the table game robot of the present utility model.

[0016] Figure 3 It is a left view of the table game robot of the present utility model.

[0017] Figure 4 Axonometric view of the utility model board game robot Figure 2 .

[0018] Figure 5 It is an exploded view of the flat panel assembly of the utility model.

[0019] Figure 6 It is an exploded view of the base assembly of the utility model.

[0020] Figure 7 It is an exploded view of the mechanical arm assembly of the utility model.

[0021] Figure 8 It is an exploded view of the chessboard assembly of the utility model.

[0022] Fig. 9 It is an exploded view of the flip device of the utility model.

[0023] exist Figures 1 to 9 , the corresponding relationship between the component names or lines and the figure numbers is:

[0024] Base assembly 1-1, flat plate assembly 1-2, robotic arm assembly 1-3, chessboard assembly 1-4

[0025] Motor 1, motor fixing hardware 2, bearing slot 201, synchronous pulley 2 3, synchronous belt 1 4, synchronous belt adjustment tension mechanism 5, encoder motherboard 1 6, magnet 7, motor magnet fixing hardware 8, encoder fixing hardware 1 9, 6905ZZ bearing 10, synchronous pulley 3 11, synchronous pulley 1 12, motor 2 13, limit fixing hardware 1 14, encoder motherboard fixing 15, encoder motherboard 2 16, synchronous belt adjustment tension mechanism 2 17, synchronous belt 2 18, 61804ZZ bearing 19 , synchronous pulley four 20, 6805ZZ bearing 21, arm joint hardware 22, arm joint A 23, arm joint decoration 24, arm joint B 25, arm joint C 27, arm joint D 28, mounting frame 281, mounting seat 282, shaft 283, fixed line bearing 29, motor three 30, SZU3-12-4U bearing 31, spring 32, fixed line bracket 33, magnetic shell A 34, magnetic shell B 35, electromagnet 36, line bearing fixing part 37, magnet hanging upper and lower lines 38;

[0026] Base bottom shell A39, flannel 40, base front shell 41, speaker mesh 411, power button hole 412, rotating seat 413, BOS speaker 42, side decoration 43, power button decoration 44, power button 45, power button small board 46, camera lens 47, visual camera 48, picture book camera 49, camera small board 50, FPC line 51, support bracket 52, base back cover 53, MCU main board 54, MCU main board heat sink 55, base bottom shell B56, base bottom pad 57;

[0027] Tablet front shell 58, LCD assembly 59, conductive foam 60, main control motherboard 61, dual MIC small board 62, motherboard heat dissipation aluminum sheet 63, MIC silicone 64, light sensing module 65, hinge 66, volume plus and minus key small board 67, thermal conductive silicone 68, front camera 69, download TYPE-C small board 70, TYPE-C silicone plug 71, volume plus and minus key 72, tablet back shell 73;

[0028] The chessboard front shell 74, the function key module 75, the function key main board 76, the foot pad 77, the light bar main board 78, the light bar lens 79, the flip motor 80, the flip electromagnet 81, the flip magnet fixing silicone 82, the flip magnet fixing 83, the flip motor foot pad 85, and the chessboard bottom shell 86. DETAILED DESCRIPTION

[0029] Please refer to Figures 1 to 9 ;

[0030] This embodiment provides a flip device, referring to Fig. 9 , including: a flip motor 80, a flip electromagnet 81, a flip magnet fixing silicone 82, a flip magnet fixing 83, and a flip motor foot pad 85. The upper surface of the flip magnet fixing 83 is provided with a circular groove for embedding the flip electromagnet 81. The flip electromagnet 81 is assembled into the circular groove of the flip magnet fixing 83 by screws. The flip motor foot pad 85 is pasted on the lower surface of the flip magnet fixing 83. The flip magnet fixing 83 has assembly grooves on both sides. The two assembly grooves are both equipped with flip magnet fixing silicone 82. The magnet fixing 83 has a flat connecting hole along the tangential direction of the flip electromagnet 81. The output shaft of the flip motor 80 is fixedly connected to the connecting hole.

[0031] In the specific implementation, the first step is to assemble the flip electromagnet 81 to the flip magnet fixing part 83 and fix it with screws, then stick the flip motor foot pad 85 to the flip magnet fixing part 83, then assemble the two flip magnet fixing part silicone 82 to the flip magnet fixing part 83, then assemble the entire magnet fixing part 83 to the flip motor 80, and then fix the whole to the front shell of the chessboard with screws.

[0032] When flipping a chess piece, the magnetic chess piece is placed on the flipping electromagnet 81, the flipping electromagnet is energized, the chess piece is magnetically attracted by magnetic force, and the flipping motor 80 rotates 180° clockwise. After the chess piece is flipped, the flipping electromagnet is powered off, and the flipping motor 80 rotates counterclockwise to make the flipping electromagnet 81 leave the top of the chess piece, so that the flipped chess piece can proceed to the next step.

[0033] For further reference, Figure 7 , and also includes a mechanical arm assembly 1-3 for picking up chess pieces located above the flip electromagnet 81, the mechanical arm assembly 1-3 includes a motor fixing hardware 2 arranged in a U shape, a bearing groove 201 is provided at one end of the upper surface of the motor fixing hardware 2, two 6905ZZ bearings 10 are arranged in the bearing groove 201, an annular partition for separating the two 6905ZZ bearings 10 is provided in the middle of the bearing groove 201, a limiting fixing hardware 14 is inserted into the two 6905ZZ bearings 10, a synchronous pulley 12 is provided at the bottom of the limiting fixing hardware 14 through a screw sleeve, a motor 1 is provided at one end of the upper surface of the motor fixing hardware 2, the output shaft of the motor 1 passes through the motor fixing hardware 2 and is provided with a synchronous pulley 2 3, and a synchronous belt 4 is provided between the synchronous pulley 2 3 and the synchronous pulley 12;

[0034] A synchronous belt adjustment and tensioning mechanism 5 fixed to the U-shaped groove of the motor fixing hardware 2 is provided on both sides of the synchronous belt 4, and a motor magnet fixing hardware 8 is coaxially provided at the bottom end of the limit fixing hardware 14 through a screw, the motor magnet fixing hardware 8 is U-shaped in the middle, and both ends of the top extend outward to form horizontal ends, and a cylinder is provided at the bottom of the middle, and the cylinder at the bottom of the motor magnet fixing hardware 8 is glued to the magnet 7 by glue, and an encoder mainboard 6 located directly below the magnet 7 is provided on the motor fixing hardware 2 through an encoder fixing hardware 9;

[0035] The mechanical arm assembly 1-3 also includes an arm joint hardware 22, one end of the arm joint hardware 22 is provided with a motor 2 13 coaxial with the limit fixing hardware 14, the output shaft of the motor 2 13 is provided with a synchronous pulley 3 11 through a screw, the other end of the arm joint hardware 22 is provided with a bearing groove 221, the bearing groove 221 is provided with a synchronous pulley 4 20 through a 61804ZZ bearing 19 and a 6805ZZ bearing 21, the 61804ZZ bearing 19 and the 6805ZZ bearing 21 are respectively located at both ends of the synchronous pulley 4 20 shaft, a synchronous belt 2 18 is provided between the synchronous pulley 3 11 and the synchronous pulley 4 20, and one side of the synchronous belt 2 18 is provided with a fixed to the hand The arm joint hardware 22 has a synchronous belt adjustment tension mechanism 17 inside, an encoder mainboard 16 is fixedly connected to the motor 13 through the encoder mainboard fixing member 15, the top edge of the limit fixing hardware 14 and the bottom of one end of the arm joint hardware 22 are provided with a flange coaxial with the output shaft of the motor 13, and the arm joint hardware 22 and the limit fixing hardware 14 are assembled together through flanges and screws; it also includes an arm joint A23 sleeved on the arm joint hardware 22, an arm joint decorative member 24 is provided on the arm joint A23, an arm joint C27 is provided in an L shape on the synchronous pulley 4 20 through screws, and the inside of the arm joint C27 An arm joint D28 is provided, a mounting frame 281 is provided in the middle of the upper surface of the arm joint D28, a motor 30 is provided on the arm joint D28 through the mounting frame, a fixed line bearing 29 is provided at the output end of the motor 30, the fixed line bearing 29 includes a shaft connected to the output end of the motor 30 and a fan-shaped piece fixed to the outer wall of the shaft, and a U-shaped groove is provided in the middle of the arc surface of the fan-shaped piece, a mounting seat 282 is provided on the upper surface of one end of the arm joint D28 away from the synchronous pulley 4 20, a shaft 283 parallel to the upper surface of the arm joint D28 is provided in the middle of the mounting seat 282, and a SZU3-12-4U-type bearing is provided on the arm joint D28 through the mounting seat 282 and the shaft 283 for rotation connection 31. The periphery of the SZU3-12-4U bearing 31 is provided with a line bearing 37 tightly fixed on the mounting seat 282. A magnetic shell A34 is fixedly connected to the lower surface of the arm joint D28 below the SZU3-12-4U bearing 31. A magnetic shell B35 is sleeved inside the magnetic shell A34. An electromagnet 36 is provided at the bottom end of the magnetic shell B35. A spring 32 is provided inside the magnetic shell B35 and the magnetic shell A34. A fixed line bracket 33 is fixedly connected to the bottom of the spring 32. The top end of the spring 32 is supported to the lower surface of the arm joint D28. A magnet is provided between the fixed line bracket 33 and the fixed line bearing 29 to suspend the upper and lower lines 38;

[0036] In the specific implementation, the robot arm assembly is assembled:

[0037] The first step is to put the 6905ZZ bearing 10 into the bearing slot 201 of the motor fixing hardware 2, and then insert the limit fixing hardware 14. Two 6905ZZ bearings 10, one on the top and one on the bottom, prevent the limit fixing hardware 14 from shaking and improve accuracy. Then put on the synchronous pulley 12 (synchronous pulley S3M number of teeth 45) and fix it with screws to prevent the limit fixing hardware 14 from withdrawing. Then put the motor 1 and the synchronous pulley 2 3 (synchronous pulley S3 M number of teeth 12) is fixed with screws, and then fixed to the motor fixing hardware 2, then the synchronous belt 4 (240 (80 teeth) S3M-width 10MM) is assembled to the synchronous pulley 12 (synchronous pulley S3M number of teeth 45) and synchronous pulley 2 3 (synchronous pulley S3M number of teeth 12), so that the working principle of motor 1 is preliminarily completed. Motor 1 controls the motion trajectory of the first section of the robot arm and undertakes the weight movement of the two sections of the robot arm. Then put 2PCS The synchronous belt tension adjustment mechanism 5 is assembled to the motor fixing hardware 2 and fixed with screws. The synchronous belt tension adjustment mechanism 5 is mainly used to control the tightness of the synchronous belt 4 (synchronous belt 240 (80 teeth) S3M-width 10MM). Then the magnet 7 is glued to the motor magnet fixing hardware 8, and then the motor magnet fixing hardware 8 is fixed to the limit fixing hardware 14 with screws. Then the encoder mainboard 6 is fixed to the encoder fixing hardware 9 with screws, and then fixed to the motor fixing hardware 2 with screws. The encoder mainboard 6 confirms the precise position of the first section of the robot arm through the motion trajectory algorithm of the magnet 7 on the limit fixing hardware 14.

[0038] The second step is to connect and fix the synchronous pulley three 11 (synchronous pulley S3M number of teeth 18) and the motor two 13 with screws, and then fix them to the arm joint hardware 22 with screws. Next, assemble the 61804ZZ bearing 19 / synchronous pulley four 20 (synchronous pulley S3M number of teeth 34) / 6805ZZ bearing 21 to the arm joint hardware 22, and then adjust the synchronous belt tension mechanism two 17 / synchronous belt two 18 (synchronous belt 636 (212 teeth) - S 3M-width 10MM), the synchronous belt adjustment tension mechanism 2 17 is used to control the tightness of the synchronous belt 2 18 (synchronous belt 636 (212 teeth) -S3M-width 10MM), fix the encoder mainboard 2 16 and the encoder mainboard fixing part 15 to the motor 2 13 with screws, the encoder mainboard 2 16 is used to control the precise position of the second section of the robot arm, and then assemble the entire arm joint hardware 22 to the limit fixing hardware 14 and fix it with screws.

[0039] The third step is to put on the plastic shell: assemble the arm joint decoration 24 to the arm joint A23, and then put it on the arm joint hardware 22 and screw it, then screw the arm joint B25 to the arm joint hardware 22, and then assemble the arm joint C27 to the synchronous pulley 4 20 (synchronous pulley S3M number of teeth 34) and screw it, and screw the motor 3 30 to the arm joint D28, and then assemble the fixed line bearing 29 to the motor 3 30 and screw it, and use screws to fix the SZU3-12-4U type bearing 31 and the line bearing fixing part 37 On the arm joint D28, fix the electromagnet 36 to the magnetic shell B35 with screws, then fix one end of the magnet hanging line 38 to the fixed line bracket 33 and the other end to the fixed line bearing 29, and then fix it to the magnetic shell B35 with screws, assemble the entire magnetic shell B35 on the magnetic shell A34, and then assemble the spring 32 to the magnetic shell B35, and then fix the magnetic shell A34 assembly to the arm joint D28 with screws, and then fix the arm joint D28 assembly to the arm joint C27 with screws, so that the entire robotic arm assembly is completed.

[0040] Step 4 Function Introduction: The entire robotic arm moves like a human arm through two joint linkages to accurately reach each position.

[0041] When turning over chess pieces, the motor 30 is driven to rotate the fixed line bearing 29, so that the upper and lower lines 38 of the magnet suspension are wound around the fixed line bearing 29, so that the other end of the upper and lower lines 38 of the magnet suspension pulls the fixed line bracket 33 upward, so that the spring 32 is compressed, and the magnetic absorption shell B35 is inserted into the inside of the magnetic absorption shell A34. At the same time, the electromagnet 36 is energized, so that the electromagnet 36 magnetically absorbs the chess pieces, and the complete operation of taking, turning and delivering chess pieces is performed;

[0042] When the first section of the robot arm moves, the motor 1 drives, so that the synchronous pulley 2 3 drives the synchronous belt 1 4 to rotate, so that the synchronous pulley 12 rotates, so that the limit fixing hardware 14 rotates, and the arm joint hardware 22 rotates;

[0043] When the second section of the robot arm moves, the motor 2 13 drives, so that the synchronous pulley 3 11 drives the synchronous belt 2 18 to rotate, so that the synchronous pulley 4 20 rotates, and the arm joint C27 rotates;

[0044] The magnet 7 is a radially magnetized strong magnet. The magnet 7 rotates coaxially with the limit fixing hardware 14. The encoder mainboard 6 is located directly below the magnet 7. The magnet 7 rotates above the encoder mainboard 6. The two sets of bridges built into the encoder mainboard 6 will generate a sine wave output with a phase difference of 90°; then the ADC end of the encoder mainboard 6 samples the output of the two Wheatstone bridges for digital quantization.

[0045] Finally, using the trigonometric function ARCTAN2 to perform azimuth calculations, the true 360° rotation angle value can be calculated from the original X and Y signals of the sensor bridge, thereby accurately controlling the precise position of the robotic arm.

[0046] A board game robot, reference Figures 1 to 4 , comprising a turning device, comprising: a base component 1-1, a flat plate component 1-2, a mechanical arm component 1-3 and a chessboard component 1-4, the turning device is assembled on the edge of the upper surface of the chessboard component 1-4, the chessboard component 1-4 is assembled on the bottom of the base component 1-1, the flat plate component 1-2 is assembled on the top front part of the base component 1-1, and the mechanical arm component 1-3 is assembled on the base component 1-1;

[0047] For further reference, Figure 6 The base assembly 1-1 includes a base front shell 41 and a base rear shell 53. The middle part of the base front shell 41 forms a U-shaped groove with an opening on the outside. The bottom upper surface of the base front shell 41 has a speaker mesh 411, and a flannel 40 is glued to the speaker mesh 411. A power button hole 412 is formed on one side of the bottom of the base front shell 41 and the base rear shell 53. A side edge decoration 43 is provided in the power button hole 412. A power button decoration 44 is provided in the outer groove of the side edge decoration 43. A power button 45 is provided in the power button decoration 44. A power button small plate 46 is provided on the inner side of the side edge decoration 43. A support bracket 52 is provided between the base front shell 41 and the base rear shell 53. 1 is provided with a camera lens 47, a visual camera 48 and a picture book camera 49 at the top edge, a camera board 50 is provided inside the top of the base front shell 41, an FPC line 51 is plugged on the camera board 50, a base rear shell 53 is provided on the back of the base front shell 41, a base bottom shell A39 is assembled at the bottom of the base front shell 41 and the base rear shell 53, an MCU main board 54 and an MCU main board heat sink 55 are provided on the base bottom shell A39, a base bottom shell B56 is provided at the bottom of the base bottom shell A39, a plurality of base foot pads 57 are glued to the lower surface of the base bottom shell B56, and a BOS speaker 42 located inside the speaker mesh 411 is provided inside the bottom of the base front shell 41;

[0048] In specific implementation, the base assembly is assembled:

[0049] First, glue the flannel 40 to the base front shell 41, then use screws to fix the power button decoration 44 to the side decoration 43, then install the power button 45, then use screws to fix the power button small plate 46 to the side decoration 43, then assemble the side decoration 43 assembly to the base front shell 41 and fix it with screws, then assemble the camera lens 47 / visual camera 48 / picture book camera 49 to the base front shell 41, then use screws to fix the camera small plate 50 to the base front shell 41, and then install the FP Plug the C wire 51 into the camera board 50, then assemble the base front shell 41 assembly to the base bottom shell A39 and fix it with screws, then assemble the MCU mainboard 54 and the MCU mainboard heat sink 55 to the base bottom shell A39 and fix it with screws, then fix the support bracket 52 to the base front shell 41, then put on the base rear shell cover 56, and then cover the base bottom shell B56 to the base bottom shell A39 and fix it with screws, then stick the base foot pad 57 to the base bottom shell B56, and the overall base assembly is completed. The base assembly is mainly the main body of the machine.

[0050] For further reference, Figure 5 , a rotating seat 413 is provided in the middle of the U-shaped groove, and the tablet assembly 1-2 includes: a tablet front shell 58 and a tablet rear shell 73, an LCD assembly 59 is pasted on the outer surface of the tablet front shell 58, and a plurality of conductive foams 60 are glued on the back of the LCD assembly 59, and a light sensing module 65 and a front camera 69 are provided on the edge of the outer surface of the tablet front shell 58, a double MIC small board 62 is provided on the inner side of the tablet front shell 58, and a MIC silica gel 64 is assembled on the double MIC small board 62, and a main control motherboard 61, a volume plus and minus key small board 67 and a download TYPE-C small board 70 are assembled on the inner side of the tablet front shell 58 by screws, and a motherboard heat dissipation aluminum sheet 63 is pasted on the main control motherboard 61 through a thermal conductive silica gel 68, a rotating shaft 66 is provided on the back of the tablet rear shell, and the rotating shaft 66 is rotatably connected to the rotating seat 413, a volume plus and minus key 72 is provided on the tablet rear shell, and a TYPE-C silica gel 71 is provided at the jack of the download TYPE-C small board 70;

[0051] In the specific implementation, the first step is to stick the 10.1-inch LCD assembly 59 VHB adhesive to the tablet front shell 58, then stick the conductive foam 60 adhesive to the 10.1-inch LCD assembly 59, then assemble the light sensing module 65 to the tablet front shell, and then assemble the MIC silica gel 64 to the dual MIC small board 62, and fix the dual MIC small board 62 assembly to the tablet front shell 58 with screws, then assemble the main control motherboard 61 and the volume plus and minus key small board 67 / download TYPE-C small board 70 to the tablet front shell 58 and screw them, then assemble the front camera 69 to the tablet front shell 58, the main function of the front camera 69 is video conversation. Stick the thermal conductive silica gel 68 to the main control motherboard 61, then stick the motherboard heat dissipation aluminum sheet 63 to the motherboard and screw it to the tablet front shell 58.

[0052] The second step is to assemble the hinge 66 onto the tablet back cover 73 and fix it with screws. Then assemble the volume plus and minus buttons 72 onto the tablet back cover 73. Then assemble the entire tablet back cover assembly onto the tablet front cover 58. Then use the TYPE-C silicone plug to insert it into the tablet back cover 73. The entire 10.1-inch tablet assembly is assembled.

[0053] Step 3 Functional Description: The entire 10.1-inch tablet assembly is like the heart and brain of the machine, controlling the operation of the entire machine.

[0054] For further reference, Figure 8 , chessboard components 1-4, including a chessboard front shell 74, a turning device is fixed to the left edge of the upper surface of the chessboard front shell 74, and the middle of the upper surface of the chessboard front shell 74 is a chessboard, a key module 75 and a function key mainboard 76 are provided on the right edge of the chessboard front shell 74, and light bar lenses 79 are provided on all four sides of the upper surface of the chessboard front shell 74 by adhesive bonding, and a light bar mainboard 78 assembled on the chessboard front shell 74 is provided directly below the light bar lens 79, and a chessboard bottom shell 86 is provided at the bottom of the chessboard front shell 74, and eight foot pads 77 are evenly provided on the lower surface of the chessboard bottom shell 86 by adhesive bonding;

[0055] In the specific implementation, the first step is to assemble the flip electromagnet 81 to the flip magnet fixing part 83 and fix it with screws, then stick the flip motor foot pad 85 to the flip magnet fixing part 83, then assemble the two flip magnet fixing part silicone 82 to the flip magnet fixing part 83, then assemble the entire magnet fixing part 83 to the flip motor 80, and then fix the whole to the front shell of the chessboard with screws.

[0056] In the second step, first assemble the function button module 75 and the function button main board 76 onto the front shell 74 of the chessboard and fix them with screws. Then assemble the light bar main board 78 (4PCS) onto the front shell 74 of the chessboard and fix them with screws. Then use adhesive to stick the light bar lens 79 to the front shell 74 of the chessboard. Then assemble the chessboard bottom shell 86 onto the front shell 74 of the chessboard and fix them with screws. Then use adhesive to stick the foot pad 77 to the chessboard bottom shell 86. The chessboard assembly is now assembled.

[0057] The third step is: introduction to the functions of the chessboard components. There are two main functions. One is that the chess pieces can be flipped, and the second is the physical button functions and confirmations.

[0058] Furthermore, the inner bottom wall of the chessboard bottom shell 86 is provided with reinforcing ribs consisting of a number of regular hexagons;

[0059] During specific implementation, the structural strength of the chessboard bottom shell 86 is greatly improved.

Claims

1. A flip device, comprising: A flip motor (80), a flip electromagnet (81), a flip magnet fixing silicone (82), a flip magnet fixing (83), and a flip motor foot pad (85), characterized in that: a circular groove for embedding the flip electromagnet (81) is provided on the upper surface of the flip magnet fixing (83), the flip electromagnet (81) is assembled into the circular groove of the flip magnet fixing (83) by screws, a flip motor foot pad (85) is attached to the lower surface of the flip magnet fixing (83), assembly grooves are provided on both sides of the flip magnet fixing (83), the flip magnet fixing silicone (82) is assembled in both assembly grooves, a flat connecting hole is provided on the magnet fixing (83) along the tangential direction of the flip electromagnet (81), and the output shaft of the flip motor (80) is fixedly connected to the connecting hole.

2. The flip device according to claim 1, characterized in that: The invention also includes a mechanical arm assembly (1-3) for picking up chess pieces and located above the flipping electromagnet (81). The mechanical arm assembly (1-3) includes a motor fixing hardware (2) arranged in a U shape. A bearing groove (201) is provided at one end of the upper surface of the motor fixing hardware (2). Two 6905ZZ bearings (10) are arranged in the bearing groove (201). An annular partition for separating the two 6905ZZ bearings (10) is provided in the middle of the bearing groove (201). A limit fixing hardware (14) is inserted into the two 6905ZZ bearings (10). A synchronous pulley (12) is provided at the bottom of the limit fixing hardware (14) via a screw sleeve. A motor fixing hardware (2) is provided at one end of the upper surface of the motor fixing hardware (2). A motor (1) is provided, the output shaft of the motor (1) passes through a motor fixing hardware (2) and is provided with a synchronous pulley (3), a synchronous belt (4) is provided between the synchronous pulley (3) and the synchronous pulley (12); synchronous belt adjustment and tensioning mechanisms (5) are provided on both sides of the synchronous belt (4) and are fixed inside a U-shaped groove of the motor fixing hardware (2); a motor magnet fixing hardware (8) is coaxially provided at the bottom end of the limit fixing hardware (14) via a screw; the motor magnet fixing hardware (8) is U-shaped in the middle, and both ends of the top extend outward to form horizontal ends, and a cylinder is provided at the bottom of the middle; the cylinder at the bottom of the motor magnet fixing hardware (8) is glued to the magnet (7) by glue, and the motor The fixing hardware (2) is provided with an encoder mainboard (6) located directly below the magnet (7) through an encoder fixing hardware (9); the mechanical arm assembly (1-3) further comprises an arm joint hardware (22); one end of the arm joint hardware (22) is provided with a motor (13) coaxial with the limit fixing hardware (14); the output shaft of the motor (13) is provided with a synchronous pulley (11) through a screw; the other end of the arm joint hardware (22) is provided with a bearing groove (221); the bearing groove (221) is provided with a synchronous pulley (20) through a 61804ZZ bearing (19) and a 6805ZZ bearing (21); the 61804ZZ bearing (19) and the 6805ZZ bearing (21) are provided with a synchronous pulley (20); The ZZ bearings (21) are respectively located at both ends of the synchronous pulley four (20) shaft, a synchronous belt two (18) is provided between the synchronous pulley three (11) and the synchronous pulley four (20), a synchronous belt adjustment tension mechanism two (17) fixed to the inside of the arm joint hardware (22) is provided on one side of the synchronous belt two (18), an encoder mainboard two (16) is fixedly connected to the motor two (13) through an encoder mainboard fixing piece (15), a flange coaxial with the output shaft of the motor two (13) is provided at the top edge of the limit fixing hardware one (14) and the bottom of one end of the arm joint hardware (22), and the arm joint hardware (22) and the limit fixing hardware one (14) are assembled together through flanges and screws;The arm joint A (23) is sleeved on the arm joint hardware (22), the arm joint A (23) is provided with an arm joint decorative part (24), an arm joint C (27) is fixedly provided in an L shape on the synchronous pulley 4 (20) by screws, an arm joint D (28) is provided inside the arm joint C (27), a mounting frame (281) is provided at the middle of the upper surface of the arm joint D (28), a motor 3 (30) is provided on the arm joint D (28) through the mounting frame, a fixed line bearing (29) is provided at the output end of the motor 3 (30), the fixed line bearing (29) comprises a shaft connected to the output end of the motor 3 (30) and a fan-shaped piece fixed to the outer wall of the shaft, a U-shaped groove is provided in the middle of the arc surface of the fan-shaped piece, a mounting seat (282) is provided on the upper surface of the end of the arm joint D (28) away from the synchronous pulley 4 (20), and a shaft (283) parallel to the upper surface of the arm joint D (28) is provided in the middle of the mounting seat (282) The arm joint D (28) is provided with a SZU3-12-4U type bearing (31) rotatably connected via a mounting seat (282) and a shaft (283), a linear bearing (37) is provided on the periphery of the SZU3-12-4U type bearing (31) and is fixedly attached to the mounting seat (282), and a magnetic housing A (34) is fixedly connected to the lower surface of the arm joint D (28) below the SZU3-12-4U type bearing (31). The magnetic housing A (34) 4) is provided with a magnetic shell B (35) at the inner sleeve, an electromagnet (36) is provided at the bottom of the magnetic shell B (35), a spring (32) is provided inside the magnetic shell B (35) and the magnetic shell A (34), a fixed line bracket (33) is fixedly connected to the bottom of the spring (32), the top of the spring (32) is supported to the lower surface of the arm joint D (28), and a magnet is provided between the fixed line bracket (33) and the fixed line bearing (29) to suspend the upper and lower lines (38). ; 3. A table game robot, characterized in that: The present invention comprises a chessboard flipping device as claimed in claim 2, comprising: a base assembly (1-1), a flat plate assembly (1-2), a mechanical arm assembly (1-3) and a chessboard assembly (1-4), wherein the chessboard flipping device is mounted on the edge of the upper surface of the chessboard assembly (1-4), the chessboard assembly (1-4) is mounted on the bottom of the base assembly (1-1), the flat plate assembly (1-2) is mounted on the top front part of the base assembly (1-1), and the mechanical arm assembly (1-3) is mounted on the base assembly (1-1).

4. A tabletop game robot according to claim 3, characterized in that: The base assembly (1-1) comprises a base front shell (41) and a base rear shell (53), wherein a U-shaped groove with an opening on the outside is formed in the middle of the base front shell (41), a speaker mesh (411) is formed on the upper surface of the bottom of the base front shell (41), and a flannel (40) is attached to the speaker mesh (411) by glue, a power key hole (412) is formed on one side of the bottom of the base front shell (41) and the base rear shell (53), a side edge decoration piece (43) is provided in the power key hole (412), a power key decoration piece (44) is provided in the outer groove of the side edge decoration piece (43), a power key (45) is provided in the power key decoration piece (44), a power key (45) is provided in the power key decoration piece (44), a power key small plate (46) is provided on the inner side of the side edge decoration piece (43), a support bracket (52) is provided between the base front shell (41) and the base rear shell (53), and the base front shell (41) is provided with a support bracket (52). ) is provided with a camera lens (47), a visual camera (48) and a picture book camera (49) at the top edge of the base front shell (41); a camera small board (50) is provided inside the top of the base front shell (41); an FPC line (51) is plugged on the camera small board (50); a base rear shell (53) is provided on the back of the base front shell (41); a base bottom shell A (39) is assembled at the bottom of the base front shell (41) and the base rear shell (53); an MCU main board (54) and an MCU main board heat sink (55) are provided on the base bottom shell A (39); a base bottom shell B (56) is provided at the bottom of the base bottom shell A (39); a plurality of base foot pads (57) are glued to the lower surface of the base bottom shell B (56); and a BOS speaker (42) located inside the speaker mesh (411) is provided inside the bottom of the base front shell (41).

5. A tabletop game robot according to claim 4, characterized in that: A rotating seat (413) is provided in the middle of the U-shaped groove. The flat panel assembly (1-2) comprises: a flat panel front shell (58) and a flat panel rear shell (73). An LCD assembly (59) is bonded to the outer surface of the flat panel front shell (58). A plurality of conductive foams (60) are bonded to the back of the LCD assembly (59). A light sensing module (65) and a front camera (69) are provided at the edge of the outer surface of the flat panel front shell (58). A dual MIC small board (62) is provided on the inner side of the flat panel front shell (58). A MIC silicon is assembled on the dual MIC small board (62). The inner side of the tablet front shell (58) is provided with a main control motherboard (61), a volume plus and minus key board (67) and a download TYPE-C small board (70) by screw assembly, the main control motherboard (61) is provided with a motherboard heat dissipation aluminum sheet (63) by bonding with a thermal conductive silicone rubber (68), the back side of the tablet rear shell is provided with a rotating shaft (66), the rotating shaft (66) is rotatably connected to the rotating seat (413), the tablet rear shell is provided with a volume plus and minus key (72), and the jack of the download TYPE-C small board (70) is provided with TYPE-C silicone rubber (71).

6. A tabletop game robot according to claim 5, characterized in that: The chessboard assembly (1-4) comprises a chessboard front shell (74), a turning device fixed to the left edge of the upper surface of the chessboard front shell (74), and the middle of the upper surface of the chessboard front shell (74) is a chessboard, a key module (75) and a function key main board (76) are provided on the right edge of the chessboard front shell (74), light bar lenses (79) are provided on four sides of the upper surface of the chessboard front shell (74) by adhesive bonding, a light bar main board (78) assembled on the chessboard front shell (74) is provided directly below the light bar lenses (79), a chessboard bottom shell (86) is provided at the bottom of the chessboard front shell (74), and eight foot pads (77) are evenly provided on the lower surface of the chessboard bottom shell (86) by adhesive bonding.

7. A tabletop game robot according to claim 6, characterized in that: The inner bottom wall of the chessboard bottom shell (86) is provided with reinforcing ribs consisting of a plurality of regular hexagons.

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