Mechanical arm and chess playing robot

Abstract

The utility model discloses a mechanical arm and a chess playing robot. The occupied space of the mechanical arm can be reduced. The mechanical arm provided by the utility model comprises a first arm and a second arm, the first end of the second arm is rotationally connected to the first arm; the piece taking mechanism is connected to the second end of the second arm, and the piece taking mechanism is used for grasping or loosening the target object; the first driving mechanism is connected to the first end of the second arm, the first driving mechanism drives the first end of the second arm to rotate and drives the second arm to move between a first angle and a second angle with the first arm, and when the first angle is formed between the second arm and the first arm, the second arm is higher than the first arm in the gravity direction. The second arm can be lifted to be higher than the first arm, so that the arrangement position of the first arm can be relatively lowered, the first arm does not need to be arranged at a higher position, and the space below the first arm can be saved.

Description

Technical Field

[0001] The embodiments of the present application relate to, but are not limited to, the field of robotic arms, and in particular, to a robotic arm and a chess-playing robot. Background Art

[0002] With the development of communication technologies and the like, the application scenarios and fields of artificial intelligence are also increasing. The robotic arm for playing chess can make a move decision according to relevant instructions, realize playing chess with a user, can simulate a real chess-playing scenario, and improve the fun of human-machine chess-playing.

[0003] In the related art, when the robotic arm grabs and moves a chess piece on the chessboard, it occupies a relatively large space, making it difficult to reduce the space occupied by the entire chess-playing robot and affecting the user experience. Summary of the Utility Model

[0004] To solve the above technical problems, the present application provides a robotic arm and a chess-playing robot, which can reduce the space occupied by the robotic arm.

[0005] The present application is implemented through the following technical solutions.

[0006] In a first aspect, the present application provides a robotic arm, including: a first arm; a second arm, the first end of the second arm is rotatably connected to the first arm; a picking mechanism, connected to the second end of the second arm, the picking mechanism is used to grip or release a target object; and a first driving mechanism, connected to the first end of the second arm, the first driving mechanism drives the first end of the second arm to rotate and drives the second arm to move between a first angle and a second angle with respect to the first arm, wherein, when the second arm is at the first angle with respect to the first arm, in the direction of gravity, the second arm is higher than the first arm.

[0007] In a possible implementation manner of the present application, the second arm includes a first connecting rod and a second connecting rod respectively extending from the first end to the second end, the first driving mechanism drives the first connecting rod and / or the second connecting rod, and the first connecting rod and the second connecting rod move synchronously accordingly.

[0008] In a possible implementation manner of the present application, the first connecting rod is connected to the first driving mechanism in a non-transmission manner; the second connecting rod is connected to the first driving mechanism in a transmission manner, wherein the first driving mechanism drives the second connecting rod to move.

[0009] In a possible implementation manner of the present application, in the direction of gravity, the second connecting rod is located below the first connecting rod, and the second connecting rod is the lower housing of the second arm to cover the first connecting rod.

[0010] In a possible implementation manner of the present application, the first end of the first link is connected to the first driving mechanism, the second end of the first link is connected to the picking mechanism, when the first link moves, it drives the picking mechanism to move, and when the picking mechanism moves, the picking mechanism is parallel to the direction of gravity.

[0011] In a possible implementation manner of the present application, the first end of the second link is connected to the first driving mechanism, and a receiving portion is provided at the second end of the second link, and the receiving portion is used to receive the picking mechanism.

[0012] In a possible implementation manner of the present application, the first link includes a first portion, a second portion, and a transition portion, the transition portion connects the first portion and the second portion, and the extending direction of the transition portion intersects obliquely with respect to the extending direction of the first portion and with respect to the extending direction of the second portion.

[0013] In a possible implementation manner of the present application, in the direction of gravity, the second portion is higher than the first portion.

[0014] In a possible implementation manner of the present application, the first link includes a pair of first links arranged side by side.

[0015] In a possible implementation manner of the present application, the second arm further includes an upper housing, the upper housing is connected to the lower housing to form a receiving cavity, and the first link is located in the receiving cavity.

[0016] In a possible implementation manner of the present application, the picking mechanism includes: a second driving mechanism located at one end where the picking mechanism is connected to the second end of the second arm; a plurality of transmission members rotatably connected to the second driving mechanism; and a plurality of grippers respectively connected to the plurality of transmission members, and the second driving mechanism drives the plurality of transmission members to drive the plurality of grippers to move synchronously.

[0017] In a possible implementation manner of the present application, the end of the gripper for grasping the target object has a grasping portion, and the shape of the grasping portion is adapted to the shape of the target object.

[0018] In a possible implementation manner of the present application, the first arm drives the second arm to move in the horizontal direction, and the second arm drives the picking mechanism to move in the direction of gravity.

[0019] In a second aspect, an embodiment of the present application provides a chess-playing robot, including: a robot body; and a robotic arm as described in any one of the first aspects, the robotic arm is connected to the robot body and can move relative to the robot body to operate on a target object.

[0020] Through the present application, the first driving mechanism drives the first end of the second arm to rotate and drives the second arm to move between a first angle and a second angle with respect to the first arm. When the second arm is at the first angle with respect to the first arm, in the direction of gravity, the second arm is higher than the first arm. The second arm can be lifted above the first arm when grasping a target object, so that other target objects can be avoided from being touched or knocked down during grasping. Moreover, since the second arm can be lifted to a level higher than the first arm, the installation position of the first arm can be relatively lowered, and it is not necessary to set the first arm at a higher position, thus saving the space below the first arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to limit the present application. Moreover, in all the drawings, the same reference numerals are used to denote the same components. In the drawings:

[0022] Figure 1 is a schematic structural diagram of a robotic arm provided by some embodiments of the present application;

[0023] Figure 2 is a schematic structural diagram of a robotic arm provided by some embodiments of the present application;

[0024] Figure 3 is a schematic structural diagram of a robotic arm provided by some embodiments of the present application;

[0025] Figure 4 is a schematic structural diagram of a robotic arm provided by some embodiments of the present application;

[0026] Figure 5 is a schematic structural diagram of a picking mechanism provided by some embodiments of the present application;

[0027] Figure 6 is a schematic structural diagram of a picking mechanism provided by some embodiments of the present application;

[0028] Figure 7 is a schematic structural diagram of a chess-playing robot provided by some embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] Hereinafter, embodiments of the technical solutions of the present application will be described in detail with reference to the drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, and thus are only examples and should not be used to limit the protection scope of the present application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs; the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above description of the drawings are intended to cover non-exclusive inclusion.

[0031] In the description of the embodiments of this application, the technical terms "first", "second", "third", etc. are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "a plurality" is more than two, unless otherwise specifically and clearly defined.

[0032] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0033] In the description of the embodiments of this application, the term "and / or" is merely a description of the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0034] In the description of the embodiments of this application, the orientation or positional relationship indicated by technical terms such as "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of this application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed, operated or used in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of this application.

[0035] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0036] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and may be direct contact or contact through an intermediate medium layer. It may be contact with essentially no interaction force between the two contacting parties, or it may be contact with interaction force between the two contacting parties.

[0037] With the development of communication technology, artificial intelligence has been applied in more and more scenarios and fields. The robotic arm used for playing chess can make chess moves according to relevant instructions, play chess with users, simulate real chess scenes, and increase the fun of human-computer chess.

[0038] In the related art, when the robotic arm grabs chess pieces and moves them on the chessboard, it occupies a lot of space, making it difficult to reduce the space occupied by the entire chess-playing robot, thus affecting the user experience.

[0039] In order to solve the above technical problems, the present application provides a robotic arm and a chess-playing robot, which can reduce the space occupied by the robotic arm.

[0040] The robotic arm provided in the present application includes: a first arm; a second arm, a first end of the second arm being rotatably connected to the first arm; a picking mechanism connected to the second end of the second arm, the picking mechanism being used to grasp or release a target object; and a first driving mechanism connected to the first end of the second arm, the first driving mechanism driving the first end of the second arm to rotate and drive the second arm to move between a first angle and a second angle with the first arm, wherein when the second arm is at the first angle with the first arm, the second arm is higher than the first arm in the direction of gravity.

[0041] Through this application, the first driving mechanism drives the first end of the second arm to rotate and drives the second arm to move between a first angle and a second angle with respect to the first arm. When the second arm is at the first angle with respect to the first arm, the second arm is higher than the first arm in the direction of gravity. The second arm can be lifted above the first arm when grasping a target object, so that other target objects can be avoided from being touched or knocked down during grasping. Moreover, since the second arm can be lifted to a level higher than the first arm, the installation position of the first arm can be relatively lowered, without the need to set the first arm at a higher position or raise the first arm, thus saving the space below the first arm.

[0042] Figure 1 Schematic structural diagram of a robotic arm provided by some embodiments of this application; Figure 2 Schematic structural diagram of a robotic arm provided by some embodiments of this application; Figure 3 Schematic structural diagram of a robotic arm provided by some embodiments of this application; Figure 4 Schematic structural diagram of a robotic arm provided by some embodiments of this application. Among them, Figure 1 and Figure 2 are schematic structural diagrams of the second arm in the lowered state, Figure 2 and Figure 3 are schematic structural diagrams of the second arm in the lifted state.

[0043] As Figures 1 to 4 shown, the robotic arm 1 of this application may include a first arm 10, a second arm 20, a picking mechanism 30, and a first driving mechanism 40. Among them, the second arm 20 may have a first end 201 and a second end 202. The first arm 10 is rotatably connected to the first end 201, and the first arm 10 can rotate relative to the second arm 20. The picking mechanism 30 may be connected to the second end 202, and the picking mechanism 30 is used to grasp or release the target object.

[0044] In this application, the first driving mechanism 40 may be provided on the first arm 10 or on the second arm 20. In some embodiments, the first driving mechanism 40 may also be provided on the connecting member for connecting the first arm 10 and the second arm 20. The present disclosure does not make specific limitations.

[0045] In this application, the first driving mechanism 40 may be a gear, and the gear can be driven to rotate by a motor 50 to further drive the second arm 20 to move. In this application, the first driving mechanism 40 may not be a complete gear. For example, it may be a half gear. Such a setting is beneficial to reducing the size of the entire robotic arm 1 and saving space.

[0046] In this application, the first driving mechanism 40 can drive the first end 201 of the second arm 20 to rotate and drive the second arm 20 to move between a first angle and a second angle with respect to the first arm 10. As Figure 1 andFigure 2 As shown, the first arm 10 and the second arm 20 can be in a nearly parallel state, and at this time, the angle between the first arm 10 and the second arm 20 can be the second angle, for example, it can be about 0°.

[0047] As Figure 3 and Figure 4 shown, when the second arm 20 is lifted, the angle between the first arm 10 and the second arm 20 can be the second angle, and the second angle can be, for example, greater than 0° and less than 135°. In some embodiments, the second angle can be 30°, 45°, 60° or 90°, and the present application does not make specific limitations.

[0048] As Figure 3 and Figure 4 shown, when the second arm 20 forms the first angle with the first arm 10, in the gravity direction y, the second arm 20 is higher than the first arm 10. The gravity direction refers to the vertical direction perpendicular to the horizontal plane. If the extension direction of the first arm 10 is the horizontal direction, then the gravity direction can be the vertical direction. In the gravity direction y, the second arm 20 is lifted upward and higher than the first arm 10. The height that the second arm 20 is lifted upward can be defined as the height higher than the highest target object after the picking mechanism 30 picks up the object, and the extension length of the second arm 20 can also be correspondingly defined according to this height. Since the lifting height of the second arm 20 can exceed the highest target object, this design does not require the entire robotic arm 1 to be lifted, and only the second arm 20 needs to be lifted.

[0049] In the present application, as Figure 1 and Figure 2 shown, the robotic arm 1 can move the first arm 10 in the horizontal direction x to the target object to be grasped. Subsequently, the second arm 20 can move downward to perform the grasping. After the grasping, as Figure 3 and Figure 4 shown, the second arm 20 can move upward. After the second arm 20 moves to a position where the grasped target object is higher than other target objects, the first arm 10 can drive the second arm 20 in the horizontal direction x to the target position, and then the second arm 20 can move downward to place the target object at the target position. It should be noted that the above-described moving and grasping method is only an example and is not limited thereto.

[0050] In a possible implementation manner of the present application, as Figures 1 to 4 shown, the second arm 20 can include a first link 21 and a second link 22 that respectively extend from the first end 201 to the second end 202.

[0051] In a possible implementation manner of the present application, in the gravity direction, the second link 22 can be located below the first link 21, and the second link 22 can serve as the lower housing of the second arm 20 to cover the first link 21.

[0052] In the present application, the second link 22 serves as the lower housing of the second arm 20, and the lower housing can cover the first link 21. Such an arrangement enables the second link 22 to drive the picking device 30 as a link, and at the same time, the arrangement where the second link 22 covers the first link 21 to present a housing can also protect the first link 21 from external damage and avoid damaging operators or other objects during the movement of the first link 21.

[0053] In the present application, the first driving mechanism 40 can drive the first link 21, and the first link 21 drives the first link 21 and the second link 22 to move synchronously accordingly.

[0054] For example, in a possible implementation manner of the present application, the first link 21 is connected to the first driving mechanism 40 in a non-transmission manner, and the second link 22 is connected to the first driving mechanism 40 in a transmission manner, wherein the first driving mechanism 40 drives the second link 22 to move.

[0055] The first driving mechanism 40 drives the second link 22 to move, which can further drive the first link 21 to move, thereby realizing the overall movement of the second arm 20 and further driving the picking mechanism 30 to move.

[0056] However, the present disclosure is not limited thereto. In the present application, the first driving mechanism 40 can drive the second link 22, and the second link 22 drives the first link 21 and the second link to move synchronously accordingly. In the present application, the first driving mechanism 40 can drive the first link 21 and the second link 22, and the first link 21 and the second link 22 move synchronously accordingly.

[0057] In a possible implementation manner of the present application, the first end of the first link 21 is connected to the first driving mechanism 40, the second end of the first link 21 can be connected to the picking mechanism 30, and the first link 21 drives the picking mechanism 30 to move when it moves. Moreover, when the picking mechanism 30 moves, the picking mechanism 30 is parallel to the direction of gravity. Such an arrangement can enable the picking mechanism 30 to be in a vertical state during the movement, which can avoid knocking down other target objects during the movement of the picking mechanism 30.

[0058] In a possible implementation manner of the present application, as Figures 1 to 4 shown, the first end of the second link 22 is connected to the first driving mechanism 40, and a receiving portion 221 is provided at the second end of the second link 22. The receiving portion 221 can be used to receive the picking mechanism 30. During the up and down movement of the second arm 20, the picking mechanism 30 can be received in the receiving portion 221.

[0059] It should be noted that in the above statement, the first ends and the second ends of the first link 21 and the second link 22 can respectively correspond to the positions of the first end 201 and the second end 202 of the second arm 20.

[0060] In a possible implementation manner of the present application, as Figure 2 shown, the first link 21 may include a first part 211, a second part 212, and a transition part 213. The transition part 213 may connect the first part 211 and the second part 212, and the extending direction of the transition part 213 intersects obliquely with respect to the extending direction of the first part 211 and with respect to the extending direction of the second part 212.

[0061] In a possible implementation manner of the present application, the first link includes a pair of first links arranged side by side.

[0062] As Figure 7 shown, in a possible implementation manner of the present application, the second arm 20 may further include an upper housing 23. The upper housing 23 may be connected to the lower housing to form a receiving cavity, and the first link 21 may be located in the receiving cavity. In such a setting, the upper housing 23 and the lower housing (the second link 22) may form a receiving space to accommodate the first link 21 and other components inside, which can avoid damage to the robotic arm 1 and also prevent the robotic arm 1 from damaging other people or components.

[0063] As Figure 7 shown, the upper housing 23 may be provided with an interference part 213. The interference part 213 may be recessed inward to avoid interference with the first arm 10 when the second arm 20 is lifted. At the same time, such a setting is also beneficial for lifting the second arm 20 higher.

[0064] In a possible implementation manner of the present application, as Figure 2 shown, in the direction of gravity, the second part 212 may be higher than the first part 211. In such a setting, it is beneficial to increase the overall height of the second arm 22 and avoid interference between the upper housing and the housing of the first arm 10.

[0065] Figure 5 is a schematic structural diagram of a picking mechanism provided by some embodiments of the present application; Figure 6 is a schematic structural diagram of a picking mechanism provided by some embodiments of the present application.

[0066] In a possible implementation manner of the present application, as Figure 5 and Figure 6As shown, the picking mechanism 30 may include: a second driving mechanism 32 at one end where the picking mechanism 30 is connected to the second end 202 of the second arm 22; a plurality of transmission members 33 rotatably connected to the second driving mechanism 32; and a plurality of grippers 31 respectively connected to the plurality of transmission members 33. The second driving mechanism 32 drives the plurality of transmission members 33 to drive the plurality of grippers 31 to move synchronously.

[0067] In a possible implementation manner of the present application, the end of the gripper 31 for grasping the target object 2 has a grasping portion 311, and the shape of the grasping portion 311 is adapted to the shape of the target object 2. Such a setting is beneficial for the grasping portion 311 to grasp the target object 2 more stably.

[0068] Based on the same concept, an embodiment of the present application provides a chess-playing robot, including: a robot body 3; and a robotic arm 1 according to any one of the first aspects, the robotic arm 1 can be connected to the robot body 3 and can move relative to the robot body 3 to operate on the target object 2.

[0069] In the present application, the chess-playing robot can make a move decision through an artificial intelligence system and operate the physical chess pieces through relevant mechanical structures to play against the user. Among them, the game can be in any possible form, for example: Chinese chess, international chess, Go, military chess, checkers, gobang, etc. It can also be various types of folk miscellaneous chess, such as the spinning chess, the counterespionage chess, and the tiger-catching chess in Chaozhou area. The chess set for the game can include a chessboard, chess pieces (target object 2), etc.

[0070] Through the present application, the first driving mechanism drives the first end of the second arm to rotate and drives the second arm to move between a first angle and a second angle with respect to the first arm. When the second arm is at the first angle with respect to the first arm, in the direction of gravity, the second arm is higher than the first arm. The second arm can be lifted above the first arm when grasping the target object, so that other target objects can be avoided from being touched or knocked down during grasping. And since the second arm can be lifted to a level higher than the first arm, the installation position of the first arm can be relatively lowered, and it is not necessary to set the first arm at a higher position, so that the space below the first arm can be saved. Furthermore, the placement space of the chess-playing robot can be saved.

[0071] If the technical solution of this application involves personal information, before the product applying the technical solution of this application processes personal information, it has clearly informed the personal information processing rules and obtained the personal's independent consent. If the technical solution of this application involves sensitive personal information, before the product applying the technical solution of this application processes sensitive personal information, it has obtained the personal's separate consent and at the same time meets the requirements of "express consent". For example, at a personal information collection device such as a camera, a clear and prominent sign is set to inform that the personal information collection scope has been entered and personal information will be collected. If a person voluntarily enters the collection scope, it is regarded as consenting to the collection of their personal information; or on the personal information processing device, when the personal information processing rules are informed by obvious signs / information, personal authorization is obtained through pop-up messages or asking the person to upload their personal information by themselves, etc.; among them, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the types of personal information processed.

[0072] The above embodiments are only used to illustrate the technical solutions of this application, rather than limiting them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered by the scope of the claims and the description of this application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. This application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A robotic arm, characterized in that, Comprising: A first arm; A second arm, the first end of the second arm being rotatably connected to the first arm; A picking mechanism, connected to the second end of the second arm, the picking mechanism being used to grip or release a target object; And A first driving mechanism, connected to the first end of the second arm, the first driving mechanism driving the first end of the second arm to rotate and driving the second arm to move between a first angle and a second angle with respect to the first arm, wherein, when the second arm is at the first angle with respect to the first arm, in the direction of gravity, the second arm is higher than the first arm.

2. The robotic arm according to claim 1, wherein the second arm includes a first connecting rod and a second connecting rod respectively extending from the first end to the second end, the first driving mechanism drives the first connecting rod and / or the second connecting rod, and the first connecting rod and the second connecting rod thus move synchronously.

3. The robotic arm according to claim 2, wherein the first connecting rod is connected to the first driving mechanism in a non-transmission manner; the second connecting rod is connected to the first driving mechanism in a transmission manner, wherein, the first driving mechanism drives the second connecting rod to move.

4. The robotic arm according to claim 2, wherein in the direction of gravity, the second connecting rod is located below the first connecting rod, and the second connecting rod is the lower housing of the second arm to cover the first connecting rod.

5. The robotic arm according to claim 4, wherein the first end of the first connecting rod is connected to the first driving mechanism, the second end of the first connecting rod is connected to the picking mechanism, the first connecting rod drives the picking mechanism to move when moving, and when the picking mechanism moves, the picking mechanism is parallel to the direction of gravity.

6. The robotic arm according to claim 2, wherein the first end of the second connecting rod is connected to the first driving mechanism, and a receiving portion is provided at the second end of the second connecting rod, the receiving portion being used to receive the picking mechanism.

7. The robotic arm according to claim 2, wherein the first connecting rod includes a first part, a second part and a transition part, the transition part connects the first part and the second part, and the extending direction of the transition part intersects obliquely with respect to the extending direction of the first part and with respect to the extending direction of the second part.

8. The robotic arm according to claim 7, wherein in the direction of gravity, the second part is higher than the first part.

9. The robotic arm according to claim 2, wherein the first connecting rod includes a pair of first connecting rods arranged side by side.

10. The robotic arm according to claim 4, wherein the second arm further includes an upper housing, the upper housing is connected to the lower housing to form a receiving cavity, and the first connecting rod is located in the receiving cavity.

11. The robotic arm according to any one of claims 1 to 10, wherein the picking mechanism includes: A second driving mechanism, located at one end where the picking mechanism is connected to the second end of the second arm; A plurality of transmission members, rotatably connected to the second driving mechanism; and A plurality of clamping clips are respectively connected to the plurality of transmission members, and the second driving mechanism drives the plurality of transmission members to drive the plurality of clamping clips to move synchronously.

12. The robotic arm according to claim 11, wherein The end of the clamping clip for grasping the target object has a grasping portion, and the shape of the grasping portion is adapted to the shape of the target object.

13. The robotic arm according to claim 1, wherein The first arm drives the second arm to move in the horizontal direction, and the second arm drives the picking mechanism to move in the direction of gravity.

14. A chess-playing robot, characterized in that, Comprising: A robot body; And The robotic arm according to any one of claims 1 to 13, the robotic arm is connected to the robot body and can move relative to the robot body to operate on a target object.

Images